A method and control device for variable pitch control of wind turbine generators based on time-delay ADRC

Abstract

This disclosure provides a method and device for wind turbine pitch control based on time-delay ADRC. The method includes: establishing a dynamic model of the wind turbine; designing a pitch controller for the wind turbine based on a time-delay active disturbance rejection control algorithm to obtain a TD-ADRC pitch controller; and substituting the calculation results of the TD-ADRC pitch controller into the dynamic model to execute pitch control of the wind turbine. This disclosure's wind turbine pitch control method based on time-delay ADRC effectively avoids the problem of asynchronous input and output signals in a wind turbine pitch system with large delay characteristics by controlling the system using time-delay ADRC control technology. Using time-delay ADRC to control the wind turbine pitch system improves its control performance and helps to increase the power generation efficiency of wind farms.

Description

Technical Field

[0001] This disclosure belongs to the field of wind turbine technology, specifically relating to a wind turbine pitch control method and control device based on time-delay ADRC. Background Technology

[0002] As wind power becomes one of the fastest-growing renewable energy sources, the nonlinearity and high external uncertainties of large-scale wind power systems make accurate control a challenging task. Data shows that all megawatt-class and above wind turbines in commercial operation globally employ variable pitch technology. To control the power output of wind turbines during normal operation, the pitch system automatically adjusts the pitch angle according to changes in wind speed, thereby controlling the blade angle to maintain a constant rotor speed.

[0003] The pitch control system of a wind turbine generator controls the rotor speed by adjusting the blade angle, thereby controlling the turbine's output power and enabling safe shutdown via aerodynamic braking. To achieve accurate and rapid pitch control and improve the power generation efficiency and operational stability of wind turbine generators, advanced control methods are essential. Summary of the Invention

[0004] This disclosure aims to at least solve one of the technical problems existing in the prior art, and to provide a method and control device for variable pitch control of wind turbines based on time-delay ADRC.

[0005] One aspect of this disclosure provides a method for variable pitch control of wind turbine generators based on time-delay ADRC, the method comprising:

[0006] Establish a dynamic model for the wind turbine;

[0007] Based on the time-delay active disturbance rejection control algorithm, a pitch controller for wind turbines is designed, resulting in the TD-ADRC pitch controller.

[0008] Based on the calculation results of the TD-ADRC variable pitch controller, the results are substituted into the dynamic model to execute variable pitch control of the wind turbine.

[0009] In some embodiments, the dynamic model of the wind turbine satisfies the following relationship:

[0010]

[0011] The state vector X, control input u, and nonlinear vector G(X) are defined as follows:

[0012] X=[ω r ω g δβ] T

[0013] Where, ω r ω is the rotor speed. g τ is the generator speed, δ is the torque angle, β is the pitch angle, X is the output of the variable pitch system, and τ is the pitch angle. β J is the time constant for the pitch angle operation. r For rotor inertia, J g K is the generator inertia. s D is the transmission elasticity coefficient. s N is the transmission damping coefficient. g For gearbox parameters, D g This represents the generator torque.

[0014] In some implementations, the TD-ADRC pitch controller is based on a linear ADRC controller with an added artificial delay element. To synchronize the input signal to the Extended State Observer (ESO);

[0015] The method for designing a pitch controller for a wind turbine based on a time-delay active disturbance rejection control algorithm, resulting in a TD-ADRC pitch controller, includes:

[0016] For a typical first-order inertial pure delay system, the following relationship holds:

[0017]

[0018] Where K, T, and L are the gain, time constant, and time delay parameter, respectively; their variations are uncertain in practical applications, and L0 is the nominal value of the time delay; the dynamics of the system process can be expressed as:

[0019]

[0020] Therefore, the extended state observer is designed as follows:

[0021]

[0022] Where b0 = K / T; This is an estimated value output by the system. β1 and β2 are estimates of the total disturbance; β1 and β2 are observer parameters, typically expressed as:

[0023]

[0024] Where, ω o Given the bandwidth of the ESO, the estimated total unknown disturbance compensation in the inner loop is:

[0025]

