CN116398377A - Improved optimal torque method for improving dynamic response performance of wind turbine - Google Patents
Improved optimal torque method for improving dynamic response performance of wind turbine Download PDFInfo
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- CN116398377A CN116398377A CN202310416115.8A CN202310416115A CN116398377A CN 116398377 A CN116398377 A CN 116398377A CN 202310416115 A CN202310416115 A CN 202310416115A CN 116398377 A CN116398377 A CN 116398377A
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- 238000010248 power generation Methods 0.000 claims description 5
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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
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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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
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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 an improved optimal torque method for improving dynamic response performance of a wind turbine, which belongs to the technical field of maximum power point tracking control strategies of wind turbines, and comprises the following steps of: s1: setting a threshold epsilon for the given rotation speed deviation; s2: obtaining the wind speed v of the windward side of the k-moment wind turbine k And wind wheel omega r,k Calculating theoretical optimal rotational speed omega of the wind wheel opt,k The method comprises the steps of carrying out a first treatment on the surface of the The improved optimal torque method capable of improving dynamic response performance of the wind turbine enables the wind turbine to be switched between constant power control and MPPT control by the optimal rotational speed method by judging deviation between theoretical optimal rotational speed and actual rotational speed of the wind turbine, so that better acceleration and deceleration response performance and rotational speed tracking effect are obtained compared with the traditional optimal torque method, and wind energy capturing efficiency of the wind turbine is effectively improved.
Description
Technical Field
The invention relates to the technical field of maximum power point tracking control strategies of wind turbines, in particular to an improved optimal torque method for improving dynamic response performance of wind turbines.
Background
In recent years, with the large-scale development of clean energy sources, wind power generation technology has received increasing attention. Compared with the traditional constant-speed wind turbine, the variable-speed wind turbine has higher power generation efficiency and lower structural load, and therefore, becomes a mainstream gradually. In order for a wind turbine to efficiently capture wind energy, maximum power point tracking (Maximum power point tracking, MPPT) control is typically employed, aimed at controlling rotor speed to track the optimal speed determined by real-time wind speed. There are numerous implementation methods for MPPT control of a wind turbine, in which the optimal torque method enables the wind turbine to automatically approach the optimal rotational speed by setting a cubic relationship between a reference power command and the rotational speed of the wind wheel. The method has small influence on the running load of the wind turbine, and the control structure is simple and feasible, so that the method is widely applied to engineering.
However, the optimal torque method for adjusting the rotation speed of the wind wheel has the problem of slow response, particularly the dynamic process of the wind turbine controlled by the method for tending to the optimal rotation speed requires a long time, and the problem is gradually highlighted as the rotation inertia of the wind wheel is continuously increased. Meanwhile, the method cannot obtain a faster response speed through parameter adjustment, so that the wind energy capturing efficiency of the wind turbine is low.
For this reason, related art studies have improved the optimal torque method from both the reduction of the torque gain and the contraction of the tracking section, respectively. Specifically, the torque gain reduction method improves the response performance of the wind turbine by reducing the torque gain coefficient; the shrink tracking interval rule trades off tracking of low wind speed optimum rotational speed for overall capture efficiency improvement. However, the above method still modifies the maximum power tracking curve of the wind turbine based on the steady state viewing angle to improve the optimal torque method, and the reduced torque gain method only shows good acceleration performance for specific wind speed scenes, and the shrink tracking interval rule does not improve the response speed of the wind turbine. Therefore, it is necessary to improve the optimal torque method based on the dynamic view angle, so that the optimal torque method has good acceleration and deceleration response performance, and the wind energy capturing efficiency of the wind turbine is further improved while the advantages of the optimal torque method are inherited.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems existing in the prior art, the invention aims to provide an improved optimal torque method for improving the dynamic response performance of a wind turbine, which can realize that different control modes are selected according to the absolute value deviation of the theoretical optimal rotating speed and the actual rotating speed of the wind turbine, when the deviation is larger, the constant power command is kept to accelerate and track the theoretical optimal rotating speed, and when the deviation is smaller, the operation of the wind turbine tends to the theoretical optimal rotating speed by the optimal torque method, so that a good rotating speed tracking effect is obtained, and the wind energy capturing efficiency is effectively improved.
2. Technical proposal
In order to solve the problems, the invention adopts the following technical scheme.
