Wind turbine active power coordinated control method and device based on wind speed estimation

Abstract

The present application belongs to the technical field of variable speed wind turbine generator set control, and more particularly to a wind turbine active power coordinated control method and device based on wind speed estimation. The method comprises: S1, under turbulent wind conditions, using an extended Kalman filter to estimate wind speed to obtain an estimated wind speed variation in a set sampling period; S2, setting a variable speed interval Π(ω r ,ω low ) of a wind wheel speed ω up and a kinetic energy utilization adjustment coefficient α, and updating the kinetic energy utilization adjustment coefficient α using the wind speed variation; S3, using the updated kinetic energy utilization adjustment coefficient α to calculate a second speed regulation error e2 when the wind wheel speed ω r is in the interval Π(ω low ,ω low +α), and calculating a target speed regulation error e according to a first speed regulation error e1 and the second speed regulation error e2 in an RSC method; and S4, using the target speed regulation error e to perform coordinated active power control of a pitch angle and torque facing wind wheel rotor kinetic energy regulation. The present application realizes that a variable speed wind turbine generator set can be regulated according to grid requirements, while reducing the pitch angle regulation frequency and reducing the load of the pitch system.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of variable speed wind turbine control, and more particularly, to a wind turbine active power coordinated control method and device based on wind speed estimation, which is used for pitch angle control of variable speed wind turbine. BACKGROUND

[0002] Wind energy is one of the fastest growing renewable energy sources in the energy field, and is widely used worldwide, especially in some areas where wind power generation has become one of the main clean energy sources. In recent years, the wind power industry has experienced rapid growth and technological innovation, becoming a key force in the global energy field. Active power control of wind turbines has been a hot research topic and has attracted much attention.

[0003] In order to achieve active power control of the unit, different control strategies are used for wind turbines at different wind speeds, and load optimization is a key link in these control strategies. With the development of wind turbines becoming larger and larger, load optimization of the unit becomes particularly important. Increased load will increase the failure rate of the unit and shorten the service life of the unit. Therefore, load optimization is of great significance to ensure the safe, reliable and efficient operation of large wind turbines.

[0004] In early active power control methods, the wind energy capture coefficient of the unit is changed by controlling the pitch angle, and then the current speed is determined according to the optimal speed curve to achieve active power control. However, the load of the pitch system is significantly increased during this control process. On the basis of this method, a variable speed wind turbine pitch angle control method combining fuzzy logic is proposed. The pitch angle controller uses generator output power and wind turbine speed as the control input variables of the fuzzy controller to achieve power control of the wind turbine. However, to implement this method, complex fuzzy control rules need to be established to ensure the superiority of the control effect, and this method also pays little attention to the load optimization problem of the variable pitch system.

[0005] In addition, there are many active power control methods for load optimization of the variable pitch system, one of which is an active power control method that switches different control strategies according to the wind turbine speed value, which is referred to herein as the traditional RSC method. This method uses the difference between the wind turbine speed and the rated speed as the input signal of the pitch angle controller, and uses PI control. Inertia control and OTC control are performed in the torque controller, but this method has frequent switching between zero degrees and the larger pitch angle corresponding to the rated speed, resulting in a need for further improvement in the effect of reducing the load of the pitch system.

[0006] Chinese patent document CN114233570A discloses a power control method for wind turbine units, including acquiring speed information, including wind speed or the rotor speed of the wind turbine unit; querying a target lookup table based on the speed information to obtain a first optimal pitch angle and a first optimal gain, the target lookup table being an optimal pitch angle and optimal gain lookup table; the controller updating its internal optimal gain based on the first optimal gain and issuing an optimal pitch angle adjustment command; and based on the updated optimal gain and the current rotational speed of the wind turbine unit, the controller issuing a torque adjustment command to the converter. This method can ensure that the unit is always in or closer to the optimal aerodynamic efficiency state in the low wind speed range, which helps to improve the wind energy capture efficiency of the wind turbine unit and increase the power generation of the unit.

