CN113323804B - Control method and module for solving second-order front and back vibration of wind generating set tower - Google Patents

Control method and module for solving second-order front and back vibration of wind generating set tower Download PDF

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CN113323804B
CN113323804B CN202110653039.3A CN202110653039A CN113323804B CN 113323804 B CN113323804 B CN 113323804B CN 202110653039 A CN202110653039 A CN 202110653039A CN 113323804 B CN113323804 B CN 113323804B
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blade
pitch
angle
tower
azimuth
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CN113323804A (en
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周玲
任永
王超
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MingYang Smart Energy Group 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
    • 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
    • F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor 
    • F03D1/06—Rotors
    • F03D1/065—Rotors characterised by their construction elements
    • F03D1/0675—Rotors characterised by their construction elements of the blades
    • 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
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • 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
    • 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
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • 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
    • F03D7/0224—Adjusting blade pitch
    • 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
    • F03D7/0296—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
    • 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
    • F05B2270/329—Azimuth or yaw angle
    • 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
    • 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
    • Y02E10/728—Onshore wind turbines

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  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses a control method and a module for solving second-order front and back vibration of a tower of a wind generating set, wherein a second-order modal array is analyzed based on front and back acceleration of the middle section of the tower and an azimuth angle of an impeller, a P controller is adopted, different dynamic pitch changing rates are respectively superposed on three blades on a pitch changing rate instruction output by a conventional pitch changing controller, a final pitch changing rate value of each blade is obtained through amplitude limiting, then a final pitch angle set value of each blade is obtained according to calculation, namely, the pitch angle is finely adjusted, the pitch angle is increased or reduced according to different azimuth angles of the blade, the stress imbalance of the blade is reduced, the purpose of reducing the front and back vibration of the tower on a second-order frequency point is finally achieved, and the safe and stable operation of the wind generating set is ensured.

Description

Control method and module for solving second-order front and back vibration of wind generating set tower
Technical Field
The invention relates to the technical field of wind generating sets, in particular to a control method and a control module for solving second-order front and back vibration of a tower of a wind generating set.
Background
With the development of wind power generation technology and the demand of reducing electricity consumption cost in the market, the capacity of a wind generating set is larger and larger, blades are longer and longer, and a tower is higher and higher.
However, the problem of tower vibration is a troublesome problem for both onshore units and offshore units. Particularly, the foundation of the offshore wind generating set is erected on the seabed, the upper end of the tower is influenced by wind speed, wake flow and the like, the lower end of the tower is influenced by ocean current, sea waves and the like, and the natural frequency of the tower is reduced, so that the tower vibration problem is more serious compared with that of the onshore wind generating set, and particularly, the second-order front-back vibration of the tower is more serious.
For the problem of the front and rear vibration of the tower, a front and rear tower resistance adding strategy is adopted, namely, on the basis of a conventional pitch controller, a pitch changing set value based on the front and rear acceleration of the tower is added, and the front and rear vibration modal damping of the tower is increased by finely adjusting the pitch angle, so that the front and rear vibration of the tower is reduced. The scheme has a good effect on the front-back vibration of the first-order tower, but the vibration effect is not obvious on the vibration mainly in the front-back second-order mode of the tower.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a control method for solving the problem of the second-order front-rear vibration of the tower of the wind generating set, which can reduce the vibration mainly caused by the front-rear second-order mode of the tower, thereby solving the front-rear vibration of the tower on a second-order frequency point and ensuring the safe and stable operation of the wind generating set.
The second purpose of the invention is to provide a control module for solving the second-order front-back vibration of the tower of the wind generating set.
The first purpose of the invention is realized by the following technical scheme: a control method for solving the second-order fore-and-aft vibration of a tower of a wind generating set is characterized in that the fore-and-aft vibration of the tower at a second-order frequency point is solved based on the fore-and-aft acceleration of the middle section of the tower and an independent variable Pitch control strategy IPC (inductive Pitch control) of an azimuth angle of an impeller, the aerodynamic imbalance caused by uneven stress in three blade surfaces in a rotating plane of the impeller is reduced, the fore-and-aft vibration of the tower is fundamentally reduced, namely, the Pitch angle is increased or reduced according to different azimuth angles of the blades, so that the unbalanced stress of the three blades is reduced, and the vibration mainly based on the fore-and-aft second-order mode of the tower is further reduced, and the specific process is as follows: firstly, measuring the front and back acceleration of the middle section of the tower in real time through a sensor, and filtering the acceleration; then, measuring and calculating azimuth angles corresponding to the three blades; according to the front-back acceleration and the azimuth angle of the middle section of the tower, the P controller is adopted to obtain the extra pitch variation rate of each blade, the extra pitch variation rate is superposed on the conventional pitch variation rate of each blade, namely, different dynamic pitch variation rates are superposed on the three blades respectively, and finally, the final pitch variation given value of each blade is calculated through amplitude limiting and is transmitted to a pitch variation system of the unit to be executed, so that the problem of front-back vibration of the tower at a second-order frequency point is solved.
