Umbrella ladder type high altitude wind turbine control method and system

Abstract

The application discloses an umbrella ladder type high-altitude wind turbine control method and system, relates to the high-altitude wind power generation control technical field.The method acquires the high-altitude wind speed and the operation height of the helium balloon in real time; if condition one or condition two is met, the aerial umbrella ladder is controlled to descend at a set recovery speed; condition one: the deviation of the real-time high-altitude wind speed and the reference wind speed is less than zero; condition two: the deviation of the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation of the real-time operation height of the helium balloon and the upper limit of the aerial umbrella ladder operation height is greater than zero; if condition three is met, the aerial umbrella ladder is controlled to ascend at an optimal release speed; condition three: the deviation of the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation of the real-time operation height of the helium balloon and the upper limit of the aerial umbrella ladder operation height is less than zero.The application can improve the wind energy capture efficiency of the umbrella ladder type high-altitude wind turbine, ensure the long-time coordinated and stable operation of the umbrella ladder type high-altitude wind turbine, and realize unmanned or few-person operation of the unit.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of high-altitude wind power generation control, in particular to a parachute-ladder type high-altitude wind turbine control method and system. BACKGROUND

[0002] Wind energy is an environmentally friendly clean energy and plays an important role in the field of energy supply. However, traditional near-ground wind energy projects still have many technical limitations such as wind turbine hub height constraints when meeting the growing demand for electricity. The high-altitude wind energy project developed based on the breakthrough of airborne wind power generation technology opens up a new track in the field of wind power. At present, more than 50 research and development companies and dozens of research institutions have carried out control, electronic and mechanical design research related to airborne wind power systems (AWEs) and achieved stable power generation.

[0003] Parachute-ladder type high-altitude wind power is a new exploration of AWEs technology development, which is a new type of wind power generation technology with frontiers and subversive nature, and has obvious advantages in large-scale, lightweight and safety. At present, in view of the high autonomy and innovation of the technology, it is necessary to further study how to improve the automation level of the parachute-ladder type high-altitude wind turbine, get rid of artificial dependence, realize safe, efficient and coordinated operation, so that the parachute-ladder type high-altitude wind power technology is more competitive compared with other energy forms. Therefore, it is urgent to develop intelligent control of parachute-ladder type high-altitude wind turbine to ensure long-term coordinated and stable operation of the parachute-ladder type high-altitude wind turbine, and realize unmanned or less manned operation of the turbine. SUMMARY

[0004] The purpose of the application is to provide a parachute-ladder type high-altitude wind turbine control method and system, which can improve the wind energy capture efficiency of the parachute-ladder type high-altitude wind turbine, ensure the long-term coordinated and stable operation of the parachute-ladder type high-altitude wind turbine, and realize unmanned or less manned operation of the turbine.

[0005] To achieve the above purpose, the application provides the following solutions:

[0006] In a first aspect, the application provides a control method for a high-altitude wind turbine, comprising: the high-altitude wind turbine comprising an aerial ladder and a ground winch-generator set, the aerial ladder comprising a helium balloon, a balance parachute group and a working parachute group connected in sequence from top to bottom, and the working parachute group transmitting wind power to the ground winch-generator set through a cable; the control method for the high-altitude wind turbine comprising: acquiring a high-altitude wind speed and a running height of the helium balloon in real time; generating an aerial ladder descending instruction if condition one or condition two is met; the condition one being that a deviation of the real-time high-altitude wind speed from a reference wind speed is less than zero; the condition two being that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and a deviation of the real-time running height of the helium balloon from an upper limit of the aerial ladder running height is greater than zero; controlling the aerial ladder to descend at a set recovery speed and close the working parachute group according to the aerial ladder descending instruction; generating an aerial ladder ascending instruction if condition three is met; the condition three being that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the deviation of the real-time running height of the helium balloon from the upper limit of the aerial ladder running height is less than zero; determining an optimal payout speed of the aerial ladder according to the real-time high-altitude wind speed; and controlling the aerial ladder to ascend at the optimal payout speed according to the aerial ladder ascending instruction.

