CN104533732B - A kind of control method and device for suppressing wind-power generating unit tower side-to-side vibrations - Google Patents
A kind of control method and device for suppressing wind-power generating unit tower side-to-side vibrations Download PDFInfo
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- CN104533732B CN104533732B CN201510035475.9A CN201510035475A CN104533732B CN 104533732 B CN104533732 B CN 104533732B CN 201510035475 A CN201510035475 A CN 201510035475A CN 104533732 B CN104533732 B CN 104533732B
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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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- 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
- F05B2260/00—Function
- F05B2260/96—Preventing, counteracting or reducing vibration or noise
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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
- F05B2270/10—Purpose of the control system
- F05B2270/103—Purpose of the control system to affect the output of the engine
- F05B2270/1033—Power (if explicitly mentioned)
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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 kind of control method and device for suppressing wind-power generating unit tower side-to-side vibrations, this method includes：Obtain pylon or so acceleration am, to described pylon or so acceleration amThe acceleration a that the difference processing that disappear obtains disappearing after differencec；By the acceleration acCalculating and filtering process are integrated, the corresponding speed V of pylon first natural frequency ω are obtainedN；By the generator speed Ω measuredmAdjusted respectively by filtering process and proportional integration, obtain the corresponding generator speed Ω of the pylon first natural frequency ωNWith output torque TPI；According to the generator speed Ωm, the output torque TPIWith upper Periodic Compensation torque Tb *Calculating is compensated moment coefficient Kb；Utilize the VN, the KbWith the ΩNCalculating obtains total compensation electromagnetic torque Tb, by the TbWith the TPIAddition result be used as control signal, input Wind turbines carry out Power Control.This method realizes influence of the reduction compensation torque to power output, improves the control effect for suppressing pylon side-to-side vibrations.
Description
Technical Field
The invention relates to the technical field of wind generating set control, in particular to a control method and a control device for inhibiting left and right vibration of a tower of a wind generating set.
Background
As the single-machine capacity of the wind turbine generator is gradually increased, the size and the weight of a tower of the wind turbine generator are increased, so that the natural frequency is reduced. Meanwhile, the diameters of the wind wheels of the unit are larger and larger, the running rotating speed and the running range of the unit are smaller and smaller, and under the staggered development of the factors, the probability that the natural frequency of the tower and the running excitation frequency of the unit are crossed to generate resonance is larger and larger. Therefore, a control method for suppressing resonance in the natural frequency range of the tower is required by comprehensively considering the overall performance, cost and the like of the unit.
In the prior art, a first torque signal of a generator is obtained by acquiring acceleration signals in the left and right directions in a cabin and calculating according to the acceleration signals. The first torque signal and the second torque signal for normal power control are superposed to obtain a variable frequency control signal, the variable frequency control signal is output to the generator variable frequency converter to realize torque control, and a smaller fluctuation with the tower resonant frequency is added on the basis of the given electromagnetic torque of the generator, and the resonance effect is counteracted through phase adjustment, so that the suppression of tower vibration is realized.
However, the compensation torque for counteracting the tower resonance in the method affects the power output quality, and how to reduce the effect of the compensation torque on the power output needs to be solved. In addition, the method does not perform subtraction processing on the acceleration signal, accumulated deviation is easy to generate, the obtained additional torque is easy to deviate from a desired value, and therefore the control effect is reduced, and even the problems of insufficient power output, excessive power and the like are caused.
Meanwhile, parameters are set at the beginning of design for controlling the tower vibration, when the frequency changes, for example, an offshore wind turbine generator, the tower frequency is different due to different basic geology, different piling depths and other factors, the set parameters cannot be automatically adjusted, and the control target is deviated, so that the control effect is reduced.
Disclosure of Invention
The invention aims to provide a control method and a control device for inhibiting left and right vibration of a tower of a wind generating set, so as to reduce the influence of compensation torque on output power and improve the control effect of inhibiting the left and right vibration of the tower.
