CN107070360B - Wind-power electricity generation exchanges variable pitch servo-driver output torque smooth control method - Google Patents
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- 230000008901 benefit Effects 0.000 abstract description 2
- 230000006378 damage Effects 0.000 description 6
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/60—Control system actuates through
- F05B2270/602—Control system actuates through electrical actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses wind-power electricity generations to exchange variable pitch servo-driver output torque smooth control method, comprising the following steps: step 1) calculates the current acceleration a=d ω of pitch motorr/dt；Step 2) judges pitch motor present control mode, if it is speed control mode, enters step 3), if it is position control mode, enters step 5)；Step 3) judges whether pitch motor current operating conditions need the smooth control of output torque.Step 4) torque smooth control logic exports final goal torque, enters step 6)；Step 5) judges blade angle rate of change, as d λr/dt>λsWhen, enable Ttmp1=T*em, enter step 4)；Step 6) repeats step 1).The present invention passes through the examination to pitch motor speed and blade position state, give pitch motor smooth control method for torque, impact of the fluctuations in wind speed to pitch motor, blade, gear and bearing is avoided, each component service life and runnability is improved, improves Business Economic Benefit.
Description
Technical field
The present invention relates to wind power generation field, in particular to wind-power electricity generation exchange variable pitch servo-driver output torque is smooth
Control method.
Background technique
The design of the crucial load component of wind power generating set, such as blade, gear and bearing need to guarantee its 20 years to transport
Anti-fatigue performance with higher in the row service life.If load component is born for a long time brought by excessive torque and wind speed variation
Moment big stroke necessarily causes load component life to reduce and even damages.Once crucial load component is damaged, institute
Bring economic destruction be it is huge, immeasurable loss can be not only brought to wind power equipment manufacturing enterprise, also will affect whole
The sound development of a wind-powered electricity generation industry and national economy.
For speed-variable frequency-constant wind-driven generator group in the case where output frequency is constant, wind speed round can be with wind speed wider
Variation, can utilize wind energy in maximum efficiency in range.But when fluctuations in wind speed, wind-driven generator and pitch motor can be made
Bear very big impact, excessive moment loading of long-term moment will increase the risk for mechanical damage of system, influence in blower fan system
The service life of wind-driven generator and pitch motor even results in the safety accident of wind power generating set.
The operating status of variable blade control system directly determines the load size and wind speed variation institute's band of these critical components
The impact come.In recent years, with a large amount of uses of exchange pitch-controlled system, the quality problems of blower key load component occur frequently.By
Big in exchange pitch drive motor output torque, blade, gear and bearing etc. continually bear excessive instantaneous torque, are easy
The damage for the isostructuralism that now cracks eventually leads to blower damage.Therefore optimization variable blade control system is to reduce wind power generating set
The fatigue stress and momentum of critical component are of great significance to raising wind power generating set reliability of operation and service life.
It and is essentially all simply to meet the Controlling principle of power optimized, and do not consider not when the operation of existing variable blade control system
With its influence of control to blower load component fatigue life under operating condition and wind speed.
Blower exchanges variable pitch servo-control system, and generally there are three control loops: outermost position ring, middle layer
The torque ring of speed ring and innermost layer.Wind-driven generator is usually to adjust blade with wind speed according to maximal power tracing principle
Windward angle is adjusted by the outermost layer position ring of pitch control device.But the process that above-mentioned power of fan is adjusted
In, in order to maintain the output power of blower, blade must be adjusted to certain angle by variable pitch driver, and unexpected rapid fluctuations
Wind speed will lead to variable pitch driver output torque and increased dramatically, cause the energy of impact big to blade, bearing and gear moment
Torque shock leads to the stress fatigue of crucial load component.