[0026] The outer loop control law is then designed as a simple proportional form:

[0027] u0 = k p (ry)

[0028] Therefore, the control function of the TD-ADRC pitch controller is as follows:

[0029] F represents the total disturbance of the wind turbine pitch system;

[0030] u0 = k p (δ set -δ), δ set Set the torque angle value;

[0031] As previously analyzed, b0 can be calculated from the model's gain and time constant, and theoretical analysis based on ADRC shows that... Clearly, the design of the TD-ADRC pitch controller has been transformed into bandwidth tuning. Thus, the design of the pitch controller for the wind turbine has been completed, and the TD-ADRC pitch controller has been obtained.

[0032] In some implementations, the step of substituting the calculation results of the TD-ADRC pitch controller into the dynamic model to execute pitch control of the wind turbine includes:

[0033] Based on the historical operating data of the wind turbine, the pitch angle setting value is preset;

[0034] Based on the pitch angle setting value, the TD-ADRC variable pitch controller outputs the corresponding pitch angle;

[0035] Substitute the pitch angle into the dynamic model to execute variable pitch control of the wind turbine.

[0036] Another aspect of this disclosure provides a wind turbine pitch control device based on time-delay ADRC, the device comprising:

[0037] Establish a module for building the dynamic model of the wind turbine;

[0038] The design module is used to design a pitch controller for wind turbines based on the time-delay active disturbance rejection control algorithm, resulting in the TD-ADRC pitch controller.

[0039] The execution module is used to input the calculation results of the TD-ADRC variable pitch controller into the dynamic model and execute the variable pitch control of the wind turbine.

[0040] In some embodiments, the dynamic model of the wind turbine satisfies the following relationship:

[0041]

[0042] The state vector X, control input u, and nonlinear vector G(X) are defined as follows:

[0043] X=[ω r ω g δβ] T

[0044] Where, ω r ω is the rotor speed. g τ is the generator speed, δ is the torque angle, β is the pitch angle, X is the output of the variable pitch system, and τ is the pitch angle. β J is the time constant for the pitch angle operation. r For rotor inertia, J g K is the generator inertia. s D is the transmission elasticity coefficient. s N is the transmission damping coefficient. g For gearbox parameters, D g This represents the generator torque.

[0045] In some implementations, the TD-ADRC pitch controller is based on a linear ADRC controller with an added artificial delay element. To synchronize the input signal to the Extended State Observer (ESO);

[0046] The design module is further used for:

[0047] For a typical first-order inertial pure delay system, the following relationship holds:

[0048]

[0049] Where K, T, and L are the gain, time constant, and time delay parameter, respectively; their variations are uncertain in practical applications, and L0 is the nominal value of the time delay; the dynamics of the system process can be expressed as:

[0050]

[0051] Therefore, the extended state observer is designed as follows:

[0052]

[0053] Where b0 = K / T; This is an estimated value output by the system. β1 and β2 are estimates of the total disturbance; β1 and β2 are observer parameters, typically expressed as:

[0054]

[0055] Where, ωo Given the bandwidth of the ESO, the estimated total unknown disturbance compensation in the inner loop is:

[0056]

[0057] The outer loop control law is then designed as a simple proportional form:

[0058] u0 = k p (ry)

[0059] Therefore, the control function of the TD-ADRC pitch controller is as follows:

[0060] F represents the total disturbance of the wind turbine pitch system;

[0061] u0 = k p (δ set -δ), δ set Set the torque angle value;

[0062] As previously analyzed, b0 can be calculated from the model's gain and time constant, and theoretical analysis based on ADRC shows that... Clearly, the design of the TD-ADRC pitch controller has been transformed into bandwidth tuning. Thus, the design of the pitch controller for the wind turbine has been completed, and the TD-ADRC pitch controller has been obtained.

[0063] In some implementations, the execution module is further configured to:

[0064] Based on the historical operating data of the wind turbine, the pitch angle setting value is preset;

[0065] Based on the pitch angle setting value, the TD-ADRC variable pitch controller outputs the corresponding pitch angle;

[0066] Substitute the pitch angle into the dynamic model to execute variable pitch control of the wind turbine.

