CN117905634A - Wind turbine generator active power coordination control method and device based on wind speed estimation - Google Patents

Wind turbine generator active power coordination control method and device based on wind speed estimation Download PDF

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Publication number
CN117905634A
CN117905634A CN202410102752.2A CN202410102752A CN117905634A CN 117905634 A CN117905634 A CN 117905634A CN 202410102752 A CN202410102752 A CN 202410102752A CN 117905634 A CN117905634 A CN 117905634A
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wind
speed
omega
rotating speed
control
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焦绪国
罗浩
韩晔飞
李振
陈建军
田艳兵
杨秦敏
孟文超
刘文锋
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Qindao University Of Technology
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Qindao University Of Technology
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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
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    • Y02E10/72—Wind turbines with rotation axis in wind direction

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Abstract

The invention belongs to the technical field of variable-speed wind turbine generator set control, and particularly relates to a wind turbine generator set active power coordination control method and device based on wind speed estimation. The method comprises the following steps: s1, under the turbulent wind condition, estimating the wind speed by using an extended Kalman filter to obtain the estimated wind speed variation in a set sampling periodS2, setting a speed change interval pi (omega low,ωup) of the wind wheel rotating speed omega r and a kinetic energy utilization regulating coefficient alpha, and utilizing the wind speed variationUpdating the kinetic energy utilization adjustment coefficient alpha; s3, calculating a second rotating speed regulating error e 2 when the rotating speed omega r of the wind wheel is in a section pi (omega low,ωlow +alpha) by utilizing the updated kinetic energy and utilizing a regulating coefficient alpha, and calculating a target rotating speed regulating error e according to the first rotating speed regulating error e 1 and the second rotating speed regulating error e 2 in the RSC method; s4, utilizing the target rotating speed adjustment error e to perform coordination active power control of the pitch angle and the torque facing the kinetic energy adjustment of the wind wheel rotor. The invention reduces pitch angle adjusting frequency and reduces the load of a pitch system while realizing that the variable-speed wind generating set can be adjusted according to the power grid demand.

Description

Wind turbine generator active power coordination control method and device based on wind speed estimation
Technical Field
The invention belongs to the technical field of variable speed wind turbine generator set control, and particularly relates to a wind turbine generator set active power coordination control method and device based on wind speed estimation, which are used for pitch angle control of a variable speed wind turbine generator set.
Background
Wind energy is one of the fastest growing renewable energy sources in the energy field, is widely utilized worldwide, and especially in some areas, wind power generation has become one of the main clean energy sources. In recent years, the wind power industry has undergone rapid growth and technological innovation, becoming a key force in the global energy field. Active power control of wind turbines is of great interest as a research hotspot.
In order to realize active power control of the wind turbine, different control strategies are adopted by the wind turbine at different wind speeds, wherein load optimization is a key link of the control strategies, and as the wind turbine develops to be larger and larger, the load optimization of the wind turbine becomes particularly important, and the load increase can cause the increase of the fault rate of the wind turbine and shorten the service life of the wind turbine. Therefore, load optimization is of great importance to ensure safe, reliable and efficient operation of large wind power plants.
In the early active power control method, the wind energy capture coefficient of the unit is changed by controlling the pitch angle, and then the current rotating speed is determined according to the optimal rotating speed curve, so that the active power is controlled. During this control, however, the load of the pitch system increases significantly. On the basis of the method, a pitch angle control method of the variable speed wind generating set combined with fuzzy logic is provided. According to the method, the pitch angle controller uses the output power of the generator and the rotating speed of the wind turbine as control input variables of the fuzzy controller so as to realize power control of the wind turbine generator set. However, to implement this method requires the establishment of complex fuzzy control rules to ensure the superiority of the control effect, and this method also has little attention on the problem of load optimization of the pitch system.
In addition, a number of active power control methods related to load optimization of a pitch system have been proposed, wherein one of the active power control methods for switching different control strategies according to the rotational speed value of the wind wheel shows a better control effect, which is herein abbreviated as a conventional RSC method. The method takes the difference value between the rotating speed of the wind wheel and the rated rotating speed as an input signal of a pitch angle controller, and adopts a PI control mode. Inertia control and OTC control are performed in the torque controller, but the effect of pitch system load reduction is to be further improved due to frequent switching of pitch angle between zero degrees and the larger pitch angle corresponding to the rated rotational speed.