In order to solve the technical problem, the invention provides a control method for inhibiting left and right vibration of a tower of a wind generating set, which comprises the following steps:
obtaining the left and right acceleration a of the towermFor the tower left and right acceleration amThe acceleration a after the difference elimination is obtained by the difference elimination processingc；
The acceleration a is measuredcIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN；
The measured generator speed omegamObtaining the generator rotation speed omega corresponding to the first-order natural frequency omega of the tower through filtering processing and proportional integral adjustment respectivelyNAnd output torque TPI；
According to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb；
Using said VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TPIAnd the addition result is used as a control signal and is input into the wind turbine generator to carry out power control.
Preferably, the pair of tower left and right accelerations amThe acceleration a after the difference elimination is obtained by the difference elimination processingcThe method comprises the following steps:
the left and right acceleration a of the cabinmObtaining the acceleration a through a special high-pass filter and a special low-pass filterc；
Wherein the transfer function of the special high-pass filter is:the transfer function of the low-pass filter is:ξhis the damping ratio of a special high-pass filter, ξlIs the damping ratio of the low pass filter and ω is the tower first order left and right natural frequency.
Preferably, the acceleration a is adjustedcIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerNThe method comprises the following steps:
the acceleration a is measuredcObtaining the left and right vibration speed V of the tower through an integral termC；
Vibrating the tower left and right at a speed VCObtaining the speed V corresponding to the first-order natural frequency omega of the tower through a band-pass filterC；
Wherein the transfer function of the integral term is:the transfer function of the band-pass filter is:ξ1is the damping ratio of the band-pass filter, ω is the first-order natural frequency of the tower, τ1Is a time constant.
Preferably, the generator speed Ω to be measuredmObtaining the generator rotating speed omega corresponding to the first-order natural frequency omega of the tower through filtering treatmentNThe method comprises the following steps:
the measured generator speed omegamObtaining the generator rotation speed omega corresponding to the first-order natural frequency omega of the tower through a high-pass filter and a band-pass filterN；
Wherein the transfer function of the high-pass filter is:the transfer function of the band-pass filter is:ξh2is the damping ratio of the high pass filter, ω is the first order natural frequency of the tower, G is the amplification factor, ξ2Is the damping ratio, tau, of the band-pass filter2Is a time constant.
Preferably, said generator speed ΩmSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient KbThe method comprises the following steps:
according to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating a limiting coefficient Kt(ii) a Wherein,Pmaxfor maximum power limitation, TbmaxA maximum compensation torque limit;
coefficient KtAnd saturation coefficient KcComparing to obtain a coefficient Kx(ii) a Wherein, KxThe expression of (a) is:
according to coefficient KxAnd KAObtaining a compensation torque coefficient Kb(ii) a Wherein, Kb＝Kx×KACoefficient of KATo a coefficient for increasing the tower left-right damping ratio.
Preferably, said utilizing said VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe method comprises the following steps:
using said VNSaid K isbCalculating to obtain TTb(ii) a Wherein, TTb＝Kb×VNSaid T isTbCompensating electromagnetic torque corresponding to the left and right vibration speeds of the tower frame in the current period;
using said KbAnd said omegaNCalculating to obtain TGb(ii) a Wherein, TGb＝Kb×ΩN，TGbCompensating electromagnetic torque for the rotational speed of the generator;
using said TTbAnd said TGbCalculating to obtain total compensation electromagnetic torque Tb(ii) a Wherein, Tb＝TTb+TGb。
Preferably, the method further comprises:
using said acceleration acAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the towerp；
Will the omegapComparing the frequency deviation with the first-order natural frequency omega of the tower to judge whether the frequency deviation is in a smaller range; and if not, adjusting the first-order natural frequency omega of the tower.
Preferably, the adjusting the first order natural frequency ω of the tower comprises:
judging whether the frequency deviation exceeds a preset range; if yes, triggering an alarm signal; if not, adjusting the numerical value of the first-order natural frequency omega of the tower to be omegapNumber ofThe value is obtained.
