CN115324815B - Control method for reducing action frequency of variable-pitch actuating mechanism of tidal current energy generator set - Google Patents
Control method for reducing action frequency of variable-pitch actuating mechanism of tidal current energy generator set Download PDFInfo
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- CN115324815B CN115324815B CN202210864944.8A CN202210864944A CN115324815B CN 115324815 B CN115324815 B CN 115324815B CN 202210864944 A CN202210864944 A CN 202210864944A CN 115324815 B CN115324815 B CN 115324815B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 230000007774 longterm Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 abstract description 4
- 230000001960 triggered effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 238000010248 power generation Methods 0.000 description 2
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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
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
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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
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
- F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
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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
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
- F03B13/26—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using tide energy
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- General Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a control method for reducing the action frequency of a variable-pitch actuator of a tidal current energy generator set. When the difference value delta omega between the generator rotating speed omega g and the generator rated rotating speed omega r is not zero, the delta omega is taken as an input value by a conventional variable pitch control algorithm to obtain a pitch angle output value beta ref1 output by the conventional variable pitch control algorithm; executing control logic for reducing the pitch action frequency, wherein the current generator rotating speed or the generator rotating speed acceleration is in a set change range, and the pitch actuating mechanism is kept motionless; and if the current generator rotating speed or the generator rotating speed acceleration change exceeds the set change range, assigning beta ref1 to a pitch angle output value beta ref output by a control logic for reducing the action frequency of the pitch actuator, and triggering the pitch actuator to act. The invention can effectively reduce the pitch movement frequency of the tidal current energy generator set, prolong the service life of the pitch bearing sealing ring and improve the operation reliability of the tidal current energy generator set.
Description
Technical Field
The invention relates to the technical field of tidal current energy generator set control, in particular to a variable pitch control method for reducing the action frequency of a variable pitch actuator of a tidal current energy generator set.
Background
The ocean energy, in particular ocean tide energy, has the outstanding advantages of huge reserve, cleanness, no pollution, inexhaustible use and the like. Compared with solar energy and wind energy, the ocean energy has strong regularity and does not occupy land, is a particularly ideal renewable energy source, and is an important source of future energy sources.
Tidal current energy power generation principle is similar to wind power generation, namely, kinetic energy of ocean tidal current is converted into mechanical energy of an impeller, and then the mechanical energy is converted into electric energy. The tidal current energy generator sets can be divided into vertical axis tidal current energy generator sets and horizontal axis tidal current energy generator sets according to different forms of transmission chains. Compared with a vertical axis tidal current energy generator set, the horizontal axis tidal current energy generator set has the advantages of high energy conversion efficiency, good self-starting characteristic, flexible control, and capability of sharing part of key parts with the current mature megawatt wind generator set, is convenient to design and manufacture, is more and more focused by people, and becomes a hot spot of current research and experiment.
The blades of the horizontal shaft tidal current energy generator set can capture bidirectional tidal current energy through a variable pitch technology. The blade pitch action is achieved by a pitch bearing. The outer ring of the variable pitch bearing is fixed on the hub, the inner ring is provided with blades, and the inner part and the outer part can rotate relatively. The inner ring and the outer ring of the variable-pitch bearing are sealed, so that seawater is prevented from entering the hub through gaps between the inner ring and the outer ring, and components in the hub are damaged. Frequent pitch movements can affect the service life of the pitch bearing seal ring. Because of the inherent characteristic that the sealing of the variable-pitch bearing is not easy to maintain, the variable-pitch bearing can only be replaced after being damaged, and if the shutdown time is too long during maintenance, the electric quantity loss caused by shutdown cannot be ignored.
