永磁式直驱风电机组控制技术研究
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摘要
永磁式直驱风电机组具有无齿轮箱、功率密度高和可靠性高等优点,已经成为风力发电市场内的主流机型之一。针对这种快速变化的非线性复杂系统,人们已提出了多种控制方案,这些控制方案主要为解决风机的最大风能捕获,延长机组寿命及降低疲劳载荷等问题,以提高风电能量转换率和达到系统的可靠运行。这些方法一方面存在片面性,只是针对单个系统问题提出一定的方法及控制策略,另一方面,由于缺乏实际应用对象,大多数方法和策略还处于理论探索和研究阶段。
本文在分析永磁式直驱风电机组的国内外研究现状基础上,以校企合作课题“1.5MW直驱风力发电机组的研制”中的SUT-1500永磁式直驱风电机组为对象,对目前机组控制技术面临的关键问题进行深入的研究,主要研究内容和成果如下：
(1)推导了永磁式直驱风电机组的模态线性化方程,建立了包括发电机转速、驱动链扭矩、塔架前后位移和速度模态的线性模型。充分考虑了风轮、传动系统、塔架的各阶振动模态以及它们之间的相互影响,提出了永磁式直驱风电机组的整机综合控制策略以及一种新型的桨距角控制器和转矩控制器之间协调切换的控制策略。仿真结果表明机组具有良好的控制品质。
(2)在额定风速以下的最大风能捕获控制中,有针对性地提出了基于自适应模糊控制的转矩控制方法,用于低风速下转速控制,使机组具有稳定快速的电磁转矩响应能力,仿真结果表明转速控制效果和抗扰动性能优于传统的PI控制器。
(3)在额定风速以上的恒功率控制中,针对变桨距系统非线性、强扰动特点及永磁式直驱风电机组变距控制要求,提出一种基于模糊与滑模变结构复合桨距角控制方法,利用桨距角位置误差的切换函数及其导数作为模糊控制器的输入,通过模糊推理和反模糊化得到模糊控制器的输出代替滑模切换控制进行变桨角度调节,来减少风速变化对机组的影响。仿真与实验结果表明该控制策略是行之有效的。
(4)从提高机组稳定性出发,针对永磁式直驱风电机组传动系统扭转振动问题,提出了一种新颖的转矩阻尼控制方法,通过变流器的直流电压进行相位补偿来提供阻尼转矩的方法来抑制风轮平面内一阶模态频率引起的传动链扭矩波动,仿真结果表明,在没有增加发电机功率波动的情况下,加入转矩阻尼控制后消除了系统谐振,减少了机组的振动和载荷对传动链的冲击,验证了转矩阻尼算法的可行性。
(5)针对永磁式直驱风电机组塔架振动控制,在对风轮-塔架耦合振动分析的基础上,提出了通过专家PID控制提供附加桨距角的方案,采用在闭环控制中加入塔架一阶模态频率的阻尼滤波器设计方法进行塔架振动控制,仿真与样机验证结果表明,与无塔架阻尼控制算法的情况进行比较,施加阻尼后塔架前后受力情况明显好转,验证了算法的有效性。
(6)实现仿真和实际控制算法应用的结合,利用既有的校企合作研究课题和实际机组对象,采取分系统控制策略仿真实现到多系统控制策略仿真实现的技术路线,降低单系统控制策略研究的片面性,最终达到整机控制策略的优化,具有实际应用价值。
With the advantages of gearless, high power density and reliability, the permanent-magnet direct-drive wind turbine has become one of the main types in wind generation. Considering such rapidly changeable nonlinear complicated system, researchers have proposed many control methods, which mainly focus on the maximum wind capture, life extension of the wind turbine and the reduction of fatigue load, in order to meet the demand of safety operation. On the one hand, methods above have the one-sidedness that control strategy is proposed to deal with single system, on the other hand, lack of practical application objectives makes those methods and strategy still in the theoretical stage.
This essay, on the basis of current national and international research situation of permanent-magnet direct-drive wind turbine, targeting the school-enterprise cooperation project-1.5MW direct-drive wind turbine research and manufacture, deeply study current control technology problems. Main research and achievement are as follows:
(1) In this essay, model linear formula of permanent-magnet direct-drive wind turbine mode is derived. And. linear models of generation rotation speed, drive train torque, tower pre-and post displacement and speed mode are included. In view of vibrating mode of variable orders of rotor, drive train and tower as well as the impact between them, this essay proposes an integrated control strategy for permanent-magnet direct-drive wind turbine and a new control strategy for switch between pitch angle controller and torque controller. Simulating results show that the turbine has a good control quality.
