Wind turbine generator system control method, device and wind turbine generator system

Abstract

The application provides a wind turbine generator control method and device and a wind turbine generator. The method comprises the following steps: obtaining an initial control rate of the wind turbine generator based on a constructed dynamic model of the wind turbine generator and a selected reference model of the wind turbine generator; obtaining time delay information in a system of the wind turbine generator, calculating a time delay observation value of the wind turbine generator based on the time delay information, and using the time delay observation value to describe a dynamic response characteristic of the wind turbine generator, to represent an interference received by the wind turbine generator in a running state and a model error of the wind turbine generator; and substituting the time delay observation value into the initial control rate to obtain a target control rate, and using the target control rate to control the wind turbine generator. The method can reduce the influence of the working condition interference of the wind turbine generator on the control effect, compensate for the system modeling error, and improve the effectiveness and stability of the wind turbine generator control.

Description

Wind turbine generator control methods, devices and wind turbine generators Technical Field

[0001] This application relates to the field of wind turbine generator control technology, specifically to a wind turbine generator control method, device, and wind turbine generator. Background Technology

[0002] In wind power systems, wind speed, wind direction, wind shear, turbulence, eddies, and air density are all subject to random variations due to factors such as temperature, season, and terrain, posing a significant challenge to wind turbine speed control. Currently, wind turbine control primarily relies on traditional PID algorithms. However, PID algorithms suffer from limitations in handling nonlinear problems, difficulty in parameter adjustment, and sensitivity to disturbances. Consequently, they cannot achieve stable control of wind turbines and exhibit low anti-interference capabilities, leading to low control stability. Summary of the Invention

[0003] In view of this, embodiments of this application provide a wind turbine generator control method, device, and wind turbine generator. By utilizing time delay information to estimate the disturbances caused by wind speed changes during the operation of the wind turbine generator and the uncertainty in the modeling of the wind turbine generator system, and by combining the time delay information of the wind turbine generator to control it, the problem of low control stability caused by low anti-interference ability based on traditional PID algorithms in the prior art is solved.

[0004] In a first aspect, embodiments of this application provide a generator control method, which may include:

[0005] Based on the constructed dynamic model of the wind turbine generator set and the selected reference model of the wind turbine generator set, the initial control law of the wind turbine generator set is obtained.

[0006] The system of the wind turbine generator set is used to obtain time delay information, and the time delay observation value of the wind turbine generator set is calculated based on the time delay information. The time delay observation value is used to describe the dynamic response characteristics of the wind turbine generator set to characterize the disturbances experienced by the wind turbine generator set under the operating state and the model error of the wind turbine generator set.

[0007] Substituting the time-delayed observations into the initial control law yields the target control law, which is then used to control the wind turbine generator set.

[0008] In the above implementation process, the time-delay observation values ​​of the wind turbine generator can be calculated by combining the time-delay information of the wind turbine generator. The dynamic response characteristics of the wind turbine generator can be described by the time-delay observation values, thereby estimating the operating condition disturbances or modeling uncertainties of the wind turbine generator during operation. These values ​​are then substituted into the dynamic model and reference model to obtain the initial control rate of the wind turbine generator and thus the target control rate. The wind turbine generator can then be controlled based on the target control rate, replacing the PID control method. This can reduce the impact of operating condition disturbances of the wind turbine generator on the control effect and compensate for system modeling errors, thereby improving the effectiveness and stability of the wind turbine generator control.

[0009] Optionally, the dynamic model can be composed of an aerodynamic model, a transmission chain model, a pitch angle model, and a torque actuator model;

[0010] The aerodynamic model represents the relationship between the main shaft torque, main shaft speed, blade pitch angle, and wind speed of the wind turbine generator set; the transmission chain model represents the relationship between the main shaft and the wind turbine generator set's speed and torque; and the blade pitch angle and torque actuator model represents the relationship between the blade angle and torque output of the wind turbine generator set.

[0011] Optionally, obtaining the initial control law of the wind turbine based on the constructed dynamic model of the wind turbine and the selected reference model of the wind turbine may include:

[0012] The dynamic model is constructed based on the aerodynamic model, the transmission chain model, the pitch angle, and the torque actuator.

[0013] A reference model for the wind turbine generator set is determined based on the performance indicators of the wind turbine generator set, and the error of the reference model satisfies a dynamic error equation that varies with time.