Chinese patent document CN114233570a discloses a power control method of a wind turbine, including obtaining speed information, the speed information including wind speed or wind wheel rotation speed of the wind turbine; inquiring a target lookup table according to the speed information to obtain a first optimal pitch angle and a first optimal gain, wherein the target lookup table is an optimal pitch angle and an optimal gain lookup table; the controller updates the internal optimal gain according to the first optimal gain and sends out an optimal pitch angle adjustment instruction; based on the updated optimal gain and the current rotational speed of the wind turbine, the controller sends a torque adjustment command to the converter. The method can ensure that the unit is always in or more near the state of optimal aerodynamic efficiency in a low wind speed region, is beneficial to improving the wind energy capturing efficiency of the wind turbine generator and the generating capacity of the wind turbine generator.
The Chinese patent document CN108825434A discloses a fan pitch-changing optimization method based on wind wheel kinetic energy smooth power control, and aims at the problem of frequent pitch change of a fan under high wind speed wind conditions; the variable speed regulation is matched with the pitch regulation, the variable speed regulation is smooth in wind power fluctuation caused by small-amplitude and high-frequency wind speed fluctuation, and the pitch regulation is used for coping with large-amplitude and low-frequency wind speed change. The method effectively reduces the amplitude and frequency of the pitch action, reduces the fatigue degree and the blade load of the pitch servo mechanism and prolongs the service life of the fan while not expanding the influence of power fluctuation on the frequency of the power grid.
In view of the above, further studies are needed to reduce the load of the pitch system to a greater extent, which is also a major problem to be solved by the present invention.
Disclosure of Invention
The invention aims to overcome at least one defect of the prior art, and provides a wind turbine active power coordination control method based on wind speed estimation, so that a variable speed wind turbine can be adjusted according to the power grid requirement, and meanwhile, the pitch angle adjusting frequency is reduced, and the load of a pitch system is reduced.
The invention also discloses a device loaded with the wind turbine active power coordination control method based on wind speed estimation.
The detailed technical scheme of the invention is as follows:
a wind turbine active power coordination control method based on wind speed estimation comprises the following steps:
S1, under the turbulent wind condition, estimating the wind speed by using an extended Kalman filter to obtain the estimated wind speed variation in a set sampling period
Step S2, setting a speed change interval pi (omega low,ωup) of the wind wheel rotating speed omega r and a kinetic energy utilization regulating coefficient alpha, and utilizing the wind speed variationUpdating the kinetic energy utilization adjustment coefficient alpha, wherein omega low is the intersection point of the optimal power curve and the reference power P ref required by the power grid, and omega up is the rated wind wheel rotating speed;
Step S3, calculating a second rotation speed adjustment error e2 when the rotation speed omega r of the wind wheel is in a section pi (omega low,ωlow +alpha) by using the updated kinetic energy and using an adjustment coefficient alpha, and calculating a target rotation speed adjustment error e according to a first rotation speed adjustment error e 1 and the second rotation speed adjustment error e 2 in the RSC method;
and S4, carrying out coordination active power control on the pitch angle and the torque which are oriented to wind wheel rotor kinetic energy adjustment by utilizing the target rotating speed adjustment error e.
According to a preferred embodiment of the present invention, the step S1 specifically includes:
Using OpenFast wind power technology simulation platform, under turbulent wind condition, estimating wind speed by using extended Kalman filter to obtain wind speed estimated value
From the obtained wind speed estimation valueCalculating the estimated wind speed variation/>, by taking T as a sampling periodThe method comprises the following steps:
in the formula (1): wind speed estimation value representing current sampling time,/> The wind speed estimate at the last sampling instant is indicated.
According to a preferred embodiment of the present invention, in the step S2, the rotor speed ω r satisfies:
① When omega r>ωup is reached, the pitch angle controller performs upward pitch angle adjustment;
② When omega r is in the interval pi (omega low+α,ωup), the torque controller performs inertia control;
③ When omega r is in interval pi (omega low,ωlow +alpha), the pitch angle controller performs downward pitch angle adjustment;
④ When ω r<ωlow, the torque controller performs OTC control.