[0067] The wind turbine pitch control method and control device based on time-delay ADRC disclosed herein control the wind turbine pitch control system with large delay characteristics based on time-delay ADRC control technology, which can effectively avoid the problem of asynchronous input and output signals of the system. The use of time-delay ADRC to control the wind turbine pitch control system improves its control performance and helps to improve the power generation efficiency of the wind farm. Attached Figure Description

[0068] Figure 1 This is a schematic diagram of the structure of a fan according to an embodiment of the present disclosure;

[0069] Figure 2A flowchart of a wind turbine pitch control method based on time-delay ADRC according to another embodiment of this disclosure;

[0070] Figure 3 This is a schematic diagram of a wind turbine pitch control method based on time-delay ADRC according to another embodiment of the present disclosure;

[0071] Figure 4 This is a schematic diagram of a wind turbine pitch control device based on time-delay ADRC according to another embodiment of the present disclosure. Detailed Implementation

[0072] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0073] like Figure 1 As can be seen, the pitch control system of a wind turbine controls the rotor speed by controlling the blade angle, thereby controlling the turbine's output power and enabling safe shutdown through aerodynamic braking. Wind turbines convert wind energy into mechanical energy through the turbine blades, which then drives the generator to produce electricity.

[0074] One aspect of this embodiment, such as Figure 2 As shown, a wind turbine pitch control method S100 based on time-delay ADRC is involved, the method S100 including:

[0075] S110. Establish the dynamic model of the wind turbine.

[0076] Specifically, in this step, the wind turbine converts wind energy into mechanical energy through the turbine blades, and this mechanical energy drives the generator to produce electricity. The wind turbine structure is as follows: Figure 1 As shown, the mechanical power of a wind turbine is represented by the following equation:

[0077]

[0078] Where ρ is air density; R is the radius of the wind turbine rotor; V is wind speed; C p The power coefficient is a nonlinear function of the blade pitch angle β and the tip speed ratio λ. This parameter is calculated from the tip speed and the wind speed upstream of the rotor, and its expression is:

[0079]

[0080] Where, ω r ω is the rotor angular velocity.

[0081] Therefore, the mechanical power of a wind turbine can be rewritten as:

[0082] p a =ωr T a (3)

[0083] Among them, T a It is the aerodynamic torque, expressed as:

[0084]

[0085] C q (λ; β) are torque coefficients, and their calculation formula is as follows:

[0086]

[0087] C q (λ; β) are generally given by the basic information of the unit.

[0088]

[0089] in,

[0090] In summary, the generalized nonlinear form of the wind turbine nonlinear model is obtained as follows:

[0091]

[0092] The state vector X, control input u, and nonlinear vector G(X) are defined as follows:

[0093] X=[ω r ω g δβ] T (8)

[0094] Where, ω r ω is the rotor speed. g τ is the generator speed, δ is the torque angle, β is the pitch angle, X is the output of the variable pitch system, and τ is the pitch angle. β J is the time constant for the pitch angle operation. r For rotor inertia, J g K is the generator inertia. s D is the transmission elasticity coefficient. s N is the transmission damping coefficient. g For gearbox parameters, D g This represents the generator torque.

[0095] The dynamic model of the wind turbine is established to serve the design of the pitch controller. By designing a high-performance controller, the power of the wind turbine can be limited, thereby regulating the rotor speed of the wind turbine.

[0096] S120. Based on the time-delay active disturbance rejection control algorithm, a pitch controller for wind turbine units is designed, resulting in the TD-ADRC pitch controller.

[0097] Specifically, in this step, the TD-ADRC variable pitch controller is a novel controller proposed to address industrial process problems with large delay characteristics, exhibiting good control performance and robustness. The TD-ADRC variable pitch controller adds an artificial delay element to the linear ADRC controller. By synchronizing the input signal to the Extended State Observer (ESO), the problem of asynchronous input and output signals of the system is solved.

