CN114151276A - Eccentric semi-submersible type floating wind turbine control system - Google Patents
Eccentric semi-submersible type floating wind turbine control system Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
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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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- 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
- F05B2270/70—Type of control algorithm
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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
- F05B2270/70—Type of control algorithm
- F05B2270/706—Type of control algorithm proportional-integral-differential
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- 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 relates to an eccentric semi-submersible floating wind turbine control system, which comprises a low wind speed PI control module, a low wind speed PI control module and a high wind speed PI control module, wherein the low wind speed PI control module is used for controlling the rotating speed of a floating wind turbine to operate at a grid-connected rotating speed when the floating wind turbine is off-grid or operates in a control strategy of optimal mode gain self-adaptive control; the optimal mode gain self-adaptive control module is used for self-adaptively adjusting the torque of the generator according to the air density and controlling the floating wind driven generator to operate in an optimal tip speed ratio state; the transition area PI control module is used for controlling the torque of the floating wind driven generator to operate at a rated torque; and the variable pitch control module is used for controlling the floating wind driven generator to output constant rated power when the rotating speed of the floating wind driven generator is higher than the rated rotating speed. The invention can effectively adjust the rotating speed and the torque of the generator, maintain the stability of the power of the floating wind driven generator and ensure the stability of the system.
Description
Technical Field
The invention relates to the technical field of power generation of floating wind driven generators, in particular to a control system of an eccentric semi-submersible floating wind turbine generator.
Background
Compared with a fixed wind turbine on the shore, the floating wind turbine faces a more severe offshore environment, such as extreme meteorological conditions of typhoons, earthquakes and the like, so that the floating wind turbine needs to bear more severe extreme loads and fatigue loads caused by long-term operation. Therefore, it is necessary to research and analyze the structural load response of the main components of the floating wind turbine, such as the key components of the wind turbine, such as the blades, the tower barrel, the rotor and the like, under different wind-wave-flow load working conditions when designing the control system, so that the load action mechanism of the floating wind turbine is clear, and a basis is provided for the development and optimization of a novel floating support platform; and the research on the control strategy of the floating type fan is developed, the structural load of main parts is reduced, and the stability of the platform is improved. The traditional onshore wind turbine adopts a fixed foundation and uses a conventional variable-speed and variable-pitch angle regulation control method. For the floating wind turbine, the floating basic low-frequency motion freedom of the floating wind turbine is easy to cause the resonant motion of platform motion and pitch control. When the wind speed exceeds the rated rotating speed, the thrust of the rotor is reduced, and negative damping can be introduced into the system under the condition, so that the floating wind turbine generates more severe resonance, and the structural load is increased. Therefore, an eccentric semi-submersible type floating wind turbine control system needs to be designed.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects that negative damping is introduced into a system when the wind speed exceeds the rated rotating speed, severe resonance is generated in a floating wind driven generator, and the structural load is increased in the prior art.
In order to solve the technical problem, the invention provides an eccentric semi-submersible floating wind turbine control system, which comprises a low wind speed PI control module, an optimal mode gain self-adaptive control module, a transition area PI control module and a variable pitch control module, wherein the low wind speed PI control module is connected with the optimal mode gain self-adaptive control module;
the low wind speed PI control module is used for controlling the rotating speed of the floating wind driven generator to operate at a grid-connected rotating speed when the floating wind driven generator is off-grid or operates in a control strategy of optimal mode gain adaptive control;
the optimal mode gain self-adaptive control module is used for self-adaptively adjusting the torque of the generator according to the air density and controlling the floating wind driven generator to operate in an optimal tip speed ratio state;
the transition area PI control module is used for controlling the torque of the floating wind driven generator to operate at a rated torque;
the variable pitch control module is used for controlling the floating wind driven generator to output constant rated power when the rotating speed of the floating wind driven generator is higher than the rated rotating speed.
In one embodiment of the present invention, the optimal mode gain adaptive control module is used for controlling the gain according to the optimal mode gain
Adjusting the torque of the generator, and controlling the floating wind driven generator to operate in an optimal tip speed ratio state;
wherein, TgAs generator torque, ωgIs the rotational speed of the generator,
for optimal modal gain coefficient, ρ is ambient air density, n is gearbox drive ratio, λ is optimal tip speed ratio, Cp(λ, β) is a wind energy utilization coefficient.
In one embodiment of the present invention, further comprising: and the generator constant torque control module is used for controlling the generator torque to operate within a preset stable range when the rotating speed of the floating wind driven generator is higher than the rated rotating speed so as to reduce the load of the transmission system of the floating wind driven generator.