According to a preferred embodiment of the present invention, in the step S2, the wind speed variation is usedUpdating the kinetic energy utilization adjustment coefficient alpha, wherein the update law is expressed as follows:
In the formula (2): update coefficient K 1 is a positive constant, update coefficient K 2 is a negative constant, and values of K 1 and K 2 satisfy:
in the formula (3): k is a positive number and has a value of 0.1 to 0.4.
According to a preferred embodiment of the present invention, in the step S3, the second rotation speed adjustment error e 2 is:
e2＝ωr-(ωlow+α) (4)。
According to a preferred embodiment of the present invention, in the step S3, the first rotational speed adjustment error e 1 in the RSC method is:
e1＝ωr-ωup (5)。
According to a preferred embodiment of the present invention, in the step S3, the target rotation speed adjustment error e is:
e＝e1·ε(e1)+e2·ε(-e2) (6)；
In formula (6): the epsilon function represents a unit step function, expressed as:
in the formula (7): x represents a function variable.
According to the present invention, in the step S4, the pitch angle is controlled by a pitch angle controller in a PI control manner, and the expression is:
β＝Kpe+KI∫e (8)；
In formula (8): beta represents the pitch angle of the wind generating set, and the unit is deg; k p、KI is a proportional control parameter and an integral control parameter, respectively.
According to the present invention, in the step S4, the torque is controlled by the torque controller in an inertia control and OTC control manner, and the corresponding expressions are respectively:
In the formula (9): p ref is the reference power required by the power grid; k opt is the optimal wind wheel rotation speed control gain; t g represents the generator torque equivalent to the low-speed side, and T g＝ngTem, where n g represents the gearbox speed ratio, and T em represents the electromagnetic torque of the generator.
In another aspect of the present invention, there is provided an apparatus for implementing a wind turbine active power coordination control method based on wind speed estimation, the apparatus comprising:
an estimation module for estimating wind speed under turbulent wind condition by using extended Kalman filter to obtain estimated wind speed variation in set sampling period
The updating module is used for setting a speed change interval pi (omega low,ωup) of the wind wheel rotating speed omega r and a kinetic energy utilization regulating coefficient alpha and utilizing the wind speed variationUpdating the kinetic energy utilization adjustment coefficient alpha, wherein ωl ow is the intersection point of the optimal power curve and the reference power P ref required by the power grid, and ω up is the rated wind wheel rotating speed;
A calculation module, configured to calculate a second rotational speed adjustment error e 2 when the wind wheel rotational speed ω r is within the interval pi (ω low,ωlow +α) using the updated kinetic energy and using the adjustment coefficient α, and calculate a target rotational speed adjustment error e according to the first rotational speed adjustment error e 1 and the second rotational speed adjustment error e 2 in the RSC method;
And the control module is used for carrying out coordination active power control on the pitch angle and the torque which are oriented to wind wheel rotor kinetic energy adjustment by utilizing the target rotating speed adjustment error e.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the wind turbine generator active power coordination control method based on wind speed estimation, wind speed is estimated, corresponding wind speed variation is obtained, the kinetic energy utilization adjustment coefficient alpha set in the input signal of the pitch angle controller is updated, the pitch angle constant value variation range of the pitch system participating in active power adjustment can be effectively expanded while the reference power P ref set by the power system is met, pitch angle adjustment frequency is reduced, load of the pitch system is optimized, service life of the wind turbine generator is prolonged, and operation and maintenance cost of a wind power plant is reduced.
(2) The invention also designs a torque controller structure which is basically the same as the traditional RSC method, utilizes kinetic energy to calculate a corresponding rotating speed adjusting interval by utilizing an adjusting coefficient alpha, meets the requirement of inertia control when the rotating speed omega r of the wind wheel is in a speed changing interval pi (omega low+α,ωup) along with the change of wind speed; when the wind wheel rotation speed omega r is lower than omega low, OTC control is performed.
Drawings
FIG. 1 is a flow chart of a wind turbine active power coordination control method based on wind speed estimation.
FIG. 2 is a controller structure block diagram in the wind turbine active power coordination control method based on wind speed estimation.
FIG. 3 is a graph of true wind speed versus wind speed estimation in example 1 of the present invention.
FIG. 4 is a graph comparing rotor speed for the inventive method with the conventional RSC method in example 1 of the present invention.
