CN112196735A - Variable pitch control method based on double-fed wind generating set - Google Patents

Variable pitch control method based on double-fed wind generating set Download PDF

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CN112196735A
CN112196735A CN202011069899.4A CN202011069899A CN112196735A CN 112196735 A CN112196735 A CN 112196735A CN 202011069899 A CN202011069899 A CN 202011069899A CN 112196735 A CN112196735 A CN 112196735A
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yaw
load
tilt
component
blade
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CN112196735B (en
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熊伟
刘志祥
陈云
曹品
邢兴振
余长洲
易炯燕
徐键
高志文
谢越
陈柳竹
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Chongqing Kk Qianwei Windpower Equipment Co ltd
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Chongqing Kk Qianwei Windpower Equipment Co ltd
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    • 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 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0236—Adjusting aerodynamic properties of the blades by changing the active surface of the wind engaging parts, e.g. reefing or furling
    • 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
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • 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
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • 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
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/20—Wind motors characterised by the driven apparatus
    • F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
    • 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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  • Sustainable Development (AREA)
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Abstract

A variable pitch control method based on a double-fed wind generating set comprises the following steps: 1) setting a load reference component of the wind wheel; 2) acquiring the real-time load component of the wind wheel; 3) filtering; 4) comparing the difference values; 5) when the difference value of the load components is not more than zero, carrying out unified pitch variation process control; 6) when the difference value of the load components is larger than zero, carrying out independent pitch control process control by the following steps: 6-1) obtaining an active power regulation limiting factor of the generator; 6-2) obtaining a polynomial function of a PI regulation amplitude limiting factor in the independent variable pitch control process; 6-3) calculating the value of a PI (proportional integral) regulation amplitude limiting factor in the independent variable pitch control process; 6-4) carrying out PI regulation on the component difference value; 6-5) acquiring a load component adjusting value; 6-6) obtaining an independent variable pitch angle adjusting value through inverse park transformation; 6-7) obtaining the independent variable pitch control angle of each blade; 6-8) independently changing the pitch of the wind wheel according to the independent pitch control angle of each blade.

Description

Variable pitch control method based on double-fed wind generating set
Technical Field
The invention relates to the technical field of wind power generation, in particular to a variable pitch control method based on a double-fed wind generating set.
Background
With the increase of the single-machine capacity of the wind turbine generator and the continuous lengthening of the blades, how to improve the safety and reliability of the wind turbine generator and reduce the manufacturing cost of the wind turbine generator is a challenge faced by the current large-scale wind turbine generator.
In the actual operating environment of the wind turbine generator, due to wind shear, turbulence effect, yaw error and other reasons, unbalanced loads can be generated on a wind wheel and a blade root of the wind turbine generator, large blade tip deformation can be caused, large fatigue loads can be caused on key components of a hub, a main bearing, a tower drum and the like of the wind turbine generator, clearance between the blade and the tower drum can be reduced under the yaw condition, even the tower sweeping condition can be caused, and serious consequences such as tower collapse can be caused under the extreme condition. Therefore, an independent pitch control technology (IPC for short) needs to be used to obtain the actual load according to the load sensor of each blade, and different pitch reference angles are given to each blade by combining the unified pitch angle control, so as to achieve the purpose of reducing the unbalanced load of the wind wheel and the blade root.
At present, a plurality of wind turbine generator manufacturers give different independent pitch control optimization algorithms, but neglect the problem that the wind turbine generators are in different working conditions in the operation process:
for example, in the normal operation control process of the wind turbine generator, when the external wind speed is near the rated wind speed of the wind turbine generator, and the wind turbine generator can just generate electricity under full load, the actual rotating speed of the generator fluctuates between the grid-connected rotating speed and the rated rotating speed, the angle of each blade of the variable pitch system is close to 0 degree, and the current independent variable pitch control technology can cause the amplitude of the variable pitch angle of each blade of the variable pitch system of the wind turbine generator to be large in adjustment quantity, the adjustment speed of the variable pitch system frequently changes in the positive direction and the negative direction, and the limit load in the My direction of the fixed hub coordinate.
Or in the normal operation control process of the wind turbine generator, when the external wind speed is higher than the rated wind speed of the wind turbine generator and the wind turbine generator generates power under the full load condition, the actual rotating speed of the generator fluctuates up and down at the rated rotating speed, the angle of each blade of the variable pitch system is far away from 0 degrees, the current independent variable pitch control technology can cause the amplitude adjustment quantity of the variable pitch angle of each blade of the variable pitch system of the wind turbine generator to be large, the active power output of the wind turbine generator is influenced to a certain extent, and the limit load in the My direction of the fixed hub coordinate system can also be increased.
Disclosure of Invention
The invention aims to provide a variable pitch control method based on a double-fed wind generating set, aiming at the corresponding defects of the prior art, the range of an independent variable pitch angle adjusting value is determined according to the real-time condition of the normal operation of the wind generating set, the condition that the active power output of the set is influenced due to the fact that the independent variable pitch function is triggered to cause large-amplitude fluctuation of the variable pitch angle under the condition of strong wind is avoided, and meanwhile, the problems that when the variable pitch angle is close to the position of 0 degree, the large-amplitude independent variable pitch fluctuation still exists, the rotating speed of a generator is unstable and the limit load is caused due to the fact that the blade angle frequently acts around 0 degree are.