The invention also provides a control device for inhibiting the left and right vibration of the tower of the wind generating set, which is used for realizing the control method for inhibiting the left and right vibration of the tower of the wind generating set, and the control method comprises the following steps:
a difference eliminating module for eliminating the left and right acceleration a of the towermThe acceleration a after the difference elimination is obtained by the difference elimination processingc；
A first operation module for converting the acceleration acIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN；
A second operation module for measuring the generator rotation speed omegamObtaining the generator rotating speed omega corresponding to the first-order natural frequency omega of the tower through filtering treatmentN；
A torque PI controller for measuring the generator speed omegamThe output torque T is obtained through proportional-integral regulationPI；
A compensation torque coefficient calculation module for calculating the compensation torque coefficient according to the generator rotation speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb；
A third operation module for utilizing the VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TPIAnd the addition result is used as a control signal and is input into the wind turbine generator to carry out power control.
Preferably, the apparatus further comprises:
a frequency on-line adjustment module for utilizing the acceleration acAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the towerp(ii) a Will the omegapComparing the frequency deviation with the first-order natural frequency omega of the tower to judge whether the frequency deviation is in a smaller range; and if not, adjusting the first-order natural frequency omega of the tower.
The invention provides a control method and a control device for inhibiting left and right vibration of a tower of a wind generating set, which are used for acquiring left and right acceleration values a of the towermFor said tower left and right acceleration values amThe acceleration a after the difference elimination is obtained by the difference elimination processingc(ii) a The acceleration a is measuredcIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN(ii) a The measured generator speed omegamObtaining the generator rotation speed omega corresponding to the first-order natural frequency omega of the tower through filtering processing and proportional integral adjustment respectivelyNAnd output torque TPI(ii) a According to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb(ii) a Using said VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TPIThe addition result of the voltage difference is used as a control signal and is input into the wind turbine generator to carry out power control, and therefore, the left and right acceleration values a of the tower are obtainedmThe difference elimination processing is carried out, so that the influence of accumulated deviation generated by an acceleration signal on the compensation torque is avoided, the control effect of inhibiting the vibration process is improved, and further, the insufficient power output or the excessive power output is avoided, and the power output is kept stable; at the same time, the torque coefficient K is compensatedbThe method can be beneficial to stable power output, meets the torque control target requirement, reduces the limit of power output, obviously reduces the influence of compensation torque on the output power, and improves the control effect of inhibiting the left and right vibration of the tower.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of a control method for suppressing left and right vibration of a tower of a wind turbine generator system according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a control embodiment of the present invention;
FIG. 3 is a schematic block diagram of an error elimination module of the present invention;
FIG. 4 is a functional block diagram of a compensation torque coefficient calculation module according to the present invention;
FIG. 5 is a schematic block diagram of an online frequency extraction module according to the present invention;
FIG. 6 is a schematic view of tower left and right oscillations;
FIG. 7 is a simplified schematic diagram of FIG. 6;
FIG. 8 is a graphical illustration of the tower acceleration profile before and after deployment of the present invention;
FIG. 9 is a diagram illustrating the results of the forward and backward acceleration spectrum analysis enabled by the present invention.
Detailed Description
The core of the invention is to provide a control method and a control device for inhibiting the left and right vibration of a tower of a wind generating set, so as to achieve the purposes of reducing the influence of compensation torque on output power and improving the control effect of inhibiting the left and right vibration of the tower.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a control method for suppressing left and right vibration of a tower of a wind turbine generator system, the method including:
step S101: obtaining the left and right acceleration a of the towermFor said tower left and right acceleration values amThe acceleration a after the difference elimination is obtained by the difference elimination processingc；
Wherein an acceleration measuring instrument installed in the nacelle is capable of measuring left and right acceleration values.
Step S102: the acceleration a is measuredcIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN；
Step S103: the measured generator speed omegamObtaining the generator rotation speed omega corresponding to the first-order natural frequency omega of the tower through filtering processing and proportional integral adjustment respectivelyNAnd output torque TPI；
Step S104: according to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb；
Step S105: using said VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TPIAnd the addition result is used as a control signal and is input into the wind turbine generator to carry out power control.
Wherein, T isbAnd said TPIAnd adding the signals to be used as a complete torque control target and inputting the signals into the frequency converter for power control.