Paper, "optimization research of pitch strategy of wind turbine set with the aim of prolonging the service life of pitch bearing", wang Yu, han Shuang, wangqile, etc. [ J ]. Distributed energy source, 2021,6 (2): 8, proposes a pitch system optimization strategy for reducing pitch action and prolonging the service life of pitch bearing. And providing a wind speed fluctuation threshold index on the basis of an optimal pitch angle strategy, establishing an optimization model, and solving the provided optimization model based on a sparrow search algorithm by taking the wind speed fluctuation threshold index as an input condition. The paper has a certain referential property on the wind turbine generator. However, the anemometer is usually installed behind the wind wheel, and is affected by the wind wheel, and the wind speed measurement has inaccuracy. In addition, only the wind speed is used as a criterion, the fluctuation of the rotation speed of the wind wheel and the influence of the output power of power components such as a generator, a converter and the like are not considered, and the wind turbine generator has certain limitation.
Disclosure of Invention
Aiming at the problems, the invention provides a control method for reducing the action frequency of a variable-pitch actuator of a tidal current energy generator set, which is used for prolonging the service life of a variable-pitch bearing sealing ring and improving the operation reliability of the tidal current energy generator set.
In order to achieve the technical purpose, the invention specifically comprises the following steps:
Step 1, according to a conventional pitch control algorithm, when a tidal current flow speed V is larger than a rated tidal current flow speed V r, a difference value delta omega between a generator rotating speed omega g and a generator rated rotating speed omega r is not zero, a generator torque given T g is kept as a rated torque T rate, and a generator of a tidal current energy generator set keeps the generator rotating speed at the rated rotating speed omega r through the conventional pitch control algorithm;
Step 2, a conventional pitch control algorithm takes delta omega as an input value, carries out real-time operation through a nonlinear proportional integral PI regulator, and outputs a pitch angle output value beta ref1;
step 3: and executing control logic for reducing the action frequency of the pitch actuator.
3-1, Logically judging the current generator rotating speed and the set generator rotating speed change range, and if the current generator rotating speed is in the set generator rotating speed change range, not triggering the variable pitch actuating mechanism to act; if the current generator rotating speed exceeds the set generator rotating speed change range, assigning beta ref1 obtained in the step 2 to a pitch angle output value beta ref output by the control logic, and triggering a pitch-changing executing mechanism to act;
3-2, logically judging the current generator rotational speed acceleration and the set generator rotational speed acceleration change range, and if the current generator rotational speed acceleration is within the set generator rotational speed acceleration change range, not triggering the action of the variable pitch actuator; if the current generator rotating speed acceleration exceeds the set generator rotating speed acceleration change range, the beta ref1 obtained in the step 2 is assigned to the pitch angle output value beta ref output by the control logic, and the action of the pitch-variable actuating mechanism is triggered.
The invention has the beneficial effects that: the rotating speed or the rotating speed acceleration of the generator is in a set change range, and the variable pitch actuating mechanism is kept motionless; when the rotating speed or the rotating speed acceleration of the generator exceeds the set change range, the variable pitch actuating mechanism is triggered to act. The action frequency of the variable-pitch actuating mechanism of the tidal current energy generator set can be effectively reduced, the service life of the variable-pitch bearing sealing ring is prolonged, and the operation reliability of the tidal current energy generator set is improved.
Drawings
FIG. 1 is a logic block diagram of a pitch control method for reducing the frequency of pitch actuator actions;
FIG. 2 is a block diagram of a variable pitch controller of a tidal current energy generating set;
FIG. 3 is a graph illustrating control logic for reducing pitch actuator frequency of operation based on generator speed;
FIG. 4 is a control logic for reducing pitch actuator frequency of operation based on generator rotational speed and acceleration.
Detailed Description
On the basis of a conventional pitch control algorithm, whether the pitch action is triggered or not is judged according to the fluctuation range of the rotation speed of the generator and the change condition of the acceleration of the rotation speed of the generator, so that the action frequency of a pitch actuator is reduced, and a logic block diagram is shown in figure 1.
The invention discloses a variable-pitch controller of a tidal current energy generator set, which is shown in fig. 2 and consists of a conventional variable-pitch control algorithm and control logic for reducing the action frequency of a variable-pitch executing mechanism. In the graph, omega g is the current generator rotating speed, omega r is the rated generator rotating speed, and delta omega is the difference between omega g and omega r; beta ref1 is a pitch angle output value output by a conventional pitch control algorithm; and beta ref is given to a pitch angle output value which is output by the control logic for reducing the action frequency of the pitch-variable actuator, namely the pitch angle output value which is finally output to the pitch-variable actuator by the pitch-variable controller of the tidal current energy generator set.