The purpose of the invention is realized by adopting the following scheme: a variable pitch control method based on a double-fed wind generating set comprises the following steps:
1) setting a wind wheel overturning load reference component Mtilt-refAnd a yaw load reference component Myaw-ref；
2) Acquiring the real-time component M of the overturning load of the wind wheel according to the following methodtiltAnd yaw load real-time component Myaw：
2-1) acquiring blade backward tilting moment (M) of a variable pitch system of the doubly-fed wind generating set by utilizing strain sensors on the blade A, the blade B and the blade CA,MB,MC)；
2-2) obtaining a wind wheel azimuth angle theta by utilizing an absolute value encoder arranged on a main shaft of the wind generating set;
2-3) the retroversion moment (M) of the blade obtained in the step 2-1)A,MB,MC) Obtaining the real-time component M of the overturning load of the wind wheel through park transformation with the azimuth angle theta of the wind wheeltilt＝f(MA,MB,MCTheta) and yaw load real-time component M of the wind wheelyaw＝F(MA,MB,MCθ), as shown in the following expression:
Figure BDA0002713899910000031
Figure BDA0002713899910000032
in the formula, thetaA、θB、θCWind wheel azimuth angles of the blades A, B and C are respectively;
3) and (3) filtering treatment:
3-1) obtaining the rotating speed RotorSpeed of the rotor of the wind wheel by utilizing an incremental encoder of the doubly-fed wind generating set, and calculating the rotating frequency f of the wind wheel according to the following formula1Harmonic wind wheel rotation frequency multiplication f2：
Figure BDA0002713899910000033
In the formula (f)1Is the rotational frequency of the wind wheel, f2The frequency is multiplied by the rotation frequency of the wind wheel, and the RotorSpeed is the rotation speed of the rotor of the wind wheel;
3-2) calculating the rotating frequency f of the wind wheel calculated in the step 3-1)1And wind wheel rotation frequency multiplication f2As filtering parameters, the real-time component M of the overturning load of the wind wheel is input into a wave trap of the rotation frequency of the wind wheel, a wave trap of the frequency multiplication of the rotation frequency of the wind wheel and a second-order low-pass filter which are connected in seriestiltAnd yaw load real-time component MyawFiltering to obtain the filtered real-time component M of the overturning loadtilt-filteredAnd a filtered real-time yaw load component Myaw-filtered；
4) The real-time component M of the filtered overturning load in the step 3-2)tilt-filteredAnd a filtered real-time yaw load component Myaw-filteredRespectively with the overturning load reference component Mtilt-refAnd a yaw load reference component Myaw-refPerforming difference comparison to obtain the difference value Delta M of the overturning load componentstiltAnd the difference Δ M of the yaw load componentyawAs shown in the following formula:
ΔMtilt＝Mtilt-filtered-Mtilt-ref
ΔMyaw＝Myaw-filtered-Myaw-ref
in the formula,. DELTA.MtiltFor the difference in the overturning load components, Δ MyawFor difference in yaw load component, Mtilt-filteredFor the filtered real-time component of the overturning load, Myaw-filteredFor the filtered real-time component of yaw load, Mtilt-refFor overturning load reference component, Myaw-refIs a yaw load reference component;
5) when the difference value of the overturning load components is Delta MtiltAnd the difference Δ M of the yaw load componentyawWhen the wind power is not more than zero, the double-fed wind generating set is subjected to unified pitch-changing process control by the following steps:
5-1) high-speed double-fed wind generating setActual rotating Speed of generator acquired by incremental encoder of shaft, and active Power of generator and reference rotating Speed of generator acquired by Power grid measuring module of doubly-fed wind generating setRefReference Power of generatorRefInputting the variable pitch reference angles to a power-speed controller to obtain variable pitch reference angles beta of a blade A, a blade B and a blade CPSC-A、βPSC-B、βPSC-CAnd the unified variable pitch control angle of the wind turbine blades is betaPSC；
5-2) the wind wheel of the double-fed wind generating set variable pitch system obtains the unified variable pitch control angle beta of the wind wheel blades according to the step 5-1)PSCCarrying out unified pitch-changing process control;
6) when the difference value of the overturning load components is Delta MtiltOr difference in yaw load component Δ MyawWhen the pitch is larger than zero, the double-fed wind generating set is subjected to independent pitch control process control through the following steps:
6-1) obtaining the active power regulation limiting factor K of the generator:
setting the active power regulation limiting factor K of the generator to be within the scope of Kmin，Kmax]The active Power of the generator belongs to Powermin，Powermax) And then, the value of the generator active power regulation limiting factor K is taken according to the following modes:
when Power is less than PowerminThen:
K＝Kmin
when Power is greater than PowermaxThen:
K＝Kmax
③ when Power belongs to the group of Powermin，Powermax]And then, the active power regulation limiting factor K of the generator performs linear interpolation according to the following formula:
Figure BDA0002713899910000041
in the formula, K is the active power regulation limiting factor of the generator, KmaxThe maximum value of the limiting factor K is adjusted for the active power of the generator,Kminthe minimum value of the limiting factor K is adjusted for the active Power of the generator, and Power is the active Power of the generatorminFor minimum reference Power of the generator, PowermaxThe maximum reference power of the generator;