[0007] In a second aspect, the application provides a control system for a high-altitude wind turbine, comprising: the control system comprising a wind field monitoring system, a height measuring device, a central control system, an aerial parachute group opening and closing driver and a winch-generator controller; the wind field monitoring system being configured to measure a high-altitude wind speed in real time; the height measuring device being configured to measure a running height of a helium balloon in real time; the central control system being configured to acquire a high-altitude wind speed and a running height of a helium balloon in real time; generating an aerial ladder descending instruction if condition one or condition two is met, and transmitting the aerial ladder descending instruction to the aerial parachute group opening and closing driver and the winch-generator controller, respectively; the condition one being that a deviation of the real-time high-altitude wind speed from a reference wind speed is less than zero; the condition two being that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and a deviation of the real-time running height of the helium balloon from an upper limit of the aerial ladder running height is greater than zero; the winch-generator controller being configured to control the aerial ladder to descend at a set recovery speed according to the aerial ladder descending instruction; the aerial parachute group opening and closing driver being configured to drive the working parachute group to close according to the aerial ladder descending instruction; the central control system being further configured to generate an aerial ladder ascending instruction if condition three is met; determining an optimal payout speed of the aerial ladder according to the real-time high-altitude wind speed, and transmitting the aerial ladder ascending instruction and the optimal payout speed to the winch-generator controller; the condition three being that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the deviation of the real-time running height of the helium balloon from the upper limit of the aerial ladder running height is less than zero; the winch-generator controller being further configured to control the aerial ladder to ascend at the optimal payout speed according to the aerial ladder ascending instruction.

[0008] According to the specific embodiments provided in the application, the application has the following technical effects:

[0009] The application provides an umbrella-ladder type high-altitude wind turbine control method and system. In the autonomous working and running process of the umbrella-ladder type high-altitude wind turbine, the height and lifting speed of the aerial umbrella-ladder are adjusted in real time by acquiring the high-altitude wind speed and the running height of the helium balloon in real time, and the maximum power tracking mode is kept for a long time, so that the wind energy capture efficiency of the umbrella-ladder type high-altitude wind turbine is significantly improved, the long-time coordinated and stable operation of the umbrella-ladder type high-altitude wind turbine is ensured, and unmanned or less manned operation of the unit is realized. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the application or the related art, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0011] Figure 1 A structure diagram of an umbrella-ladder type high-altitude wind turbine provided in an embodiment of the application;

[0012] Figure 2 A flowchart of an umbrella-ladder type high-altitude wind turbine control method provided in an embodiment of the application;

[0013] Figure 3 An overall control logic diagram of an umbrella-ladder type high-altitude wind turbine control method provided in an embodiment of the application;

[0014] Figure 4 A height control logic diagram provided in another embodiment of the application;

[0015] Figure 5 An umbrella body opening and closing control logic diagram provided in another embodiment of the application;

[0016] Figure 6 A recovery control logic diagram provided in another embodiment of the application;

[0017] Figure 7 An MPPT (Maximum Power Point Tracking) control logic diagram provided in another embodiment of the application;

[0018] Figure 8 A ground coordinate system and relative coordinate system diagram provided in another embodiment of the application;

[0019] Figure 9A schematic diagram of a wind coordinate system is provided for another embodiment of the present application.

[0020] Figure 10 A schematic diagram of a hierarchical control architecture of the umbrella ladder type high-altitude wind turbine is provided for an embodiment of the present application.

[0021] Figure 11 A schematic diagram of a network architecture of the actual turbine control system is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] The above-mentioned purposes, features and advantages of the present application can be more obvious and easy to understand. The present application will be described in further detail below with reference to the drawings and specific embodiments.

[0024] The umbrella ladder type high-altitude wind turbine is composed of basic elements such as helium balloons, balance umbrellas, working umbrellas, ground winch-generator sets, etc. The umbrella ladder type high-altitude wind turbine uses specially designed working umbrellas to capture wind energy at high altitudes, and transmits the wind power to the ground winch-generator set through the traction cable, so as to realize the capture, conversion and utilization of high-altitude wind energy. The structural composition of the umbrella ladder type high-altitude wind turbine is shown in Figure 1 .

[0025] In an exemplary embodiment, as shown in Figure 2 , a control method of the umbrella ladder type high-altitude wind turbine is provided, the umbrella ladder type high-altitude wind turbine comprising an aerial umbrella ladder and a ground winch-generator set, the aerial umbrella ladder comprising helium balloons, balance umbrella groups and working umbrella groups connected in sequence from top to bottom, and the working umbrella groups transmitting wind power to the ground winch-generator set through a cable; the control method of the umbrella ladder type high-altitude wind turbine comprises the following steps 101 to 106. Wherein:

[0026] Step 101: Real-time high-altitude wind speed and running height of the helium balloons are obtained.

[0027] Step 102: If condition one or condition two is met, an aerial umbrella ladder descending instruction is generated; the condition one is that the deviation of the real-time high-altitude wind speed from the reference wind speed is less than zero; the condition two is that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the deviation of the real-time running height of the helium balloons from the upper limit of the aerial umbrella ladder running height is greater than zero.

[0028] Step 103: According to the aerial parachute descent command, control the aerial parachute to descend at the set recovery speed and shut down the working parachute assembly.

[0029] Step 104: If condition three is met, generate an aerial parachute ascent command; condition three is: the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating height of the helium balloon and the upper limit of the operating height of the aerial parachute is less than zero.