[0014] Substitute the error dynamic equation into the dynamic model to determine the initial control law.

[0015] In the above implementation process, the initial control law of the wind turbine generator can be obtained by combining the dynamic model and the reference model of the wind turbine generator. Based on the operating characteristics of the wind turbine generator, the output torque is linearized at each wind condition point in the established dynamic model without being directly processed. By combining the time-delay observation value and then controlling the wind turbine generator, the impact of wind turbine generator operating condition disturbances on the control effect can be reduced, and the effectiveness and stability of wind turbine generator control can be improved.

[0016] Optionally, the time delay information may include at least one of wind speed measurement time delay, power response time delay, control signal transmission time delay, mechanical delay, and electronic response time delay.

[0017] Optionally, obtaining time delay information in the system of the wind turbine generator to characterize the operating disturbances and model errors of the wind turbine generator may include:

[0018] Based on at least one of the wind speed measurement delay, power response delay, control signal transmission delay, mechanical delay, and electronic response delay, a time step value is determined assuming that the external disturbance does not change abruptly. The time step value is then substituted into the dynamic model to obtain the time-delay observation value.

[0019] In the above implementation process, the dynamic response characteristics of the system can be described based on time delay information, thereby estimating the disturbances caused by wind speed changes during wind turbine operation and the uncertainty of system modeling, reducing the impact of wind speed disturbances on control performance, and compensating for system modeling errors, thereby improving the effectiveness and stability of wind turbine control.

[0020] Optionally, substituting the time-delayed observation into the initial control law to obtain the target control law, and then controlling the wind turbine generator based on the target control law, may include:

[0021] The target control rate is obtained by substituting the time-delayed observation value into the initial control rate, and the pitch angle and torque reference value of the wind turbine generator set are calculated based on the target control rate; the pitch angle servo motor and torque output of the wind turbine generator set are controlled based on the pitch angle and torque reference value.

[0022] In the above implementation process, the disturbances caused by changes in external conditions, such as wind speed, during the operation of the wind turbine can be estimated based on time delay information. By combining the time delay observations with the initial control law to obtain the target control law, and then using the target control law to control the wind turbine pitch and torque accordingly, the impact of external disturbances on the control of the wind turbine can be reduced, thereby improving the effectiveness and stability of the wind turbine control.

[0023] Secondly, embodiments of this application also provide a wind turbine generator control device, which may include:

[0024] An initial control rate generation module is used to obtain the initial control rate of the wind turbine generator based on the constructed dynamic model of the wind turbine generator and the selected reference model of the wind turbine generator.

[0025] The acquisition module is used to acquire time delay information in the system of the wind turbine generator set, calculate the time delay observation value of the wind turbine generator set based on the time delay information, and the time delay observation value is used to describe the dynamic response characteristics of the wind turbine generator set to characterize the disturbances experienced by the wind turbine generator set under the operating state and the model error of the wind turbine generator set.

[0026] The target control rate generation module is used to substitute the time-delayed observation value into the initial control rate to obtain the target control rate, so as to control the wind turbine generator based on the target control rate.

[0027] Optionally, the dynamic model consists of an aerodynamic model, a transmission chain model, a pitch angle model, and a torque actuator model; wherein, the aerodynamic model represents the relationship between the main shaft torque, main shaft speed, pitch angle, and wind speed of the wind turbine generator set; the transmission chain model represents the relationship between the speed and torque between the main shaft and the wind turbine generator set; and the pitch angle and torque actuator model represents the relationship between the blade angle and torque output of the wind turbine generator set.

[0028] The initial control rate generation module can be specifically used for:

[0029] The dynamic model is constructed based on the aerodynamic model, the transmission chain model, the pitch angle, and the torque actuator; a reference model of the wind turbine is determined according to the performance indicators of the wind turbine, and the error of the reference model satisfies the error dynamic equation that changes with time; and the error dynamic equation is substituted into the dynamic model to determine the initial control law.

[0030] Optionally, the time delay information includes at least one of wind speed measurement time delay, power response time delay, control signal transmission time delay, mechanical delay, and electronic response time delay.