Further, the control method for solving the second-order front-rear vibration of the tower of the wind generating set comprises the following steps of:
1) measuring fore-and-aft acceleration a of the midsection of the towernacelleAnd filtering, wherein the forward and backward acceleration of the middle section of the tower after being filtered by a transfer function F(s) is anacellefNamely:
anacellef＝anacelle*F(s)
Figure GDA0003460560770000021
in the formula, s is Laplace operator, xi is damping coefficient, omega is frequency, T1And T2Is a time constant; wherein, define anacellefThe positive direction of (A) is positive when the vehicle is moving forwards;
2) calculating the azimuth angle of the impeller;
measuring the azimuth angle of the blade 1, calculating the azimuth angles of the blade 2 and the blade 3 according to the fact that the three blades are uniformly distributed on an impeller plane, defining the vertical upward azimuth angle of the blade to be 0 degree, and obtaining the azimuth angle of the blade 1 through measurement of a sensor
Figure GDA0003460560770000031
The azimuth angle of the blade 2 is added to the azimuth angle of the blade 1
Figure GDA0003460560770000032
The azimuth angle of the blade 3 is added on the basis of the azimuth angle of the blade 1
Figure GDA0003460560770000033
Namely:
Figure GDA0003460560770000034
Figure GDA0003460560770000035
Figure GDA0003460560770000036
wherein RotorAzimuth1 is the azimuth of blade 1, RotorAzimuth2 is the azimuth of blade 2, and RotorAzimuth3 is the azimuth of blade 3;
3) calculating the additional variable pitch rate of each blade;
according to the front and back acceleration of the middle section of the tower, based on the stress analysis of the blades under different azimuth angles, the additional pitch variation rates required by the three blades are respectively calculated, and the method specifically comprises the following steps:
Figure GDA0003460560770000037
Figure GDA0003460560770000038
Figure GDA0003460560770000039
in the formula,. DELTA.V1(k)、ΔV2(k)、ΔV3(k) The additional variable pitch rates required by the blades 1, 2 and 3 respectively, Kp is a proportional gain coefficient of a P controller, and A is an azimuth angle advance angle of the impeller;
4) calculating the corresponding variable pitch rate of each blade;
superposing the additional variable pitch speed value of each blade obtained in the step 3) with the variable pitch speed value vo (k) output by the conventional controller, and obtaining the variable pitch speeds corresponding to the three blades respectively through amplitude limiting, wherein the method specifically comprises the following steps:
pitch rate V of blade 11(k)：V1(k)＝Vo(k)+ΔV1(k)
Pitch rate V of blade 22(k)：V2(k)＝Vo(k)+ΔV2(k)
Pitch rate V of the blade 33(k)：V3(k)＝Vo(k)+ΔV3(k)
Then, amplitude limiting is carried out on the variable pitch rate of each blade, and the final variable pitch rates of the blade 1, the blade 2 and the blade 3 are respectively Vf1(k)、Vf2(k)、Vf3(k) Wherein vo (k) is the unified pitch rate calculated by the conventional controller;
5) calculating a pitch angle given value corresponding to each blade;
calculating to obtain a final pitch rate according to the calculation in the step 4), calculating pitch angle set values corresponding to the three blades respectively, and transmitting the pitch angle set values to a pitch control system for execution, so as to realize independent pitch control of the three blade pitch angles, namely IPC control;
pitch angle of blade 1:
θ1(k)＝θ1(k-1)+Vf1(k)*T
pitch angle of blade 2:
θ2(k)＝θ2(k-1)+Vf2(k)*T
pitch angle of blade 3:
θ3(k)＝θ3(k-1)+Vf3(k)*T
in the formula, theta1(k-1) is the pitch angle of blade 1 at the previous moment, θ1(k) Is the pitch angle, theta, of the blade 1 at the present moment2(k-1) is the pitch angle of blade 2 at the previous moment, θ2(k) Is the pitch angle, theta, of the blade 2 at the present moment3(k-1) is the pitch angle of blade 3 at the previous moment, θ3(k) The pitch angle of the blade 3 at the current moment is T, and the T is a Controller Cycle time control algorithm Cycle time constant;
6) executing pitch angle variation;
the variable pitch system adjusts the pitch angles of the blades according to the given pitch angle values corresponding to the three blades, and reduces the front and back vibration of the tower on a second-order frequency point caused by pneumatic imbalance, so that the vibration optimization control of the wind generating set based on the front and back acceleration of the middle section of the tower and the azimuth angle of the impeller is realized.
The second purpose of the invention is realized by the following technical scheme: a control module for solving the second-order front and back vibration of a tower of a wind generating set is characterized in that the module solves the front and back vibration of the tower at a second-order frequency point based on the front and back acceleration of the middle section of the tower and an independent variable Pitch control strategy IPC (independent Pitch control) of an impeller azimuth angle, and the aerodynamic imbalance caused by uneven stress in three blade surfaces in an impeller rotation plane is reduced, so that the front and back vibration of the tower is fundamentally reduced, namely the Pitch angle is increased or reduced according to different azimuth angles of the blades, thereby reducing the unbalanced stress of the three blades, further reducing the vibration mainly based on the front and back second-order modes of the tower, and the concrete process is as follows: firstly, measuring the front and back acceleration of the middle section of the tower in real time through a sensor, and filtering the acceleration; then, measuring and calculating azimuth angles corresponding to the three blades; according to the front-back acceleration and the azimuth angle of the middle section of the tower, the P controller is adopted to obtain the extra pitch variation rate of each blade, the extra pitch variation rate is superposed on the conventional pitch variation rate of each blade, namely, different dynamic pitch variation rates are superposed on the three blades respectively, and finally, the final pitch variation given value of each blade is calculated through amplitude limiting and is transmitted to a pitch variation system of the unit to be executed, so that the problem of front-back vibration of the tower at a second-order frequency point is solved.
