CN113217275B - Wind turbine generator set variable pitch control method based on strategy iteration - Google Patents

Wind turbine generator set variable pitch control method based on strategy iteration Download PDF

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CN113217275B
CN113217275B CN202110659204.6A CN202110659204A CN113217275B CN 113217275 B CN113217275 B CN 113217275B CN 202110659204 A CN202110659204 A CN 202110659204A CN 113217275 B CN113217275 B CN 113217275B
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strategy
pitch
pitch angle
equation
iteration
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CN113217275A (en
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刘洋
邢作霞
郭洪涛
蒋靖
郭涛
梁国
刘守恒
赵丽军
李媛
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Cpi Northeast New Energy Development Co ltd
Shenyang University of Technology
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Shenyang University of Technology
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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 
    • 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
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • 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
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/335—Output power or torque
    • 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
    • F05B2270/70—Type of control algorithm
    • 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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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
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  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
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Abstract

The invention relates to a control method of a wind turbine generator variable pitch based on strategy iteration r And the actual generator power P g Obtaining the optimal pitch angle beta through a strategy iterative algorithm according to the difference value and the actual pitch angle beta of the wind wheel; when the difference value epsilon (k) between the value V (k) and the value V (k-1) reaches the preset algorithm precision epsilon, obtaining the optimal pitch angle beta; the variable pitch mechanism realizes variable pitch control according to beta; under the condition of the variable pitch control, wind energy captured by the rotation of the wind wheel is output by the generator and is the actual power P of the generator g And the actual generator power P is converted into g The signal is transmitted to a strategic iterative pitch controller. The invention can effectively stabilize the output power fluctuation caused by the wind speed change, improve the output power of the wind turbine generator, and reduce the extra fatigue load caused by the redundant actions of the variable pitch actuating mechanism.