[0031] Optionally, the acquisition module can be specifically used for:

[0032] Based on at least one of the wind speed measurement delay, power response delay, control signal transmission delay, mechanical delay, and electronic response delay, a time step value is determined assuming that the external disturbance does not change abruptly. The time step value is then substituted into the dynamic model to obtain the time-delay observation value.

[0033] Optionally, the target control rate generation module can be specifically used for:

[0034] The target control rate is obtained by substituting the time-delayed observation value into the initial control rate, and the pitch angle and torque reference value of the wind turbine generator set are calculated based on the target control rate; and the pitch angle servo motor and torque output of the wind turbine generator set are controlled based on the pitch angle and torque reference value.

[0035] Optionally, the reference model of the wind turbine generator set includes a model parameter matrix, a reference state vector, and a state tracking vector selected based on performance index information.

[0036] Thirdly, embodiments of this application provide a wind turbine generator set, the electronic device includes the wind turbine generator set, the memory stores program instructions, and when the processor runs the program instructions, it executes the steps in any of the above implementation methods.

[0037] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the steps in any of the above implementations.

[0038] In summary, the embodiments of this application provide a wind turbine generator control method, device, and wind turbine generator. By combining the time delay information of the wind turbine generator, the time delay observation value of the wind turbine generator can be calculated. The dynamic response characteristics of the wind turbine generator can be described by the time delay observation value, thereby estimating the operating condition disturbances or modeling uncertainties of the wind turbine generator during operation. The initial control rate of the wind turbine generator can be obtained by substituting it into the dynamic model and the reference model to obtain the target control rate. Then, the wind turbine generator can be controlled based on the target control rate, which can replace the method of using PID control. This can reduce the impact of the operating condition disturbances of the wind turbine generator on the control effect and compensate for system modeling errors, thereby improving the effectiveness and stability of wind turbine generator control. Attached Figure Description

[0039] Figure 1 is a schematic diagram of the steps of the wind turbine generator control method provided in the embodiment of this application.

[0040] Figure 2 is a schematic diagram of the wind turbine generator control device provided in the embodiment of this application. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] During the research process, the applicant discovered that while PID algorithms are widely used in the control of wind turbine generators, they are linear algorithms with limited ability to handle nonlinear problems. For dynamic systems like wind turbine generators, nonlinear effects exist, such as uncertainties in wind speed and changes in wind direction, causing PID algorithms to struggle to handle these nonlinear factors effectively. The control performance of PID algorithms is also closely related to parameters, and parameter adjustments require the experience and skills of professionals, consuming significant time and effort. Furthermore, the control performance of PID algorithms is greatly affected by external disturbances; for example, when wind speed or wind direction changes significantly, the control performance of wind turbine generators deteriorates, failing to achieve stable output. Moreover, it can only handle single-variable control problems and is ineffective in multi-variable control problems. For practical applications of wind turbine generators, multiple variables such as output power, speed, and voltage need to be controlled simultaneously, making PID algorithms unsuitable for these situations. Based on this, one embodiment of this application provides a control method for a wind turbine generator set. The method uses time delay information to estimate the disturbances caused by wind speed changes during the operation of the wind turbine generator set and the uncertainty of the wind turbine generator set system modeling. By combining the time delay information of the wind turbine generator set, the method controls the wind turbine generator set, replacing the existing technology of controlling the wind turbine generator set based on the PID algorithm.

[0043] Please refer to Figure 1, which is a schematic diagram of the steps of the wind turbine generator control method provided in this embodiment. The steps of the wind turbine generator control method may include:

[0044] In step S11, the initial control rate of the wind turbine is obtained based on the constructed dynamic model of the wind turbine and the selected reference model of the wind turbine.

[0045] In step S12, time delay information in the system of the wind turbine generator set is obtained, and the time delay observation value of the wind turbine generator set is calculated based on the time delay information. The time delay observation value is used to describe the dynamic response characteristics of the wind turbine generator set to characterize the disturbances experienced by the wind turbine generator set under operating conditions and the model error of the wind turbine generator set.

[0046] In step S13, the time-delayed observation value is substituted into the initial control rate to obtain the target control rate, and the wind turbine generator set is controlled based on the target control rate.