The invention comprises the following steps:
Step 1, when a tidal current flow speed V is larger than a rated tidal current flow speed V r according to a conventional variable-pitch control algorithm, a generator rotating speed omega g deviates from a rated generator rotating speed omega r, a difference value delta omega between the generator rotating speed omega g and the generator rated rotating speed omega r is not zero, a generator torque given T g is kept to be a rated torque T rate, and the tidal current energy generator set keeps the generator rotating speed at the rated rotating speed omega r through the conventional variable-pitch control algorithm;
Step 2, a conventional pitch control algorithm takes delta omega as an input value, carries out real-time operation through a nonlinear proportional integral PI regulator, and outputs a pitch angle output value beta ref1;
step 3: and executing control logic for reducing the action frequency of the pitch actuator.
3-1, Logically judging the current generator rotating speed and the set generator rotating speed change range, and if the current generator rotating speed is in the set generator rotating speed change range, not triggering the variable pitch actuating mechanism to act; if the current generator rotating speed exceeds the set generator rotating speed change range, the beta ref1 obtained in the step 2 is assigned to a pitch angle output value beta ref output by a control logic for reducing the action frequency of the pitch actuator, and the pitch actuator is triggered to act.
Fig. 3 is a logic principle of reducing the action frequency of the variable pitch actuator according to the rotation speed of the generator, and judges whether the variable pitch actuator acts or not, and the variable range of the rotation speed of the generator needs to be set according to the overpower long-term safe and stable running value of the tidal current energy generator set, the overpower value of wind wheel software and the allowable value of output power fluctuation. The following numerical values are a special example, when the rotation speed of the generator is taken to be between 0.94 and 1.06 times of rated rotation speed, the action zone bit ActFlag is 0, the pitch controller of the tidal current energy generator set does not trigger the pitch actuator to act, and the pitch actuator is kept motionless, so that excessive pitch actuator actions are avoided; when the rotation speed of the generator is smaller than 0.94 times of rated rotation speed or higher than 1.06 times of rated rotation speed, the action zone bit ActFlag is 1, and the pitch angle output value beta ref1 output by the conventional pitch control algorithm is assigned to the pitch angle output value beta ref output by the control logic for reducing the action frequency of the pitch actuator by the power flow generator set pitch controller, so that the pitch actuator is triggered to act.
3-2, Logically judging the current generator rotational speed acceleration and the set generator rotational speed acceleration change range, and if the current generator rotational speed acceleration is within the set generator rotational speed acceleration change range, not triggering the action of the variable pitch actuator; if the rotational speed and the acceleration of the generator exceed the set rotational speed and the acceleration change range of the generator, the beta ref1 obtained in the step 2 is assigned to a pitch angle output value beta ref output by a control logic for reducing the action frequency of the variable-pitch actuating mechanism, and the variable-pitch actuating mechanism is triggered to act.
Fig. 4 is a logic schematic diagram of reducing the action frequency of the variable-pitch actuator according to the rotation speed and acceleration of the generator, judging whether the variable-pitch actuator acts or not, and setting according to the over-rotation speed value of the wind wheel software of the tidal current energy generating set and the allowable value of the fluctuation of the output power. Taking the following numerical value as a special example, when the rotating speed and the acceleration of the generator are between-3.0 and 3.0rad/s 2, the action flag bit ActFlag is 0, and the pitch controller of the tidal current energy generator set does not trigger the pitch actuator to act, so that the pitch actuator is kept motionless; when the rotating speed and the acceleration of the generator are smaller than-3.0 rad/s 2 or larger than 3.0rad/s 2, the action flag bit ActFlag is 1, and the pitch angle output value beta ref1 output by the conventional pitch control algorithm is assigned to the pitch angle output value beta ref output by the control logic for reducing the action frequency of the pitch actuator by the pitch energy generator set pitch controller, so that the pitch actuator is triggered to act.