In one embodiment of the invention, the generator constant torque control module is based on
Reducing the load of the floating wind driven generator transmission system;
wherein, TrTorque of the wind wheel, TgAs generator torque, NgFor increasing the speed ratio of the gearbox, IrIs the wind wheel moment of inertia, IgIs the generator shaft inertia moment, IgtIs the inertia moment of the transmission system, omega is the rotational speed of the wind wheel, deltaOmega is the deviation from the nominal rotor speed.
In an embodiment of the present invention, the variable pitch control module is specifically configured to control the variable pitch PI controller and the variable pitch instruction speed limit parameter in real time according to a change rate after filtering an actually measured wind speed.
In one embodiment of the invention, the pitch control is further arranged to select a control system natural frequency based on a frequency domain analysis, ensuring that the control system natural frequency is below a cut-off natural frequency of the floating wind turbine.
In one embodiment of the invention, the pitch control performs gain scheduling adjustment by controlling the pitch PI controller.
In an embodiment of the invention, the input signal of the pitch PI controller is a generator speed.
In one embodiment of the invention, the pitch PI controller is based on
Performing gain scheduling adjustment so that the floating wind driven generator outputs stable power;
where Δ θ is a small change in the pitch angle near the balance point, KpIs the proportional gain, K, of the pitch PI controllerIIs the integral gain, K, of the pitch PI controllerDAnd the differential gain of the variable pitch PI controller.
In an embodiment of the present invention, the gain coefficient of the pitch PI controller is:
wherein,
in order to control the frequency of the system,
and damping the system.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the invention relates to an eccentric semi-submersible type floating wind turbine control system, which comprises: the system comprises a low wind speed PI control module, an optimal mode gain self-adaptive control module, a transition area PI control module and a variable pitch control module; the low wind speed PI control module is used for controlling the rotating speed of the floating wind driven generator to operate at a grid-connected rotating speed when the floating wind driven generator is off-grid or operates in a control strategy of optimal mode gain adaptive control; the optimal mode gain self-adaptive control module is used for self-adaptively adjusting the torque of the generator according to the air density and controlling the floating wind driven generator to operate in an optimal tip speed ratio state; the transition area PI control module is used for controlling the torque of the floating wind driven generator to operate at a rated torque; and the variable pitch control module is used for controlling the floating wind driven generator to output constant rated power when the rotating speed of the floating wind driven generator is higher than the rated rotating speed. According to the invention, the rotating speed and the torque of the generator are effectively adjusted through the low wind speed PI control module, the optimal mode gain self-adaptive control module, the transition area PI control module and the variable pitch control module, so that the floating wind driven generator operates in the optimal tip speed ratio state in a larger wind speed range, the power stability of the floating wind driven generator is maintained, and the pitch mode positive damping is realized, thereby ensuring the stability of the system.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic diagram of a control system of an eccentric semi-submersible floating wind turbine provided by the present invention;
FIG. 2 is a schematic diagram of the rotating speed and torque of the control system of the eccentric semi-submersible floating wind turbine provided by the invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
The invention provides an eccentric semi-submersible type floating wind turbine control system, which comprises: the system comprises a low wind speed PI control module, an optimal mode gain self-adaptive control module, a transition area PI control module and a variable pitch control module;
the low wind speed PI control module is used for controlling the rotating speed of the floating wind driven generator to operate at a grid-connected rotating speed when the floating wind driven generator is off-grid or operates in a control strategy of optimal mode gain adaptive control;
the optimal mode gain self-adaptive control module is used for self-adaptively adjusting the torque of the generator according to the air density and controlling the floating wind driven generator to operate in an optimal tip speed ratio state;
the transition area PI control module is used for controlling the torque of the floating wind driven generator to operate at a rated torque;
the variable pitch control module is used for controlling the floating wind driven generator to output constant rated power when the rotating speed of the floating wind driven generator is higher than the rated rotating speed.
According to the system provided by the invention, the rotating speed and the torque of the generator can be more effectively adjusted through the low wind speed PI control module, the optimal mode gain self-adaptive control module, the transition area PI control module and the variable pitch control module, so that the floating wind driven generator can operate in the optimal tip speed ratio state in a larger wind speed range, the floating wind driven generator set can be ensured to absorb wind energy to the maximum extent, the power stability of the floating wind driven generator is maintained, the pitch mode positive damping is realized, and the stability of the system is ensured.