[0030] Step 105: Determine the optimal launch speed of the aerial ladder based on the real-time high-altitude wind speed.

[0031] Step 106: According to the aerial ladder ascent command, control the aerial ladder to ascend at the optimal deployment speed.

[0032] Implementing steps 101 to 106 above helps to realize the autonomous operation of the umbrella ladder type high-altitude wind turbine, and can automatically adjust according to the wind speed changes in the high-altitude wind field, and stay in the maximum power tracking mode for a long time. This can significantly improve the wind energy capture efficiency of the umbrella ladder type high-altitude wind turbine and enhance the automation level of the unit; it is also conducive to realizing the unmanned or minimally manned operation of wind farms that deploy umbrella ladder type high-altitude wind turbines.

[0033] In another exemplary embodiment of this application, the real-time acquisition of high-altitude wind speed in step 101 above specifically includes: measuring the horizontal wind speed at different altitudes in the air where the aerial parachute ladder is located; and determining the average value of all measured horizontal wind speeds as the real-time high-altitude wind speed.

[0034] The method in this application covers altitude control, parachute opening and closing control, recovery control, and MPPT control. The overall control logic is as follows: Figure 3 As shown below. Each control will be described in detail below.

[0035] (1) Height control

[0036] Highly controlled logic, such as Figure 4 As shown, the control objective is to maintain the ascending and descending operation of the unit's parachute ladder. Control design scheme: High-altitude wind speed v wind Redundant transmitters were used to measure wind speeds at six points: Alitiude1, Alitiude2, Alitiude3, Alitiude4, Alitiude5, and Alitiude6, with a reference wind speed v. est By v wind The average value is used as the input signal, and the wind speed setpoint v is obtained. set1 The redundant transmitter measurement (VwindHB) is used as the reference signal, and the helium balloon's operating altitude (AlitiudeHB) is used as the input signal. The ascent and descent control of the parachute ladder is determined by two control loops:

[0037] 1. Reference signal v set1 is offset from input signal v est , through an amplification link. If the offset HP < 0, the motor reverses, switching to the power mode, and the parachute descends; that is, when controlling the parachute to descend at the set recovery speed, the winch-generator in the ground winch-generator set reverses, switching to the power mode.

[0038] 2. The set upper limit of the parachute operating height is 3000m, that is, Alitiudemax = 3000m. The reference signal Alitiudemax is offset from input signal AlitiudeHB.

[0039] 3. If the reference signal v set1 is offset from input signal v est , through an amplification link, the offset HP > 0, and the reference signal Alitiudemax is offset from input signal AlitiudeHB by a value HP < 0, the motor reverses, switching to the power mode, and the parachute descends; that is, when controlling the parachute to ascend at the set optimal release speed, the winch-generator in the ground winch-generator set reverses, switching to the power mode.

[0040] 4. If the reference signal v set1 is offset from input signal v est , through an amplification link, the offset HP > 0, and the reference signal Alitiudemax is offset from input signal AlitiudeHB by a value HP > 0, the motor reverses, switching to the power mode, and the parachute descends.

[0041] When the wind speed measurement transmitter fails, the manual control is switched, an alarm signal is sent, and the parachute is controlled to descend; the GPS height measurement transmitter is loaded on the top helium balloon, used to measure the operating height AlitiudeHB of the helium balloon; when the GPS height measurement transmitter fails, the manual control is switched, an alarm signal is sent, and the parachute is controlled to descend.

[0042] (2) Parachute body opening and closing control

[0043] The logic of the parachute body opening and closing control is shown in Figure 5 . The control target is to set the opening and closing logic of the working parachute group (the parachute body opening and closing control is the same for the four working parachutes). The control design scheme: the operating height AlitiudeHB of the helium balloon is measured by a redundant transmitter (AlitiudeHB) as the input signal. The opening height of the parachute is set to 500m, that is, h set1=500m. The reference signal and input signal are compared; if the deviation HP > 0, then both the working parachute group and the balancing parachute group will open. That is, if the deviation between the real-time operating altitude of the helium balloon and the set opening altitude is less than zero, then both the working parachute group and the balancing parachute group will open. The external input signal AI3 is the motor reversal command in the 1.2 altitude control system; that is, after the motor reverses, all working parachute groups will immediately close. The opening and closing status of the working parachute group and the balancing parachute group is measured using redundant transmitters (U11, U12, U13, U21, U22, U23, U24) as reference signals.

[0044] Switch to manual mode when the GPS altitude measurement transmitter and driver circuit malfunctions or the reference signal deviates.