FIG. 5 is a graph comparing the pitch angle of the inventive method with that of the conventional RSC method in example 1 of the present invention.
Fig. 6 is a graph showing the comparison of the generated power of the inventive method with that of the conventional RSC method in example 1 of the present invention.
FIG. 7 is a graph of pitch angle change rate versus the inventive method versus the conventional RSC method in example 1 of the present invention.
FIG. 8 is a graph comparing the transverse moment of the blade root of the inventive method with that of the conventional RSC method in example 1 of the present invention.
FIG. 9 is a graph comparing the longitudinal moment of the blade root of the inventive method with that of the conventional RSC method in example 1 of the present invention.
FIG. 10 is a graph comparing the transverse deflection of the blade tip of the inventive method with that of the conventional RSC method in example 1 of the present invention.
FIG. 11 is a graph comparing the longitudinal deflection of the blade tip of the inventive method with that of the conventional RSC method in example 1 of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
The pitch system is a blade adjusting system of the wind turbine, and comprises a pitch angle controller, and wind speed and wind direction changes borne by the fan blades are responded by adjusting the blade angles of the blades so as to optimize wind energy conversion efficiency.
Aiming at the current situation that the pitch angle is frequently adjusted when the wind speed is high by the traditional RSC (Rotor speed control rotor speed control) method, so that the service life of a pitch system is greatly reduced, the invention designs an active power coordination control method of a wind turbine generator based on wind speed estimation, which is called as an RSC method based on wind speed estimation for short. According to the method, the dynamic energy is utilized to utilize the adjustment coefficient alpha, the pitch angle change range of the variable pitch system participating in active power adjustment is effectively expanded, the load of the variable pitch system is obviously reduced, and the service life of key components of the unit is prolonged.
Meanwhile, aiming at the current situation that the traditional RSC method can ensure that the wind generating set performs preset power output according to the power grid requirement, the invention also designs a torque controller structure which is basically the same as the traditional RSC method, utilizes kinetic energy to calculate a corresponding rotating speed adjusting interval by utilizing an adjusting coefficient alpha, meets the requirement of inertia control when the rotating speed omega r of the wind wheel is in a speed changing interval pi (omega low+α,ωup) along with the change of wind speed; when the wind wheel rotation speed omega r is lower than omega low, OTC (Optimal torque control optimal torque control) control is performed.
The wind turbine generator active power coordination control method and device based on wind speed estimation are further described below with reference to specific embodiments.
Example 1,
Referring to fig. 1, the embodiment provides a wind turbine active power coordination control method based on wind speed estimation, which includes:
S1, under the turbulent wind condition, estimating the wind speed by using an extended Kalman filter to obtain the estimated wind speed variation in a set sampling period
In the embodiment, a OpenFast wind power technology simulation platform is used, turbulence wind which is generated for 600s and has an average wind speed of 7m/s is used as the input of the OpenFast wind power technology simulation platform, and under the condition of the turbulence wind, the wind speed is estimated by using an extended Kalman filter to obtain a wind speed estimated value
Based on the obtained wind speed estimated valueCalculating the estimated wind speed variation/>, by taking T as a sampling periodThe method comprises the following steps:
in the formula (1): wind speed estimation value representing current sampling time,/> The wind speed estimate at the last sampling instant is indicated.
S2, setting a wind wheel rotating speed variable speed interval pi (omega low,ωup) and a kinetic energy utilization regulating coefficient alpha, and utilizing the wind speed variationThe kinetic energy utilization adjustment coefficient alpha is updated, wherein omega low represents the intersection point of the optimal power curve and the reference power P ref required by the power grid, and omega up represents the rated wind wheel rotating speed.
Specifically, the wind wheel rotation speed is represented by ω r, and the wind wheel rotation speed shift interval is set to be n (ω low,ωup). Meanwhile, in order to effectively expand the constant change range of the pitch angle of the pitch system participating in active power adjustment, a kinetic energy utilization adjustment coefficient alpha is set in an input signal of a pitch angle controller. And the wind wheel rotation speed omega r meets the following conditions:
① When omega r>ωup is reached, the pitch angle controller performs upward pitch angle adjustment;
② When omega r is in the interval pi (omega low+α,ωup), the torque controller performs inertia control;
③ When omega r is in interval pi (omega low,ωlow +alpha), the pitch angle controller performs downward pitch angle adjustment;
④ When ω r<ωlow, the torque controller performs OTC control.