The control method for inhibiting the left and right vibration of the tower of the wind generating set provided by the embodiment of the invention obtains the left and right acceleration a of the towermFor the tower left and right acceleration amThe acceleration a after the difference elimination is obtained by the difference elimination processingc(ii) a The acceleration a is measuredcIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN(ii) a The measured generator speed omegamObtaining the generator rotation speed omega corresponding to the first-order natural frequency omega of the tower through filtering processing and proportional integral adjustment respectivelyNAnd output torque TPI(ii) a According to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb(ii) a Using said VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TPIThe addition result of the voltage difference is used as a control signal and is input into the wind turbine generator to carry out power control, and therefore, the left and right acceleration values a of the tower are obtainedmThe difference elimination processing is carried out, so that the influence of accumulated deviation generated by an acceleration signal on the compensation torque is avoided, the control effect of inhibiting the vibration process is improved, and further, the insufficient power output or the excessive power output is avoided, and the power output is kept stable; at the same time, the torque coefficient K is compensatedbThe method can be beneficial to stable power output, meets the torque control target requirement, reduces the limit of power output, obviously reduces the influence of compensation torque on the output power, and improves the control effect of inhibiting the left and right vibration of the tower.
Referring to fig. 2, fig. 2 is a schematic block diagram of a control scheme of the present invention, based on the above embodiment, based on the following steps in step S101: to the tower left and right acceleration amThe acceleration a after the difference elimination is obtained by the difference elimination processingcPreferably, this step is carried out by:
step S201: the left and right acceleration a of the cabinmObtaining the acceleration a through a special high-pass filter and a special low-pass filterc；
Wherein the left and right acceleration amThe acceleration sensor is eliminated by a difference elimination module, which is composed of a special high-pass filter and a low-pass filter, and please refer to fig. 3, where fig. 3 is a schematic block diagram of the difference elimination module in the present invention, and a transfer function of the special high-pass filter is:the transfer function of the low-pass filter is:ξhis the damping ratio of a special high-pass filter, ξlIs the damping ratio of the low pass filter, and omega is the first order natural frequency of the tower, the damping ratio ξ of the high pass filter is adjusted respectivelyhAnd low pass filter damping ratio ξlThe value of (c) can implement the function of eliminating the difference.
Based on step S102: the acceleration a is measuredcIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerNPreferably, the step S102 is implemented by the following steps:
step S301: vibrating the tower left and right at a speed VCObtaining the speed V corresponding to the first-order natural frequency omega of the tower through a band-pass filterN；
Wherein the transfer function of the integral term is:the transfer function of the band-pass filter is:ξ1is the damping ratio of the band-pass filter, ω is the first-order natural frequency of the tower, τ1Is a time constant.
Based on the following in step S103: the measured generator speed omegamObtaining the generator rotating speed omega corresponding to the first-order natural frequency omega of the tower through filtering treatmentNPreferably, this step is carried out by:
step S401: the measured generator speed omegamObtaining the generator rotation speed omega corresponding to the first-order natural frequency omega of the tower through a high-pass filter and a band-pass filterN；
Wherein the transfer function of the high-pass filter is:the transfer function of the band-pass filter is:ξh2is the damping ratio of the high pass filter, ω is the first order natural frequency of the tower, G is the amplification factor, ξ2Is the damping ratio, tau, of the band-pass filter2Is a time constant.
Based on step S104: according to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient KbPreferably, the step S104 is implemented by the following steps:
step S501: according to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating a limiting coefficient Kt；
Wherein the generator speed ΩmSaid output torque TPIAnd the compensation torque of the previous periodThe compensation torque coefficient K is obtained through calculation of a compensation torque calculation modulebReferring to fig. 4, fig. 4 is a schematic block diagram of a compensation torque coefficient calculation module for outputting a torque T by a torque PI controller according to the present inventionPIAnd measuring the generator speed omegamFor input, by limiting P by maximum powermaxLast compensation torqueAnd a maximum compensation torque limit TbmaxThe limiting calculation of (D) yields a limiting coefficient KtThe calculation expression is as follows:
wherein the maximum compensation torque limits TbmaxThe values are obtained from the following formula:
wherein: omegaratedRated speed, T, of the generator of the wind turbineratedAnd the rated torque is the rated torque of the generator of the wind turbine generator.