[0045] (3) Recycling control

[0046] The logic of recycling control is as follows Figure 6 As shown. Its control objective is to maintain the parachute ladder retrieval speed within a set range. Control design scheme: External input signal AI3 is the motor reverse command in the 1.2 height control system. The cable retrieval speed during the retrieval process is set to 8 m / s, i.e., v set2 = 8m / s. G(x) is the module for converting cable linear velocity to motor rotor speed, which has:

[0047] ω set =v set2 G(x);

[0048]

[0049] In the formula ω set Set the motor rotor speed for the recycling process, where r is the radius of the drum around which the cable is wound.

[0050] The actual rotor speed ω of the motor during the recycling process r2 A redundant transmitter (Omega) is used as the reference signal. To maintain the parachute ladder recovery speed within the set range, the actual rotor speed ω... r2 As a feedback signal in the control loop, the controller eliminates the deviation.

[0051] Switch to manual mode when the adjusted parameter has a bad value, large deviation, or drive circuit failure.

[0052] Then, the control of the aerial parachute ladder to descend according to the set recovery speed in step 103 above can specifically include: according to the formula ω set =v set2 G(x) and Determine the set motor rotor speed for the aerial parachute recovery process; where ω set The set motor rotor speed, v, is used for the aerial parachute ladder recovery process. set2The set cable retraction speed for the aerial ladder recovery process, G(x) is the conversion quantity of the cable linear speed and the motor rotor speed, and r is the radius of the reel on which the cable is wound; according to the deviation of the actual motor rotor speed and the set motor rotor speed in the aerial ladder recovery process, the PID control is used to regulate the motor rotor speed, so that the actual motor rotor speed is equal to the set motor rotor speed.

[0053] (4) MPPT control

[0054] The logic of the MPPT control is shown in Figure 7 . The control target is to enable the aerial ladder wind power generation system to maximize the use of available wind energy resources, to track the optimal power point in real time under different wind speed conditions, and to respond quickly to wind speed changes. The control design scheme is that the external input signal AI1 is the reference wind speed v set in the 1.2 height control system, and the external input signal AI2 is the motor reverse instruction in the height control execution module. That is, the MPPT control is executed in the cable unwinding process. F(x) is the optimal wind speed and cable unwinding speed conversion module:

[0055]

[0056] The reference wind speed v est is obtained through the conversion module, the optimal cable unwinding speed v opt is obtained through the cable linear speed and motor rotor speed conversion module G(x), the actual rotor speed ω opt of the unwinding process motor is obtained, and the actual rotor speed ω r1 is measured by using a redundant transmitter (Omega) as a reference signal. In order to maintain the aerial ladder recovery speed within the set value range, the actual rotor speed ω r1 is used as the feedback signal of the control loop, and the deviation is eliminated through the controller.

[0057] The determination formula of the optimal unwinding speed of the aerial ladder is:

[0058]

[0059] In the formula, v est is the real-time high-altitude wind speed, and v opt is the optimal unwinding speed of the aerial ladder.

[0060] When the bad value of the parameter to be adjusted, the large deviation, and the drive circuit fault, the manual is cut.

[0061] The signal measurement arrangement of the above-mentioned redundant transmitter is shown in Table 1.

[0062] Table 1 Signal measurement arrangement

[0063]

[0064] In another exemplary embodiment of this application, the method may further include: determining the pitch angle of the air ladder through a dynamic coupling model, and monitoring whether the pitch angle of the air ladder is between the lower limit of the angle and the critical stall angle.

[0065] Figure 8 and Figure 9 The established ground coordinate system, relative coordinate system, and windward coordinate system are displayed respectively. For example... Figure 8 and Figure 9 As shown, a relative coordinate system for the parachute is constructed with the center of mass of the parachute in the air as the origin to characterize the changes in the polar coordinates (θ, Φ, r) of the parachute. The positive direction of the change in cable length r is represented by the cable vector. The corresponding positive unit vector: Represents the projection of the umbrella body The positive direction of the change in the angle Φ with the horizontal x-axis. Perpendicular to plane OPP', that is Represents cable vector The positive direction of the change in the angle θ with the vertical direction. and According to the orthogonality relation, we have The direction of aerodynamic drag on the umbrella is relative to the wind speed W. e Parallel; Aerodynamic drag F D and aerodynamic lift F L Within the projection plane S, and F L ⊥F D Then let x be the value of x. w y w and z w Let x be the coordinate axes of the wind coordinate system. w Instruction F D positive direction; y w Perpendicular to the projection plane; z w With x w and y w All are vertical, indicating F L The positive direction. Let W be... e With the umbrella axis The angle between the parachute and the cable direction (considered to coincide with the direction of the cable) is the angle of attack α, and the aerodynamic lift coefficient C of the parachute is... l The aerodynamic drag coefficient C of the umbrella d All are related to the angle of attack α.