Summary of the invention
The technical problem to be solved in the present invention is to provide it is a kind of effectively lower with reduce fluctuations in wind speed with exchange pitch drive
When motor large torque exports, variable pitch servo-driver is exchanged with the wind-power electricity generation that the instantaneous torques such as bearing impact to blade, gear
Output torque smooth control method.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is as follows:
Wind-power electricity generation exchanges variable pitch servo-driver output torque smooth control method, comprises the following sequential steps:
Step 1) calculates the current acceleration a=d ω of pitch motorr/dt；
Step 2) judges the current control model of pitch motor: if pitch motor is in speed control mode, into step
It is rapid 3), if pitch motor is in position control mode, enter step 5)；
Step 3) judges the current operating status of pitch motor:
1. if pitch motor is at the uniform velocity state and enables T as a -0 <-δtmp1=T*em, enter step 4)；
2. if pitch motor is in acceleration mode, as a-arWhen <-δ, T is enabledtmp1=T*em, enter step 4)；
3. working as a-a if pitch motor is in deceleration regimefWhen > δ, T is enabledtmp1=T*em, enter step 4)；
Step 4) torque smooth control logic exports final goal torque, enters step 6；
Step 5) judges blade angle rate of change, as d λr/dt>λsWhen, enable Ttmp1=T*em, enter step 4)；
Step 6) repeats step 1)；
Wherein: δ is that motor acceleration sets threshold values；T*emTo set target torque；arFor the default acceleration accelerated, ar
=ω *s/tr, ω *sFor Rated motor revolving speed, trFor the motor acceleration time；afFor the default acceleration to slow down, af=-ω *s/tf,
tfFor the decelerating through motor time；λsThreshold values is set for blade angle variable rate；In step 3), when pitch motor is at the uniform velocity state, add
Velocity amplitude is 0；When pitch motor is in acceleration mode, acceleration value arIt is positive；When pitch motor is in deceleration regime, acceleration
afValue is negative.
Specifically, the torque smooth control logic includes:
1. enabling Δ T*e=ζ Ttmp1/τf；
2. enabling T*e=T*e-ΔT*e；
3. working as T*e> (1- ζ) Ttmp1When, it returns to 2.；Work as T*e≤(1-ζ)Ttmp1When, T*e=(1- ζ) Ttmp1, go to 4.；
4. enabling Ttmp2=T*em；
5. enabling Δ T*e=[Ttmp2-(1-ζ)Ttmp1]/τr；
6. enabling T*e=T*e+ΔT*e；
7. if T*em< T*max, work as T*e< T*emWhen, it returns to 6.；Work as T*e≥T*emWhen, T*e=T*em；If T*em≥
T*max, work as T*e< T*maxWhen, it returns to 6., works as T*e≥T*maxWhen, T*e=T*max；
Wherein: ζ is torque smooth control coefficient；T*eFor final goal torque；τfCoefficient is smoothly lowered for torque；τrTo turn
Square smoothly raises coefficient；T*maxFor maximum output torque.
Further, the size of the ζ be 0 < ζ < 1, and with a=d ωr/ dt is linearly related, a=d ωr/ dt is bigger, ζ
It is bigger.
Further, the τfWith a=d ωr/ dt is linearly related, and a=d ωr/ dt is bigger, τfIt is smaller.
Further, the τrWith a=d ωr/ dt is linearly related, and a=d ωr/ dt is bigger, τrIt is smaller.
By adopting the above technical scheme, pitch motor is carried out with position control mode according under speed control mode respectively
Torque smooth control.Under speed control mode, by calculating current acceleration a=d ωr/ dt, respectively with preset acceleration
Acceleration ar=ω * s/tr, slow down acceleration af=ω * s/tf, acceleration 0 at the uniform velocity carry out asking poor, then the threshold values with setting
It is compared, judges whether above situation needs to carry out torque smooth control to pitch motor.Under position control mode, pass through
Solve the position rate d λ of blader/ dt, the threshold values λ with settingsIt is compared, judges whether to need to turn pitch motor
Square smooth control.So that, by carrying out torque smooth control to pitch motor, effectively being avoided in the case where there is biggish fluctuations in wind speed
The generations such as critical component blade, gear and bearing to blower impact, effectively improves making for blade, gear and bearing of blower etc.
With service life and service performance, the effectiveness of operation and economic benefit of enterprise are improved.