6-2) obtaining a PI (proportional integral) regulation amplitude limiting factor f of the independent variable pitch control processlimitPolynomial function of (2):
firstly, performing static power simulation in GH Blated software according to a simulation model of the double-fed wind generating set to obtain wind speed-blade angle discrete data and wind speed-blade root load discrete data of the double-fed wind generating set;
combining the wind speed-blade angle discrete data and the wind speed-blade root load discrete data of the double-fed wind generating set to obtain the wind speed-blade angle-blade root load discrete data;
thirdly, dividing each blade root load value in the discrete data of the wind speed, the blade angle and the blade root load by the maximum value of the blade root load to obtain a blade root load coefficient set, and obtaining a blade angle and blade root load coefficient discrete data set by using the discrete data of the wind speed, the blade angle and the blade root load to express the corresponding relation of the blade angle and the blade root load coefficient;
performing polynomial fitting on discrete data in the discrete data set of the blade angle and the blade root load coefficient by using Origin software to obtain a PI (proportion integral) regulation amplitude limiting factor f for representing an independent variable pitch control processlimitThe polynomial function of (a) is as follows:
Figure BDA0002713899910000051
in the formula, G1Is a 4-degree term coefficient of a polynomial function, G2Coefficient of 3 degrees of a polynomial function, G3Is a 2-degree term coefficient of a polynomial function, G4Is a 1-degree term coefficient of a polynomial function, G5Is a 0-degree coefficient of a polynomial function, betaPSCControlling the angle for the uniform pitch variation of the wind turbine blades;
6-3) setting a PI (proportional integral) regulation amplitude limiting factor f of an independent variable pitch control processlimit∈[flowlimit，fuplimit]，flimitTaking values according to the following modes:
when flimitIs less than flowlimitWhen f is presentlimitIs the minimum value f in the value range of the PI regulation amplitude limiting factorlowlimitNamely:
flimit＝flowlimit
when flimitGreater than fuplimitWhen f is presentlimitIs the maximum value f in the value range of the PI regulation amplitude limiting factoruplimitNamely:
flimit＝fuplimit
(iii) when flimit∈(flowlimit，fuplimit) When f is presentlimitExpressed according to the polynomial function in step 6-2):
Figure BDA0002713899910000061
in the formula, G1Is a 4-degree term coefficient of a polynomial function, G2Coefficient of 3 degrees of a polynomial function, G3Is a 2-degree term coefficient of a polynomial function, G4Is a 1-degree term coefficient of a polynomial function, G5Is a 0-degree coefficient of a polynomial function, betaPSCThe unified variable pitch control angle of the wind turbine blades obtained in the step 5-1) is obtained;
6-4) obtaining the difference value Delta M of the overturning load components of the step 4) according to the following formulatiltAnd the difference Δ M of the yaw load componentyawPI adjustment is carried out to obtain an overturning load component delta beta under a two-phase coordinate systemtilt-PIAnd a yaw load component Δ βyaw-PI：
Δβtilt-PI＝Kp-tilt×ΔMtilt+Ki-tilt×Ts×ΔMtilt
Δβyaw-PI＝Kp-yaw×ΔMyaw+Ki-yaw×Ts×ΔMyaw
In the formula, Δ βtilt-PIIs the overturning load component, Delta beta, in a two-phase coordinate systemyaw-PIYaw load component, K, in a two-phase coordinate systemp-tiltProportional term parameter, K, regulated for the overturning load component PIi-tiltIntegral term parameter, K, adjusted for the overturning load component PIp-yawProportional term parameter, K, adjusted for the yaw load component PIi-yawIntegral term parameter, T, adjusted for yaw load component PIsSampling time, Δ M, for PI regulationtiltFor the difference in the overturning load components, Δ MyawIs the yaw load component difference;
6-5) component of overturning load Delta beta under two-phase coordinate systemtilt-PIAnd a yaw load component Δ βyaw-PIRespectively multiplying the PI regulation amplitude limiting factors f of the independent variable pitch control process obtained in the step 6-3)limitObtaining the overturning load component regulating value delta betatiltAnd yaw load component adjustment value delta betayawNamely:
Figure BDA0002713899910000071
in the formula, Δ βtilt-PIIs the overturning load component, Delta beta, in a two-phase coordinate systemyaw-PIIs a yaw load component, f, in a two-phase coordinate systemlimitAdjusting an amplitude limiting factor, Δ β, for the PI of an independent pitch control processtiltFor the adjustment of the overturning load component, Δ βyawAdjusting a value for the yaw load component;
6-6) adjusting the overturning load component delta beta obtained in the step 6-5)tiltAnd yaw load component adjustment value delta betayawMultiplying the active power regulation limiting factors K of the generator in the step 6-1) respectively, and then performing park inverse transformation to obtain independent variable pitch angle regulation values of the blade A, the blade B and the blade C which are delta beta respectivelyA、ΔβB、ΔβCAs shown in the following formula:
Figure BDA0002713899910000072
Figure BDA0002713899910000073
in the formula, thetaA、θB、θCThe wind wheel azimuth angles of the blades A, B and C are shown;
6-7) changing the variable pitch reference angle beta of each blade obtained in the step 5-1)PSC-A、βPSC-B、βPSC-CRespectively with Delta betaA、ΔβB、ΔβCAdding to obtain the independent variable pitch control angles of the blade A, the blade B and the blade C as follows:
Figure BDA0002713899910000074
6-8) obtaining the independent variable pitch control angle beta of each blade according to the step 6-7) by the wind wheel of the variable pitch system of the double-fed wind generating setA、βB、βCAnd carrying out independent pitch variation.