Step S502: coefficient KtAnd saturation coefficient KcComparing to obtain a coefficient Kx；
Wherein, KxThe expression of (a) is:
step S503: basis systemNumber KxAnd KAObtaining a compensation torque coefficient Kb＝；
Wherein, Kb＝Kx×KACoefficient of KATo a coefficient for increasing the tower left-right damping ratio.
Coefficient KAThe calculation principle and method are as follows: fig. 6 is a schematic diagram of tower left-right vibration, and fig. 7 is a simplified structural schematic diagram of fig. 6. According to the structure shown in FIG. 7, the thrust F can be obtained according to the disturbance degree calculation formula of the simply supported beamaThe relationship between the displacement and y is:
y＝-Fa×H3/(3×EI)；
aerodynamic moment TaThe relationship between the displacement and y is:
y＝-Ta×H3/(2×EI)；
wherein: h is the hub height and EI is the bending stiffness.
The relationship between the thrust and the aerodynamic moment can be obtained according to the two relations:
Fa＝3×Ta/(2×H)；
the second order relationship between typical thrust and hub center displacement can be described as follows:
wherein: m is the unit mass, D is the damping, and K is the equivalent stiffness. x is the left-right displacement of the center of the hub,the left-right movement speed of the center of the hub,the acceleration of the hub from left to right movement is shown.
Given the increased thrust Δ F in the left-right directionaThe relationship with displacement is:
wherein: dFFor increased damping. According to second-order system frequency calculation formulaThe damping ratio calculation ξ D/2 ω M and the three equations above result in a relationship between the compensation torque and the additional damping ratio:
wherein: Δ ξ is the desired additional damping ratio and ω is the tower side-to-side vibration 1 order natural frequency.
The coefficient K can be obtained from the formula (19)AThe calculation formula is as follows:
based on the following in step S105: using said VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbPreferably, this step is carried out by:
step S601: using said VNSaid K isbCalculating to obtain TTb(ii) a Wherein, TTb＝Kb×VNSaid T isTbCompensating electromagnetic torque corresponding to the left and right vibration speeds of the tower frame in the current period;
step S602: using said KbAnd said omegaNCalculating to obtain TGb(ii) a Wherein, TGb＝Kb×ΩN，TGbCompensating electromagnetic torque for the rotational speed of the generator;
step S603: using said TTbAnd said TGbCalculating to obtain total compensation electromagnetic torque Tb(ii) a Wherein, Tb＝TTb+TGb。
Preferably, the method further comprises the steps of:
step S701: using said acceleration acAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the towerp；
Wherein the acceleration acAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the tower through an online frequency calculation and extraction modulepReferring to fig. 5, fig. 5 is a schematic block diagram of an online frequency extraction module according to the present invention, wherein the online frequency extraction module measures a generator rotation speed Ω for a continuous period of timemAnd the forward and backward acceleration a subjected to subtraction processingcIs an input. In order to ensure that the data volume can fully reflect the vibration condition in the time period and does not increase the system calculation amount, the number N of data points is generally defined to be 5000-10000, and the sampling period T of the data acquisition system is determinedsampleDetermining the data storage time length as follows:
Ttime＝N×Tsample；
the time period T is obtained by calculationtimeMaximum rotating speed omega of internal generatorrotor_maxAnd minimum rotation speed ωrotor_minThe corresponding 3 times of wind wheel rotation frequency is respectively as follows:
ωrotor_max＝Ωmax/(Ggearbox×20)；
ωrotor_min＝Ωmin/(Ggearbox×20)；
wherein: ggearboxThe transmission ratio of the gear box of the wind turbine generator.
Calculating an acceleration frequency spectrum by a fast Fourier transform method, and extracting a corresponding range (omega) of 3 times of wind wheel rotation frequencyrotor_max,ωrotor_min) Frequency point omega with most concentrated internal energypAnd the maximum value a of the acceleration in the periodc_max。
Step S702: will the omegapComparing the frequency deviation with the first-order natural frequency omega of the tower to judge whether the frequency deviation is in a smaller range; and if not, adjusting the first-order natural frequency omega of the tower.