Detailed description of the invention
Fig. 1 is that wind-power electricity generation of the present invention exchanges variable pitch servo-driver control system schematic diagram.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in 1 wind-power electricity generation of attached drawing exchange variable pitch servo-driver control system schematic diagram comprising innermost layer torque
Ring (response is most fast), middle layer speed ring and outermost layer position ring composition (response is most slow).Wherein, λ *rIt is target blade angle,
λrIt is practical blade angle, Δ λrIt is the difference of target blade angle He practical blade angle, ω *rIt is target variable pitch speed, ωr
It is practical variable pitch speed, T*emIt is by speed ring PI target torque adjusted, T*eIt is after over torque smoothly adjusts control
The final goal torque of output, TeIt is the actual torque of output, i*dAnd i*qIt is output target exciting current and torque electricity respectively
Stream, idAnd iqIt is the practical exciting current of output and torque current, θ respectivelyrIt is pitch motor rotation angle.
In the specific application process, when fluctuations in wind speed increases suddenly, if the speed omega of pitch motorrIt flies up,
Illustrate that the wind of fluctuation adjusts blade to form a power-assisted, does not then need to carry out the processing of torque smooth control.If pitch motor
Speed omegarDecline suddenly illustrates that the wind of fluctuation adjusts blade to form a resistance, it would be possible to can to what is impacted
Energy；It will judge whether to need to carry out smooth control to torque.Meanwhile when blade angle is adjusted in place, if fruit wind speed wave at this time
It is dynamic to increase suddenly, it is also possible to generate impact, will lead to position signal d λr/ dt change rate is greater than the position signal variation of setting
The threshold values λ of rates, even result in Δ λr>Δλ*r, impact phenomenon occurs.
By analyzing above, pitch motor, transmission case and draught fan impeller rotate gear to be avoided larger wind speed are occurring
Impact is generated when fluctuation, improves the service life and service performance of blower fan system, needs to carry out the output torque of pitch motor
Smooth control, reduce due to fluctuate it is excessive caused by impact.
In specific implementation process, it includes following that wind-power electricity generation, which exchanges variable pitch servo-driver output torque smooth control method,
Sequential steps:
Step 1) calculates the current acceleration a=d ω of pitch motorr/dt；
Step 2) judges the current control model of pitch motor: if pitch motor is in speed control mode, into step
It is rapid 3), if pitch motor is in position control mode, enter step 5)；
Step 3) judges the current operating status of pitch motor:
1. if pitch motor is at the uniform velocity state and enables T as a -0 <-δtmp1=T*em, enter step 4)；
2. if pitch motor is in acceleration mode, as a-arWhen <-δ, T is enabledtmp1=T*em, enter step 4)；
3. working as a-a if pitch motor is in deceleration regimefWhen > δ, T is enabledtmp1=T*em, enter step 4)；
Step 4) torque smooth control logic exports final goal torque, enters step 6；
Step 5) judges blade angle rate of change, as d λr/dt>λsWhen, enable Ttmp1=T*em, enter step 4)；
Step 6) repeats step 1)；
Wherein: δ is that motor acceleration sets threshold values；T*emTo set target torque；arFor the default acceleration accelerated, ar
=ω *s/tr, ω *sFor Rated motor revolving speed, trFor the motor acceleration time；afFor the default acceleration to slow down, af=-ω *s/tf,
tfFor the decelerating through motor time；λsThreshold values is set for blade angle variable rate；In step 3), when pitch motor is at the uniform velocity state, add
Velocity amplitude is 0；When pitch motor is in acceleration mode, acceleration value arIt is positive；When pitch motor is in deceleration regime, acceleration
afValue is negative.
