Self-adaptive pitch angle control method considering integral saturation of variable pitch controller of wind turbine

Abstract

The invention discloses a self-adaptive pitch angle control method considering integral saturation of a variable pitch controller of a wind turbine. As for the phenomenon that the performance of a PIvariable pitch controller is reduced due to the integral saturation effect in the process that the wind turbine adopts a pitch angle adjusting mode to realize limited power control, the anti-integralsaturation self-adaptive pitch angle control method is provided, on the basis of considering the inertia and rate limitation characteristics of a variable pitch execution mechanism, an integral time constant of the PI controller is adaptively adjusted through a difference between a pitch angle reference instruction and an actual instruction, so that the anti-integral saturation operation of the PIvariable pitch controller of the wind turbine is realized, and the problem that the performance of the controller is reduced when the wind speed fluctuates violently is effectively avoided. Accordingto the anti-integral saturation method suitable for a wind turbine variable pitch system, the control performance of the PI variable pitch controller of the wind turbine when the wind speed fluctuates violently is improved, the fluctuation degree of the rotating speed of a wind wheel can be weakened, the action amplitude of a variable pitch mechanism can be reduced, and the mechanical fatigue ofthe variable pitch system is relieved.

Description

technical field [0001] The invention belongs to the field of wind turbine control, in particular to an adaptive pitch angle control method considering integral saturation of a wind turbine pitch controller. Background technique [0002] Integral saturation means that the execution capability of the actuator is physically limited, such as amplitude limit or rate limit, if the reference command output by the PI controller exceeds the execution capability of the actuator and enters a saturated state, due to the slowness of the change of the integral term It will lead to the phenomenon that the reference command is in a saturated state for a long time and cannot be fully responded by the actuator, thereby degrading the performance of the controller. [0003] At present, there are two main types of anti-saturation methods that can be applied to wind turbine pitch control. The first type is to consider the saturation constraint when designing the controller. method and variable s...

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Problems solved by technology

The input of the compensation controller will be affected by the inertia of the actuator, which will also generate a compensation signal when no saturation occurs, which will interfere with the instructions of the main controller;

[0005] (2) Insufficient consideration of the characteristics of the speed limit of the fan pitch mechanism

The fan pitch mechanism has amplitude and speed limitations in the process of raising and lowering the pitch angle, and the "compensation method" for a single adjustment direction cannot achieve a good anti-saturation effect;

[0006] (3) Insufficient consideration of the degree of saturation when the fan pitch mechanism is saturated

But there is no relevant description in the prior art

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