An improved optimal torque method for improving dynamic response performance of a wind turbine, the torque method comprising the steps of:
s1: setting a threshold epsilon for the given rotation speed deviation;
s2: obtaining the wind speed v of the windward side of the k-moment wind turbine k And wind wheel omega r,k Calculating theoretical optimal rotational speed omega of the wind wheel opt,k ；
S3: when meeting |omega r,k -ω opt,k If r < epsilon, or k=0, the wind turbine sets a reference power command by the optimal torque method, or satisfies |omega r,k -ω opt,k The value of the reference power command is larger than or equal to epsilon and k is larger than 0, so that the wind turbine keeps the reference power command at the moment unchanged;
s4: and registering a reference power instruction of the current moment k, and sending the reference power instruction to the converter for implementation.
Further, the rotational speed deviation setting threshold in the step S1 is initialized to a coefficient greater than 0.
Further, the theoretical optimal rotation speed calculation formula in the step S2 is as follows:
wherein lambda is opt Is optimalThe tip speed ratio is determined by the aerodynamic characteristics of the wind wheel and is obtained by measuring and fitting a wind energy capturing coefficient curve; r is the radius of the wind wheel.
Further, the wind turbine in the step S3 sets the reference power command P at the current time k by an optimal torque method ref,k The method comprises the following steps:
wherein K is opt ＝0.5ρπR 5 C Pmax /λ opt Approximately constant, C Pmax Obtaining a maximum wind energy capturing coefficient by fitting a wind energy capturing coefficient curve; omega r.bgn To initiate the power generation rotational speed.
Further, the wind turbine in the step S3 keeps the reference power command at the time k-1 unchanged, namely:
P ref,k ＝P ref,k-1
wherein P is ref,k-1 And (3) referencing a power command for the wind turbine registered at the time k-1.
Further, the purpose of the reference power instruction in step S4 for registering the current time k is: at time k+1, it is determined whether the reference power command is a reference power command of the wind turbine in step S3 or not as a reference power command of the wind turbine in step S3.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) According to the improved optimal torque method for improving the dynamic response performance of the wind turbine, the deviation between the theoretical optimal rotating speed and the actual rotating speed of the wind turbine is judged, so that the wind turbine is switched between constant power control and MPPT control by the optimal rotating speed method, better acceleration and deceleration response performance and rotating speed tracking effect are obtained compared with the traditional optimal torque method, and the wind energy capturing efficiency of the wind turbine is effectively improved.
Drawings
FIG. 1 is a flow chart of an improved optimal torque method for improving wind turbine dynamic response performance of the present invention;
FIG. 2 is a control block diagram of the improved optimal torque method of the present invention for improving wind turbine dynamic response performance;
fig. 3 is a graph comparing a theoretical optimal rotation speed obtained through simulation with an actual rotation speed of a wind wheel according to a traditional optimal torque method and an actual rotation speed curve of the wind wheel according to the improved optimal torque method;
FIG. 4 is a graph showing a comparison of low-speed shaft torque curves of a conventional optimal torque method obtained through simulation and an improved optimal torque method proposed by the invention;
fig. 5 is a graph comparing output power curves of a conventional optimal torque method obtained through simulation and an improved optimal torque method proposed by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.
Example 1:
referring to fig. 1-2, an improved optimal torque method for improving dynamic response performance of a wind turbine is specifically: setting a rotational speed deviation set threshold epsilon, initializing the rotational speed deviation set threshold epsilon to be a coefficient larger than 0, and obtaining the wind speed v of the current moment k k With the actual rotational speed omega of the wind wheel r,k Calculating theoretical optimal rotating speed omega of wind wheel opt,k The theoretical optimal rotation speed calculation formula is as follows:
wherein lambda is opt The optimal tip speed ratio is determined by the aerodynamic characteristics of the wind wheel and is obtained by measuring and fitting a wind energy capturing coefficient curve; r is the radius of the wind wheel.
Judging omega r,k -ω opt,k Whether < epsilon, or k=0, is true, if true,the wind turbine sets the reference power command P by the optimal torque method ref,k The method comprises the following steps:
wherein K is opt ＝0.5ρπR 5 C Pmax /λ opt Approximately constant, C Pmax Obtaining a maximum wind energy capturing coefficient by fitting a wind energy capturing coefficient curve; omega r.bgn To initiate the power generation rotational speed.
If not, the wind turbine keeps the reference power command at the moment k-1 unchanged, namely:
P ref,k-1 a wind turbine reference power instruction registered for the moment k-1;
and registering the reference power command of the current moment k, and judging whether the reference power command is used as the reference power command of the wind turbine or not when the moment k+1 is the moment.
Example 2:
the control effect was simulated using open source professional wind turbine simulation software FAST (Fatigue, aerodynamics, structures, and turbo) supplied by the national institute of energy renewable energy laboratory (National Renewable Energy Laboratory, NREL). The wind turbine model was of 600kw CART3 model developed by NREL, and specific parameters are shown in table 1 below.