[0066] The dynamic coupling model is as follows:

[0067] T = F h sin(β)+ΣF li sin(α)+F di cos(α)-(M+∑m)gsin(β);

[0068]

[0069] where T is the cable tension; β is the pitch angle; is the second derivative of the pitch angle; F h is the buoyancy force of the helium balloon; F li is the aerodynamic lift and drag force of the i-th parachute in the airborne ladder; F di is the drag force of the i-th parachute in the airborne ladder; is the square of the relative wind speed; α is the angle between the relative wind speed and the axis of the parachute; C l is the lift coefficient; C d is the drag coefficient; ρ, ρ q , R h , g are the air density, the helium balloon density, the helium balloon radius and the gravitational acceleration, respectively; S i is the effective windward area of the i-th parachute in the airborne ladder, M, m h are the total mass of the airborne equipment and the mass of the helium balloon, respectively; m i is the mass of the i-th parachute in the airborne ladder; l h is the distance from the helium balloon to the ground take-off stake; l i is the distance from the i-th parachute body in the airborne ladder to the ground take-off stake.

[0070] Based on the same inventive concept, the embodiments of the present application also provide an airborne ladder type high-altitude wind turbine control system for implementing the above-mentioned control method of the airborne ladder type high-altitude wind turbine. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme described in the above-mentioned method, and therefore the specific limitations in one or more airborne ladder type high-altitude wind turbine control system embodiments provided below can refer to the limitations of the airborne ladder type high-altitude wind turbine control method described above, and will not be repeated here.

[0071] In an exemplary embodiment, an airborne ladder type high-altitude wind turbine control system is provided, comprising a wind farm monitoring system, a height measuring device, a central control system, an airborne parachute group opening and closing driver, and a winch-generator controller.

[0072] The wind field monitoring system is used for measuring the high-altitude wind speed in real time; the height measuring device is used for measuring the running height of the helium balloon in real time; the central control system is used for acquiring the high-altitude wind speed and the running height of the helium balloon in real time; when it is judged that condition one or condition two is met, an aerial ladder descent instruction is generated and transmitted to the aerial parachute group opening and closing driver and the winch-generator controller respectively; the condition one is that the deviation of the real-time high-altitude wind speed from the reference wind speed is less than zero; the condition two is that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the deviation of the real-time running height of the helium balloon from the upper limit of the aerial ladder running height is greater than zero. The winch-generator controller is used for controlling the aerial ladder to descend at a set recovery speed according to the aerial ladder descent instruction. The aerial parachute group opening and closing driver is used for driving the closing of the working parachute group according to the aerial ladder descent instruction.

[0073] The central control system is also used for generating an aerial ladder ascent instruction when condition three is met; determining the optimal release speed of the aerial ladder according to the real-time high-altitude wind speed, and transmitting the aerial ladder ascent instruction and the optimal release speed to the winch-generator controller; the condition three is that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the deviation of the real-time running height of the helium balloon from the upper limit of the aerial ladder running height is less than zero. The winch-generator controller is also used for controlling the aerial ladder to ascend at the optimal release speed according to the aerial ladder ascent instruction.

[0074] Figure 10 A hierarchical control architecture is designed for the designed ladder-type high-altitude wind turbine. As shown in Figure 10 , the control architecture is divided into two levels of structure, namely the optimization decision layer and the control execution layer. The architecture aims to solve the problems of wind energy capture and safe operation under complex wind field environment, and ensures efficient and safe power generation of the wind turbine under wind shear changes and extreme weather conditions through real-time adjustment of height and rope speed optimization.

[0075] The optimization decision layer first acquires wind speed, wind shear, air pressure and temperature and other meteorological data in real time through the wind field monitoring system based on high-altitude wind field data acquisition. Then, according to the real-time wind shear condition and historical wind field data, an ascent or descent instruction is generated to execute the ascent or descent action of the ladder through the winch-generator. At the same time, the change of the pitch angle of the ladder equipment is analyzed through the dynamic coupling model, and the rope speed is calculated and adjusted to ensure that the parachute group can capture wind energy at the best angle and optimize power generation efficiency.

[0076] As an optional embodiment, the umbrella ladder type high altitude wind turbine central control system comprises a state information recording module, which reads state information during the operation of the umbrella group opening and closing drive controller and the winch-generator, and determines whether there is a fault in the components by the fault detection module. The fault detection module detects signals including umbrella group opening and closing monitoring signals, winch-generator cable winding and unwinding speed monitoring signals and cable tension monitoring signals. In order to realize the fault detection function of the central control system, the umbrella ladder type high altitude wind turbine control system further comprises a speed measuring wheel sensor, a torque sensor and a plurality of limit switch position sensors. The speed measuring wheel sensor, the torque sensor and the plurality of limit switch position sensors are connected with the central control system.

[0077] A limit switch position sensor is installed at the opening and closing limit position of each umbrella; the limit switch position sensor is used to measure the umbrella opening and closing monitoring signal; the central control system is used to determine that the umbrella does not reach the fully open or fully closed position when the umbrella opening and closing monitoring signal is not received, that the umbrella opening or closing action is abnormal, and to issue an umbrella warning information.