From the above, the wind wheel rotation speed change interval is determined by the kinetic energy utilization adjustment coefficient alpha. Based on this, in the present embodiment, the wind speed variation amount is usedTo update the kinetic energy utilization adjustment coefficient alpha, the expression is:
In the formula (2): update coefficient K 1 is a positive constant, update coefficient K 2 is a negative constant, and values of K 1 and K 2 satisfy:
In the formula (3): k is a smaller positive number, and is selected according to actual conditions, and is generally 0.1-0.4; the purpose of the method is to ensure the pitch angle constant value change range of the pitch system participating in active power adjustment, and simultaneously reduce the power loss caused by low wind speed.
Step S3, calculating a second rotation speed adjustment error e 2 when the wind wheel rotation speed omega r is in the interval pi (omega low,ωlow +alpha) by using the updated kinetic energy and using the adjustment coefficient alpha, and calculating a target rotation speed adjustment error e according to the first rotation speed adjustment error e 1 and the second rotation speed adjustment error e 2 in the RSC method.
In this step, the calculation formula of the second rotation speed adjustment error e 2 is:
e2＝ωr-(ωlow+α) (4)。
the RSC method refers to a traditional RSC method, such as an active power control method for switching different control strategies according to the rotating speed value of the wind wheel. The calculation formula of the first rotation adjustment error e 1 in the RSC method is as follows:
e1＝ωr-ωup (5)。
in this step, the target rotation speed adjustment error e is calculated according to the first rotation speed adjustment error e1 and the second rotation speed adjustment error e2 in the RSC method, specifically:
e＝e1·ε(e1)+e2·ε(-e2) (6)；
In formula (6): the epsilon function represents a unit step function, expressed as:
in the formula (7): x represents a variable.
And S4, carrying out coordination active power control on the pitch angle and the torque which are oriented to wind wheel rotor kinetic energy adjustment by utilizing the target rotating speed adjustment error e.
And finally, carrying out coordination active power control on the pitch angle and the torque which are oriented to wind wheel rotor kinetic energy adjustment by using the calculated target rotating speed adjustment error e.
In this way, the method of the embodiment uses OpenFast simulation platforms, under turbulent wind conditions, utilizes the extended kalman filter to estimate wind speed, calculates corresponding wind speed variation, utilizes the calculated wind speed variation to update kinetic energy utilization adjustment coefficient alpha, obtains corresponding rotating speed adjustment interval, further effectively extends the constant value change range of the pitch angle of the pitch system participating in active power adjustment, further obtains rotating speed adjustment error at the moment, and performs coordination active power control of the pitch angle and torque facing wind wheel rotor kinetic energy adjustment according to the rotating speed adjustment error.
Referring to fig. 2, a functional block diagram of a pitch angle controller and a torque controller of the present embodiment is shown.
The torque controller has basically the same control structure as the conventional RSC method, namely inertia control and OTC control.
In a pitch angle controller, wind speed is estimated first using an extended Kalman filterBased on estimated wind speedCalculate the corresponding wind speed variation/>Calculated wind speed variation/>The rotational speed control error e 2 corresponding to the rotational speed omega r of the wind wheel can be calculated by updating the set kinetic energy utilization control coefficient alpha, and the rotational speed control error e 1 in the traditional RSC method is added to obtain the rotational speed control error input signal e of the pitch angle controller.
The pitch angle controller adopts a PI control mode, and the expression is as follows:
β＝Kpe+KI∫e (8)；
In formula (8): beta represents the pitch angle of the wind generating set, and the unit is deg; k p、KI is a proportional control parameter and an integral control parameter, respectively.
The torque controller adopts inertia control and OTC control modes, and the corresponding expressions are respectively:
In the formula (9): p ref is the reference power required by the power grid, omega r is the rotating speed of the wind wheel, and the expression corresponds to inertia control; k opt is the optimal wind wheel rotating speed control gain, and the expression corresponds to OTC control; t g represents the generator torque equivalent to the low-speed side, and T g＝ngTem, where n g represents the gearbox speed ratio, and T em represents the electromagnetic torque of the generator.