Wherein the frequency ω ispComparing with the initial set frequency omega if omegapIf the difference between the actual frequency and the omega is within a small range such as 2%, the actual frequency is consistent with the initial value, and the frequency does not need to be adjusted by the front and rear vibration control part of the whole tower.
Based on the following in step S702: adjusting the first-order natural frequency omega of the tower, wherein the step is preferably realized by adopting the following steps:
step S801: judging whether the frequency deviation exceeds a preset range; if yes, triggering an alarm signal; if not, adjusting the numerical value of the first-order natural frequency omega of the tower to be omegapThe numerical value of (c).
Wherein, if ωpA difference from ω is large, e.g., more than 10%, and ac_maxOver acceleration alarm value aalarmAnd triggering an alarm signal to prompt that manual work is needed to analyze the reason for the tower vibration too much. If omegapThe difference between the total weight of the tower and omega is within a normal range of 2-10%, and omega in the whole tower front-rear vibration control is adjusted to omegap。
Based on the above preferred features, in another control method for suppressing the left-right vibration of the tower of the wind turbine generator system according to the embodiment of the present invention, the acceleration a is utilizedcAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the towerpThe ω ispComparing the frequency deviation with the first-order natural frequency omega of the tower to judge whether the frequency deviation is in a smaller range;if not, adjusting the first-order natural frequency omega of the tower, and judging whether the frequency deviation exceeds a preset range in the adjusting process; if yes, triggering an alarm signal; if not, adjusting the numerical value of the first-order natural frequency omega of the tower to be omegapThe numerical value of (2) can be seen, when the frequency changes, the set natural frequency can be automatically adjusted, the deviation of a control target is avoided, and the control effect of inhibiting the left and right vibration of the tower is improved.
For example, taking the actual operation effect of a 2MW wind turbine generator on a certain land in a wind field as an example, various data before and after the application of the invention are compared. FIG. 8 is a graph of acceleration of the tower before and after deployment of the present invention, with the dark curve representing the acceleration after deployment of the present invention and the light curve representing the acceleration before deployment. FIG. 9 is a diagram illustrating the results of the forward and backward acceleration spectrum analysis enabled by the present invention. As can be seen from fig. 8 and 9, the tower front-rear vibration acceleration amplitude can be significantly reduced by more than 50% by using the tower left-right vibration control of the present invention.
The invention also provides a control device for inhibiting the left and right vibration of the tower of the wind generating set, which is used for realizing the control method for inhibiting the left and right vibration of the tower of the wind generating set, and the device comprises the following components:
a difference eliminating module for eliminating the left and right acceleration a of the towermThe acceleration a after the difference elimination is obtained by the difference elimination processingc；
A first operation module for converting the acceleration acIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN；
The first operation module comprises an integration module and a band-pass filter, the integration module carries out integration calculation, and the band-pass filter carries out filtering processing.
A second operation module for measuring the generator rotation speed omegamObtaining the generator rotating speed omega corresponding to the first-order natural frequency omega of the tower through filtering treatmentN；
The second operation module comprises a high-pass filter and a band-pass filter.
A torque PI controller for measuring the generator speed omegamThe output torque T is obtained through proportional-integral regulationPI；
A compensation torque coefficient calculation module for calculating the compensation torque coefficient according to the generator rotation speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb；
A third operation module for utilizing the VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TPIAnd the addition result is used as a control signal and is input into the wind turbine generator to carry out power control.
Preferably, the apparatus further comprises:
a frequency on-line adjustment module for utilizing the acceleration acAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the towerp(ii) a Will the omegapComparing the frequency deviation with the first-order natural frequency omega of the tower to judge whether the frequency deviation is in a smaller range; and if not, adjusting the first-order natural frequency omega of the tower.