More specifically, torque smooth control logic includes:
1. enabling Δ T*e=ζ Ttmp1/τf；
2. enabling T*e=T*e-ΔT*e；
3. working as T*e> (1- ζ) Ttmp1When, it returns to 2.；Work as T*e≤(1-ζ)Ttmp1When, T*e=(1- ζ) Ttmp1, go to 4.；
4. enabling Ttmp2=T*em；
5. enabling Δ T*e=[Ttmp2-(1-ζ)Ttmp1]/τr；
6. enabling T*e=T*e+ΔT*e；
7. if T*em< T*max, work as T*e< T*emWhen, it returns to 6.；Work as T*e≥T*emWhen, T*e=T*em；If T*em≥
T*max, work as T*e< T*maxWhen, it returns to 6., works as T*e≥T*maxWhen, T*e=T*max；
Wherein: ζ is torque smooth control coefficient；T*eFor final goal torque；τfCoefficient is smoothly lowered for torque；τrTo turn
Square smoothly raises coefficient；T*maxFor maximum output torque.
In acceleration (a=d ωr/ dt) under control model, the torque smoothing factor ζ 1. in step determines that torque is smooth
Torque is linearly reduced to wind speed mutation (1- ζ) T of torque when occurring by the degree of controltmp1, the value of torque smoothing factor ζ
Range be 0 < ζ < 1, size is determined according to the degree of fluctuations in wind speed, according to the acceleration change amount size in step 1) come
Judgement；And ζ and a=d ωr/ dt is linearly related, a=d ωr/ dt is bigger, and ζ is bigger.
Coefficient τ is smoothly lowered in torquefDetermine the slope that torque linearly adjusts downwards, size is with according to fluctuations in wind speed degree
To determine；τfWith a=d ωr/ dt is linearly related, and a=d ωr/ dt is bigger, τfIt is smaller.
4. in torque smooth control logic walks, due to the influence of smooth control, the revolutional slip of speed ring further increases
Greatly, it will lead to the T* currently exportedemThan the T* exported in step 2)emGreatly, therefore in torque smooth control ascent stage to make
Final output target torque T*eFrom (1- ζ) Ttmp1Start with Δ T*eIncrement rise.
Coefficient τ is smoothly raised in torquerDetermine the slope that torque linearly adjusts upward, size is with according to fluctuations in wind speed degree
It determines, τrWith a=d ωr/ dt is linearly related, and a=d ωr/ dt is bigger, τrIt is smaller.
7. in torque smooth control logic walks, during variable pitch driver output torque smoothly raises, if
Fluctuations in wind speed is excessive, so that current T*emGreater than the maximum torque-limiting T* of drivermax, then final output target torque exports
T*eNo more than T*max, risk that otherwise pitch motor, blade, gear and bearing can all be had damage.In current T*emDo not surpass
Cross maximum torque-limiting T*maxIn the case where, in T*e≥T*emWhen, allow T* at oncee=T*em, terminate torque smooth control.
In d λrUnder/dt position control mode, by adjusting motor acceleration time trWith decelerating through motor time tfBecome to control
It the recycling of pitch driver output torque and ushers in and out the time, torque guarantees within the time period to track the power regulation of pitch motor
Caused by influence minimum, while can guarantee the torque smooth control to variable pitch driver again.By adjusting torque smooth control system
ζ is counted to control the size of variable pitch driver output torque yield, is guaranteed when varying strength wind-force changes, it can be well
Impact suffered by alleviation blade, gear and bearing.Torque smooth control coefficient ζ is according to the acceleration change amount of pitch motor
(corresponding wind speed mutation amount) carrys out linear regulation, can intelligently adjust torque smoothness for different fluctuations in wind speed.
It is T* by output final goal torque settings since torque ring has a pi regulatore=(1- ζ) Ttmp1, can't
Cause to export actual torque TeIt will go to T* at onceeAnd cause the shake of moment.tfAfter time, final output mesh is not enabled
Mark torque T*eIt is equal to current T* at onceem, but with Δ T*e=[Ttmp2-(1-ζ)Ttmp1]/τrIncrement gradually from T*e=(1-
ζ)Ttmp1Start to be incremented by, is because torque recycling above-mentioned movement will lead to revolutional slip increase, so that the T* of der Geschwindigkeitkreis outputemThan
It is larger, it is assumed that directly to enable T* at this timee=T*em, since the response of torque ring is very fast, it is big to will lead to the output of variable pitch driver moment
Torque causes very big impact to blade, bearing and gear etc..
