CN113565679B - Prony algorithm-based wind turbine generator operation control method and device and storage medium - Google Patents
Prony algorithm-based wind turbine generator operation control method and device and storage medium Download PDFInfo
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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
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
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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
- F03D7/0224—Adjusting blade pitch
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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
- F03D7/0264—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
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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
- F03D7/0276—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
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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
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
- F03D7/044—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with PID control
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- 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
- F05B2270/327—Rotor or generator speeds
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a prony algorithm-based wind turbine generator operation control method, and belongs to the technical field of wind power generation. Firstly, filtering a detected operation parameter signal to obtain a filtered operation parameter signal; approximately fitting the filtered running parameter signals into a plurality of models with exponential functions of generator rotating speed oscillation amplitude, generator rotating speed oscillation frequency, generator rotating speed oscillation phase and generator rotating speed oscillation attenuation factors by utilizing a prony algorithm; performing mathematical transformation on the model to obtain a linear difference equation; after solving the linear difference equation, calculating to obtain the rotating speed oscillation frequency of the generator; and judging whether the calculated generator rotating speed oscillation frequency is within a preset value range, and adjusting the running state of the wind turbine generator according to a judgment result. The invention can avoid the periodic oscillation state of mechanical and electrical components of the wind generating set under specific wind conditions to the maximum extent, and avoid the damage of the set caused by the oscillation of the set due to instability of the set.
Description
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a prony algorithm-based wind turbine generator operation control method, a device and a storage medium.
Background
The wind wheel of the horizontal shaft wind driven generator absorbs wind energy to rotate, and then drives the connected generator to rotate to generate electricity. Because the cost corresponding to the design weight of the blade accounts for an important component of the wind generating set, reducing the weight of the blade is an important way for reducing the electricity consumption cost of the wind generating set. Meanwhile, under the condition of relatively stable wind with relatively low rated rotating speed, the aeroelastic coupling and the pitch variation action of the blades enable the large impeller unit to have a transient aeroelastic instability phenomenon, and the phenomenon is characterized in that the blades oscillate at a certain natural frequency, so that the rotating speed and the pitch variation angle of the generator are caused to oscillate at the same frequency. The situation frequently occurs, certain damage can be caused to large parts of the unit, and the service life is shortened.
The existing technical scheme aiming at the problem comprises the following steps: the method is characterized in that strain gauges are installed at the roots of three blades, blade root loads in two directions are collected, and through data volume accumulation for a period of time, whether low-frequency oscillation occurs in a unit under a specific wind condition and a specific rotating speed is analyzed by combining wind speed and rotating speed, but the oscillation condition cannot be recognized in real time and intervened.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a method, an apparatus, and a storage medium for controlling operation of a wind turbine generator based on a prony algorithm, which can avoid that mechanical and electrical components of the wind turbine generator are in a periodic oscillation state under a specific wind condition to the greatest extent, and avoid that the wind turbine generator is damaged due to oscillation of the wind turbine generator caused by instability.
The invention is realized by the following technical scheme:
a wind turbine generator operation control method based on a prony algorithm comprises the following steps:
s1: filtering the detected operation parameter signal to obtain a filtered operation parameter signal;
s2: approximately fitting the filtered running parameter signals into a plurality of models with exponential functions of generator rotating speed oscillation amplitude, generator rotating speed oscillation frequency, generator rotating speed oscillation phase and generator rotating speed oscillation attenuation factors by using a prony algorithm, wherein the convergence target of the models is the minimum sum of squared errors;
s3: performing mathematical transformation on the model to obtain a linear difference equation;
s4: after solving the linear difference equation, calculating to obtain the rotating speed oscillation frequency of the generator;
s5: judging whether the calculated generator rotating speed oscillation frequency is within a preset value range, if not, finishing the calculation, and starting the detection of the next period; and if so, adjusting the running state of the wind turbine generator.
Preferably, in S1, the operation parameter signal is a generator speed, power, pitch angle or pitch rate.
Preferably, in S1, the filtering process includes a low-pass filtering process and a notch filtering process.