[0047] A wind turbine generator set is a complete system consisting of a wind turbine, gearbox, generator, control system, tower, and blades, used to convert wind energy into electrical energy. A dynamic model of a wind turbine generator set can describe the dynamic response of the generator set as it is affected by wind speed and other external factors during operation. A reference model of a wind turbine generator set is a simplified model that considers only wind speed and mechanical system variables, ignoring the influence of electrical and control systems, thereby evaluating the performance of the wind turbine generator set and predicting its power generation.

[0048] The initial control law of a wind turbine can be obtained by combining these two factors. Specific methods of combination include defining a system state tracking error for a reference model, which is determined by the wind turbine's state vector and the reference state vector. By substituting the dynamic equations of the error over time into the dynamic model, the influence of the wind turbine's inertia and stiffness on the system state is represented, thus obtaining an expression for the initial control law. Existing techniques are based on gradually reducing the system state tracking error to achieve wind turbine control.

[0049] For example, the time delay information of measurable physical quantities in a wind turbine generator set may include the wind speed measurement time delay. The wind turbine generator set needs to measure wind speed to adjust the blade angle and rotation speed, but due to the response time and transmission delay of the wind speed measurement equipment, the measurement result has a certain time delay compared to the actual wind speed. The time delay information of the wind turbine generator set may also include the power response time delay. The power output of the wind turbine generator set requires a certain response time to adjust the blade angle and rotation speed to match the wind speed; therefore, the actual output power of the wind turbine generator set has a certain time delay.

[0050] Time delay information can be used to describe the dynamic response characteristics of a system, that is, there is a certain time delay between the change in the system output and the change in the input. The time delay information of a wind turbine generator set can include the control signal transmission delay. When the controller receives wind speed and power measurement data, it needs to send control signals to adjust the generator's operation, but due to signal transmission delays, the control signals may also have a certain time delay. Since the inertia of the generator rotor and the mechanical characteristics of the blades cause mechanical delays, the time delay information of a wind turbine generator set can also include mechanical delays. The response speed of electronic components also affects the generator's response speed, such as the response speed of sensors, controllers, and communication equipment; therefore, the time delay information of a wind turbine generator set can also include electronic response delays. Therefore, the time delay information of a wind turbine generator set can be obtained based on sensors such as wind speed sensors, speed sensors, encoders, and power meters. For example, by acquiring measurement data of the wind turbine generator set through the aforementioned sensors, such as wind speed, speed, current, and voltage, data processing software can be used to process the data and synchronize the data from each sensor to compare their time differences. For example, for wind speed sensors and speed sensors, the time difference of rotor rotation, i.e., the mechanical time delay of the wind turbine generator set, can be calculated by comparing their measurement data. For encoders and power meters, the time difference in power output, i.e., the electrical time delay of the wind turbine generator, can be calculated by comparing their measurement data. Adding the mechanical and electrical time delays yields the total time delay information of the wind turbine generator. Alternatively, the generator's time delay information can be obtained based on actual measurements or through model derivation and simulation calculations.

[0051] The time delay information obtained above allows us to assume a time step where external disturbances do not abruptly occur. This time step is then substituted into the dynamic model of the wind turbine generator to obtain time-delay observations. These observations characterize the dynamic response of the wind turbine generator, and these dynamic response characteristics more accurately describe the actual response of the wind turbine generator. Therefore, we can analyze the impact of operating disturbances or model errors on the performance of the wind turbine generator based on the actual response.

[0052] Specifically, in this embodiment, the time delay information in the wind turbine generator system and the control of the wind turbine generator can be achieved through a time delay controller. The time delay controller may include an estimator and a compensator. The estimator estimates the state of the wind turbine generator system, which may include a state vector and time delay terms. The estimator may employ sliding mode control (SMC) technology, using a sliding surface to estimate the state vector and time delay terms, and can ensure strong robustness of the system to external disturbances and parameter changes. The compensator compensates for the controller's commands based on the estimated state and time delay information, enabling the system to achieve the desired control effect.

[0053] For example, the estimator of the time-delay observer can obtain the time-delay observation value by combining the dynamic model and reference model of the wind turbine generator system based on the obtained time-delay information in the system. Then, the compensator obtains the target control law based on the method provided in this application, and generates the corresponding control command based on the target control law to control the wind turbine generator.