Further, an independent pitch control parameter R may be set in step 6), and whether to perform independent pitch process control is determined according to the following method:
1) when R is 0, the double-fed wind generating set does not carry out independent pitch control process control;
2) and when R is not equal to 0, the doubly-fed wind generating set carries out independent pitch control process control.
Further, the duration time of the independent variable pitch control process can be set to be T, and the difference value delta M of the overturning load component acquired by the double-fed wind generating settiltOr difference in yaw load component Δ MyawA duration greater than zero of T0When T is0When the frequency is less than T, the duration time of the independent variable pitch control process of the double-fed wind generating set is T so as to ensure that the difference value delta M of the overturning load components acquired by the double-fed wind generating settiltOr difference in yaw load component Δ MyawThe duration of time greater than zero being too smallUnder the condition, the doubly-fed wind generating set cannot be frequently switched between an independent variable pitch control process and a unified variable pitch control process, the fatigue load of the blade increased by frequent action of the blade is reduced, and the problems that the blade is broken due to fatigue and the service life of the blade is shortened are solved.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a flow chart of an independent pitch control process in the present invention;
FIG. 3 is a comparison diagram of blade angles of a doubly-fed wind generating set which is controlled by the independent variable pitch process and a doubly-fed wind generating set which is controlled by the traditional independent variable pitch process under the working condition of rated wind speed;
FIG. 4 is a comparison graph of the moment in the My direction in the fixed hub coordinate system of the doubly-fed wind generating set which is controlled by the independent variable pitch process and the doubly-fed wind generating set which is controlled by the traditional independent variable pitch process under the working condition of rated wind speed;
FIG. 5 is a comparison graph of blade angles of a doubly-fed wind generating set which is controlled by the independent variable pitch process according to the invention and a doubly-fed wind generating set which is controlled by a traditional independent variable pitch process under a working condition that the working condition is higher than a rated wind speed;
fig. 6 is a comparison diagram of the moment in the My direction in the fixed hub coordinate system of the doubly-fed wind generating set which is controlled by the independent pitch control process of the invention and the doubly-fed wind generating set which is controlled by the traditional independent pitch control process under the working condition that the working speed is higher than the rated wind speed.
Detailed Description
As shown in fig. 1 to 2, a pitch control method based on a doubly-fed wind turbine generator system includes the following steps:
1) setting a wind wheel overturning load reference component Mtilt-refAnd a yaw load reference component Myaw-ref；
2) Acquiring the real-time component M of the overturning load of the wind wheel according to the following methodtiltAnd yaw load real-time component Myaw：
2-1) by means of paddles A, B and CStrain sensor acquires blade back tilting moment (M) of double-fed wind generating set variable pitch systemA,MB,MC)；
2-2) obtaining a wind wheel azimuth angle theta by utilizing an absolute value encoder arranged on a main shaft of the wind generating set;
2-3) the retroversion moment (M) of the blade obtained in the step 2-1)A,MB,MC) Obtaining the real-time component M of the overturning load of the wind wheel through park transformation with the azimuth angle theta of the wind wheeltilt＝f(MA,MB,MCTheta) and yaw load real-time component M of the wind wheelyaw＝F(MA,MB,MCθ), as shown in the following expression:
Figure BDA0002713899910000091
Figure BDA0002713899910000092
in the formula, thetaA、θB、θCWind wheel azimuth angles of the blades A, B and C are respectively;
3) and (3) filtering treatment:
3-1) obtaining the rotating speed RotorSpeed of the rotor of the wind wheel by utilizing an incremental encoder of a low-speed shaft of the doubly-fed wind generating set, and calculating the rotating frequency f of the wind wheel according to the following formula1Harmonic wind wheel rotation frequency multiplication f2：
Figure BDA0002713899910000101
In the formula (f)1Is the rotational frequency of the wind wheel, f2The frequency is multiplied by the rotation frequency of the wind wheel, and the RotorSpeed is the rotation speed of the rotor of the wind wheel;
3-2) calculating the rotating frequency f of the wind wheel calculated in the step 3-1)1And wind wheel rotation frequency multiplication f2As filtering parameters, the frequency of the wind wheel rotation frequency and the wave trap of the wind wheel rotation frequency input to the series connectionIn frequency doubling wave trap and second-order low-pass filter, the real-time component M of overturning load to wind wheeltiltAnd yaw load real-time component MyawFiltering to obtain the filtered real-time component M of the overturning loadtilt-filteredAnd a filtered real-time yaw load component Myaw-filtered；
4) The real-time component M of the filtered overturning load in the step 3-2)tilt-filteredAnd a filtered real-time yaw load component Myaw-filteredRespectively with the overturning load reference component Mtilt-refAnd a yaw load reference component Myaw-refPerforming difference comparison to obtain the difference value Delta M of the overturning load componentstiltAnd the difference Δ M of the yaw load componentyawAs shown in the following formula:
ΔMtilt＝Mtilt-filtered-Mtilt-ref
ΔMyaw＝Myaw-filtered-Myaw-ref
in the formula,. DELTA.MtiltFor the difference in the overturning load components, Δ MyawFor difference in yaw load component, Mtilt-filteredFor the filtered real-time component of the overturning load, Myaw-filteredFor the filtered real-time component of yaw load, Mtilt-refFor overturning load reference component, Myaw-refIs a yaw load reference component;
5) when the difference value of the overturning load components is Delta MtiltAnd the difference Δ M of the yaw load componentyawWhen the wind power is not more than zero, the double-fed wind generating set is subjected to unified pitch-changing process control by the following steps:
5-1) acquiring the actual rotating Speed of the generator acquired by the incremental encoder of the high-Speed shaft of the doubly-fed wind generating set, and acquiring the active Power of the generator and the reference rotating Speed of the generator acquired by the Power grid measuring module of the doubly-fed wind generating setRefReference Power of generatorRefInputting the variable pitch reference angles to a power-speed controller to obtain variable pitch reference angles beta of a blade A, a blade B and a blade CPSC-A、βPSC-B、βPSC-CAnd the unified variable pitch control angle of the wind turbine blades is betaPSC；
5-2) the wind wheel of the double-fed wind generating set variable pitch system obtains the unified variable pitch control angle beta of the wind wheel blades according to the step 5-1)PSCCarrying out unified pitch-changing process control;
6) when the difference value of the overturning load components is Delta MtiltOr difference in yaw load component Δ MyawWhen the pitch is larger than zero, the double-fed wind generating set is subjected to independent pitch control process control through the following steps:
further, an independent pitch control parameter R may be set in step 6), and whether to perform independent pitch process control is determined according to the following method:
1) when R is 0, the double-fed wind generating set does not carry out independent pitch control process control;
2) and when R is not equal to 0, the doubly-fed wind generating set carries out independent pitch control process control.
6-1) obtaining the active power regulation limiting factor K of the generator:
setting the active power regulation limiting factor K of the generator to be within the scope of Kmin，Kmax]The active Power of the generator belongs to Powermin，Powermax) And then, the value of the generator active power regulation limiting factor K is taken according to the following modes:
when Power is less than PowerminThen:
K＝Kmin
when Power is greater than PowermaxThen:
K＝Kmax
③ when Power belongs to the group of Powermin，Powermax]And then, the active power regulation limiting factor K of the generator performs linear interpolation according to the following formula:
Figure BDA0002713899910000111
in the formula, K is the active power regulation limiting factor of the generator, KmaxAdjusting the maximum value of the limiting factor K for the active power of the generator, KminThe minimum value of the limiting factor K is adjusted for the active power of the generator,power is the active Power of the generatorminFor minimum reference Power of the generator, PowermaxThe maximum reference power of the generator;
6-2) obtaining a PI (proportional integral) regulation amplitude limiting factor f of the independent variable pitch control processlimitPolynomial function of (2):
firstly, performing static power simulation in GH Blated software according to a simulation model of the double-fed wind generating set to obtain wind speed-blade angle discrete data and wind speed-blade root load discrete data of the double-fed wind generating set;
combining the wind speed-blade angle discrete data and the wind speed-blade root load discrete data of the double-fed wind generating set to obtain the wind speed-blade angle-blade root load discrete data;
thirdly, dividing each blade root load value in the discrete data of the wind speed, the blade angle and the blade root load by the maximum value of the blade root load to obtain a blade root load coefficient set, and obtaining a blade angle and blade root load coefficient discrete data set by using the discrete data of the wind speed, the blade angle and the blade root load to express the corresponding relation of the blade angle and the blade root load coefficient;
performing polynomial fitting on discrete data in the discrete data set of the blade angle and the blade root load coefficient by using Origin software to obtain a PI (proportion integral) regulation amplitude limiting factor f for representing an independent variable pitch control processlimitThe polynomial function of (a) is as follows:
Figure BDA0002713899910000121
in the formula, G1Is a 4-degree term coefficient of a polynomial function, G2Coefficient of 3 degrees of a polynomial function, G3Is a 2-degree term coefficient of a polynomial function, G4Is a 1-degree term coefficient of a polynomial function, G5Is a 0-degree coefficient of a polynomial function, betaPSCControlling the angle for the uniform pitch variation of the wind turbine blades;
6-3) setting a PI (proportional integral) regulation amplitude limiting factor f of an independent variable pitch control processlimit∈[flowlimit，fuplimit]，flimitTaking values according to the following modes:
when flimitIs less than flowlimitWhen f is presentlimitIs the minimum value f in the value range of the PI regulation amplitude limiting factorlowlimitNamely:
flimit＝flowlimit
when flimitGreater than fuplimitWhen f is presentlimitIs the maximum value f in the value range of the PI regulation amplitude limiting factoruplimitNamely:
flimit＝fuplimit