[0007] Chinese patent document CN108825434A discloses a wind turbine pitch optimization method based on smooth power control using wind turbine kinetic energy. Addressing the problem of frequent pitch changes by wind turbines under high wind speeds, this method, while achieving output power smoothing through wind turbine kinetic energy buffering, fully utilizes the buffering / release effect of the large rotational inertia of the wind turbine at any pitch angle to achieve speed range control of the wind turbine at any pitch angle. Speed ​​regulation and pitch regulation are used in conjunction; speed regulation smooths wind power fluctuations caused by small-amplitude, high-frequency wind speed fluctuations, while pitch regulation handles large-amplitude, low-frequency wind speed changes. This method effectively reduces the amplitude and frequency of pitch operations without amplifying the impact of power fluctuations on grid frequency, thereby reducing fatigue of the pitch servo mechanism and blade load, and extending the wind turbine's lifespan.

[0008] In view of this, further research is needed to further reduce the load on the pitch system, which is also the main problem that this invention aims to solve. Summary of the Invention

[0009] The present invention aims to overcome at least one of the defects of the prior art and provide a wind turbine active power coordinated control method based on wind speed estimation, so that the variable speed wind turbine can adjust according to the grid demand while reducing the pitch angle adjustment frequency and reducing the load on the pitch system.

[0010] The present invention also discloses an apparatus loaded with a wind turbine active power coordinated control method based on wind speed estimation.

[0011] The detailed technical solution of this invention is as follows:

[0012] A method for coordinated control of active power of wind turbine generators based on wind speed estimation, the method comprising:

[0013] Step S1: Under turbulent wind conditions, the wind speed is estimated using an extended Kalman filter to obtain the estimated wind speed change within a set sampling period. ;

[0014] Step S2: Set the wind turbine speed Speed ​​range and kinetic energy utilization adjustment coefficient And using the wind speed change Update the kinetic energy utilization adjustment coefficient ,in, Reference power for optimal power curve and grid demand The intersection, This refers to the rated rotor speed;

[0015] Step S3: Utilize the updated kinetic energy using the adjustment coefficient. Calculate the wind turbine speed In the range Second speed adjustment error And based on the first speed adjustment error in the RSC method and the second speed adjustment error Calculate the target speed adjustment error ;

[0016] Step S4: Adjust the error using the target speed. Coordinated active power control of pitch angle and torque for wind turbine rotor kinetic energy regulation.

[0017] According to a preferred embodiment of the present invention, step S1 specifically includes:

[0018] Using the OpenFast wind power simulation platform, under turbulent wind conditions, an extended Kalman filter is used to estimate the wind speed, yielding the estimated wind speed value. ;

[0019] Based on the obtained wind speed estimate ,by The estimated wind speed change is calculated based on the sampling period. for:

[0020] (1);

[0021] In formula (1): This represents the estimated wind speed at the current sampling time. This represents the wind speed estimate at the previous sampling time.

[0022] According to a preferred embodiment of the present invention, in step S2, the wind turbine rotation speed is... satisfy:

[0023] ①When At that time, the pitch angle controller adjusts the pitch angle upwards;

[0024] ②When In the range During this time, the torque controller performs inertia control;

[0025] ③When In the range When inside, the pitch angle controller adjusts the pitch angle downwards;

[0026] ④ When At this time, the torque controller performs OTC control.

[0027] According to a preferred embodiment of the present invention, in step S2, the wind speed change is utilized. Update the kinetic energy utilization adjustment coefficient Its update law is expressed as:

[0028] (2);

[0029] In equation (2): update coefficient For positive numbers, update coefficients. It is a negative constant, and and The values ​​of satisfy:

[0030] (3);

[0031] In formula (3): It is a positive number, with a value ranging from 0.1 to 0.4.

[0032] According to a preferred embodiment of the present invention, in step S3, the second speed adjustment error for:

[0033] (4).

[0034] According to a preferred embodiment of the present invention, in step S3, the first speed adjustment error in the RSC method for:

[0035] (5).

[0036] According to a preferred embodiment of the present invention, in step S3, the target speed adjustment error for:

[0037] (6);

[0038] In formula (6): The function represents the unit step function, and its expression is:

[0039] (7);

[0040] In formula (7), f represents a function variable. x In formula (7), f represents a function variable.

[0041] According to the application, preferably, in the step S4, the pitch angle is controlled by a pitch angle controller in a PI control mode, and the expression is as follows:

[0042] (8);

[0043] In formula (8), f represents a function variable. represents the pitch angle of the wind turbine generator, and the unit is ; , and are proportional control parameters and integral control parameters, respectively.