In practice, according to the method and the controller structure thereof of the embodiment, under the action of the set kinetic energy utilization adjustment coefficient alpha, the pitch angle constant value change range of the pitch system participating in active power adjustment can be effectively expanded.
Further, in order to quantitatively compare the control effect of the RSC control method based on wind speed estimation and the conventional RSC method, the evaluation index of the pitch angle load needs to be described. In practice, frequent pitch angle adjustment can obviously increase the load of the pitch system, and shorten the service life of key components of the unit. Therefore, the present embodiment uses the following index (PF, pitch Fatigue) to evaluate pitch system load:
In the formula (10): beta represents the pitch angle of the wind generating set, the unit is deg, and therefore the unit of the index is deg/s, the variation of the pitch angle per second is averaged in the running time period T t seconds of the set, the load of the pitch system can be well evaluated, and meanwhile, the moment of the root of the blade and the deflection of the tail end of the blade are respectively compared to reflect the fatigue degree of the blade.
In the embodiment, a wind power technology is used for developing a software OpenFast simulation platform, and the effectiveness of the method is verified.
Specifically, a 5MW three-blade horizontal axis variable speed wind generating set model is used, and the main parameters are shown in the following table 1:
table 1 model parameters of 5MW three-blade horizontal axis variable speed wind turbine generator system
The relevant parameters of the controller are selected as follows:
Kp＝1.2,KI＝0.54,K1＝30,K2＝-40。
Through simulation experiments, fig. 3 shows a real wind speed and a wind speed estimation chart respectively. It can be seen that a more accurate estimate of wind speed can be made using the extended kalman filter.
Fig. 4 shows a comparison graph of the rotational speeds of the wind wheels of the conventional RSC method and the RSC method based on wind speed estimation in this embodiment, and it can be seen by comparing that the rotational speed of the wind wheel of the RSC method based on wind speed estimation is lower as compared with the rotational speed of the wind wheel of the conventional RSC method, so that the constant change range of the pitch angle of the pitch system participating in active power adjustment is effectively expanded.
Fig. 5 shows a pitch angle comparison graph of a conventional RSC method with the RSC method based on wind speed estimation of the present embodiment. The calculated total amount of pitch angle adjustment of the conventional RSC method is 91.79deg, and the estimated total amount of pitch angle adjustment of the RSC method based on wind speed is 30.38deg, which is reduced by 66.9%.
Fig. 6 shows a graph of the generated power of the conventional RSC method compared with the RSC method based on wind speed estimation of the present embodiment. It can be seen that at approximately 350s to 450s, the collected wind energy and the kinetic energy stored in the wind rotor cannot maintain the grid demand reference power P ref for stable output due to the wind speed being too low.
The conventional RSC method and the RSC method based on wind speed estimation of this embodiment both perform OTC control, and the root mean square deviation of the generated power of the conventional RSC method is 114.18KW, and the root mean square deviation of the generated power of the RSC method based on wind speed estimation of this embodiment is 120.08KW, which is increased by 5.2%.
This is because when the wind speed is low enough and OTC control has to be performed, the RSC method based on wind speed estimation in this embodiment adjusts the pitch down slightly later than the conventional RSC, and triggers OTC control slightly earlier, which may cause slightly more power loss than the conventional RSC method. However, it is worth noting that the active power control is important to ensure that the wind generating set can be regulated according to the power grid requirement, rather than simply pursuing the maximum wind energy capturing efficiency, and the downward pitch angle regulation can be performed earlier when the wind speed is low enough by reasonably increasing the values of the coefficients K 1 and K2, so that OTC control is triggered later, and power loss is reduced.
Fig. 7 shows a pitch angle change rate comparison graph of a conventional RSC method and the RSC method based on wind speed estimation of the present embodiment. Calculated, the pitch system load evaluation index pf= 0.1530deg/s of the conventional RSC method, and the pitch system load evaluation index pf=0.0506 deg/s of the RSC method based on wind speed estimation of this embodiment is reduced by 66.9%.
Fig. 8 shows a blade root transverse moment contrast diagram of the conventional RSC method and the RSC method based on wind speed estimation of the present embodiment. It can be seen that the RSC method based on wind speed estimation of the present embodiment reduces blade root transverse moment compared to the conventional RSC method.
