Decoupling method for control over rotating speed of floating type double-impeller wind turbine generator and motion of floating platform

Abstract

The invention discloses a decoupling method for control over the rotating speed of a floating type double-impeller wind turbine generator and motion of a floating platform. Theta ave is set as the weighted average of the blade angle average theta mean1 of an impeller 1 and the blade angle average theta mean2 of an impeller 2, Wave is set as the weighted average of the generator rotating speed W1 of the impeller 1 and the generator rotating speed W2 of the impeller 2, two sets of PID control parameters are configured for a variable pitch controller and are the PIDfast parameter and the PIDslowparameter respectively, the PIDfast parameter is used for controlling rotating speed fluctuation, and the PIDslow parameter is used for restraining motion of the floating platform. When the value of theta ave filtered by a first-order low-pass filter is larger than 20 degrees or the value of theta ave filtered by the first-order low-pass filter is larger than 10 degrees and Wave is larger than 9%of a rated rotating speed, the variable pitch parameter is switched to PIDfast from PIDslow, and the condition that the variable pitch parameter is switched to PIDslow from PIDfast is that when the requirements are not met and preset time is delayed, smooth transition of rotating speed control and motion control of the floating platform is achieved through switching of the two sets of PID controlparameters.

Description

technical field [0001] The invention relates to the technical field of decoupling control of a floating double-blade wind turbine, in particular to a decoupling method for controlling the speed of a floating double-blade wind turbine and the motion control of a floating platform. Background technique [0002] At present, wind turbines are gradually developing into the deep sea, and offshore floating wind turbines are its key research and development direction. For floating wind turbines, the control of the operating state of the unit is more demanding than that of the fixed unit, and the control is more precise, and more degrees of freedom need to be controlled, such as the motion control of the floating platform. The floating platform of the floating wind turbine has six degrees of freedom of movement. In order to restrain the movement of the floating platform or to not stimulate the negative damping motion of the floating platform (the pitch direction of the floating platf...

AI Technical Summary

Problems solved by technology

The floating platform of the floating wind turbine has six degrees of freedom of movement. In order to restrain the movement of the floating platform or to not stimulate the negative damping motion of the floating platform (the pitch direction of the floating platform), the relatively simple method is usually to change the pitch The design bandwidth of the controller should be smaller than the frequency of the floating platform movement, so that the pitch action will not respond to the floating platform movement frequency and will not arouse the movement of the floating platform with negative damping; but at the same time this brings new problems, namely: The use of such a control strategy for the pitch system above the rated wind speed will cause large fluctuations in the impeller speed and power, and it is easy to overspeed or overpower, and the load on the components driven by the impeller speed will increase

Images