Further, the control module for solving the second-order front and back vibration of the tower of the wind generating set comprises:
the measuring unit is used for measuring the front and back acceleration of the middle section of the tower and filtering;
the impeller azimuth angle calculation unit is used for measuring and calculating the azimuth angle of each blade;
the blade extra pitch rate calculation unit is used for calculating extra pitch rates of all the blades, and respectively calculating the extra pitch rates required by the three blades based on the stress analysis of the blades under different azimuth angles according to the front and back acceleration of the middle section of the tower;
the blade corresponding pitch rate calculating unit is used for calculating the pitch rate corresponding to each blade, superposing the additional pitch rate value of each blade calculated by the blade additional pitch rate calculating unit and the pitch rate value output by the conventional controller, and respectively obtaining the pitch rates corresponding to the three blades through amplitude limiting;
the blade corresponding pitch angle set value calculating unit is used for calculating the pitch angle set values corresponding to the three blades, obtaining the final pitch change rate according to the calculation of the blade corresponding pitch change rate calculating unit, calculating the pitch angle set values corresponding to the three blades respectively, and transmitting the pitch angle set values to the pitch change system to adjust the pitch angles of the blades, so that the independent pitch change control, namely IPC control, of the three blade pitch angles is realized.
Further, in the measuring unit, a fore-and-aft acceleration a of the midspan of the tower is measurednacelleAnd filtering, wherein the forward and backward acceleration of the middle section of the tower after being filtered by a transfer function F(s) is anacellefNamely:
anacellef＝anacelle*F(s)
Figure GDA0003460560770000061
in the formula, s is Laplace operator, xi is damping coefficient, omega is frequency, T1And T2Is a time constant; wherein, define anacellefThe positive direction of (d) is positive when going forward.
Further, in the impeller azimuth angle calculation unit, the azimuth angle of the blade 1 is measured, the azimuth angles of the blade 2 and the blade 3 are calculated according to the fact that the three blades are uniformly distributed on an impeller plane, the vertical upward azimuth angle of the blade is defined to be 0 degree, and the azimuth angle of the blade 1 is measured by a sensor to be 0 degree
Figure GDA0003460560770000062
The azimuth angle of the blade 2 is added to the azimuth angle of the blade 1
Figure GDA0003460560770000063
The azimuth angle of the blade 3 is added on the basis of the azimuth angle of the blade 1
Figure GDA0003460560770000064
Namely:
Figure GDA0003460560770000065
Figure GDA0003460560770000066
Figure GDA0003460560770000067
in the formula, RotorAzimuth1 is the azimuth of blade 1, RotorAzimuth2 is the azimuth of blade 2, and RotorAzimuth3 is the azimuth of blade 3.
Further, in the blade extra pitch rate calculation unit, the following formula is adopted:
Figure GDA0003460560770000068
Figure GDA0003460560770000069
Figure GDA0003460560770000071
in the formula,. DELTA.V1(k)、ΔV2(k)、ΔV3(k) The additional pitch rates required by the blade 1, the blade 2 and the blade 3 respectively, Kp is the proportional gain coefficient of the P controller, anacellefThe front and back acceleration of the middle section of the tower after filtering is obtained, and A is the azimuth angle advance angle of the impeller.
Further, in the unit for calculating the corresponding pitch rate of the blade, the following formula is adopted:
pitch rate V of blade 11(k)：V1(k)＝Vo(k)+ΔV1(k)
Pitch rate V of blade 22(k)：V2(k)＝Vo(k)+ΔV2(k)
Of blades 3Variable pitch rate V3(k)：V3(k)＝Vo(k)+ΔV3(k)
Then, amplitude limiting is carried out on the variable pitch rate of each blade, and the final variable pitch rates of the blade 1, the blade 2 and the blade 3 are respectively Vf1(k)、Vf2(k)、Vf3(k) Where vo (k) is the unified pitch rate, Δ V, calculated by the conventional controller1(k)、ΔV2(k)、ΔV3(k) The additional pitch rates required for blade 1, blade 2, blade 3 respectively.
Further, in the blade corresponding pitch angle given value calculation unit, the following formula is adopted:
pitch angle of blade 1:
θ1(k)＝θ1(k-1)+Vf1(k)*T
pitch angle of blade 2:
θ2(k)＝θ2(k-1)+Vf2(k)*T
pitch angle of blade 3:
θ3(k)＝θ3(k-1)+Vf3(k)*T
in the formula, theta1(k-1) is the pitch angle of blade 1 at the previous moment, θ1(k) Is the pitch angle, theta, of the blade 1 at the present moment2(k-1) is the pitch angle of blade 2 at the previous moment, θ2(k) Is the pitch angle, theta, of the blade 2 at the present moment3(k-1) is the pitch angle of blade 3 at the previous moment, θ3(k) For the pitch angle of the blade 3 at the present time, T is the Cycle time constant of the Controller Cycle time control algorithm, Vf1(k)、Vf2(k)、Vf3(k) The final pitch rates of the blades 1, 2 and 3 are different.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the control mode of superposing the pitch variation speed on the basis of the conventional pitch variation controller based on the front and back acceleration of the middle section of the tower is adopted to reduce the front and back vibration of the tower, so that the unit can stably operate. Compared with the existing pitch angle control mode, the problem of large load caused by unit vibration (particularly fore-and-aft vibration of the tower on a second-order frequency point) can be effectively reduced.