Fig. 9 shows a blade root longitudinal moment contrast diagram of the conventional RSC method and the RSC method based on wind speed estimation of the present embodiment. It can be seen that the RSC method based on wind speed estimation of the present embodiment reduces the number of oscillations of the blade root longitudinal moment, compared to the conventional RSC method.
Fig. 10 shows a graph of blade tip transverse deflection contrast for the conventional RSC method and the RSC method based on wind speed estimation of the present embodiment. It can be seen that the RSC method based on wind speed estimation of the present embodiment reduces blade tip transverse deflection compared to the conventional RSC method.
Fig. 11 shows a graph of blade tip longitudinal deflection contrast for the conventional RSC method and the RSC method based on wind speed estimation of the present embodiment. It can be seen that the RSC method based on wind speed estimation of the present embodiment reduces the number of oscillations of the blade tip longitudinal deflection, compared to the conventional RSC method.
In summary, according to the RSC method based on wind speed estimation of the present embodiment, by estimating wind speed and obtaining a corresponding wind speed variation, the RSC method is used to update the kinetic energy utilization adjustment coefficient α set in the input signal of the pitch angle controller, so that the pitch angle constant variation range of the pitch system participating in active power adjustment can be effectively expanded while the reference power P ref required by the power grid is satisfied, pitch angle adjustment frequency is reduced, load of the pitch system is optimized, service life of a unit is prolonged, and operation and maintenance costs of a wind farm are greatly reduced.
EXAMPLE 2,
The embodiment provides a device for realizing a wind turbine active power coordination control method based on wind speed estimation, which comprises the following steps:
an estimation module for estimating wind speed under turbulent wind condition by using extended Kalman filter to obtain estimated wind speed variation in set sampling period
The updating module is used for setting a speed change interval pi (omega low,ωup) of the wind wheel rotating speed omega r and a kinetic energy utilization regulating coefficient alpha and utilizing the wind speed variationUpdating the kinetic energy utilization adjustment coefficient alpha, wherein omega low is the intersection point of the optimal power curve and the reference power P ref required by the power grid, and omega up is the rated wind wheel rotating speed;
A calculation module, configured to calculate a second rotational speed adjustment error e 2 when the wind wheel rotational speed ω r is within the interval pi (ω low,ωlow +α) using the updated kinetic energy and using the adjustment coefficient α, and calculate a target rotational speed adjustment error e according to the first rotational speed adjustment error e 1 and the second rotational speed adjustment error e 2 in the RSC method;
And the control module is used for carrying out coordination active power control on the pitch angle and the torque which are oriented to wind wheel rotor kinetic energy adjustment by utilizing the target rotating speed adjustment error e.
It should be understood that the foregoing examples of the present invention are merely illustrative of the present invention and are not intended to limit the present invention to the specific embodiments thereof. Any modification, equivalent replacement, improvement, etc. that comes within the spirit and principle of the claims of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The active power coordination control method of the wind turbine based on wind speed estimation is characterized by comprising the following steps of:
S1, under the turbulent wind condition, estimating the wind speed by using an extended Kalman filter to obtain the estimated wind speed variation in a set sampling period
S2, setting a speed change interval pi (omega low,ωup) of the wind wheel rotating speed omega r and a kinetic energy utilization regulating coefficient alpha, and utilizing the wind speed variationUpdating the kinetic energy utilization adjustment coefficient alpha, wherein ωl ow is the intersection point of the optimal power curve and the reference power P ref required by the power grid, and ω up is the rated wind wheel rotating speed;
S3, calculating a second rotating speed regulating error e 2 when the rotating speed omega r of the wind wheel is in a section pi (omega low,ωlow +alpha) by utilizing the updated kinetic energy and utilizing a regulating coefficient alpha, and calculating a target rotating speed regulating error e according to a first rotating speed regulating error e 1 and the second rotating speed regulating error e2 in the RSC method;
s4, utilizing the target rotating speed adjustment error e to perform coordination active power control of the pitch angle and the torque facing the kinetic energy adjustment of the wind wheel rotor.