Description

Wind turbine generator set variable pitch control method based on strategy iteration
Technical Field
The invention belongs to the technical field of wind power generation, and relates to a wind turbine generator variable pitch control method based on strategy iteration, which belongs to the technical field of wind turbine generator operation control and controls the variable pitch of a wind turbine generator by using a strategy iteration algorithm.
Background
Wind turbines have a significant portion of the world's electricity production. Meanwhile, higher requirements are put forward on the reliability of the wind turbine generator control system so as to ensure power generation and reduce operation and maintenance costs. However, in actual operation, fluctuations in wind speed can lead to frequent pitching actions, whereas turbulent wind speeds can lead to additional fatigue loads and output power fluctuations, which can have a significant negative impact on the stability of the wind turbine mechanical structure and the grid.
Because wind generating sets have strong nonlinearity, traditional control technology mainly focuses on control design based on multiple working points, and proportional-integral control is usually adopted for one or more working points. However, when the operating point deviates from the operating point, the control effect is reduced. In addition, the randomness of the wind speed causes the working points of the wind turbine to be frequently switched, and further difficulty is brought to the control design meeting the variable pitch control strategy. Modern control theory is widely applied to control design of wind generating sets, such as linear variable parameter control, model prediction control, nonlinear feedback control and the like. However, these methods have many disadvantages in practical applications, such as the solution of the linear variable parameter controller is very complicated, and the switching distance is far from the actual randomness.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a wind turbine generator variable pitch control method and system based on strategy iteration, and aims to solve the problem that the service life and the output stability of a wind turbine generator are influenced due to extra fatigue load and output power fluctuation caused by fluctuation of wind speed.
The technical scheme is as follows:
a control method for the variable pitch of wind turbine generator based on strategy iteration features that the strategy iteration variable pitch controller of said control system is based on the input rated power P of motor r And the actual generator power P g Obtaining the optimal pitch angle beta through a strategy iterative algorithm according to the difference value and the actual pitch angle beta of the wind wheel; when the difference value epsilon (k) between the value V (k) and the value V (k-1) reaches the preset algorithm precision epsilon, obtaining the optimal pitch angle beta; the variable pitch mechanism realizes variable pitch control according to beta; under the condition of the variable pitch control, wind energy captured by the rotation of the wind wheel is output by the generator and is the actual generator power P g And the actual generator power P is converted into g The signal is transmitted to a strategic iterative pitch controller.
Further, the strategy iterative algorithm comprises the following steps:
1) according to rated power P r Actual generator power P g Establishing a performance index function J (k) according to the pitch angle beta;
2) obtaining a Bellman equation for variable pitch tracking control according to the performance index function J (k) in the step 1), the adjustable parameter Q, R given by a designer and the discount factor gamma;
3) the Bellman equation in the step 2) obtains a Bellman optimal equation according to a Bellman optimality principle, wherein the equation comprises an optimal value function V and an optimal pitch angle beta:
4) according to the Bellman optimal equation in the step 3), and passing through the actual generator power P g Rated power P r Making a difference to obtain a two-step iteration equation;
5) setting a performance index function of the control system;
6) combining the form of the performance index function in the step 1), giving a quadratic value function V 1 (k) Setting an initial allowable control beta (1) and a preset algorithm precision epsilon;
7) performing the two-step iteration equation in step 4) from the iteration index k being 1, …, n;
when V (k) in the Bellman equation of the tracking control problem in the step 2) is equal to the control system performance index function J (k) assumed in the step 4), obtaining a strategy evaluation formula, and solving a P (k) matrix according to the strategy evaluation formula;
8) substituting the matrix P (k) obtained in the step 7) into a strategy improvement formula to solve the pitch angle beta (k);
9) and (3) obtaining the optimal pitch angle beta by iterative solution of the value function V (k) and the pitch angle beta (k) when the difference epsilon (k) between the value V (k) and the value V (k-1) calculated by the strategy iterative equation in the step 8) reaches the preset algorithm precision epsilon, so that the strategy iterative algorithm stops.
In the step 1), the performance index function J (k) has the formula,
Figure BDA0003114651570000031
in the formula: p r For rated power generation, P g For the actual generator power, β is the pitch angle, R and Q are the preset parameter matrices given by the designer, and γ is the discount factor.
The Bellman equation for the tracking control problem in step 2) is,
Figure BDA0003114651570000032
in the formula: p is r For rated power generation, P g For the actual generator power, β is the pitch angle, R and Q are the preset parameter matrices given by the designer, and γ is the discount factor.
The optimal value function in the step 3) is
Figure BDA0003114651570000033
In the formula: utility function u (k) ═ (P) r (k)-P g (k)) T Q(P r (k)-P g (k))+β(k) T R β (k), min represents the minimum value that can be obtained in the set of all β (k);
the optimum pitch angle is
Figure BDA0003114651570000034
In the formula: beta is the optimum pitch angle, V (k +1) is the optimum function of the k +1 step, argmin represents when U (k) + gamma V * (k +1) β (k) when the minimum value is obtained.
Obtaining a two-step iteration equation in the step 4);
and (3) policy evaluation:
Figure BDA0003114651570000041
strategy improvement:
Figure BDA0003114651570000042
the control system value function in step 5) is as follows:
V(x)＝x(k) T Px(k)
in the formula: x (k) is the system state.
Step 7), a strategy evaluation formula:
Figure BDA0003114651570000043
step 8), a strategy improvement formula:
Figure BDA0003114651570000044
has the advantages that: through the iterative learning process of the strategy iterative pitch controller, the pitch controller can fully learn the internal relation between the wind speed change and the pitch angle and give a reasonable pitch angle control signal. Therefore, the output power fluctuation caused by the change of the wind speed can be effectively stabilized, the output power of the wind turbine generator set is improved, and the extra fatigue load caused by the redundant action of the variable pitch actuating mechanism is reduced.