[0098] For a typical first-order inertial pure delay system, the following relationship holds:

[0099]

[0100] Where K, T, and L are the gain, time constant, and time delay parameter, respectively; their variations are uncertain in practical applications, and L0 is the nominal value of the time delay; the dynamics of the system process can be expressed as:

[0101]

[0102] Therefore, the extended state observer is designed as follows:

[0103]

[0104] Where b0 = K / T; This is an estimated value output by the system. β1 and β2 are estimates of the total disturbance; β1 and β2 are observer parameters, typically expressed as:

[0105]

[0106] Where, ω o Given the bandwidth of the ESO, the estimated total unknown disturbance compensation in the inner loop is:

[0107]

[0108] The outer loop control law is then designed as a simple proportional form:

[0109] u0 = k p (ry)(15)

[0110] Therefore, the control function of the TD-ADRC pitch controller is as follows:

[0111] F represents the total disturbance of the wind turbine pitch system;

[0112] u0 = k p (δ set -δ), δ set This is the torque angle setting value.

[0113] As previously analyzed, b0 can be calculated from the model's gain and time constant, and theoretical analysis based on ADRC shows that... Clearly, the design of the TD-ADRC pitch controller has been transformed into bandwidth tuning. Thus, the design of the pitch controller for the wind turbine has been completed, and the TD-ADRC pitch controller has been obtained.

[0114] S130. Based on the calculation results of the TD-ADRC variable pitch controller, substitute them into the dynamic model and execute the variable pitch control of the wind turbine.

[0115] Specifically, in this step, it is combined with Figure 3 Based on the historical operating data of the wind turbine, a pitch angle setpoint is preset. Based on this pitch angle setpoint, the TD-ADRC variable pitch controller outputs a corresponding pitch angle. This pitch angle is then substituted into the dynamic model to execute variable pitch control of the wind turbine, and the control result is fed back to the wind farm's centralized control system. The decision-making level of the wind farm's centralized control system adjusts the turbine's operating strategy promptly based on the pitch control results, ensuring stable operation while maximizing power generation efficiency.

[0116] The wind turbine pitch control method based on time-delay ADRC disclosed herein controls the wind turbine pitch system with large delay characteristics using time-delay ADRC control technology, which can effectively avoid the problem of asynchronous input and output signals of the system. The use of time-delay ADRC to control the wind turbine pitch system improves its control performance and helps to improve the power generation efficiency of the wind farm.

[0117] In another aspect of this disclosure, a wind turbine pitch control device 100 based on time-delay ADRC is provided, the device 100 comprising:

[0118] Establish module 110 to create a dynamic model of the wind turbine;

[0119] Design module 120 is used to design a pitch controller for a wind turbine based on a time-delay active disturbance rejection control algorithm, resulting in a TD-ADRC pitch controller.

[0120] The execution module 130 is used to input the calculation results of the TD-ADRC variable pitch controller into the dynamic model and execute the variable pitch control of the wind turbine.

[0121] In some embodiments, the dynamic model of the wind turbine satisfies the following relationship:

[0122]

[0123] The state vector X, control input u, and nonlinear vector G(X) are defined as follows:

[0124] X=[ω r ω g δβ] T

[0125] Where, ω r ω is the rotor speed. g τ is the generator speed, δ is the torque angle, β is the pitch angle, X is the output of the variable pitch system, and τ is the pitch angle. β J is the time constant for the pitch angle operation. r For rotor inertia, J g K is the generator inertia. s D is the transmission elasticity coefficient. s N is the transmission damping coefficient. g For gearbox parameters, D g This represents the generator torque.

[0126] In some implementations, the TD-ADRC pitch controller is based on a linear ADRC controller with an added artificial delay element. To synchronize the input signal to the Extended State Observer (ESO);

[0127] The design module 120 is further used for:

[0128] For a typical first-order inertial pure delay system, the following relationship holds:

[0129]

[0130] Where K, T, and L are the gain, time constant, and time delay parameter, respectively; their variations are uncertain in practical applications, and L0 is the nominal value of the time delay; the dynamics of the system process can be expressed as:

[0131]

[0132] Therefore, the extended state observer is designed as follows:

[0133]