(iii) when flimit∈(flowlimit，fuplimit) When f is presentlimitExpressed according to the polynomial function in step 6-2):
Figure BDA0002713899910000131
in the formula, G1Is a 4-degree term coefficient of a polynomial function, G2Coefficient of 3 degrees of a polynomial function, G3Is a 2-degree term coefficient of a polynomial function, G4Is a 1-degree term coefficient of a polynomial function, G5Is a 0-degree coefficient of a polynomial function, betaPSCThe unified variable pitch control angle of the wind turbine blades obtained in the step 5-1) is obtained;
6-4) obtaining the difference value Delta M of the overturning load components of the step 4) according to the following formulatiltAnd the difference Δ M of the yaw load componentyawPI adjustment is carried out to obtain an overturning load component delta beta under a two-phase coordinate systemtilt-PIAnd a yaw load component Δ βyaw-PI：
Δβtilt-PI＝Kp-tilt×ΔMtilt+Ki-tilt×Ts×ΔMtilt
Δβyaw-PI＝Kp-yaw×ΔMyaw+Ki-yaw×Ts×ΔMyaw
In the formula, Δ βtilt-PIIs the overturning load component, Delta beta, in a two-phase coordinate systemyaw-PIYaw load component, K, in a two-phase coordinate systemp-tiltProportional term parameter, K, regulated for the overturning load component PIi-tiltIntegral term parameter, K, adjusted for the overturning load component PIp-yawProportional term parameter, K, adjusted for the yaw load component PIi-yawIntegral term parameter, T, adjusted for yaw load component PIsSampling time, Δ M, for PI regulationtiltFor the difference in the overturning load components, Δ MyawIs the yaw load component difference;
6-5) component of overturning load Delta beta under two-phase coordinate systemtilt-PIAnd a yaw load component Δ βyaw-PIRespectively multiplying the PI regulation amplitude limiting factors f of the independent variable pitch control process obtained in the step 6-3)limitObtaining the overturning load component regulating value delta betatiltAnd yaw load component adjustment value delta betayawNamely:
Figure BDA0002713899910000132
in the formula, Δ βtilt-PIIs the overturning load component, Delta beta, in a two-phase coordinate systemyaw-PIIs a yaw load component, f, in a two-phase coordinate systemlimitAdjusting an amplitude limiting factor, Δ β, for the PI of an independent pitch control processtiltFor the adjustment of the overturning load component, Δ βyawAdjusting a value for the yaw load component;
6-6) adjusting the overturning load component delta beta obtained in the step 6-5)tiltAnd yaw load component adjustment value delta betayawMultiplying the active power regulation limiting factors K of the generator in the step 6-1) respectively, and then performing park inverse transformation to obtain independent variable pitch angle regulation values of the blade A, the blade B and the blade C which are delta beta respectivelyA、ΔβB、ΔβCAs shown in the following formula:
Figure BDA0002713899910000141
Figure BDA0002713899910000142
in the formula, thetaA、θB、θCThe wind wheel azimuth angles of the blades A, B and C are shown;
6-7) changing the variable pitch reference angle beta of each blade obtained in the step 5-1)PSC-A、βPSC-B、βPSC-CRespectively with Delta betaA、ΔβB、ΔβCAdding to obtain the independent variable pitch control angles of the blade A, the blade B and the blade C as follows:
Figure BDA0002713899910000143
6-8) obtaining the independent variable pitch control angle beta of each blade according to the step 6-7) by the wind wheel of the variable pitch system of the double-fed wind generating setA、βB、βCAnd carrying out independent pitch variation.
Further, the duration time of the independent variable pitch control process can be set to be T, and the difference value delta M of the overturning load component acquired by the double-fed wind generating settiltOr difference in yaw load component Δ MyawA duration greater than zero of T0When T is0When the frequency is less than T, the duration time of the independent variable pitch control process of the double-fed wind generating set is always T so as to ensure that the difference value delta M of the overturning load components acquired by the double-fed wind generating settiltOr difference in yaw load component Δ MyawUnder the condition that the duration time larger than zero is too short, the doubly-fed wind generating set cannot be frequently switched between the independent variable pitch control process and the unified variable pitch control process, the fatigue load of the blades increased by frequent actions of the blades is reduced, the problems that the blades are broken due to fatigue and the service lives of the blades are shortened are solved.
In the embodiment, a simulation model of a doubly-fed wind generating set with the blade diameter of 140m and the rated power of 2500KW is adopted to carry out multiple times of simulation in a computer through GH Bladed simulation software to obtain figures 3, 4, 5 and 6, it can be seen that the invention can determine the range of the adjustment value of the independent variable pitch angle according to the real-time parameters of the doubly-fed wind generating set in normal operation, the motion amplitude of the blade angle is much smaller than that of the traditional control mode, the stable output power is ensured, the condition that the active power output of the generator is influenced due to the large fluctuation of the variable pitch angle caused by triggering the independent variable pitch function under the condition of strong wind is avoided, meanwhile, the problems of unstable rotating speed and ultimate load of the generator caused by frequent actions of the blade angle about 0 degree due to large independent variable pitch fluctuation when the variable pitch angle is close to the 0-degree position are avoided.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make modifications without departing from the spirit of the present invention.