[0054] Therefore, the embodiments of this application can calculate the time-delay observations of the wind turbine generator by combining the time-delay information of the wind turbine generator. The dynamic response characteristics of the wind turbine generator can be described by the time-delay observations, thereby estimating the operating condition disturbances or modeling uncertainties of the wind turbine generator during operation. The initial control rate of the wind turbine generator can be obtained by substituting the data into the dynamic model and the reference model to obtain the target control rate. The wind turbine generator can then be controlled based on the target control rate, replacing the PID control method. This can reduce the impact of the operating condition disturbances of the wind turbine generator on the control effect and compensate for system modeling errors, thereby improving the effectiveness and stability of the wind turbine generator control.

[0055] In an optional embodiment, the dynamic model may consist of an aerodynamic model, a transmission chain model, a pitch angle model, and a torque actuator model; wherein, the aerodynamic model represents the relationship between the main shaft torque, main shaft speed, pitch angle, and wind speed of the wind turbine generator set; the transmission chain model represents the relationship between the main shaft and the speed and torque of the wind turbine generator set; and the pitch angle and torque actuator model represents the relationship between the blade angle and torque output of the wind turbine generator set.

[0056] For example, for step S12, this application embodiment provides an implementation method for generating an initial control rate, which may include:

[0057] The dynamic model is constructed based on the aerodynamic model, the transmission chain model, the pitch angle, and the torque actuator.

[0058] A reference model for the wind turbine generator set is determined based on the performance indicators of the wind turbine generator set, and the error of the reference model satisfies a dynamic error equation that varies with time.

[0059] Substitute the error dynamic equation into the dynamic model to determine the initial control law.

[0060] In this embodiment, the aerodynamic model is used to describe the relationship between spindle torque, spindle speed, propeller pitch angle, and wind speed. Specifically, the aerodynamic model provided in this application is as follows:

[0061]

[0062] Among them, T t Main spindle torque, ω t β is the main shaft speed, β is the propeller pitch angle, and v is the wind speed. Let O(T) be the partial derivative of the main shaft torque with respect to the main shaft speed, blade pitch angle, and wind speed, respectively. t ) represents the linearization error.

[0063] The transmission chain model describes the relationship between the rotational speed and torque between the main shaft and the generator, specifically:

[0064]

[0065] Among them, J t J g The moments of inertia, ω, are the rotational inertia of the main shaft and the generator, respectively. t ω is the generator speed. g T is the drive shaft speed. t For output torque, N g T is the gearbox transmission ratio. g T refers to the torque borne by the gears in the transmission chain. tw For the intermediate shaft torque, K s B is the stiffness coefficient. s is the damping coefficient.

[0066] The actuator model for pitch angle and torque can be described using a first-order system:

[0067]

[0068] in, and Let τ and τ represent the pitch angle and the rate of change of the torque actuator, respectively. g These represent the pitch angle and the time constant of the torque actuator, respectively, β * and T g * These are the reference values ​​for pitch and torque, respectively.

[0069] By combining the above aerodynamic model, transmission chain model, pitch angle, and torque actuator model, the dynamic model of the wind turbine generator can be described as follows:

[0070]

[0071] in, This is the state vector of the wind turbine generator set, representing the state of the wind turbine generator set at a certain moment. A 6×6This is the state transition matrix, which describes the changes in the state vector of the wind turbine generator at different times. (B) 2×6 This is the input matrix, used to describe the impact of the input signal on the state of the wind turbine generator. 1×2 It is the input vector, representing the value of the input signal. D 1×6 It is a disturbance vector that characterizes the impact of external disturbances on the state of the wind turbine generator.

[0072] Performance information for wind turbine generators may include:

[0073] The wind speed characteristic curve describes the output power of the wind turbine generator at different wind speeds; cut-in wind speed refers to the minimum wind speed at which the wind turbine generator starts operating; cut-out wind speed refers to the maximum wind speed at which the wind turbine generator stops operating; rated wind speed refers to the optimal wind speed at which the wind turbine generator is designed, at which point the output power is the rated power; rated power refers to the maximum power output of the wind turbine generator at the rated wind speed; power generation efficiency refers to the ratio of the output power of the wind turbine generator to the input wind energy at different wind speeds; rotor speed refers to the rotational speed of the wind turbine generator's rotor; noise refers to the noise level generated by the wind turbine generator during operation; wind resistance refers to the stability and safety of the wind turbine generator in strong wind environments; and reliability refers to indicators such as the lifespan, maintenance costs, and failure rate of the wind turbine generator.