2. According to the invention, the front and back vibration of the tower can be reduced and the unit load can be reduced only by adding the corresponding functional module in the control method without adding unit equipment, so that the cost is saved and the unit competitiveness is improved.
3. The invention has strong theoretical basis, is easy to be accepted by related technical personnel, and lays a foundation for subsequent control optimization improvement and equipment maintenance.
In conclusion, the invention can effectively reduce the vibration mainly caused by the front and rear second-order modes of the tower, thereby solving the front and rear vibration of the tower on a second-order frequency point, reducing the load of the unit and ensuring the safe and stable operation of the wind generating set.
Drawings
Fig. 1 is a second order modal array diagram.
FIG. 2 is a flow chart of the method of the present invention.
FIG. 3 is a control block diagram for solving second-order fore-and-aft vibration of a tower of a wind generating set.
Fig. 4 is an architecture diagram of the module of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
Example 1
Firstly, the stress condition of the wind generating set is analyzed:
the blades of the impeller are influenced by gravity, wind shear, turbulence, yaw error and updraft, the tower top is subjected to fluctuating resultant force and resultant bending moment due to unbalanced stress of the three blades, the vibration of the tower is caused, particularly, unbalanced forward and backward overturning bending moment can excite the vibration of a second-order mode of the tower, the vibration influence of the second-order mode on the middle section of the tower is large, the second-order mode array is shown in figure 1 and is represented as large acceleration and small at two ends of the middle section of the tower, the unbalanced overturning bending moment acting on the forward and backward direction of the tower is generated by combining an IPC control strategy based on an azimuth angle based on the forward and backward vibration acceleration of the middle section of the tower, the unbalanced overturning bending moment generated by turbulence, wind shear and the like is counteracted, and the aim of reducing the vibration of the second-order mode of the tower is further achieved.
The control is as follows: when the blade is at an azimuth angle of 0 degree (the blade is positioned right above the vertical direction), when the forward acceleration of the middle section of the tower is measured, the tower top is subjected to a forward overturning bending moment, at the moment, the pitch angle of the blade is required to be increased, the aerodynamic thrust of the blade at the position is reduced, and the overturning bending moment acting on the tower top is further reduced; similarly, when the blade is positioned at an azimuth angle of 180 degrees (the blade is positioned vertically and vertically below), the pitch angle of the blade is adjusted to be small, the pneumatic thrust of the blade at the position is increased, the negative overturning bending moment acting on the tower top is generated, and the purposes of weakening the positive overturning bending moment and reducing vibration are also achieved. If the middle section of the tower has backward acceleration, the analysis concludes that the situation is opposite.
Therefore, based on the above analysis, the embodiment provides a control method for solving the second-order back-and-forth vibration of the tower of the wind turbine generator system, which is based on the back-and-forth acceleration of the middle section of the tower and the independent Pitch control strategy ipc (independent Pitch control) of the azimuth angle of the impeller to solve the back-and-forth vibration of the tower at the second-order frequency point, and reduces the aerodynamic imbalance caused by uneven stress in the three blade surfaces in the rotation plane of the impeller, so as to fundamentally reduce the back-and-forth vibration of the tower, that is, the Pitch angle is increased or reduced according to different azimuth angles of the blade, thereby reducing the unbalanced stress of the three blades, and further reducing the vibration mainly based on the back-and-forth second-order mode of the tower, as shown in fig. 2, the specific process is as follows: firstly, measuring the front and back acceleration of the middle section of the tower in real time through a sensor, and filtering the acceleration; then, measuring and calculating azimuth angles corresponding to the three blades; according to the front-back acceleration and the azimuth angle of the middle section of the tower, a P controller is adopted to obtain the extra pitch variation rate of each blade, the extra pitch variation rate is superposed on the conventional pitch variation rate of each blade, namely, different dynamic pitch variation rates are superposed on the three blades respectively, and finally, the final pitch variation given value of each blade is calculated through amplitude limiting and is transmitted to a pitch variation system of a unit to be executed, so that the problem of front-back vibration of the tower at a second-order frequency point is solved; the method specifically comprises the following steps:
1) measuring fore-and-aft acceleration a of the midsection of the towernacelleAnd filtering, wherein the forward and backward acceleration of the middle section of the tower after being filtered by a transfer function F(s) is anacellefNamely:
anacellef＝anacelle*F(s)
Figure GDA0003460560770000101
in the formula, s is Laplace operator, xi is damping coefficient, omega is frequency, T1And T2Is a time constant; wherein, define anacellefThe positive direction of (A) is positive when the vehicle is moving forwards;
2) calculating the azimuth angle of the impeller;
measuring the azimuth angle of the blade 1, calculating the azimuth angles of the blade 2 and the blade 3 according to the fact that the three blades are uniformly distributed on an impeller plane, defining the vertical upward azimuth angle of the blade to be 0 degree, and obtaining the azimuth angle of the blade 1 through measurement of a sensor
Figure GDA0003460560770000102
The azimuth angle of the blade 2 is added to the azimuth angle of the blade 1
Figure GDA0003460560770000103
The azimuth angle of the blade 3 is added on the basis of the azimuth angle of the blade 1
Figure GDA0003460560770000104
Namely:
Figure GDA0003460560770000107
Figure GDA0003460560770000105
Figure GDA0003460560770000106
wherein RotorAzimuth1 is the azimuth of blade 1, RotorAzimuth2 is the azimuth of blade 2, and RotorAzimuth3 is the azimuth of blade 3;
3) calculating the additional variable pitch rate of each blade;
according to the front and back acceleration of the middle section of the tower, based on the stress analysis of the blades under different azimuth angles, the additional pitch variation rates required by the three blades are respectively calculated, and the method specifically comprises the following steps:
Figure GDA0003460560770000111
Figure GDA0003460560770000112
Figure GDA0003460560770000113
in the formula,. DELTA.V1(k)、ΔV2(k)、ΔV3(k) The additional variable pitch rates required by the blades 1, 2 and 3 respectively, Kp is a proportional gain coefficient of a P controller, and A is an azimuth angle advance angle of the impeller;
4) calculating the corresponding variable pitch rate of each blade;
superposing the additional variable pitch speed value of each blade obtained in the step 3) with the variable pitch speed value vo (k) output by the conventional controller, and obtaining the variable pitch speeds corresponding to the three blades respectively through amplitude limiting, wherein the method specifically comprises the following steps:
pitch rate V of blade 11(k)：V1(k)＝Vo(k)+ΔV1(k)
Pitch rate V of blade 22(k)：V2(k)＝Vo(k)+ΔV2(k)
Pitch rate V of the blade 33(k)：V3(k)＝Vo(k)+ΔV3(k)
Then the variable pitch speed of each blade is calculatedPerforming amplitude limiting to obtain final pitch changing rates V of the blade 1, the blade 2 and the blade 3f1(k)、Vf2(k)、Vf3(k) Wherein vo (k) is the unified pitch rate calculated by the conventional controller;
5) calculating a pitch angle given value corresponding to each blade;
calculating to obtain a final pitch rate according to the calculation in the step 4), calculating pitch angle set values corresponding to the three blades respectively, and transmitting the pitch angle set values to a pitch control system for execution, so as to realize independent pitch control of the three blade pitch angles, namely IPC control;
pitch angle of blade 1:
θ1(k)＝θ1(k-1)+Vf1(k)*T
pitch angle of blade 2:
θ2(k)＝θ2(k-1)+Vf2(k)*T
pitch angle of blade 3:
θ3(k)＝θ3(k-1)+Vf3(k)*T
in the formula, theta1(k-1) is the pitch angle of blade 1 at the previous moment, θ1(k) Is the pitch angle, theta, of the blade 1 at the present moment2(k-1) is the pitch angle of blade 2 at the previous moment, θ2(k) Is the pitch angle, theta, of the blade 2 at the present moment3(k-1) is the pitch angle of blade 3 at the previous moment, θ3(k) The pitch angle of the blade 3 at the current moment is T, and the T is a Controller Cycle time control algorithm Cycle time constant;
6) executing pitch angle variation;
the variable pitch system adjusts the pitch angles of the blades according to the given pitch angle values corresponding to the three blades, and reduces the front and back vibration of the tower on a second-order frequency point caused by pneumatic imbalance, so that the vibration optimization control of the wind generating set based on the front and back acceleration of the middle section of the tower and the azimuth angle of the impeller is realized.
Example 2
As shown in fig. 3, the conventional controller of the wind turbine generator system is composed of a torque controller and a pitch controller: the torque controller is used for capturing wind energy maximally when the wind energy is below the rated wind speed; when the variable pitch controller is used above the rated wind speed, the rotating speed of the generator is kept near the rated rotating speed by adjusting the pitch angle, so that the output power of the generator set is guaranteed to be the rated power while the normal operation of the generator set is guaranteed. Considering that the upper end of the existing long blade, the high tower, especially the tower of the offshore wind generating set is influenced by wind, wake and the like, the lower end is influenced by ocean current and sea waves and the like, and the natural frequency of the tower is reduced, the tower vibration problem is more serious compared with the onshore generating set, and especially the second-order front-back vibration of the tower is more serious. Therefore, on the basis of a conventional variable Pitch controller, a new control module is established for solving the problem of second-order front and back vibration of the tower of the wind generating set, the control module solves the front and back vibration of the tower at a second-order frequency point based on the front and back acceleration of the middle section of the tower and an independent variable Pitch control strategy IPC (independent Pitch control) of an azimuth angle of an impeller, and fundamentally reduces the front and back vibration of the tower by reducing the aerodynamic imbalance caused by uneven stress in the surfaces of three blades in a rotating plane of the impeller, namely increasing or reducing the Pitch angle according to different azimuth angles of the blades, so that the stress imbalance of the three blades is reduced, and further the vibration mainly based on the front and back second-order modes of the tower is reduced, and the specific process is as follows: firstly, measuring the front and back acceleration of the middle section of the tower in real time through a sensor, and filtering the acceleration; then, measuring and calculating azimuth angles corresponding to the three blades; according to the front-back acceleration and the azimuth angle of the middle section of the tower, the P controller is adopted to obtain the extra pitch variation rate of each blade, the extra pitch variation rate is superposed on the conventional pitch variation rate of each blade, namely, different dynamic pitch variation rates are superposed on the three blades respectively, finally, the final pitch variation given value of each blade is calculated through amplitude limiting, and is transmitted to a pitch variation system (comprising a pitch variation controller, a pitch variation actuator and the like) of the unit to be executed, and the vibration mainly based on the front-back second-order mode of the tower is reduced, so that the front-back vibration of the tower on a second-order frequency point is solved, the load of the unit is reduced, and the safe and stable operation of the wind generating set is ensured.