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (5)
1. wind-power electricity generation exchanges variable pitch servo-driver output torque smooth control method, which is characterized in that including following sequence
Step:
Step 1) calculates the current acceleration a=d ω of pitch motorr/dt；
Step 2) judges the current control model of pitch motor: if pitch motor is in speed control mode, enters step 3),
If pitch motor is in position control mode, enter step 5)；
Step 3) judges the current operating status of pitch motor:
1. if pitch motor is at the uniform velocity state and enables T as a -0 <-δtmp1=T*em, enter step 4)；
2. if pitch motor is in acceleration mode, as a-arWhen <-δ, T is enabledtmp1=T*em, enter step 4)；
3. if pitch motor is in deceleration regime and enables T as a-af > δtmp1=T*em, enter step 4)；
Step 4) torque smooth control logic exports final goal torque, enters step 6)；
Step 5) judges blade angle rate of change, as d λr/dt>λsWhen, enable Ttmp1=T*em, enter step 4)；
Step 6) repeats step 1)；
Wherein: ωrIt is practical variable pitch speed, λrIt is practical blade angle, δ is that motor acceleration sets threshold values；T*emTo set mesh
Mark torque；arFor the default acceleration accelerated, ar=ω *s/tr, ω *sFor Rated motor revolving speed, trFor the motor acceleration time；af
For the default acceleration to slow down, af=-ω *s/tf, tfFor the decelerating through motor time；λsThreshold values is set for blade angle variable rate；Step
It is rapid 3) in, pitch motor be at the uniform velocity state when, acceleration value 0；When pitch motor is in acceleration mode, acceleration value arFor
Just；When pitch motor is in deceleration regime, acceleration afValue is negative.
2. wind-power electricity generation according to claim 1 exchanges variable pitch servo-driver output torque smooth control method, special
Sign is that the torque smooth control logic includes:
1. enabling Δ T*e=ζ Ttmp1/τf；
2. enabling T*e=T*e-ΔT*e；
3. working as T*e> (1- ζ) Ttmp1When, it returns to 2.；Work as T*e≤(1-ζ)Ttmp1When, T*e=(1- ζ) Ttmp1, go to 4.；
4. enabling Ttmp2=T*em；
5. enabling Δ T*e=[Ttmp2-(1-ζ)Ttmp1]/τr；
6. enabling T*e=T*e+ΔT*e；
7. if T*em< T*max, work as T*e< T*emWhen, it returns to 6.；Work as T*e≥T*emWhen, T*e=T*em；If T*em≥T*max,
Work as T*e< T*maxWhen, it returns to 6., works as T*e≥T*maxWhen, T*e=T*max；
Wherein: ζ is torque smooth control coefficient；T*eFor final goal torque；τfCoefficient is smoothly lowered for torque；τrIt is flat for torque
Slide onto tune coefficient；T*maxFor maximum output torque.
3. wind-power electricity generation according to claim 2 exchanges variable pitch servo-driver output torque smooth control method, special
Sign is, the size of the ζ is 0 < ζ < 1, and with a=d ωr/ dt is linearly related, a=d ωr/ dt is bigger, and ζ is bigger.
4. wind-power electricity generation according to claim 3 exchanges variable pitch servo-driver output torque smooth control method, special
Sign is, the τfWith a=d ωr/ dt is linearly related, and a=d ωr/ dt is bigger, τfIt is smaller.
5. wind-power electricity generation according to claim 4 exchanges variable pitch servo-driver output torque smooth control method, special
Sign is, the τrWith a=d ωr/ dt is linearly related, and a=d ωr/ dt is bigger, τrIt is smaller.
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Denomination of invention: Output torque smoothing control method of AC pitch servo driver for wind power generation Effective date of registration: 20210616 Granted publication date: 20190813 Pledgee: Changsha branch of China Guangfa Bank Co.,Ltd. Pledgor: HUNAN TUOTIAN ENERGY SAVING CONTROL TECHNOLOGY Co.,Ltd. Registration number: Y2021430000018 |
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