[0074] A reference model for a wind turbine can be selected based on factors such as the wind turbine's power output, cut-in and cut-out wind speeds, tower height, rotor diameter, generator type, control system, maintenance and upkeep, or other practical application factors. In this embodiment, the selected wind turbine reference model is:

[0075]

[0076] Where M is the model parameter matrix selected based on performance indicators, and X... m R is the reference state vector, and R is the state tracking vector.

[0077] Define the system state tracking error e of the reference model as:

[0078] e = X m ―X

[0079] The dynamic equation for the system state tracking error e as a function of time is:

[0080]

[0081] Where K is the stiffness matrix, the initial control law can be obtained:

[0082] U0 = B +[M(X―R)―AX―D]

[0083] Among them, B + = (B T B) ―1 For the pseudo-inverse of B, satisfying B T [I―BB + ][M(X―R)―AX―D]=0.

[0084] Therefore, the embodiments of this application can obtain the initial control law of the wind turbine generator by combining the dynamic model and the reference model of the wind turbine generator. Based on the operating characteristics of the wind turbine generator, the output torque is linearized at each wind condition point in the established dynamic model without being directly processed. By combining the time-delay observation values ​​and then controlling the wind turbine generator, the impact of wind turbine generator operating condition disturbances on the control effect can be reduced, and the effectiveness and stability of wind turbine generator control can be improved.

[0085] In an optional embodiment, step S12 may include:

[0086] Based on at least one of the wind speed measurement delay, power response delay, control signal transmission delay, mechanical delay, and electronic response delay, a time step value is determined assuming that the external disturbance does not change abruptly. The time step value is then substituted into the dynamic model to obtain the time-delay observation value.

[0087] The time delay information of the system state of the wind turbine generator set and the method of obtaining the time delay observation value based on the time delay information can both be implemented based on the above description, and will not be repeated here.

[0088] In this embodiment of the application, the time-delayed observation value can specifically be:

[0089]

[0090] Where L is the time step assuming no sudden changes occur due to external disturbances.

[0091] For example, a time-delay observer can use the time-delay information from the wind speed sensor in a wind turbine to estimate the disturbances caused by wind speed changes during the operation of the wind turbine.

[0092] Therefore, the embodiments of this application can describe the dynamic response characteristics of the system based on time delay information, thereby estimating the disturbances caused by wind speed changes during the operation of the wind turbine and the uncertainty of system modeling, reducing the impact of wind speed disturbances on the control effect, and compensating for system modeling errors, thereby improving the effectiveness and stability of wind turbine control.

[0093] In an optional embodiment, step S13 may specifically include:

[0094] The target control rate is obtained by substituting the time-delayed observation value into the initial control rate, and the pitch angle and torque reference value of the wind turbine generator set are calculated based on the target control rate.

[0095] The pitch angle servo motor and torque output of the wind turbine generator are controlled based on the pitch angle and the torque reference value.

[0096] For example, in this embodiment of the application, the target control rate can be obtained by combining the initial control rate described above and the time-delay observations:

[0097]

[0098] The corresponding pitch angle and torque reference values ​​are calculated by the target control law and sent to the pitch angle servo motor and generator respectively, thereby realizing the speed control of the wind turbine generator set.

[0099] Therefore, the embodiments of this application can estimate the disturbances caused by changes in external conditions, such as wind speed, during the operation of the wind turbine generator based on time delay information. By combining the time delay observations with the initial control law to obtain the target control law, and then using the target control law to control the wind turbine generator with the corresponding pitch and torque, the impact of external disturbances on the control of the wind turbine generator can be reduced, thereby improving the effectiveness and stability of the wind turbine generator control.

[0100] Based on the same inventive concept, this application also provides a wind turbine generator control device. Please refer to Figure 2, which is a schematic diagram of the wind turbine generator control device provided in this application embodiment. The wind turbine generator control device 20 may include:

[0101] The initial control rate generation module 21 is used to obtain the initial control rate of the wind turbine generator set based on the constructed dynamic model of the wind turbine generator set and the selected reference model of the wind turbine generator set.