As shown in fig. 4, the control module for solving the second-order front-rear vibration of the tower of the wind turbine generator system provided by the embodiment includes the following functional units:
a measuring unit for measuring the fore-and-aft acceleration a of the middle section of the towernacelleAnd filtering, wherein the forward and backward acceleration of the middle section of the tower after being filtered by a transfer function F(s) is anacellefNamely:
anacellef＝anacelle*F(s)
Figure GDA0003460560770000131
in the formula, s is Laplace operator, xi is damping coefficient, omega is frequency, T1And T2Is a time constant; wherein, define anacellefThe positive direction of (d) is positive when going forward.
The impeller azimuth angle calculation unit is used for measuring and calculating the azimuth angle of each blade, and the specific conditions are as follows:
measuring the azimuth angle of the blade 1, calculating the azimuth angles of the blade 2 and the blade 3 according to the fact that the three blades are uniformly distributed on an impeller plane, defining the vertical upward azimuth angle of the blade to be 0 degree, and obtaining the azimuth angle of the blade 1 through measurement of a sensor
Figure GDA0003460560770000141
The azimuth angle of the blade 2 is added to the azimuth angle of the blade 1
Figure GDA0003460560770000142
The azimuth angle of the blade 3 is added on the basis of the azimuth angle of the blade 1
Figure GDA0003460560770000143
Namely:
Figure GDA0003460560770000144
Figure GDA0003460560770000145
Figure GDA0003460560770000146
in the formula, RotorAzimuth1 is the azimuth of blade 1, RotorAzimuth2 is the azimuth of blade 2, and RotorAzimuth3 is the azimuth of blade 3.
The blade extra pitch variation rate calculation unit is used for calculating extra pitch variation rates of all the blades, and respectively calculating the extra pitch variation rates required by the three blades based on the stress analysis of the blades under different azimuth angles according to the front and back acceleration of the middle section of the tower, and the calculation method specifically comprises the following steps:
Figure GDA0003460560770000147
Figure GDA0003460560770000148
Figure GDA0003460560770000149
in the formula,. DELTA.V1(k)、ΔV2(k)、ΔV3(k) The additional pitch variation rates required by the blades 1, 2 and 3 respectively, Kp is a proportional gain coefficient of the P controller, and A is an impeller azimuth angle advance angle.
The blade corresponding pitch rate calculation unit is used for calculating the pitch rate corresponding to each blade, superposing the extra pitch rate value of each blade calculated by the blade extra pitch rate calculation unit and the pitch rate value vo (k) output by the conventional controller, and obtaining the pitch rates corresponding to the three blades through amplitude limiting respectively, wherein the calculation unit specifically comprises the following steps:
pitch rate V of blade 11(k)：V1(k)＝Vo(k)+ΔV1(k)
Pitch rate V of blade 22(k)：V2(k)＝Vo(k)+ΔV2(k)
Pitch rate V of the blade 33(k)：V3(k)＝Vo(k)+ΔV3(k)
Then, amplitude limiting is carried out on the variable pitch rate of each blade, and the final variable pitch rates of the blade 1, the blade 2 and the blade 3 are respectively Vf1(k)、Vf2(k)、Vf3(k) Where vo (k) is the calculated uniform pitch rate for the conventional controller.
The blade corresponding pitch angle set value calculating unit is used for calculating the pitch angle set values corresponding to the three blades, obtaining the final pitch change rate according to the calculation of the blade corresponding pitch change rate calculating unit, calculating the pitch angle set values corresponding to the three blades respectively, and transmitting the pitch angle set values to the pitch change system to adjust the pitch angles of the blades, so that the independent pitch change control, namely IPC control, of the three blade pitch angles is realized; wherein, the following formula is adopted for calculation:
pitch angle of blade 1:
θ1(k)＝θ1(k-1)+Vf1(k)*T
pitch angle of blade 2:
θ2(k)＝θ2(k-1)+Vf2(k)*T
pitch angle of blade 3:
θ3(k)＝θ3(k-1)+Vf3(k)*T
in the formula, theta1(k-1) is the pitch angle of blade 1 at the previous moment, θ1(k) Is the pitch angle, theta, of the blade 1 at the present moment2(k-1) is the pitch angle of blade 2 at the previous moment, θ2(k) Is the pitch angle, theta, of the blade 2 at the present moment3(k-1) is the pitch angle of blade 3 at the previous moment, θ3(k) T is the Cycle time constant of the Controller Cycle time control algorithm for the pitch angle of the blade 3 at the present moment.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims (2)