Preferably, in S2, the sampling intervals of the parameters in the exponential function having the generator speed oscillation amplitude, the generator speed oscillation frequency, the generator speed oscillation phase and the generator speed oscillation attenuation factor are equal.
Preferably, in S2, the number of exponential functions is an upper limit value of the arithmetic capability of the processor.
Preferably, in S4, after the generator rotation speed oscillation frequency is calculated, the generator rotation speed oscillation amplitude, the generator rotation speed oscillation phase, and/or the generator rotation speed oscillation attenuation factor are/is calculated at the same time.
Preferably, in S5, adjusting the operating state of the wind turbine includes: and adjusting the PID parameters of the rotating speed-variable pitch control ring, and the set rotating speed or variable pitch angle position of the generator.
Preferably, in S5, when the oscillation frequency of the generator speed is detected for multiple times to be within the preset value range, shutdown protection is performed.
The invention discloses computer equipment which comprises a memory, a processor and a computer program which is stored in the memory and can be operated on the processor, wherein the processor realizes the steps of the wind turbine generator operation control method based on the prony algorithm when executing the computer program.
The invention discloses a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program is executed by a processor to realize the steps of the wind turbine generator operation control method based on the prony algorithm.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the running control method of the wind turbine generator based on the prony algorithm, disclosed by the invention, the vibration frequency of the rotating speed of the generator is calculated, the fluctuation of the rotating speed of the wind turbine generator under different wind conditions is considered, the fatigue damage of most components of the wind turbine generator caused by the vibration of the rotating speed of the generator is avoided to the greatest extent, and the running safety of mechanical and electrical transmission chains of the wind turbine generator under different wind conditions is improved. The invention adopts a mode of calculating the oscillation frequency of the rotating speed of the generator, overcomes the defect that the traditional mode can not detect the oscillation state of the running data of the wind turbine generator, fully considers the characteristic of the running stability of the wind turbine generator under different wind conditions, avoids the periodic oscillation state of mechanical and electrical components of the wind turbine generator under specific wind conditions to the greatest extent, and protects the damage of the wind turbine generator caused by the instability of the wind turbine generator.
Furthermore, the operation parameter signals are the rotating speed, the power, the pitch angle or the pitch rate of the generator, the actual operation state of the unit can be reflected, and the subsequent calculation requirements are met.
Furthermore, the measured operation parameter signals contain blade shimmy modes with relatively low damping ratios, and the blade shimmy modes need to be subjected to notch filtering processing, so that the influence of unnecessary measurement interference signals on the control effect is avoided; meanwhile, the original signal is not suitable for the reasons of a measuring device or an estimation algorithm and the like, and low-pass filtering processing is needed, so that the influence of unnecessary measurement interference signals on the control effect is avoided.
Furthermore, the sampling intervals of parameters in the exponential functions of the generator rotating speed oscillation amplitude, the generator rotating speed oscillation frequency, the generator rotating speed oscillation phase and the generator rotating speed oscillation attenuation factor are equal, so that the error precision of the solution result in the process of calculating the low-frequency oscillation can be ensured.
Further, the number of the exponential functions is an upper limit value of the computing capacity of the processor, so that the fitting result can be more accurate.
Furthermore, after the rotating speed oscillation frequency of the generator is obtained through calculation, the rotating speed oscillation amplitude of the generator, the rotating speed oscillation phase of the generator and/or the rotating speed oscillation attenuation factor of the generator are/is calculated at the same time, and the judgment of the running state of the unit can be assisted.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and specific examples, which are given by way of illustration and not by way of limitation.
The invention discloses a prony algorithm-based wind turbine generator operation control method, which comprises the following steps of:
s1: filtering the operation parameter signal to obtain a filtered operation parameter signal; the operating parameter signal may be generator speed, power, pitch angle or pitch rate. The filtering process includes a low-pass filtering process and a notch filtering process.