(2) As to maximum wind capture control under rated wind speed, this essay promotes a torque control method on basis of self-adaptive fuzzy control, in order to accomplish speed control under low wind speed. This method makes the turbine have the ability of steady and rapid electromagnetic torque response. Simulating results show that speed control effect and disturbance resistance ability are better than that of the traditional PI controller.
(3) As to constant power control above rated wind speed, this essay provides a creative control method on basis of compound pitch control of fuzziness and SMC, in accordance with nonlinear and disturbance resistance of pitch system and permanent-magnet direct-drive wind turbine pitch control. This method uses pitch position errors switching function and its derivative as input. Through the controller output derived from fuzzy reasoning and defuzzification, pitch regulation can be realized instead of sliding mode switch control, aiming at reducing the impact of wind speed on the turbine. Simulating and experimental results show that this control method is effective.
(4) From the aspect of increasing stability of wind turbine, this essay proposes a new torque damping control method, regarding to the drive train torque vibrating problem of permanent-magnet direct-drive wind turbine. Through the method of using direct voltage out of convertor to carry out phase compensation, in order to erase drive train torque turbulence caused by first-order mode frequency in sweeping area. Simulating results show that, without increasing generator power wave, when we add torque damping control, system resonance is eliminated, and the vibration and load impact on drive train is reduced. Therefore, torque damping algorithm is effective.
(5) Considering tower vibration control of permanent-magnet direct-drive wind turbine, on basis of rotor-tower coupling vibration analysis, this essay promotes the method of supplying additional pitch by expert PID control. This method controls the tower vibration by adding tower first-order mode frequency damping filter into closed loop control. Simulating results show that comparing with the case without tower damping control algorithm, tower with damping is in a better force situation on both front and back side. This method proves that this algorithm is effective.
(6) This essay realizes the combination of simulation research and practical control algorithm. Through existing school-enterprise cooperation and practical wind turbine object, this essay employs the technical route of using respective control strategy simulation to realize multi-system control strategy simulation, which reduces the one-sidedness of single system control strategy, and optimizes themselves and the whole wind turbine control strategy. This essay, of application value, lays a foundation for practical use of wind turbine.
本文在分析永磁式直驱风电机组的国内外研究现状基础上,以校企合作课题“1.5MW直驱风力发电机组的研制”中的SUT-1500永磁式直驱风电机组为对象,对目前机组控制技术面临的关键问题进行深入的研究,主要研究内容和成果如下：
(1)推导了永磁式直驱风电机组的模态线性化方程,建立了包括发电机转速、驱动链扭矩、塔架前后位移和速度模态的线性模型。充分考虑了风轮、传动系统、塔架的各阶振动模态以及它们之间的相互影响,提出了永磁式直驱风电机组的整机综合控制策略以及一种新型的桨距角控制器和转矩控制器之间协调切换的控制策略。仿真结果表明机组具有良好的控制品质。
(2)在额定风速以下的最大风能捕获控制中,有针对性地提出了基于自适应模糊控制的转矩控制方法,用于低风速下转速控制,使机组具有稳定快速的电磁转矩响应能力,仿真结果表明转速控制效果和抗扰动性能优于传统的PI控制器。
(3)在额定风速以上的恒功率控制中,针对变桨距系统非线性、强扰动特点及永磁式直驱风电机组变距控制要求,提出一种基于模糊与滑模变结构复合桨距角控制方法,利用桨距角位置误差的切换函数及其导数作为模糊控制器的输入,通过模糊推理和反模糊化得到模糊控制器的输出代替滑模切换控制进行变桨角度调节,来减少风速变化对机组的影响。仿真与实验结果表明该控制策略是行之有效的。
(4)从提高机组稳定性出发,针对永磁式直驱风电机组传动系统扭转振动问题,提出了一种新颖的转矩阻尼控制方法,通过变流器的直流电压进行相位补偿来提供阻尼转矩的方法来抑制风轮平面内一阶模态频率引起的传动链扭矩波动,仿真结果表明,在没有增加发电机功率波动的情况下,加入转矩阻尼控制后消除了系统谐振,减少了机组的振动和载荷对传动链的冲击,验证了转矩阻尼算法的可行性。
(5)针对永磁式直驱风电机组塔架振动控制,在对风轮-塔架耦合振动分析的基础上,提出了通过专家PID控制提供附加桨距角的方案,采用在闭环控制中加入塔架一阶模态频率的阻尼滤波器设计方法进行塔架振动控制,仿真与样机验证结果表明,与无塔架阻尼控制算法的情况进行比较,施加阻尼后塔架前后受力情况明显好转,验证了算法的有效性。
(6)实现仿真和实际控制算法应用的结合,利用既有的校企合作研究课题和实际机组对象,采取分系统控制策略仿真实现到多系统控制策略仿真实现的技术路线,降低单系统控制策略研究的片面性,最终达到整机控制策略的优化,具有实际应用价值。
