Decoupling method for floating double impeller wind turbine speed and floating platform motion control

Abstract

The invention discloses a method for decoupling the speed of a floating double impeller wind turbine and the motion control of a floating platform, setting θ ave is the mean value of blade angle θ of impeller 1 mean1 and impeller 2 blade angle mean θ mean2 weighted average of W ave is impeller 1 generator speed W 1 and impeller 2 generator speed W 2 , and configure two sets of PID control parameters for the pitch controller, which are PID fast Parameters and PIDs slow parameter, PID fast parameter is used to control the speed fluctuation, PID slow parameter is used to suppress the movement of the floating platform, when θ ave The value filtered by the first-order low-pass filter is greater than 20° or the filtered value is greater than 10° and W ave After greater than 9% of the rated speed, the pitch parameter is determined by the PID slow Switch to PID fast , while by PID fast Switch back to PID slow The condition is that when the above requirements are not met and the preset time is delayed, the smooth transition between speed control and floating platform motion control is realized through the switching of two sets of PID control parameters.

Description

technical field [0001] The invention relates to the technical field of a floating platform of a floating double-blade wind turbine, in particular to a method for decoupling the speed of the floating double-blade wind turbine and the motion control of the 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 platform), t...

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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

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