1. A control method for solving the second-order front and back vibration of a tower of a wind generating set is characterized in that the method is based on the front and back acceleration of the middle section of the tower and an independent variable pitch control strategy IPC of an impeller azimuth angle to solve the front and back vibration of the tower at a second-order frequency point, and the front and back vibration of the tower is fundamentally reduced by reducing the aerodynamic imbalance caused by uneven stress in three blade surfaces in an impeller rotation plane, namely the pitch angle is increased or reduced according to different azimuth angles of the blades, so that the stress imbalance of the three blades is reduced, and the vibration mainly based on the front and back second-order modes of the tower is reduced, and the specific process is as follows: firstly, measuring the front and back acceleration of the middle section of the tower in real time through a sensor, and filtering the acceleration; then, measuring and calculating azimuth angles corresponding to the three blades; according to the front-back acceleration and the azimuth angle of the middle section of the tower, a P controller is adopted to obtain the extra pitch variation rate of each blade, the extra pitch variation rate is superposed on the conventional pitch variation rate of each blade, namely, different dynamic pitch variation rates are superposed on the three blades respectively, and finally, the final pitch variation given value of each blade is calculated through amplitude limiting and is transmitted to a pitch variation system of a unit to be executed, so that the problem of front-back vibration of the tower at a second-order frequency point is solved; which comprises the following steps:
1) measuring fore-and-aft acceleration a of the midsection of the towernacelleAnd filtering, wherein the forward and backward acceleration of the middle section of the tower after being filtered by a transfer function F(s) is anacellefNamely:
anacellef＝anacelle*F(s)
Figure FDA0003460560760000011
in the formula, s is Laplace operator, xi is damping coefficient, omega is frequency, T1And T2Is a time constant; wherein, define anacellefThe positive direction of (A) is positive when the vehicle is moving forwards;
2) calculating the azimuth angle of the impeller;
measuring the azimuth angle of the blade 1, calculating the azimuth angles of the blade 2 and the blade 3 according to the fact that the three blades are uniformly distributed on an impeller plane, defining the vertical upward azimuth angle of the blade to be 0 degree, and passing through a sensorMeasured to obtain the azimuth angle of the blade 1 of
Figure FDA0003460560760000021
The azimuth angle of the blade 2 is added to the azimuth angle of the blade 1
Figure FDA0003460560760000022
The azimuth angle of the blade 3 is added on the basis of the azimuth angle of the blade 1
Figure FDA0003460560760000023
Namely:
Figure FDA0003460560760000024
Figure FDA0003460560760000025
Figure FDA0003460560760000026
wherein RotorAzimuth1 is the azimuth of blade 1, RotorAzimuth2 is the azimuth of blade 2, and RotorAzimuth3 is the azimuth of blade 3;
3) calculating the additional variable pitch rate of each blade;
according to the front and back acceleration of the middle section of the tower, based on the stress analysis of the blades under different azimuth angles, the additional pitch variation rates required by the three blades are respectively calculated, and the method specifically comprises the following steps:
Figure FDA0003460560760000027
Figure FDA0003460560760000028
Figure FDA0003460560760000029
in the formula,. DELTA.V1(k)、ΔV2(k)、ΔV3(k) The additional variable pitch rates required by the blades 1, 2 and 3 respectively, Kp is a proportional gain coefficient of a P controller, and A is an azimuth angle advance angle of the impeller;
4) calculating the corresponding variable pitch rate of each blade;
superposing the additional variable pitch speed value of each blade obtained in the step 3) with the variable pitch speed value vo (k) output by the conventional controller, and obtaining the variable pitch speeds corresponding to the three blades respectively through amplitude limiting, wherein the method specifically comprises the following steps:
pitch rate V of blade 11(k)：V1(k)＝Vo(k)+ΔV1(k)
Pitch rate V of blade 22(k)：V2(k)＝Vo(k)+ΔV2(k)
Pitch rate V of the blade 33(k)：V3(k)＝Vo(k)+ΔV3(k)
Then, amplitude limiting is carried out on the variable pitch rate of each blade, and the final variable pitch rates of the blade 1, the blade 2 and the blade 3 are respectively Vf1(k)、Vf2(k)、Vf3(k) Wherein vo (k) is the unified pitch rate calculated by the conventional controller;
5) calculating a pitch angle given value corresponding to each blade;
calculating to obtain a final pitch rate according to the calculation in the step 4), calculating pitch angle set values corresponding to the three blades respectively, and transmitting the pitch angle set values to a pitch control system for execution, so as to realize independent pitch control of the three blade pitch angles, namely IPC control;
pitch angle of blade 1:
θ1(k)＝θ1(k-1)+Vf1(k)*T
pitch angle of blade 2:
θ2(k)＝θ2(k-1)+Vf2(k)*T
pitch angle of blade 3:
θ3(k)＝θ3(k-1)+Vf3(k)*T
in the formula, theta1(k-1) is the pitch angle of blade 1 at the previous moment, θ1(k) Is the pitch angle, theta, of the blade 1 at the present moment2(k-1) is the pitch angle of blade 2 at the previous moment, θ2(k) Is the pitch angle, theta, of the blade 2 at the present moment3(k-1) is the pitch angle of blade 3 at the previous moment, θ3(k) The pitch angle of the blade 3 at the current moment is T, and the T is a Controller Cycle time control algorithm Cycle time constant;
6) executing pitch angle variation;
the variable pitch system adjusts the pitch angles of the blades according to the given pitch angle values corresponding to the three blades, and reduces the front and back vibration of the tower on a second-order frequency point caused by pneumatic imbalance, so that the vibration optimization control of the wind generating set based on the front and back acceleration of the middle section of the tower and the azimuth angle of the impeller is realized.