[0134] Where b0 = K / T; This is an estimated value output by the system. β1 and β2 are estimates of the total disturbance; β1 and β2 are observer parameters, typically expressed as:

[0135]

[0136] Where, ω o Given the bandwidth of the ESO, the estimated total unknown disturbance compensation in the inner loop is:

[0137]

[0138] The outer loop control law is then designed as a simple proportional form:

[0139] u0 = k p (ry)

[0140] Therefore, the control function of the TD-ADRC pitch controller is as follows:

[0141] F represents the total disturbance of the wind turbine pitch system;

[0142] u0 = k p (δ set -δ), δ set Set the torque angle value;

[0143] As previously analyzed, b0 can be calculated from the model's gain and time constant, and theoretical analysis based on ADRC shows that... Clearly, the design of the TD-ADRC pitch controller has been transformed into bandwidth tuning. Thus, the design of the pitch controller for the wind turbine has been completed, and the TD-ADRC pitch controller has been obtained.

[0144] In some embodiments, the execution module 130 is further configured to:

[0145] Based on the historical operating data of the wind turbine, the pitch angle setting value is preset;

[0146] Based on the pitch angle setting value, the TD-ADRC variable pitch controller outputs the corresponding pitch angle;

[0147] Substitute the pitch angle into the dynamic model to execute variable pitch control of the wind turbine.

[0148] The wind turbine pitch control device based on time-delay ADRC disclosed herein controls the wind turbine pitch system with large delay characteristics using time-delay ADRC control technology, which can effectively avoid the problem of asynchronous input and output signals of the system. The use of time-delay ADRC to control the wind turbine pitch system improves its control performance and helps to improve the power generation efficiency of the wind farm.

[0149] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. A wind turbine variable pitch control method based on time-delay ADRC, characterized in that, The method comprises: establishing a dynamic model of the wind turbine generator; designing a variable pitch controller of the wind turbine generator based on a time-delay active disturbance rejection control algorithm to obtain a TD-ADRC variable pitch controller; performing control on the variable pitch of the wind turbine generator according to calculation results of the TD-ADRC variable pitch controller and substituting the calculation results into the dynamic model; The mechanical power of the wind turbine is represented by the following equation: where p is the air density; R is the wind turbine rotor radius; V is the wind speed; C P is the power coefficient, which is a non-linear function of the pitch angle β and the tip speed ratio λ. The dynamic model of the wind turbine generator satisfies the following relationship: The definitions of the state vector X, the control input u and the nonlinear vector G(X) are as follows: X = [ω r ω g δβ] T where ω r is the rotor speed, ω g is the generator speed, δ is the torque angle, β is the pitch angle, X is the output of the variable pitch system, τ β is the time constant of the pitch angle actuation, J r is the rotor inertia, J g is the generator inertia, K s is the transmission stiffness, D s is the transmission damping, N g is the gearbox parameter, D g is the generator torque; The TD-ADRC variable pitch controller is based on a linear ADRC controller, and an artificial delay link is added to synchronize the input signal into an extended state observer (ESO). The designing of the variable pitch controller of the wind turbine generator based on the time-delay active disturbance rejection control algorithm to obtain the TD-ADRC variable pitch controller comprises: For a general first-order inertia pure delay system, the following relationship is satisfied: Wherein, K, T and L are gain, time constant and time delay parameter respectively; L0 is the nominal value of time delay; the dynamic representation of the system process is as follows: Accordingly, the extended state observer is designed as follows: where b0= K / T; is the estimate of the system output; is the estimate of the total disturbance; and β1and β2are observer parameters, typically expressed as: β1= 2ω o ; where ω o is the bandwidth of the ESO, and the unknown total disturbance compensation in the inner loop is estimated as: The outer loop control law is designed as a simple proportional form: u0 = k p (r-y) Therefore, the control effect of the TD-ADRC variable pitch controller is as follows: F is the total disturbance of the wind turbine variable pitch system; u0 = k p (δ set -δ), δ set torque angle setpoint; From the previous analysis, b0 can be calculated by the gain and time constant of the model, and based on the theoretical analysis of ADRC Obviously, the design of the TD-ADRC variable pitch controller is converted to the setting of the bandwidth. Thus, the design of the variable pitch controller of the wind turbine is completed, and the TD-ADRC variable pitch controller is obtained.