Based on the above embodiments, the present embodiment is a further description of the control system of the eccentric semi-submersible type floating wind turbine;
and calculating the hydrodynamic characteristics of the semi-submersible platform by using hydrodynamic analysis software, carrying out frequency domain analysis, and then introducing the calculated parameters including hydrostatic rigidity, additional mass, radiation damping, wave force and the like into high-horizontal-axis wind turbine aeroelastic simulation software FAST developed by the national energy laboratory of America to carry out full-coupling calculation on the floating wind driven generator, thereby obtaining the dynamic response of the designed semi-submersible floating wind driven generator under the combined action of wind and wave current. Designing a control system based on the frequency domain analysis and the dynamic response, the designed control system comprising: the system comprises a low wind speed PI control module, an optimal mode gain self-adaptive control module, a transition area PI control module and a variable pitch control module;
and the low wind speed PI control module is used for enabling the floating type wind driven generator to operate under the optimal tip speed ratio under the working condition of low wind speed. The generator rotating speed corresponding to the working range of the low-wind-speed PI controller in the low-wind-speed PI control module is the grid-connected rotating speed of the floating wind driven generator, and the low-wind-speed PI controller enables the floating wind driven generator to keep working at the grid-connected rotating speed before the floating wind driven generator is off-grid or enters the optimal mode gain self-adaptive control module.
The optimal torque of the optimal mode gain self-adaptive control module is calculated according to the model and the design parameters of the floating wind driven generator, and the floating wind driven generator is ensured to work in an optimal tip speed ratio state. The torque T loaded by the converter of the floating wind generating set in the optimal mode gain adaptive control modulegWith generator speed omegagThe relationship should be satisfied:
wherein, TgAs generator torque, ωgIs the rotational speed of the generator,
for optimal modal gainCoefficient of benefit, ρ ambient air density, n gearbox drive ratio, λ optimal tip speed ratio, CpAnd the (lambda, beta) is a wind energy utilization coefficient, the optimal modal gain coefficient adaptively adjusts control parameters according to the air density, can eliminate the interference of air density change on power control, realizes fine control of power, and accordingly improves the generated energy, and when the conditions of the ambient air such as temperature, humidity, altitude and the like change, the value of the optimal modal gain coefficient should be corrected in time.
And the PI controller in the transition region PI control module is a high wind speed PI controller at the rated wind speed, so that the floating wind driven generator operates in an optimal tip speed ratio state at the rated wind speed. At the moment, the rotating speed of the generator corresponding to the high-wind-speed PI controller is close to the rated rotating speed of the fan. The high wind speed PI controller ensures that the floating wind turbine reaches the rated torque before being converted to the pitch control, which prevents the torque and pitch controller from interfering with each other. Once the wind turbine reaches the rated wind speed, the floating wind turbine control is converted into variable pitch control to ensure constant rated power output.
The variable pitch control module is used for enabling the floating wind driven generator to reach rated torque, and the control strategy is converted into variable pitch control, so that constant rated power is output when the floating wind driven generator operates above rated wind speed. When the floating wind generating set operates at a speed higher than the rated wind speed, the floating wind generating set limits the rotating speed of a wind wheel through variable pitch PI control so as to limit the absorption of wind energy, and maintains the stability of the motor torque through the constant torque control of the motor, and the constant torque control can reduce the load of a transmission system of the floating wind generating set and reduce the frequency of the variable pitch control. And the variable pitch control selects the natural frequency of the control system according to the frequency domain analysis result, and ensures that the natural frequency of the control system is lower than the natural frequency of the platform so as to avoid generating resonance. The control system frequency is lower than the lowest natural frequency of the floating wind driven generator structure in the control design so as to ensure the stability of the system. And adjusting the variable pitch PI controller and the variable pitch instruction speed limit value parameter in real time according to the change rate after the actual measurement wind speed filtration.
The input signal of the controller is the rotating speed of the generator, and the signal is filtered by a low-pass filter, so that the excitation of high-frequency signals in blade pitch variation and generator control is removed, and the signals are transmitted to a control system. The control system mainly comprises a pitch controller, and gain scheduling adjustment can be performed by adopting a PI controller, as shown in figures 1 and 2. The control equation for the transmission system is:
wherein, TrTorque of the wind wheel, TgAs generator torque, NgFor increasing the speed ratio of the gearbox, IrIs the wind wheel moment of inertia, IgIs the generator shaft inertia moment, IgtAnd the inertia moment of the transmission system, wherein omega is the rotating speed of the wind wheel, and delta omega is the deviation amount relative to the rated rotating speed of the wind wheel. The pitch to rotor speed relationship can be expressed as:
where Δ θ is a small change in the pitch angle near the balance point, KpIs the proportional gain, K, of the pitch PI controllerIIs the integral gain, K, of the pitch PI controllerDAnd differentiating the gain for the variable pitch PI controller.