With the advantages of gearless, high power density and reliability, the permanent-magnet direct-drive wind turbine has become one of the main types in wind generation. Considering such rapidly changeable nonlinear complicated system, researchers have proposed many control methods, which mainly focus on the maximum wind capture, life extension of the wind turbine and the reduction of fatigue load, in order to meet the demand of safety operation. On the one hand, methods above have the one-sidedness that control strategy is proposed to deal with single system, on the other hand, lack of practical application objectives makes those methods and strategy still in the theoretical stage.
This essay, on the basis of current national and international research situation of permanent-magnet direct-drive wind turbine, targeting the school-enterprise cooperation project-1.5MW direct-drive wind turbine research and manufacture, deeply study current control technology problems. Main research and achievement are as follows:
(1) In this essay, model linear formula of permanent-magnet direct-drive wind turbine mode is derived. And. linear models of generation rotation speed, drive train torque, tower pre-and post displacement and speed mode are included. In view of vibrating mode of variable orders of rotor, drive train and tower as well as the impact between them, this essay proposes an integrated control strategy for permanent-magnet direct-drive wind turbine and a new control strategy for switch between pitch angle controller and torque controller. Simulating results show that the turbine has a good control quality.
(2) As to maximum wind capture control under rated wind speed, this essay promotes a torque control method on basis of self-adaptive fuzzy control, in order to accomplish speed control under low wind speed. This method makes the turbine have the ability of steady and rapid electromagnetic torque response. Simulating results show that speed control effect and disturbance resistance ability are better than that of the traditional PI controller.
(3) As to constant power control above rated wind speed, this essay provides a creative control method on basis of compound pitch control of fuzziness and SMC, in accordance with nonlinear and disturbance resistance of pitch system and permanent-magnet direct-drive wind turbine pitch control. This method uses pitch position errors switching function and its derivative as input. Through the controller output derived from fuzzy reasoning and defuzzification, pitch regulation can be realized instead of sliding mode switch control, aiming at reducing the impact of wind speed on the turbine. Simulating and experimental results show that this control method is effective.
(4) From the aspect of increasing stability of wind turbine, this essay proposes a new torque damping control method, regarding to the drive train torque vibrating problem of permanent-magnet direct-drive wind turbine. Through the method of using direct voltage out of convertor to carry out phase compensation, in order to erase drive train torque turbulence caused by first-order mode frequency in sweeping area. Simulating results show that, without increasing generator power wave, when we add torque damping control, system resonance is eliminated, and the vibration and load impact on drive train is reduced. Therefore, torque damping algorithm is effective.
(5) Considering tower vibration control of permanent-magnet direct-drive wind turbine, on basis of rotor-tower coupling vibration analysis, this essay promotes the method of supplying additional pitch by expert PID control. This method controls the tower vibration by adding tower first-order mode frequency damping filter into closed loop control. Simulating results show that comparing with the case without tower damping control algorithm, tower with damping is in a better force situation on both front and back side. This method proves that this algorithm is effective.
(6) This essay realizes the combination of simulation research and practical control algorithm. Through existing school-enterprise cooperation and practical wind turbine object, this essay employs the technical route of using respective control strategy simulation to realize multi-system control strategy simulation, which reduces the one-sidedness of single system control strategy, and optimizes themselves and the whole wind turbine control strategy. This essay, of application value, lays a foundation for practical use of wind turbine.
引文
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