2. The method of claim 1, wherein, The performing of the control on the variable pitch of the wind turbine generator according to the calculation results of the TD-ADRC variable pitch controller and substituting the calculation results into the dynamic model comprises: According to historical operation data of the wind turbine generator, a pitch angle set value is set in advance; Based on the pitch angle set value, the TD-ADRC variable pitch controller outputs a corresponding pitch angle; The pitch angle is substituted into the dynamic model to perform control on the variable pitch of the wind turbine generator.

3. A wind turbine generator variable pitch control device based on time delay ADRC, characterized in that, The wind turbine generator variable pitch control device based on the time-delay ADRC comprises: The establishing module is configured to establish a dynamic model of the wind turbine generator; The designing module is configured to design a variable pitch controller of the wind turbine generator based on a time-delay active disturbance rejection control algorithm to obtain a TD-ADRC variable pitch controller; The performing module is configured to perform control on the variable pitch of the wind turbine generator according to calculation results of the TD-ADRC variable pitch controller and substituting the calculation results into the dynamic model; The mechanical power of the wind turbine is represented by the following equation: where p is the air density; R is the wind turbine rotor radius; V is the wind speed; C P is the power coefficient, which is a non-linear function of the pitch angle β and the tip speed ratio λ. The dynamic model of the wind turbine generator satisfies the following relationship: The definitions of the state vector X, the control input u and the nonlinear vector G(X) are as follows: X = [ω r ω g δβ] T where ω r is the rotor speed, ω g is the generator speed, δ is the torque angle, β is the pitch angle, X is the output of the variable pitch system, τ β is the time constant of pitch angle actuation, J r is the rotor inertia, J g is the generator inertia, K s is the transmission stiffness, D s is the transmission damping, N g is the gearbox parameter, D g is the generator torque; The TD-ADRC variable pitch controller is based on a linear ADRC controller, and an artificial delay link is added to synchronize the input signal into an extended state observer (ESO). The designing module is further configured to: For a general first-order inertia pure delay system, the following relationship is satisfied: Wherein, K, T and L are gain, time constant and time delay parameter respectively; in actual application, the change is uncertain, L0 is the nominal value of time delay; the dynamic representation of the system process is as follows: Accordingly, the extended state observer is designed as follows: where b0= K / T; is the estimate of the system output; is the estimate of the total disturbance; and β1and β2are observer parameters, typically expressed as: β1= 2ω o ; where ω o is the bandwidth of the ESO, and the unknown total disturbance compensation in the inner loop is estimated as: The outer loop control law is designed as a simple proportional form: u0 = k p (r-y) Therefore, the control effect of the TD-ADRC variable pitch controller is as follows: F is the total disturbance of the wind turbine variable pitch system; u0 = k p (δ set -δ), δ set torque angle setpoint; From the previous analysis, b0 can be calculated by the gain and time constant of the model, and based on the theoretical analysis of ADRC Obviously, the design of the TD-ADRC variable pitch controller is converted to the setting of the bandwidth. Thus, the design of the variable pitch controller of the wind turbine is completed, and the TD-ADRC variable pitch controller is obtained.

4. The wind turbine variable pitch control device based on time-delay ADRC according to claim 3, characterized in that, The performing module is further configured to: According to historical operation data of the wind turbine generator, a pitch angle set value is set in advance; Based on the pitch angle set value, the TD-ADRC variable pitch controller outputs a corresponding pitch angle; The pitch angle is substituted into the dynamic model to perform control on the variable pitch of the wind turbine generator.

5. An electronic device, comprising: Comprise: One or more processors; a memory unit configured to store one or more programs that, when executed by the one or more processors, enable the one or more processors to implement the method according to claim 1 or 2.

6. A computer readable storage medium having stored thereon a computer program, the computer program, when executed by a processor, causing the processor to carry out the method according to claim 1 or 2. the computer program, when executed by a processor, causing the processor to carry out the method according to claim 1 or 2.

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