Claims (3)

1. A variable pitch control method based on a double-fed wind generating set is characterized by comprising the following steps:
1) setting a wind wheel overturning load reference component Mtilt-refAnd a yaw load reference component Myaw-ref；
2) Acquiring the real-time component M of the overturning load of the wind wheel according to the following methodtiltAnd yaw load real-time component Myaw：
2-1) acquiring blade backward tilting moment (M) of a variable pitch system of the doubly-fed wind generating set by utilizing strain sensors on the blade A, the blade B and the blade CA，MB，MC)；
2-2) obtaining a wind wheel azimuth angle theta by utilizing an absolute value encoder arranged on a main shaft of the wind generating set;
2-3) the retroversion moment (M) of the blade obtained in the step 2-1)A，MB，MC) Obtaining the real-time component M of the overturning load of the wind wheel through park transformation with the azimuth angle theta of the wind wheeltilt＝f(MA，MB，MCTheta) and yaw load real-time component M of the wind wheelyaw＝F(MA，MB，MCθ), as shown in the following expression:
Figure FDA0002713899900000011
Figure FDA0002713899900000012
in the formula, thetaA、θB、θCWind wheel azimuth angles of the blades A, B and C are respectively;
3) and (3) filtering treatment:
3-1) obtaining the rotating speed RotorSpeed of the rotor of the wind wheel by utilizing an incremental encoder, and calculating the rotating frequency f of the wind wheel according to the following formula1Harmonic wind wheel rotation frequency multiplication f2：
Figure FDA0002713899900000013
In the formula (f)1Is the rotational frequency of the wind wheel, f2The frequency is multiplied by the rotation frequency of the wind wheel, and the RotorSpeed is the rotation speed of the rotor of the wind wheel;
3-2) calculating the rotating frequency f of the wind wheel calculated in the step 3-1)1And wind wheel rotation frequency multiplication f2As filtering parameters, the real-time component M of the overturning load of the wind wheel is input into a wave trap of the rotation frequency of the wind wheel, a wave trap of the frequency multiplication of the rotation frequency of the wind wheel and a second-order low-pass filter which are connected in seriestiltAnd yaw load real-time component MyawFiltering to obtain the filtered real-time component M of the overturning loadtilt-filteredAnd a filtered real-time yaw load component Myaw-filtered；
4) The real-time component M of the filtered overturning load in the step 3-2)tilt-filteredAnd a filtered real-time yaw load component Myaw-filteredRespectively with the overturning load reference component Mtilt-refAnd a yaw load reference component Myaw-refPerforming difference comparison to obtain the difference value Delta M of the overturning load componentstiltAnd the difference Δ M of the yaw load componentyawAs shown in the following formula:
ΔMtilt＝Mtilt-filtered-Mtilt-ref
ΔMyaw＝Myaw-filtered-Myaw-ref
in the formula,. DELTA.MtiltFor the difference in the overturning load components, Δ MyawFor difference in yaw load component, Mtilt-filteredFor the filtered real-time component of the overturning load, Myaw-filteredFor the filtered real-time component of yaw load, Mtilt-refFor overturning load reference component, Myaw-refIs a yaw load reference component;
5) when the difference value of the overturning load components is Delta MtiltAnd the difference Δ M of the yaw load componentyawWhen the wind power is not more than zero, the double-fed wind generating set is subjected to unified pitch-changing process control by the following steps:
5-1) acquiring the actual rotating Speed of the generator acquired by the incremental encoder of the high-Speed shaft of the doubly-fed wind generating set, and acquiring the active Power of the generator and the reference rotating Speed of the generator acquired by the Power grid measuring module of the doubly-fed wind generating setRefReference Power of generatorRefInputting the variable pitch reference angles to a power-speed controller to obtain variable pitch reference angles beta of a blade A, a blade B and a blade CPSC-A、βPSC-B、βPSC-CAnd the unified variable pitch control angle of the wind turbine blades is betaPSC；
5-2) the wind wheel of the double-fed wind generating set variable pitch system obtains the unified variable pitch control angle beta of the wind wheel blades according to the step 5-1)PSCCarrying out unified pitch-changing process control;
6) when the difference value of the overturning load components is Delta MtiltOr difference in yaw load component Δ MyawWhen the pitch is larger than zero, the double-fed wind generating set is subjected to independent pitch control process control through the following steps:
6-1) obtaining the active power regulation limiting factor K of the generator:
setting the active power regulation limiting factor K of the generator to be within the scope of Kmin，Kmax]The active Power of the generator belongs to Powermin，Powermax) And then, the value of the generator active power regulation limiting factor K is taken according to the following modes:
when Power is less than PowerminThen:
K＝Kmin
when Power is greater than PowermaxThen:
K＝Kmax
③ when Power belongs to the group of Powermin，Powermax]And then, the active power regulation limiting factor K of the generator performs linear interpolation according to the following formula:
Figure FDA0002713899900000031
in the formula, K is the active power regulation limiting factor of the generator, KmaxAdjusting the maximum value of the limiting factor K for the active power of the generator, KminThe minimum value of the limiting factor K is adjusted for the active Power of the generator, and Power is the active Power of the generatorminFor minimum reference Power of the generator, PowermaxThe maximum reference power of the generator;
6-2) obtaining a PI (proportional integral) regulation amplitude limiting factor f of the independent variable pitch control processlimitPolynomial function of (2):
firstly, performing static power simulation in GH Blated software according to a simulation model of the double-fed wind generating set to obtain wind speed-blade angle discrete data and wind speed-blade root load discrete data of the double-fed wind generating set;