According to the control device for inhibiting the left and right vibration of the tower of the wind generating set, the first operation module is used for controlling the acceleration acIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN(ii) a The second operation module measures the rotation speed omega of the generatormObtaining the generator rotating speed omega corresponding to the first-order natural frequency omega of the tower through filtering treatmentN(ii) a The torque PI controller measures the generator speed omegamThe output torque T is obtained through proportional-integral regulationPI(ii) a Compensating torqueThe coefficient calculation module calculates the rotation speed omega of the generatormSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb(ii) a A third operation module using the VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TbAnd the addition result is used as a control signal and is input into the wind turbine generator to carry out power control.
Further, the frequency online adjusting module utilizes the acceleration acAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the towerp(ii) a Will the omegapComparing the frequency deviation with the first-order natural frequency omega of the tower to judge whether the frequency deviation is in a smaller range; and if not, adjusting the first-order natural frequency omega of the tower.
It can be seen that the difference eliminating module is used for eliminating the left and right acceleration a of the towermThe difference elimination processing is carried out, so that the influence of accumulated deviation generated by an acceleration signal on the compensation torque is avoided, the control effect of inhibiting the vibration process is improved, and further, the insufficient power output or the excessive power output is avoided, and the power output is kept stable; meanwhile, the compensation torque coefficient K obtained by the compensation torque coefficient calculation modulebThe method is beneficial to stable power output, meets the torque control target requirement and reduces the power output limit; and when the frequency of the online frequency adjusting module is changed, the set natural frequency can be automatically adjusted, so that the deviation of a control target is avoided, and the control effect of inhibiting the left and right vibration of the tower is improved. Therefore, the influence of the compensation torque on the output power is reduced, and the control effect of inhibiting the left and right vibration of the tower is improved.
The control method and the control device for inhibiting the left and right vibration of the tower of the wind generating set provided by the invention are provided. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A control method for restraining left and right vibration of a tower of a wind generating set is characterized by comprising the following steps:
obtaining the left and right acceleration a of the towermFor the tower left and right acceleration amThe acceleration a after the difference elimination is obtained by the difference elimination processingc；
The acceleration a is measuredcIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN；
The measured generator speed omegamRespectively by filteringProcessing and proportional integral adjustment to obtain the generator rotation speed omega corresponding to the first-order natural frequency omega of the towerNAnd output torque TPI；
According to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb；
Using said VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TPIAnd the addition result is used as a control signal and is input into the wind turbine generator to carry out power control.
2. The method of claim 1, wherein said pair of said tower left and right accelerations amThe acceleration a after the difference elimination is obtained by the difference elimination processingcThe method comprises the following steps:
acceleration a of the tower from side to sidemObtaining the acceleration a through a special high-pass filter and a special low-pass filterc；
Wherein the transfer function of the special high-pass filter is:the transfer function of the low-pass filter is:ξhis the damping ratio of a special high-pass filter, ξlIs the damping ratio of the low pass filter and ω is the tower first order left and right natural frequency.
3. The method of claim 1, wherein said comparing said acceleration acIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerNThe method comprises the following steps:
the acceleration a is measuredcObtaining the left and right vibration speed V of the tower through an integral termC；
Vibrating the tower left and right at a speed VCObtaining the speed V corresponding to the first-order natural frequency omega of the tower through a band-pass filterC；
Wherein the transfer function of the integral term is:the transfer function of the band-pass filter is:ξ1is the damping ratio of the band-pass filter, ω is the first-order natural frequency of the tower, τ1Is a time constant.
4. Method according to claim 1, characterized in that the generator speed Ω to be measuredmObtaining the generator rotating speed omega corresponding to the first-order natural frequency omega of the tower through filtering treatmentNThe method comprises the following steps:
the measured generator speed omegamObtaining the generator rotation speed omega corresponding to the first-order natural frequency omega of the tower through a high-pass filter and a band-pass filterN；
Wherein the transfer function of the high-pass filter is:the transfer function of the band-pass filter is:ξh2is the damping ratio of the high pass filter, ω is the first order natural frequency of the tower, G is the amplification factor, ξ2Is the damping ratio, tau, of the band-pass filter2Is a time constant.