2. The wind turbine generator active power coordination control method based on wind speed estimation according to claim 1, wherein the step S1 specifically includes:
Using OpenFast wind power technology simulation platform, under turbulent wind condition, estimating wind speed by using extended Kalman filter to obtain wind speed estimated value
From the obtained wind speed estimation valueCalculating the estimated wind speed variation/>, by taking T as a sampling periodThe method comprises the following steps:
in the formula (1): wind speed estimation value representing current sampling time,/> The wind speed estimate at the last sampling instant is indicated.
3. The method for coordinated control of active power of a wind turbine according to claim 1, wherein in the step S2, the rotational speed ω r of the wind wheel satisfies:
① When omega r>ωup is reached, the pitch angle controller performs upward pitch angle adjustment;
② When omega r is in the interval pi (omega low+α,ωup), the torque controller performs inertia control;
③ When omega r is in interval pi (omega low+α,ωup), the pitch angle controller performs downward pitch angle adjustment;
④ When ω r<ωlow, the torque controller performs OTC control.
4. The method for coordinated control of active power of wind turbine generator according to claim 1, wherein in step S2, the wind speed variation is usedUpdating the kinetic energy utilization adjustment coefficient alpha, wherein the update law is expressed as follows:
In the formula (2): update coefficient K 1 is a positive constant, update coefficient K 2 is a negative constant, and values of K 1 and K 2 satisfy:
in the formula (3): k is a positive number and has a value of 0.1 to 0.4.
5. The method for coordinated control of active power of wind turbine generator set based on wind speed estimation according to claim 1, wherein in step S3, the second rotational speed adjustment error e 2 is:
e2＝ωr-(ωlow+α) (4)。
6. The wind turbine active power coordination control method based on wind speed estimation according to claim 1, wherein in the step S3, the first rotational speed adjustment error e1 in the RSC method is:
e1＝ωr-ωup (5)。
7. The method for coordinated control of active power of wind turbine generator set based on wind speed estimation according to claim 1, wherein in step S3, the target rotation speed adjustment error e is:
e＝e1·ε(e1)+e2·ε(-e2) (6)；
In formula (6): the epsilon function represents a unit step function, expressed as:
in the formula (7): x represents a function variable.
8. The method for coordinated control of active power of wind turbine generator set based on wind speed estimation according to claim 3, wherein in step S4, the pitch angle is controlled by a pitch angle controller in a PI control manner, and the expression is:
β＝Kpe+KI∫e (8)；
In formula (8): beta represents the pitch angle of the wind generating set, and the unit is deg; k p、KI is a proportional control parameter and an integral control parameter, respectively.
9. The wind turbine generator active power coordination control method based on wind speed estimation according to claim 3, wherein in the step S4, the torque is controlled by a torque controller in an inertia control and OTC control mode, and the corresponding expressions are respectively:
In the formula (9): p ref is the reference power required by the power grid; k opt is the optimal wind wheel rotation speed control gain; t g represents the generator torque equivalent to the low-speed side, and T g＝ngTem, where n g represents the gearbox speed ratio, and T em represents the electromagnetic torque of the generator.
10. An apparatus for implementing a wind turbine active power coordination control method based on wind speed estimation, the apparatus comprising:
an estimation module for estimating wind speed under turbulent wind condition by using extended Kalman filter to obtain estimated wind speed variation in set sampling period
The updating module is used for setting a speed change interval pi (omega low,ωup) of the wind wheel rotating speed omega r and a kinetic energy utilization regulating coefficient alpha and utilizing the wind speed variationUpdating the kinetic energy utilization adjustment coefficient alpha, wherein omega low is the intersection point of the optimal power curve and the reference power P ref required by the power grid, and omega up is the rated wind wheel rotating speed;
The calculation module is used for calculating a second rotating speed adjustment error e 2 when the rotating speed omega r of the wind wheel is in a section pi (omega low,ωlow +alpha) by using the updated kinetic energy and using an adjustment coefficient alpha, and calculating a target rotating speed adjustment error e according to a first rotating speed adjustment error e 1 and the second rotating speed adjustment error e2 in the RSC method;
And the control module is used for carrying out coordination active power control on the pitch angle and the torque which are oriented to wind wheel rotor kinetic energy adjustment by utilizing the target rotating speed adjustment error e.
CN202410102752.2A 2024-01-24 2024-01-24 Wind turbine generator active power coordination control method and device based on wind speed estimation Pending CN117905634A (en)

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