[0078] The speed measuring wheel sensor is installed on the front end path of the winch-generator in and out cable; the speed measuring wheel sensor is used to measure the cable winding and unwinding speed to generate the cable winding and unwinding speed monitoring signal; the central control system is further used to determine whether the cable winding and unwinding speed monitoring signal is within the speed adjustment set range, and if the cable winding and unwinding speed monitoring signal is not within the speed adjustment set value range, a speed warning information is issued.

[0079] The torque sensor is installed on the shaft of the winch-generator drive motor; the torque sensor is used to measure the torque of the winch-generator; the central control system is further used to calculate the cable tension according to the torque of the winch-generator by using the formula , and if the calculated cable tension deviates from the tension set range, a cable warning information is issued; in the formula, T is the cable tension (unit: N), M is the torque of the winch-generator (unit: N·m), and r is the radius of the winch drum (unit: m).

[0080] The cable tension monitoring signal is used to monitor whether the ground system such as the winch-generator normally controls the tensioning device to tension the cable winding and unwinding, and if the cable winding and unwinding is not normally tensioned and deviates from the normal set range, an alarm information is issued. Specifically, through real-time tension monitoring, the tension working range is set as T min ≤T≤T max . In which, T min =T·0.8, T max =T·1.2 is calculated by the first formula (tension calculation model) in the dynamic coupling model. When the force is lower than T min , the cable may be slack and the umbrella group cannot be controlled. When the tension is higher than T maxThere can be a risk of cable over-tensioning, leading to system overload.

[0081] When the components are fault-free, the state information is sent to the optimization decision layer signal switch module.

[0082] As another optional implementation, the umbrella ladder type high-altitude wind turbine control system further comprises an umbrella ladder actual physical system component layer.

[0083] The umbrella ladder actual physical system component layer comprises a video monitoring system, a digital twin system, and a human-computer interaction system. The video monitoring system is used to shoot videos of the working state of the umbrella ladder type high-altitude wind turbine and the on-site working environment. The digital twin system is used to show the three-dimensional dynamic of the umbrella ladder type high-altitude wind turbine when it is running, and display the running state of the umbrella ladder type high-altitude wind turbine. The human-computer interaction system is used to accept real-time control instructions input by the user, and send them to the central control system, while showing the state and data of the running process of the umbrella ladder type high-altitude wind turbine to the user through a dynamic visualization platform.

[0084] The video monitoring system comprises real-time monitoring of the on-site working environment, thereby ensuring the safety of the on-site unit operation; the digital twin system is used to show the three-dimensional dynamic visualization platform when the unit is running, display the unit running state, including some work actions that cannot be directly observed by the human eye to perform animation display, and the process is consistent with the actual running state of the unit; the human-computer interaction system comprises a visualization interface of the designed control system facing the user, which has the function of accepting relevant real-time control instructions input by the user and sending them to the optimization decision layer, while showing the relevant state and data of the unit running process to the user through a dynamic visualization platform, realizing human-computer interaction.

[0085] According to the designed hierarchical control architecture, a device control interface, a device maintenance interface, and a data acquisition interface are arranged at each layer of each module layer. The device control interface manages the generation, issuance, and execution of control instructions, adopts a high-speed communication protocol to ensure low delay; the device maintenance interface is used for basic software update, parameter adjustment, and system state diagnosis and maintenance, selects a serial communication protocol, and supports remote maintenance; the data acquisition interface acquires meteorological data such as wind speed, wind shear, temperature, and air pressure, as well as the running state of the umbrella group and the winch-generator, has the function of collecting human-computer operation data, and adopts a wireless protocol supporting high sampling rate and anti-interference data transmission.

[0086] Specifically, the actual unit control system network architecture is as follows Figure 11The air-shed group control system is responsible for real-time monitoring of the state of the air-shed group and controlling its actions. Data exchange with the ground part is carried out through a wireless module, ensuring that the system can be flexibly adjusted under different environmental conditions. The central control system's basic real-time control data network serves as the main line, responsible for connecting various subsystems and ensuring the rapid transmission of information. Through fiber or high-bandwidth wireless connections, large data traffic transmission is supported. The historical station, engineer station, printer, and operator station provide user interfaces, allowing engineers to monitor the system, diagnose faults, and print data, while operators can directly interact with the control system. Each winch-generator set and auxiliary system is controlled and data is collected through the central control system, ensuring efficient generation and conversion of electrical energy. The advanced application service network, in addition to the basic network, provides real-time data processing, analysis, and optimization functions. This includes real-time database devices (which store and manage real-time data from various subsystems) and analysis and optimization servers (which are responsible for complex computing tasks such as data analysis, fault prediction, and performance optimization).