5. The method of claim 1, wherein the method further comprises the step of removing the solvent from the mixtureIn that said generator speed ΩmSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient KbThe method comprises the following steps:
according to the generator speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating a limiting coefficient Kt(ii) a Wherein,Pmaxfor maximum power limitation, TbmaxA maximum compensation torque limit;
coefficient KtAnd saturation coefficient KcComparing to obtain a coefficient Kx(ii) a Wherein, KxThe expression of (a) is:
according to coefficient KxAnd KAObtaining a compensation torque coefficient Kb(ii) a Wherein, Kb＝Kx×KACoefficient of KATo a coefficient for increasing the tower left-right damping ratio.
6. The method of claim 1, wherein said utilizing said VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe method comprises the following steps:
using said VNSaid K isbCalculating to obtain TTb(ii) a Wherein, TTb＝Kb×VNSaid T isTbCompensating electromagnetic torque corresponding to the left and right vibration speeds of the tower frame in the current period;
using said KbAnd said omegaNCalculating to obtain TGb(ii) a Wherein, TGb＝Kb×ΩN，TGbCompensating electromagnetic torque for the rotational speed of the generator;
using said TTbAnd said TGbCalculating to obtain total compensation electromagnetic torque Tb(ii) a Wherein, Tb＝TTb+TGb。
7. The method of claim 1, wherein the method further comprises:
using said acceleration acAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the towerp；
Will the omegapComparing the frequency deviation with the first-order natural frequency omega of the tower to judge whether the frequency deviation is in a smaller range; and if not, adjusting the first-order natural frequency omega of the tower.
8. The method of claim 7, wherein said adjusting said tower first order natural frequency ω comprises:
judging whether the frequency deviation exceeds a preset range; if yes, triggering an alarm signal; if not, adjusting the numerical value of the first-order natural frequency omega of the tower to be omegapThe numerical value of (c).
9. A control device for suppressing the left-right vibration of a tower of a wind generating set, which is used for realizing the control method for suppressing the left-right vibration of the tower of the wind generating set according to any one of claims 1 to 6, and comprises the following steps:
a difference eliminating module for eliminating the left and right acceleration a of the towermThe acceleration a after the difference elimination is obtained by the difference elimination processingc；
A first operation module for converting the acceleration acIntegral calculation and filtering processing are carried out to obtain the speed V corresponding to the first-order natural frequency omega of the towerN；
A second operation module for measuring the generator rotation speed omegamObtaining the generator rotating speed omega corresponding to the first-order natural frequency omega of the tower through filtering treatmentN；
A torque PI controller for measuring the generator speed omegamThe output torque T is obtained through proportional-integral regulationPI；
A compensation torque coefficient calculation module for calculating the compensation torque coefficient according to the generator rotation speed omegamSaid output torque TPIAnd the compensation torque of the previous periodCalculating to obtain a compensation torque coefficient Kb；
A third operation module for utilizing the VNSaid K isbAnd said omegaNCalculating to obtain total compensation electromagnetic torque TbThe said T isbAnd said TPIAnd the addition result is used as a control signal and is input into the wind turbine generator to carry out power control.
10. The apparatus of claim 9, wherein the apparatus further comprises:
a frequency on-line adjustment module for utilizing the acceleration acAnd the generator speed omegamCalculating the frequency omega with the most concentrated current energy of the towerp(ii) a Will the omegapComparing the frequency deviation with the first-order natural frequency omega of the tower to judge whether the frequency deviation is in a smaller range; and if not, adjusting the first-order natural frequency omega of the tower.
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Address after: North District 401122 Chongqing City No. 30 garden Jinyu Road Patentee after: China Shipbuilding Heavy Industry offshore wind power Limited by Share Ltd Address before: North District 401122 Chongqing City No. 30 garden Jinyu Road Patentee before: CSIC (Chongqing) Haizhuang Windpower Equipment Co., Ltd. |
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Effective date of registration: 20200528 Address after: 839000 Guangdong Industrial Park, Yizhou District, Hami, the Xinjiang Uygur Autonomous Region Patentee after: XINJIANG HAIZHUANG WIND ELECTRICITY EQUIPMENT Co.,Ltd. Address before: North District 401122 Chongqing City No. 30 garden Jinyu Road Patentee before: CSIC HAIZHUANG WINDPOWER Co.,Ltd. |
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