Drawings
FIG. 1 is a general structural diagram of a variable pitch control system of a wind turbine generator according to the present invention;
FIG. 2 is a flow chart of a method for controlling the variable pitch of a wind turbine generator based on strategy iteration;
FIG. 3 illustrates the incoming wind speed of the wind turbine;
FIG. 4 is a pitch angle of a variable pitch system based on strategy iteration;
FIG. 5 is the output power of the wind turbine.
Detailed Description
To explain the technical content, the achieved objects and effects of the present invention in detail, the following detailed description is made with reference to the accompanying drawings and the embodiments.
As shown in fig. 1, a general structure diagram of a wind turbine pitch control method is a control method of wind turbine pitch based on strategy iteration, and a strategy iteration pitch controller of the control system is based on an input rated motor power P r And the actual generator power P g Obtaining the optimal pitch angle beta through a strategy iterative algorithm according to the difference value of the wind wheel and the actual pitch angle beta of the wind wheel; when the difference value epsilon (k) between the value V (k) and the value V (k-1) reaches the preset algorithm precision epsilon, obtaining the optimal pitch angle beta; the variable pitch actuator realizes variable pitch control according to beta; under the condition of the variable pitch control, the wind energy captured by the rotation of the wind wheel is output by the generator to actual generator power P g And the actual generator power P is converted into g And transmitting the signal to a strategy iterative pitch controller to form a cyclic control system.
As shown in fig. 2, the strategy iteration algorithm has the following steps:
1) detecting actual generator power P of generator g And the actual pitch angle beta of the wind wheel, and the rated power P given by the wind turbine generator set is obtained according to the model of the target wind turbine generator set r According to the rated power P r Actual generator power P g Establishing a performance index function J (k) according to the pitch angle beta;
Figure BDA0003114651570000051
in the formula: p is r For rated power generation, P g For the actual generator power, β is the pitch angle, R and Q are the preset parameter matrices given by the designer, and γ is the discount factor.
2) From the performance indicator function j (k) in step 1), and the tunable parameter Q, R and the discount factor γ given by the designer, the bellman equation of the tracking control problem can be obtained:
Figure BDA0003114651570000052
wherein V (k) is a function of value, P r For rated power, P g For actual generator power, β (k) is the pitch angle, R and Q are the preset parameter matrix given by the designer, and γ is the discounting factor.
3) The Bellman equation in the step 2) obtains a Bellman optimal equation according to a Bellman optimality principle, wherein the Bellman optimal equation comprises an optimal value function V and an optimal pitch angle beta:
the optimum value function is
Figure BDA0003114651570000061
In the formula: utility function u (k) ═ (P) r (k)-P g (k)) T Q(P r (k)-P g (k))+β(k) T R β (k), min represents the minimum value that can be obtained in the set of all β (k);
the optimum pitch angle is
Figure BDA0003114651570000062
In the formula: beta is the optimum pitch angle, V (k +1) is the optimum function of the k +1 step, argmin represents when U (k) + gamma V * (k +1) β (k) when the minimum value is obtained.
4) The input of the strategy iteration controller is divided into: measured actual power generationPower P g And rated power P r And the current actual pitch angle beta, the output is the optimal pitch angle beta. The objective of the strategy iterative control is to make the actual generator power P g Tracking rated power P r Namely, the tracking error e of the generator generated power tends to zero. According to the Bellman optimal equation in the step 3), and through the actual generator power Pg and the rated generating power P r And obtaining a generated power tracking error e by taking the difference, namely that e is equal to P g -P r Obtaining a two-step iteration equation;
Figure BDA0003114651570000063
Figure BDA0003114651570000064
5) setting a control system value function;
V(k)＝x(k)P i+1 x(k)
wherein x (k) is a system state.
6) Combining the quadratic value function V given in step 1) 1 (k) Setting an initial allowable variable pitch control beta (1) and a preset algorithm precision epsilon;
7) executing the two-step iteration equation in the step 4) from the iteration index k equal to 1, …, n;
obtaining a strategy evaluation formula when the value function V (k) of the tracking control problem in the step 2) is equal to the control system performance index function J (k) assumed in the step 4), solving a P matrix according to the strategy evaluation formula,
policy evaluation formula:
Figure BDA0003114651570000071
8) substituting the P matrix obtained in the step 7) into a strategy improvement formula to solve the pitch angle beta (k);
strategy improvement formula:
Figure BDA0003114651570000072
9) through iterative solution of the value function V (k) and the pitch angle beta (k), when the difference value epsilon (k) between the beta (k) value and the beta (k-1) calculated by the strategy iterative equation in the step 8) reaches the preset algorithm precision epsilon, the optimal pitch angle beta is obtained, namely the pitch angle beta corresponding to the epsilon (k) is beta at the moment, and the strategy iterative algorithm is stopped.
For the pitch control of the 1.2MW wind turbine, the incoming wind speed of the wind turbine is as shown in fig. 3, and it can be seen from fig. 3 that the wind speed variation range is large and frequent. The pitch angle control signal of the pitch system is shown in fig. 4, and it can be seen from fig. 4 that the change in pitch angle by the control method of the strategy iterative pitch control is gradual. The corresponding wind turbine generator output power is shown in fig. 5, and as can be seen from fig. 5, the control method for the variable pitch of the wind turbine generator based on strategy iteration, which is provided by the patent, can effectively inhibit wind disturbance, reduce fatigue load, and stabilize the wind turbine generator output power near the rated power.
In conclusion, the method can effectively improve the control performance of the variable pitch system of the wind turbine generator, enables the output power to be stabilized near the rated power, adapts to working points with large-range changes, inhibits wind disturbance, reduces fatigue load, has wide application prospect, and is worthy of popularization.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereby, and all changes made in the method and principle of the present invention should be covered by the protection scope of the present invention.