[0087] Control instructions: When one of the following conditions occurs, the regulator interlock cuts to manual: ① Large deviation of the controlled variable; ② Sensor / transmitter failure; ③ Actuator failure.

[0088] The benefits of the present application are as follows:

[0089] The optimization decision layer of the designed hierarchical control logic architecture adjusts the wind turbine operation strategy in real time according to changes in the wind field, and the control execution layer is responsible for the specific execution of the optimization decision, ensuring the sensitivity and accuracy of the control. The hierarchical structure makes the system respond faster when dealing with wind speed fluctuations and changes in the wind field, reducing the impact of wind speed fluctuations on system performance and improving overall wind energy capture efficiency. The design of the central control system covers the automation control logic of each functional sub-module, supporting remote monitoring and operation in an unmanned or lightly manned environment.

[0090] The integrated and coordinated design of various modules such as height control, umbrella body opening and closing control, recovery control, and MPPT control provides multi-dimensional system adjustment means. When the wind speed changes, the system can accurately control the opening and closing of the umbrella body, automatically adjust the height, and quickly respond to power generation demands, allowing the umbrella ladder wind turbine to operate stably under different working conditions. This modular integrated control scheme significantly improves the system's adaptability to changes in the wind field. In particular, through the continuous optimization of the MPPT control module, the unit maintains maximum power tracking mode for a long time, and the system can stably capture maximum wind energy, ensuring that the system automatically adjusts to the best operating state under varying wind conditions, effectively improving the system's wind energy capture efficiency and automation level.

[0091] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, it should be understood that the application encompasses all possible combinations of the technical features unless such a combination is not technically possible.

[0092] The principles and implementation manners of the present application are described herein by using specific examples, and the above embodiments are only used to help understand the method of the present application and its core idea; meanwhile, according to the idea of the present application, the specific implementation manners and application scopes will be changed by those skilled in the art. In conclusion, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A control method of an umbrella ladder type high-altitude wind turbine generator, characterized by, The umbrella-ladder type high-altitude wind turbine comprises an aerial umbrella-ladder and a ground winch-turbine set, the aerial umbrella-ladder comprises, from top to bottom, a helium balloon, a balanced umbrella set and a working umbrella set, and the working umbrella set transmits wind power to the ground winch-turbine set through a cable; The umbrella-ladder type high-altitude wind turbine control method comprises: real-time acquisition of high-altitude wind speed and running height of the helium balloon; if condition one or condition two is met, a descending instruction of the aerial umbrella-ladder is generated; the condition one is that a deviation of real-time high-altitude wind speed from a reference wind speed is less than zero; the condition two is that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and a deviation of real-time running height of the helium balloon from an upper limit of the aerial umbrella-ladder running height is greater than zero; According to the aerial ladder descent instruction, the aerial ladder is controlled to descend at a set recovery speed and the working parachute group is closed; wherein, the aerial ladder is controlled to descend at a set recovery speed, specifically including: according to the formula ω set = v set2 G(x) and a set motor rotor speed of the aerial ladder recovery process is determined; wherein, ω set is the set motor rotor speed of the aerial ladder recovery process, v set2 is the set cable recovery speed of the aerial ladder recovery process, G(x) is a conversion quantity of the cable linear speed and the motor rotor speed, and r is the radius of the reel on which the cable is wound; according to the deviation between the actual motor rotor speed of the aerial ladder recovery process and the set motor rotor speed, the motor rotor speed is regulated by PID control so that the actual motor rotor speed is equal to the set motor rotor speed; if condition three is met, an ascending instruction of the aerial umbrella-ladder is generated; the condition three is that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the deviation of the real-time running height of the helium balloon from the upper limit of the aerial umbrella-ladder running height is less than zero; According to the real-time high-altitude wind speed, the optimal release speed of the aerial ladder is determined; the determination formula of the optimal release speed of the aerial ladder is: In the formula, v est is the real-time high-altitude wind speed, v opt is the optimal release speed of the aerial ladder; the aerial umbrella-ladder is controlled to ascend at the optimal release speed according to the ascending instruction of the aerial umbrella-ladder.

2. The control method of the umbrella ladder type high-altitude wind turbine set according to claim 1, characterized in that, The real-time acquisition of high-altitude wind speed specifically comprises: measurement of horizontal wind speed at different altitudes in the air where the aerial umbrella-ladder is located; determination of an average value of all measured horizontal wind speeds as the real-time high-altitude wind speed.

3. The control method of the umbrella ladder type high-altitude wind turbine set according to claim 1, characterized by, when the aerial umbrella-ladder is controlled to descend at a set recovery speed, the winch-turbine of the ground winch-turbine set is reversed to switch to a power consumption mode; when the aerial umbrella-ladder is controlled to ascend at the optimal release speed, the winch-turbine of the ground winch-turbine set is rotated forward to switch to a power generation mode.