[0102] The acquisition module 22 is used to acquire time delay information in the system of the wind turbine generator set, calculate the time delay observation value of the wind turbine generator set based on the time delay information, and the time delay observation value is used to describe the dynamic response characteristics of the wind turbine generator set to characterize the disturbances experienced by the wind turbine generator set under the operating state and the model error of the wind turbine generator set.

[0103] The target control rate generation module 23 is used to substitute the time-delayed observation value into the initial control rate to obtain the target control rate, so as to control the wind turbine generator set based on the target control rate.

[0104] Therefore, the embodiments of this application can calculate the time-delay observations of the wind turbine generator by combining the time-delay information of the wind turbine generator. The dynamic response characteristics of the wind turbine generator can be described by the time-delay observations, thereby estimating the operating condition disturbances or modeling uncertainties of the wind turbine generator during operation. The initial control rate of the wind turbine generator can be obtained by substituting the data into the dynamic model and the reference model to obtain the target control rate. The wind turbine generator can then be controlled based on the target control rate, replacing the PID control method. This can reduce the impact of the operating condition disturbances of the wind turbine generator on the control effect and compensate for system modeling errors, thereby improving the effectiveness and stability of the wind turbine generator control.

[0105] In an optional embodiment, the dynamic model comprises an aerodynamic model, a transmission chain model, a pitch angle model, and a torque actuator model; wherein, the aerodynamic model characterizes the relationship between the main shaft torque, main shaft speed, pitch angle, and wind speed of the wind turbine generator set; the transmission chain model characterizes the relationship between the main shaft and the speed and torque of the wind turbine generator set; and the pitch angle and torque actuator model characterizes the relationship between the blade angle and torque output of the wind turbine generator set.

[0106] The initial control rate generation module 21 can be specifically used for:

[0107] The dynamic model is constructed based on the aerodynamic model, the transmission chain model, the pitch angle, and the torque actuator; a reference model of the wind turbine is determined according to the performance indicators of the wind turbine, and the error of the reference model satisfies the error dynamic equation that changes with time; and the error dynamic equation is substituted into the dynamic model to determine the initial control law.

[0108] Therefore, the embodiments of this application can obtain the initial control law of the wind turbine generator by combining the dynamic model and the reference model of the wind turbine generator. Based on the operating characteristics of the wind turbine generator, the output torque is linearized at each wind condition point in the established dynamic model without being directly processed. By combining the time-delay observation values ​​and then controlling the wind turbine generator, the impact of wind turbine generator operating condition disturbances on the control effect can be reduced, and the effectiveness and stability of wind turbine generator control can be improved.

[0109] In an optional embodiment, the time delay information includes at least one of wind speed measurement time delay, power response time delay, control signal transmission time delay, mechanical delay, and electronic response time delay.

[0110] In an optional embodiment, the acquisition module 22 may be specifically used for:

[0111] Based on at least one of the wind speed measurement delay, power response delay, control signal transmission delay, mechanical delay, and electronic response delay, a time step value is determined assuming that the external disturbance does not change abruptly. The time step value is then substituted into the dynamic model to obtain the time-delay observation value.

[0112] Therefore, the embodiments of this application can describe the dynamic response characteristics of the system based on time delay information, thereby estimating the disturbances caused by wind speed changes during the operation of the wind turbine and the uncertainty of system modeling, reducing the impact of wind speed disturbances on the control effect, and compensating for system modeling errors, thereby improving the effectiveness and stability of wind turbine control.

[0113] In an optional embodiment, the target control rate generation module 23 may be specifically used for:

[0114] The target control rate is obtained by substituting the time-delayed observation value into the initial control rate, and the pitch angle and torque reference value of the wind turbine generator set are calculated based on the target control rate; and the pitch angle servo motor and torque output of the wind turbine generator set are controlled based on the pitch angle and torque reference value.

[0115] Therefore, the embodiments of this application can estimate the disturbances caused by changes in external conditions, such as wind speed, during the operation of the wind turbine generator based on time delay information. By combining the time delay observations with the initial control law to obtain the target control law, and then using the target control law to control the wind turbine generator with the corresponding pitch and torque, the impact of external disturbances on the control of the wind turbine generator can be reduced, thereby improving the effectiveness and stability of the wind turbine generator control.

[0116] In an optional embodiment, the reference model of the wind turbine generator includes a model parameter matrix selected based on performance index information, a reference state vector, and a state tracking vector.