The gain coefficients of the pitch angle PI controller are respectively:
wherein,
in order to control the frequency of the system,
and damping the system.
The gain scheduling is respectively:
KP_θ＝KP_0·η(θ)，KI_θ＝KI_0·η(θ)
according to the system provided by the invention, the rotating speed and the torque of the generator can be effectively adjusted through the low wind speed PI control module, the optimal mode gain self-adaptive control module, the transition area PI control module and the variable pitch control module, so that the floating wind driven generator can operate in the optimal tip speed ratio state in a larger wind speed range, the floating wind driven generator can be ensured to absorb wind energy to the maximum extent, the wind energy utilization rate of the floating wind driven generator is improved, the control parameters are finely adjusted along with the change of air density, the power stability of the floating wind driven generator is maintained, the positive damping of a pitching mode is realized, the stability of the system is ensured, and the problems of the existing floating fan control method are solved.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A control system of an eccentric semi-submersible type floating wind turbine generator is characterized by comprising a low wind speed PI control module, an optimal mode gain self-adaptive control module, a transition area PI control module and a variable pitch control module;
the low wind speed PI control module is used for controlling the rotating speed of the floating wind driven generator to operate at a grid-connected rotating speed when the floating wind driven generator is off-grid or operates in a control strategy of optimal mode gain adaptive control;
the optimal mode gain self-adaptive control module is used for self-adaptively adjusting the torque of the generator according to the air density and controlling the floating wind driven generator to operate in an optimal tip speed ratio state;
the transition area PI control module is used for controlling the torque of the floating wind driven generator to operate at a rated torque;
the variable pitch control module is used for controlling the floating wind driven generator to output constant rated power when the rotating speed of the floating wind driven generator is higher than the rated rotating speed.
2. The system of claim 1, wherein the optimal mode gain adaptive control module is configured to adapt the optimal mode gain according to
Adjusting the torque of the generator, and controlling the floating wind driven generator to operate in an optimal tip speed ratio state;
wherein, TgAs generator torque, ωgIs the rotational speed of the generator,
for optimal modal gain coefficient, ρ is ambient air density, n is gearbox drive ratio, λ is optimal tip speed ratio, Cp(λ, β) is a wind energy utilization coefficient.
3. The system of claim 1, further comprising: and the generator constant torque control module is used for controlling the generator torque to operate within a preset stable range when the rotating speed of the floating wind driven generator is higher than the rated rotating speed so as to reduce the load of the transmission system of the floating wind driven generator.
4. The system of claim 3, wherein the generator constant torque control module is based on
Reducing the floating wind power generationThe load of the machine drive train;
wherein, TrTorque of the wind wheel, TgAs generator torque, NgFor increasing the speed ratio of the gearbox, IrIs the wind wheel moment of inertia, IgIs the generator shaft inertia moment, IgtAnd the inertia moment of the transmission system, wherein omega is the rotating speed of the wind wheel, and delta omega is the deviation amount relative to the rated rotating speed of the wind wheel.
5. The system of claim 1, wherein the pitch control module is specifically configured to control a pitch PI controller and a pitch instruction speed limit parameter in real time according to a change rate after the measured wind speed is filtered.
6. The system of claim 1, wherein the pitch control is further configured to select a control system natural frequency based on a frequency domain analysis that ensures the control system natural frequency is below a cut-off natural frequency of the floating wind turbine.
7. The system of claim 5, wherein the pitch control makes gain scheduling adjustments by controlling the pitch PI controller.
8. The system of claim 5, wherein the input signal to the pitch PI controller is generator speed.
9. The system of claim 7, wherein the pitch PI controller is based on
Performing gain scheduling adjustment so that the floating wind driven generator outputs stable power;
where Δ θ is a small change in the pitch angle near the balance point, KpIs the proportional gain, K, of the pitch PI controllerIIs the integral gain, K, of the pitch PI controllerDAnd the differential gain of the variable pitch PI controller.
10. The system of claim 9, wherein the gain factor of the pitch PI controller is:
wherein,
in order to control the frequency of the system,
and damping the system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116047949A (en) * | 2022-12-12 | 2023-05-02 | 中广核研究院有限公司 | Floating fan controller adjusting method, device, equipment and storage medium |
| CN117231424A (en) * | 2023-11-13 | 2023-12-15 | 中国海洋大学 | Floating fan typhoon-resisting method based on ultralow rotation speed control |
| WO2025102628A1 (en) * | 2023-11-15 | 2025-05-22 | 清华大学 | Rotation speed tracking control method and system for floating wind turbine generator set operating above rated wind speed |
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