Claims (5)

1. A control method for wind turbine generator pitch variation based on strategy iteration is characterized in that: the strategy iteration variable pitch controller of the control method is used for controlling the variable pitch according to the input rated power P r And the actual generator power P g Obtaining the optimal pitch angle beta through a strategy iterative algorithm according to the difference value and the actual pitch angle beta of the wind wheel; when the difference value epsilon (k) of the value function V (k) and the value function V (k-1) reaches the preset algorithm precision epsilon, obtaining the optimal pitchAngle β; the variable pitch mechanism realizes variable pitch control according to beta; under the condition of the variable pitch control, wind energy captured by the rotation of the wind wheel is output by the generator and is the actual generator power P g And the actual generator power P is converted into g Transmitting the signal to a strategy iteration variable pitch controller;
the strategy iterative algorithm comprises the following steps:
1) according to rated power P r Actual generator power P g Establishing a performance index function J (k) according to the pitch angle beta;
2) obtaining a Bellman equation for variable pitch tracking control according to the performance index function J (k) in the step 1), the adjustable parameter Q, R given by a designer and the discount factor gamma;
3) the Bellman equation in the step 2) obtains a Bellman optimal equation according to a Bellman optimality principle, wherein the equation comprises an optimal value function V and an optimal pitch angle beta:
4) according to the Bellman optimal equation in the step 3) and through the actual generator power P g Rated power P r Making a difference to obtain a two-step iteration equation;
5) setting a control system performance value function;
6) combining the form of the performance index function in the step 1), giving a quadratic value function V 1 (k) Setting an initial allowable control beta (1) and a preset algorithm precision epsilon;
7) performing the two-step iteration equation in step 4) from the iteration index k being 1, …, n;
when V (k) in the Bellman equation of the tracking control problem in the step 2) is equal to the performance index function J (k) in the step 1), obtaining a strategy evaluation formula, and solving a P (k) matrix according to the strategy evaluation formula;
8) substituting the matrix P (k) obtained in the step 7) into a strategy improvement formula to solve the pitch angle beta (k);
9) and (3) obtaining the optimal pitch angle beta by iterative solution of the value function V (k) and the pitch angle beta (k) when the difference epsilon (k) between the value V (k) and the value V (k-1) calculated by the strategy iterative equation in the step 8) reaches the preset algorithm precision epsilon, so that the strategy iterative algorithm stops.
2. The strategy iteration based control method for wind turbine generator pitch according to claim 1, characterized in that: in the step 1), the performance index function J (k) has the formula,
Figure FDA0003747722780000021
in the formula: p is r For rated power generation, P g For the actual generator power, β is the pitch angle, R and Q are the preset parameter matrices given by the designer, and γ is the discount factor.
3. The strategy iteration based control method for wind turbine pitch control according to claim 1, characterized by: the bellman equation for the tracking control problem in step 2) is,
Figure FDA0003747722780000022
in the formula: p r For rated power generation, P g For the actual generator power, β is the pitch angle, R and Q are the preset parameter matrices given by the designer, and γ is the discount factor.
4. The strategy iteration based control method for wind turbine generator pitch according to claim 1, characterized in that: the optimal value function in the step 3) is
Figure FDA0003747722780000023
In the formula: utility function u (k) ═ (P) r (k)-P g (k)) T Q(P r (k)-P g (k))+β(k) T R β (k), min represents the minimum value that can be obtained in the set of all β (k);
the optimum pitch angle is
Figure FDA0003747722780000024
In the formula: β is the optimum pitch angle, V (k +1) is the optimum function of step k +1, and argmin represents β (k) when u (k) + γ V (k +1) takes a minimum.
5. Method for controlling the pitch of a wind turbine according to claim 4, characterised in that: obtaining a two-step iteration equation in the step 4);
and (3) policy evaluation:
Figure FDA0003747722780000031
strategy improvement:
Figure FDA0003747722780000032
in the formula: u (K) is a utility function.
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