[0117] Based on the same inventive concept, this application also provides a wind turbine generator set, which may include a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it executes the steps in any of the above implementation methods.

[0118] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the steps in any of the above implementations.

[0119] The computer-readable storage medium can be any medium capable of storing program code, such as Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM). The storage medium stores the program, and the processor executes the program after receiving an execution instruction. The method executed by the electronic terminal as defined in any embodiment of this invention can be applied to the processor or implemented by the processor.

[0120] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0121] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0123] It can be replaced and can be implemented, wholly or partially, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, wholly or partially, in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated.

[0124] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0125] In this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0126] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method for a wind turbine generator set, characterized in that, include: Based on the constructed dynamic model of the wind turbine generator set and the selected reference model of the wind turbine generator set, the initial control law of the wind turbine generator set is obtained. The reference model of the wind turbine generator set is determined according to its performance indicators. The error of the reference model satisfies a time-varying error dynamic equation. Substituting the error dynamic equation into the dynamic model, the initial control law is determined. Time delay information in the system of the wind turbine generator set is obtained, and time delay observations of the wind turbine generator set are calculated based on this information. These time delay observations are used to describe the dynamic response characteristics of the wind turbine generator set to characterize the disturbances experienced by the wind turbine generator set during operation and the wind turbine generator set's dynamic response characteristics. Model error; Substituting the time-delayed observations into the initial control law to obtain the target control law, and controlling the wind turbine generator set based on the target control law, wherein the time-delay information includes at least one of wind speed measurement time delay, power response time delay, control signal transmission time delay, mechanical delay, and electronic response time delay, and obtaining the time-delay information in the system of the wind turbine generator set, and calculating the time-delayed observations of the wind turbine generator set based on the time-delay information includes: determining a time step value assuming no sudden change in external disturbance based on at least one of the wind speed measurement time delay, power response time delay, control signal transmission time delay, mechanical delay, and electronic response time delay, and substituting the time step value into the dynamic model to obtain the time-delayed observations.

2. The method according to claim 1, characterized in that, The dynamic model includes an aerodynamic model, a transmission chain model, a pitch angle model, and a torque actuator model. The aerodynamic model represents the relationship between the main shaft torque, main shaft speed, pitch angle, and wind speed of the wind turbine generator set. The transmission chain model represents the relationship between the main shaft and the speed and torque of the wind turbine generator set. The pitch angle and torque actuator model represents the relationship between the blade angle and torque output of the wind turbine generator set.

3. The method according to claim 2, characterized in that, The initial control law of the wind turbine generator set is obtained based on the constructed dynamic model of the wind turbine generator set and the selected reference model of the wind turbine generator set, including: constructing the dynamic model based on the aerodynamic model, the transmission chain model, the pitch angle and the torque actuator.

4. The method according to claim 1, characterized in that, The step of substituting the time-delayed observations into the initial control law to obtain the target control law, and controlling the wind turbine generator set based on the target control law, includes: substituting the time-delayed observations into the initial control law to obtain the target control law, and calculating the pitch angle and torque reference values ​​of the wind turbine generator set based on the target control law; and controlling the pitch angle servo motor and torque output of the wind turbine generator set based on the pitch angle and the torque reference values.

5. The method according to claim 1, characterized in that, The reference model of the wind turbine generator set includes a model parameter matrix, a reference state vector, and a state tracking vector selected based on performance index information.

6. A wind turbine generator control device for implementing the wind turbine generator control method according to any one of claims 1-5, characterized in that, include: An initial control rate generation module is used to obtain the initial control rate of the wind turbine generator based on the constructed dynamic model of the wind turbine generator and the selected reference model of the wind turbine generator. The acquisition module is used to acquire time delay information in the system of the wind turbine generator set, calculate the time delay observation value of the wind turbine generator set based on the time delay information, and the time delay observation value is used to describe the dynamic response characteristics of the wind turbine generator set to characterize the disturbances experienced by the wind turbine generator set under the operating state and the model error of the wind turbine generator set. The target control rate generation module is used to substitute the time-delayed observation value into the initial control rate to obtain the target control rate, so as to control the wind turbine generator based on the target control rate.

7. A wind turbine generator set, characterized in that, The wind turbine generator set includes a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it performs the steps of the method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, perform the steps of the method according to any one of claims 1-5.

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