4. The control method of the umbrella ladder type high-altitude wind turbine set according to claim 1, characterized by, The umbrella-ladder type high-altitude wind turbine control method further comprises: if a deviation of real-time running height of the helium balloon from a set opening height is less than zero, the working umbrella set and the balanced umbrella set are all opened.

5. A control system for a high-altitude wind turbine according to any one of claims 1 to 4, characterized in that, The umbrella-ladder type high-altitude wind turbine control system comprises a wind field monitoring system, a height measuring device, a central control system, an aerial umbrella set opening and closing driver and a winch-turbine controller; the wind field monitoring system is used for real-time measurement of high-altitude wind speed; the height measuring device is used for real-time measurement of running height of the helium balloon; the central control system is used for real-time acquisition of high-altitude wind speed and running height of the helium balloon; when it is judged that condition one or condition two is met, a descending instruction of the aerial umbrella-ladder is generated and transmitted to the aerial umbrella set opening and closing driver and the winch-turbine controller respectively; the condition one is that a deviation of real-time high-altitude wind speed from a reference wind speed is less than zero; the condition two is that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and a deviation of real-time running height of the helium balloon from an upper limit of the aerial umbrella-ladder running height is greater than zero; the winch-turbine controller is used for controlling the aerial umbrella-ladder to descend at a set recovery speed according to the descending instruction of the aerial umbrella-ladder; the aerial umbrella set opening and closing driver is used for driving the working umbrella set to be closed according to the descending instruction of the aerial umbrella-ladder; The central control system is further configured to generate an aerial ladder ascending instruction when condition three is met, determine an optimal release speed of the aerial ladder according to a real-time high-altitude wind speed, and transmit the aerial ladder ascending instruction and the optimal release speed to the winch-generator controller; the condition three is that a deviation between the real-time high-altitude wind speed and a reference wind speed is greater than zero and a deviation between a real-time running height of the helium balloon and an upper limit of the aerial ladder running height is less than zero; The winch-generator controller is further configured to control the aerial ladder to ascend at the optimal release speed according to the aerial ladder ascending instruction.

6. The umbrella-truss high-altitude wind turbine system control system of claim 5, wherein, The aerial ladder high-altitude wind generator set control system further comprises a speed measuring wheel sensor, a torque sensor and a plurality of limit switch position sensors. The speed measuring wheel sensor, the torque sensor and the plurality of limit switch position sensors are connected to the central control system. A limit switch position sensor is installed at each opening and closing limit position of the umbrella; the limit switch position sensor is configured to measure an umbrella opening and closing monitoring signal; the central control system is configured to determine that the umbrella does not reach a fully opened or fully closed position, and that an opening or closing action of the umbrella is abnormal, and to issue an umbrella warning information when the umbrella opening and closing monitoring signal is not received. The speed measuring wheel sensor is installed on a front end path of the winch-generator in-out cable; the speed measuring wheel sensor is configured to measure a cable release and collection speed and generate a cable release and collection speed monitoring signal; the central control system is further configured to determine whether the cable release and collection speed monitoring signal is within a speed adjustment set range, and to issue a speed warning information if the cable release and collection speed monitoring signal is not within the speed adjustment set range. A torque sensor is installed on the hoist-generator drive motor shaft; the torque sensor is used to measure the torque of the hoist-generator; the central control system is also used to calculate the cable tension according to the torque of the hoist-generator, and to issue a cable warning if the calculated cable tension deviates from the tension setting range. A torque sensor is installed on the hoist-generator drive motor shaft; the torque sensor is used to measure the torque of the hoist-generator; the central control system is also used to calculate the cable tension according to the torque of the hoist-generator, and to issue a cable warning if the calculated cable tension deviates from the tension setting range. The warning information is T*M / r; wherein, T is a cable tension, M is a torque of the winch-generator, and r is a radius of a winch drum.

7. The umbrella-truss high-altitude wind turbine system control system of claim 5, wherein, The aerial ladder high-altitude wind generator set control system further comprises an aerial ladder actual physical system component layer. The aerial ladder actual physical system component layer comprises a video monitoring system, a digital twin system and a human-computer interaction system. The video monitoring system is configured to shoot videos of working states of the aerial ladder high-altitude wind generator set and on-site working environments; The digital twin system is configured to display three-dimensional dynamics of the aerial ladder high-altitude wind generator set during operation and to display running states of the aerial ladder high-altitude wind generator set; The human-computer interaction system is configured to receive real-time control instructions input by a user and transmit the real-time control instructions to the central control system, and to display states and data of the aerial ladder high-altitude wind generator set during operation to the user through a dynamic visualization platform.

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