S2: approximately fitting the filtered running parameter signals into a plurality of models with exponential functions of generator rotating speed oscillation amplitude, generator rotating speed oscillation frequency, generator rotating speed oscillation phase and generator rotating speed oscillation attenuation factors by using a prony algorithm, wherein the convergence target of the models is the minimum sum of squared errors; the sampling intervals of parameters in the exponential functions with the generator rotating speed oscillation amplitude, the generator rotating speed oscillation frequency, the generator rotating speed oscillation phase and the generator rotating speed oscillation attenuation factor are equal. The number of exponential functions is an upper limit value of the arithmetic capability of the processor.
S3: performing mathematical transformation on the model to obtain a linear difference equation;
s4: after solving the linear difference equation, calculating to obtain the rotating speed oscillation frequency of the generator; after the rotating speed oscillation frequency of the generator can be obtained through calculation, the rotating speed oscillation amplitude of the generator, the rotating speed oscillation phase of the generator and/or the rotating speed oscillation attenuation factor of the generator can be calculated at the same time.
S5: judging whether the calculated generator rotating speed oscillation frequency is within a preset value range, if not, finishing the calculation, and starting the next calculation after preset time; and if so, adjusting the running state of the wind turbine generator. Adjusting the running state of the wind turbine generator, comprising: and adjusting the PID parameters of the rotating speed-variable pitch control ring, and the set rotating speed or variable pitch angle position of the generator. Particularly, when the rotating speed oscillation frequency of the generator is detected for multiple times and is within the preset value range, shutdown protection is carried out.
The following is further explained with a specific example:
the generator rotating speed N _ omega (N) is detected in the current detection period, and the original signal is not suitable for being used due to the reasons of a measuring device or an estimation algorithm and the like, and needs to be filtered to obtain the filtered generator rotating speed omega (N).
Using Omega to (n) to approximate Omega (n), and using mathematical model
Describing, wherein A is the oscillation amplitude of the rotating speed of the generator, theta is the oscillation phase of the rotating speed of the generator, f is the oscillation frequency of the rotating speed of the generator, alpha is the oscillation attenuation factor of the rotating speed of the generator, and deltat is the sampling interval.
To make this mathematical model closer to the generator detected speed, the convergence target is set to sum of the squared errors Σ (n＝0) (N-1) (Omega(n)-Omega ～ (n)) < 2 > min. The obtained Omega to (n) is fitted into a homogeneous solution of a constant coefficient differential equation, and a linear differential equation is obtained through mathematical transformation ～ (n)＝-a 1 *Omega ～ (n-1)-a 2 *Omega ～ (n-2)-a 3 *Omega ～ (n-3). For parameter a 1 ，a 2 ，a 3 Performing least square estimation and solving equation to obtain coefficient a 1 ，a 2 ，a 3 Estimated value, from coefficient a 1 ，a 2 ，a 3 The estimate can be calculated
It is also the Prony pole; and calculating the generator rotating speed oscillation frequency f through the obtained Prony pole.
And acquiring a preset oscillation range fa-fb of the rotating speed of the generator, and when the oscillation frequency f of the rotating speed of the generator is not in the preset oscillation range fa-fb of the rotating speed of the generator, ending the operation of the algorithm and needing no adjustment on the control state of the unit. And when the rotating speed oscillation frequency f of the generator is within the preset rotating speed oscillation range fa-fb of the generator, updating the rotating speed-variable pitch control parameter PID value, or increasing the rotating speed set value of the generator or increasing the variable pitch angle position and the like to adjust the control state of the unit.
The invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the wind turbine generator running control method based on the prony algorithm.
The operation control method of the wind turbine generator based on the prony algorithm can adopt the forms of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The running control method of the wind turbine generator based on the prony algorithm can be stored in a computer readable storage medium if the running control method is realized in the form of a software functional unit and is sold or used as an independent product.
Based on such understanding, in the exemplary embodiment, a computer readable storage medium is also provided, all or part of the processes in the method of the above embodiments of the present invention can be realized by a computer program to instruct related hardware, the computer program can be stored in the computer readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be realized. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. Computer-readable storage media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice. The computer storage medium may be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical memory (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g., ROM, EPROM, EEPROM, nonvolatile memory (NANDFLASH), Solid State Disk (SSD)), etc.