2. The utility model provides a solve control module of vibration around second order of wind generating set pylon, a serial communication port, this module is based on the independent oar control strategy IPC that becomes of acceleration and impeller azimuth around the pylon interlude to solve the vibration around the pylon at the second order frequency point, through reducing the aerodynamic imbalance that causes in the three blade face atress inequality in the impeller rotation plane, fundamentally reduces the vibration around the pylon, increase or reduce the pitch angle according to the different azimuths of blade promptly, thereby reduce three blade atress imbalance, and then reduce the vibration that the second order mode is given first place to around the pylon, concrete process is: firstly, measuring the front and back acceleration of the middle section of the tower in real time through a sensor, and filtering the acceleration; then, measuring and calculating azimuth angles corresponding to the three blades; according to the front-back acceleration and the azimuth angle of the middle section of the tower, a P controller is adopted to obtain the extra pitch variation rate of each blade, the extra pitch variation rate is superposed on the conventional pitch variation rate of each blade, namely, different dynamic pitch variation rates are superposed on the three blades respectively, and finally, the final pitch variation given value of each blade is calculated through amplitude limiting and is transmitted to a pitch variation system of a unit to be executed, so that the problem of front-back vibration of the tower at a second-order frequency point is solved; it includes:
the measuring unit is used for measuring the front and back acceleration of the middle section of the tower and filtering;
the impeller azimuth angle calculation unit is used for measuring and calculating the azimuth angle of each blade;
the blade extra pitch rate calculation unit is used for calculating extra pitch rates of all the blades, and respectively calculating the extra pitch rates required by the three blades based on the stress analysis of the blades under different azimuth angles according to the front and back acceleration of the middle section of the tower;
the blade corresponding pitch rate calculating unit is used for calculating the pitch rate corresponding to each blade, superposing the additional pitch rate value of each blade calculated by the blade additional pitch rate calculating unit and the pitch rate value output by the conventional controller, and respectively obtaining the pitch rates corresponding to the three blades through amplitude limiting;
the blade corresponding pitch angle set value calculating unit is used for calculating the pitch angle set values corresponding to the three blades, obtaining the final pitch change rate according to the calculation of the blade corresponding pitch change rate calculating unit, calculating the pitch angle set values corresponding to the three blades respectively, and transmitting the pitch angle set values to the pitch change system to adjust the pitch angles of the blades, so that the independent pitch change control, namely IPC control, of the three blade pitch angles is realized;
in the measuring unit, the fore-and-aft acceleration a of the middle section of the tower is measurednacelleAnd filtering, wherein the forward and backward acceleration of the middle section of the tower after being filtered by a transfer function F(s) is anacellefNamely:
anacellef＝anacelle*F(s)
Figure FDA0003460560760000051
in the formula, s is Laplace operator, xi is damping coefficient, omega is frequency, T1And T2Is a time constant; wherein, define anacellefThe positive direction of (A) is positive when the vehicle is moving forwards;
in the impeller azimuth angle calculation unit, the azimuth angle of the blade 1 is measured, the azimuth angles of the blade 2 and the blade 3 are calculated according to the fact that the three blades are uniformly distributed on an impeller plane, the vertical upward azimuth angle of the blade is defined to be 0 degrees, and the azimuth angle of the blade 1 is obtained through measurement of a sensor
Figure FDA00034605607600000510
The azimuth angle of the blade 2 is added to the azimuth angle of the blade 1
Figure FDA0003460560760000052
The azimuth angle of the blade 3 is added on the basis of the azimuth angle of the blade 1
Figure FDA0003460560760000053
Namely:
Figure FDA0003460560760000054
Figure FDA0003460560760000055
Figure FDA0003460560760000056
wherein RotorAzimuth1 is the azimuth of blade 1, RotorAzimuth2 is the azimuth of blade 2, and RotorAzimuth3 is the azimuth of blade 3;
in the blade extra pitch rate calculation unit, the following formula is adopted:
Figure FDA0003460560760000057
Figure FDA0003460560760000058
Figure FDA0003460560760000059
in the formula,. DELTA.V1(k)、ΔV2(k)、ΔV3(k) The additional pitch rates required by the blade 1, the blade 2 and the blade 3 respectively, Kp is the proportional gain coefficient of the P controller, anacellefThe front and rear acceleration of the middle section of the tower after filtering is obtained, and A is the azimuth angle advance angle of the impeller;
in the unit for calculating the corresponding pitch rate of the blade, the following formula is adopted:
pitch rate V of blade 11(k)：V1(k)＝Vo(k)+ΔV1(k)
Pitch rate V of blade 22(k)：V2(k)＝Vo(k)+ΔV2(k)
Pitch rate V of the blade 33(k)：V3(k)＝Vo(k)+ΔV3(k)
Then, amplitude limiting is carried out on the variable pitch rate of each blade, and the final variable pitch rates of the blade 1, the blade 2 and the blade 3 are respectively Vf1(k)、Vf2(k)、Vf3(k) Where vo (k) is the unified pitch rate, Δ V, calculated by the conventional controller1(k)、ΔV2(k)、ΔV3(k) The additional pitch rates required for blade 1, blade 2, and blade 3, respectively;
in the blade corresponding pitch angle given value calculating unit, the following formula is adopted:
pitch angle of blade 1:
θ1(k)＝θ1(k-1)+Vf1(k)*T
pitch angle of blade 2:
θ2(k)＝θ2(k-1)+Vf2(k)*T
pitch angle of blade 3:
θ3(k)＝θ3(k-1)+Vf3(k)*T
in the formula, theta1(k-1) is the pitch angle of blade 1 at the previous moment, θ1(k) Is the pitch angle, theta, of the blade 1 at the present moment2(k-1) is the pitch angle of blade 2 at the previous moment, θ2(k) Is the pitch angle, theta, of the blade 2 at the present moment3(k-1) is the pitch angle of blade 3 at the previous moment, θ3(k) For the pitch angle of the blade 3 at the present time, T is the Cycle time constant of the Controller Cycle time control algorithm, Vf1(k)、Vf2(k)、Vf3(k) The final pitch rates of the blades 1, 2 and 3 are different.
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