Table 1NREL 600kW CART3 wind turbine main parameters
| Parameters (parameters) | Value of |
| Rated power | 600KW |
| Rated wind wheel rotational speed | 37.1rpm |
| Cut-in/rated |
3/13.5m/s |
| Hub height | 36.6m |
| Radius of wind wheel | 20m |
| Moment of inertia | 5.492×10 5 kgm 2 |
| Optimum tip speed ratio | 5.8 |
| Maximum wind energy utilization coefficient | 0.46 |
The method provided by the invention is compared with the traditional optimal torque method, so that the method has good rotating speed tracking effect under turbulent wind conditions, and the wind energy capturing efficiency can be effectively improved.
Based on the Bladed software, a section of turbulent wind speed with 600s, an average wind speed of 5m/s and a turbulent wind speed with a turbulent intensity of A level is generated, and simulation is carried out in FAST by using two control methods respectively, wherein the results are shown in figures 3, 4 and 5. FIG. 3 is a graph comparing the theoretical optimal rotational speed, the actual rotational speed of the wind wheel by the traditional optimal torque method and the actual rotational speed of the wind wheel by the improved optimal torque method, which obviously can obtain better rotational speed tracking effect of the improved optimal torque method, especially in the process of greatly increasing the wind speed at about 100 s; FIG. 4 is a graph comparing low-speed shaft torque curves of a conventional optimal torque method and an improved optimal torque method provided by the invention, and is obviously capable of obtaining that the improved optimal torque method provided by the invention has smaller influence on shafting load than the conventional optimal torque method; FIG. 5 is a graph of output power of a conventional optimal torque method and an improved optimal torque method according to the present invention, which is capable of obviously obtaining output power instructions of a wind turbine according to the improved optimal torque method according to the present invention more rapidly and flexibly, so as to further improve dynamic response performance of the wind turbine.
In the simulation experiment, the wind energy capturing efficiency of the traditional optimal torque method is 85.74 percent, and the method provided by the invention is 87.91 percent. Therefore, the improved optimal torque method for improving the dynamic response performance of the wind power provided by the invention has good adaptability in turbulent wind conditions, and the wind energy capturing efficiency is effectively improved.
The above description is only of the preferred embodiments of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.
Claims (6)
1. An improved optimal torque method for improving the dynamic response performance of a wind turbine, which is characterized by comprising the following steps:
s1: setting a threshold epsilon for the given rotation speed deviation;
s2: obtaining the wind speed v of the windward side of the k-moment wind turbine k And wind wheel omega r,k Calculating theoretical optimal rotational speed omega of the wind wheel opt,k ；
S3: when meeting |omega r,k -ω opt,k If r < epsilon, or k=0, the wind turbine sets a reference power command by the optimal torque method, or satisfies |omega r,k -ω opt,k The value of the reference power command is larger than or equal to epsilon and k is larger than 0, so that the wind turbine keeps the reference power command at the moment unchanged;
s4: and registering a reference power instruction of the current moment k, and sending the reference power instruction to the converter for implementation.
2. An improved optimal torque method for improving aerodynamic response performance of a wind turbine according to claim 1, wherein: the rotational speed deviation setting threshold in step S1 is initialized to a coefficient greater than 0.
3. An improved optimal torque method for improving aerodynamic response performance of a wind turbine according to claim 1, wherein: the theoretical optimal rotation speed calculation formula in the step S2 is as follows:
wherein lambda is opt The optimal tip speed ratio is determined by the aerodynamic characteristics of the wind wheel and is obtained by measuring and fitting a wind energy capturing coefficient curve; r is the radius of the wind wheel.
4. An improved optimal torque method for improving aerodynamic response performance of a wind turbine according to claim 1, wherein: the wind turbine in the step S3 sets a reference power instruction P at the current moment k by an optimal torque method ref,k The method comprises the following steps:
wherein K is opt ＝0.5ρπR 5 C Pmax /λ opt Approximately constant, C Pmax Obtaining a maximum wind energy capturing coefficient by fitting a wind energy capturing coefficient curve; omega r.bgn To initiate the power generation rotational speed.
5. An improved optimal torque method for improving aerodynamic response performance of a wind turbine according to claim 1, wherein: the wind turbine in the step S3 keeps the reference power command of the moment k-1 unchanged, namely:
P ref,k ＝P ref,k-1
wherein P is ref,k-1 Registered for time k-1The wind turbine references the power command.
6. An improved optimal torque method for improving aerodynamic response performance of a wind turbine according to claim 1, wherein: the purpose of the reference power instruction in step S4 for registering the current time k is: at time k+1, it is determined whether the reference power command is a reference power command of the wind turbine in step S3 or not as a reference power command of the wind turbine in step S3.
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