combining the wind speed-blade angle discrete data and the wind speed-blade root load discrete data of the double-fed wind generating set to obtain the wind speed-blade angle-blade root load discrete data;
thirdly, dividing each blade root load value in the discrete data of the wind speed, the blade angle and the blade root load by the maximum value of the blade root load to obtain a blade root load coefficient set, and obtaining a blade angle and blade root load coefficient discrete data set by using the discrete data of the wind speed, the blade angle and the blade root load to express the corresponding relation of the blade angle and the blade root load coefficient;
performing polynomial fitting on discrete data in the discrete data set of the blade angle and the blade root load coefficient by using Origin software to obtain a PI (proportion integral) regulation amplitude limiting factor f for representing an independent variable pitch control processlimitThe polynomial function of (a) is as follows:
Figure FDA0002713899900000041
in the formula, G1Is a 4-degree term coefficient of a polynomial function, G2Coefficient of 3 degrees of a polynomial function, G3Is a 2-degree term coefficient of a polynomial function, G4Is a 1-degree term coefficient of a polynomial function, G5Is a 0-degree coefficient of a polynomial function, betaPSCControlling the angle for the uniform pitch variation of the wind turbine blades;
6-3) setting a PI (proportional integral) regulation amplitude limiting factor f of an independent variable pitch control processlimit∈[flowlimit，fuplimit]，flimitTaking values according to the following modes:
when flimitIs less than flowlimitWhen f is presentlimitIs the minimum value f in the value range of the PI regulation amplitude limiting factorlowlimitNamely:
flimit＝flowlimit
when flimitGreater than fuplimitWhen f is presentlimitIs the maximum value f in the value range of the PI regulation amplitude limiting factoruplimitNamely:
flimit＝fuplimit
(iii) when flimit∈(flowlimit，fuplimit) When f is presentlimitExpressed according to the polynomial function in step 6-2):
Figure FDA0002713899900000042
in the formula, G1Is a 4-degree term coefficient of a polynomial function, G2Coefficient of 3 degrees of a polynomial function, G3Is a 2-degree term coefficient of a polynomial function, G4Is a 1-degree term coefficient of a polynomial function, G5Is a 0-degree coefficient of a polynomial function, betaPSCThe unified variable pitch control angle of the wind turbine blades obtained in the step 5-1) is obtained;
6-4) obtaining the difference value Delta M of the overturning load components of the step 4) according to the following formulatiltAnd the difference Δ M of the yaw load componentyawPI adjustment is carried out to obtain an overturning load component delta beta under a two-phase coordinate systemtilt-PIAnd a yaw load component Δ βyaw-PI：
Δβtilt-PI＝Kp-tilt×ΔMtilt+Ki-tilt×Ts×ΔMtilt
Δβyaw-PI＝Kp-yaw×ΔMyaw+Ki-yaw×Ts×ΔMyaw
In the formula, Δ βtilt-PIIs the overturning load component, Delta beta, in a two-phase coordinate systemyaw-PIYaw load component, K, in a two-phase coordinate systemp-tiltProportional term parameter, K, regulated for the overturning load component PIi-tiltIntegral term parameter, K, adjusted for the overturning load component PIp-yawProportional term parameter, K, adjusted for the yaw load component PIi-yawIntegral term parameter, T, adjusted for yaw load component PIsSampling time, Δ M, for PI regulationtiltFor the difference in the overturning load components, Δ MyawIs the yaw load component difference;
6-5) component of overturning load Delta beta under two-phase coordinate systemtilt-PIAnd a yaw load component Δ βyaw-PIRespectively multiplying the PI regulation amplitude limiting factors f of the independent variable pitch control process obtained in the step 6-3)limitObtaining the overturning load component regulating value delta betatiltAnd yaw load component adjustment value delta betayawNamely:
Figure FDA0002713899900000051
in the formula, Δ βtilt-PIIs the overturning load component, Delta beta, in a two-phase coordinate systemyaw-PIIs a yaw load component, f, in a two-phase coordinate systemlimitAdjusting an amplitude limiting factor, Δ β, for the PI of an independent pitch control processtiltFor the adjustment of the overturning load component, Δ βyawAdjusting a value for the yaw load component;
6-6) adjusting the overturning load component delta beta obtained in the step 6-5)tiltAnd yaw load component adjustment value delta betayawMultiplying the active power regulation limiting factors K of the generator in the step 6-1) respectively, and then performing park inverse transformation to obtain independent variable pitch angle regulation values of the blade A, the blade B and the blade C which are delta beta respectivelyA、ΔβB、ΔβCAs shown in the following formula:
Figure FDA0002713899900000052
Figure FDA0002713899900000061
in the formula, thetaA、θB、θCThe wind wheel azimuth angles of the blades A, B and C are shown;
6-7) changing the variable pitch reference angle beta of each blade obtained in the step 5-1)PSC-A、βPSC-B、βPSC-CRespectively with Delta betaA、ΔβB、ΔβCAdding to obtain the independent variable pitch control angles of the blade A, the blade B and the blade C as follows:
Figure FDA0002713899900000062
6-8) wind wheel of double-fed wind generating set variable pitch systemThe independent variable pitch control angle beta of each blade obtained in the step 6-7)A、βB、βCAnd carrying out independent pitch variation.
2. The method of claim 1, wherein: setting an independent variable pitch control parameter R, and judging whether to carry out independent variable pitch process control according to the following method:
1) when R is 0, the double-fed wind generating set does not carry out independent pitch control process control;
2) and when R is not equal to 0, the doubly-fed wind generating set carries out independent pitch control process control.
3. The method of claim 1, wherein: setting the duration of the independent variable pitch control process as T, and obtaining the difference value delta M of the overturning load components of the double-fed wind generating settiltOr difference in yaw load component Δ MyawA duration greater than zero of T0When T is0When the time is less than T, the duration of the independent variable pitch control process of the double-fed wind generating set is T.
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