In an exemplary embodiment, a computer device is further provided, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the prony algorithm-based wind turbine generator operation control method when executing the computer program. The processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc.
It should be noted that the above description is only a part of the embodiments of the present invention, and equivalent changes made to the system described in the present invention are included in the protection scope of the present invention. Persons skilled in the art to which this invention pertains may substitute similar alternatives for the specific embodiments described, all without departing from the scope of the invention as defined by the claims.
Claims (10)
1. A wind turbine generator operation control method based on a prony algorithm is characterized by comprising the following steps:
s1: filtering the detected operation parameter signal to obtain a filtered operation parameter signal;
s2: approximately fitting the filtered running parameter signals into a plurality of models with exponential functions of generator rotating speed oscillation amplitude, generator rotating speed oscillation frequency, generator rotating speed oscillation phase and generator rotating speed oscillation attenuation factors by using a prony algorithm, wherein the convergence target of the models is the minimum sum of squared errors;
the method specifically comprises the following steps: the filtered operation parameter signal is Omega (n), Omega (n) is approximated by Omega (n), and a mathematical model is used
Describing, wherein A is the oscillation amplitude of the rotating speed of the generator, theta is the oscillation phase of the rotating speed of the generator, f is the oscillation frequency of the rotating speed of the generator, alpha is the oscillation attenuation factor of the rotating speed of the generator, and deltat is the sampling interval;
the convergence target is set to be the sum of squared errors ∑ (n＝0) (N-1) (Omega (n) -Omega ^2 min;
s3: performing mathematical transformation on the model to obtain a linear difference equation;
the method specifically comprises the following steps: the fitting of the obtained Omega to (n) is a homogeneous solution of a constant coefficient difference equation, and a linear difference equation can be obtained through mathematical transformation as follows:
Omega～(n)＝-a 1 *Omega～(n-1)-a 2 *Omega～(n-2)-a 3 *Omega～(n-3)；
s4: after solving the linear difference equation, calculating to obtain the rotating speed oscillation frequency of the generator;
s5: judging whether the calculated generator rotating speed oscillation frequency is within a preset value range, if not, finishing the calculation and starting the detection of the next period; and if so, adjusting the running state of the wind turbine generator.
2. The prony algorithm based wind turbine generator operation control method according to claim 1, wherein in S1, the operation parameter signal is generator speed, power, pitch angle or pitch rate.
3. The prony algorithm based wind turbine generator operation control method according to claim 1, wherein in S1, the filtering process includes a low pass filtering process and a notch filtering process.
4. The prony algorithm based wind turbine generator operation control method according to claim 1, wherein in S2, a plurality of sampling intervals of parameters in the exponential function having the generator speed oscillation amplitude, the generator speed oscillation frequency, the generator speed oscillation phase and the generator speed oscillation attenuation factor are equal.
5. The prony algorithm-based wind turbine operation control method of claim 1, wherein in S2, the number of exponential functions is an upper limit value of the arithmetic capability of the processor.
6. The prony algorithm-based wind turbine generator operation control method of claim 1, wherein in S4, after the generator rotational speed oscillation frequency is obtained through calculation, the generator rotational speed oscillation amplitude, the generator rotational speed oscillation phase and/or the generator rotational speed oscillation attenuation factor are/is calculated at the same time.
7. The method according to claim 1, wherein the step S5 of adjusting the operating state of the wind turbine includes: and adjusting the PID parameters of the rotating speed-variable pitch control ring, and the set rotating speed or variable pitch angle position of the generator.
8. The wind turbine generator operation control method based on the prony algorithm as claimed in claim 1, wherein in S5, when the oscillation frequency of the generator speed is detected for a plurality of times and is within the preset value range, shutdown protection is performed.
9. Computer device, characterized in that it comprises a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of the prony algorithm based wind turbine generator operation control method according to any of claims 1 to 8 when executing said computer program.
10. A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the prony algorithm based wind turbine generator operation control method according to any one of claims 1 to 8.
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