Meanwhile, the invention is still a closed-loop control method, and when the tidal current velocity is above the rated tidal current velocity, the fluctuation of the rotational speed and the fluctuation of the power of the tidal current energy generator set are kept within a certain range.
Claims (2)
1. Control method for reducing action frequency of variable-pitch actuating mechanism of tidal current energy generator set
Step 1, when a tidal current flow velocity V is larger than a rated tidal current flow velocity V r, a difference value delta omega between a generator rotating speed omega g and a generator rated rotating speed omega r is not zero, a generator torque given T g is kept as a rated torque T rate, and the tidal current energy generator set keeps the generator rotating speed at the rated rotating speed omega r through a conventional variable pitch control algorithm;
step 2, a conventional pitch control algorithm takes delta omega as an input value and outputs a pitch angle output value beta ref1;
The pitch angle output value beta ref1 is obtained by taking delta omega as an input value through a nonlinear proportional integral PI regulator by a conventional pitch control algorithm and performing real-time operation;
Step 3, executing control logic for reducing the pitch movement frequency; comprises the steps of 3-1 or 3-2;
Step 3-1, logically judging the current generator rotating speed and a set generator rotating speed variation range, and if the current generator rotating speed is within the set generator rotating speed variation range, not triggering the action of the variable pitch actuator; if the current generator rotating speed exceeds the set generator rotating speed change range, assigning beta ref1 obtained in the step 2 to a pitch angle output value beta ref output by the control logic, and triggering a pitch-changing executing mechanism to act;
setting the set generator rotating speed variation range according to the overpower long-term safe and stable running value of the tidal current energy generator set, the wind wheel software overpower value and the output power fluctuation allowable value;
Step 3-2, logically judging the current generator rotational speed acceleration and the set generator rotational speed acceleration change range, and if the current generator rotational speed acceleration is within the set generator rotational speed acceleration change range, not triggering the action of the variable pitch actuator; if the current generator rotating speed acceleration exceeds the set generator rotating speed acceleration change range, assigning beta ref1 obtained in the step 2 to a pitch angle output value beta ref output by the control logic, and triggering a pitch-changing executing mechanism to act;
And the set generator rotating speed and acceleration change range is set according to the wind wheel software over-rotating speed value and the output power fluctuation allowable value of the tidal current energy generator set.
2. The control method for reducing the action frequency of the variable pitch actuator of the tidal current energy generating set according to claim 1, wherein the control method comprises the following steps: the control method for reducing the action frequency of the variable-pitch actuator of the tidal current energy generator set is realized by a variable-pitch controller; the pitch controller consists of a conventional pitch control algorithm and a control logic for reducing pitch action frequency.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103397980A (en) * | 2013-08-02 | 2013-11-20 | 中国海洋石油总公司 | Variable-pitch mechanism of tidal current energy electricity generation water turbine |
| CN104074679A (en) * | 2014-07-02 | 2014-10-01 | 国电联合动力技术有限公司 | All-wind-speed limited-power optimal control method for variable-speed and variable-pitch wind generation set |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104329224B (en) * | 2014-11-13 | 2017-02-15 | 湖南世优电气股份有限公司 | Variable-rate pitching system and variable-rate pitching method for direct-drive permanent magnet wind generating set |
| CN105041565B (en) * | 2015-06-26 | 2018-05-01 | 上海交通大学 | Improve the pitch control method of the weak wind generated energy of Wind turbines |
| CN105909469B (en) * | 2016-04-29 | 2018-09-25 | 南京理工大学 | A kind of limit Poewr control method for the variable speed constant frequency Wind turbines reducing variable pitch action |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103397980A (en) * | 2013-08-02 | 2013-11-20 | 中国海洋石油总公司 | Variable-pitch mechanism of tidal current energy electricity generation water turbine |
| CN104074679A (en) * | 2014-07-02 | 2014-10-01 | 国电联合动力技术有限公司 | All-wind-speed limited-power optimal control method for variable-speed and variable-pitch wind generation set |
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