[0044] According to the application, preferably, in the step S4, the torque is controlled by a torque controller in an inertia control and OTC control mode, and the corresponding expressions are as follows:

[0045] (9);

[0046] In formula (9), f represents a function variable. is the reference power of the power grid demand; is the optimal wind wheel speed control gain; represents the equivalent generator torque to the low speed side, and , wherein, represents the gear box speed ratio, represents the electromagnetic torque of the generator.

[0047] In another aspect of the application, a device for implementing a wind turbine active power coordinated control method based on wind speed estimation is provided, and the device comprises:

[0048] An estimation module is configured to estimate the wind speed by using an extended Kalman filter under turbulent wind conditions to obtain an estimated wind speed change amount ;

[0049] An updating module is configured to set a variable speed range of a wind wheel speed and a kinetic energy utilization adjustment coefficient , and update the kinetic energy utilization adjustment coefficient by using the wind speed change amount , wherein, is the intersection of the optimal power curve and the reference power of the power grid demand , and is the rated wind wheel speed.

[0050] A calculation module is configured to calculate the kinetic energy utilization adjustment coefficient​ calculating a second rotational speed adjustment error when the wind wheel rotational speed is in the interval ; and according to the first rotational speed adjustment error in the RSC method and the second rotational speed adjustment error calculating a target rotational speed adjustment error ;

[0051] a control module for carrying out coordinated active power control of the pitch angle and torque aiming at wind wheel rotor kinetic energy adjustment using the target rotational speed adjustment error .

[0052] Compared with the prior art, the present application has the following beneficial effects:

[0053] (1) The wind turbine active power coordinated control method based on wind speed estimation provided by the present application can update the kinetic energy utilization adjustment coefficient set in the input signal of the pitch angle controller by estimating the wind speed and obtaining the corresponding wind speed variation, so as to effectively expand the constant pitch angle variation range of the pitch system participating in the active power adjustment, reduce the pitch angle adjustment frequency, optimize the load of the pitch system, prolong the service life of the unit, and reduce the operation and maintenance cost of the wind farm. , while meeting the reference power set by the power system .

[0054] (2) The present application also designs a torque controller structure basically the same as the traditional RSC method, and uses the kinetic energy utilization adjustment coefficient to obtain the corresponding rotational speed adjustment interval, so as to meet the changes with the wind speed, carry out inertia control when the wind wheel rotational speed is in the variable speed interval , and carry out OTC control when the wind wheel rotational speed is lower than . BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is a flowchart of the wind turbine active power coordinated control method based on wind speed estimation described in the present application.

[0056] Figure 2 is a controller structure block diagram in the wind turbine active power coordinated control method based on wind speed estimation described in the present application.

[0057] Figure 3 is a real wind speed and wind speed estimation diagram in Example 1 of the present application.

[0058] Figure 4 is a wind wheel rotational speed comparison diagram of the present application method and the traditional RSC method in Example 1 of the present application.

[0059] Figure 5 is a comparison chart of the pitch angle of the present method and the conventional RSC method in Embodiment 1 of the present application.

[0060] Figure 6 is a comparison chart of the power generation of the present method and the conventional RSC method in Embodiment 1 of the present application.

[0061] Figure 7 is a comparison chart of the pitch angle change rate of the present method and the conventional RSC method in Embodiment 1 of the present application.

[0062] Figure 8 is a comparison chart of the blade root lateral moment of the present method and the conventional RSC method in Embodiment 1 of the present application.

[0063] Figure 9 is a comparison chart of the blade root longitudinal moment of the present method and the conventional RSC method in Embodiment 1 of the present application.

[0064] Figure 10 is a comparison chart of the blade tip lateral deflection of the present method and the conventional RSC method in Embodiment 1 of the present application.

[0065] Figure 11 is a comparison chart of the blade tip longitudinal deflection of the present method and the conventional RSC method in Embodiment 1 of the present application. DETAILED DESCRIPTION

[0066] The present application will be further described below in conjunction with the accompanying drawings and embodiments.

[0067] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0068] It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting, as the scope of the exemplary embodiments of this application will be limited only by the appended claims. As used herein, unless the context clearly indicates otherwise, the singular forms "a," "an," and "the" are intended to include the plural forms as well, i.e., the article "a" or "an" is intended to include the article "at least one" and / or "one or more." Furthermore, it is to be understood that the terms "comprising," "including," and / or "containing," when used herein, are meant to be inclusive in a manner such that the stated features are present and additional features are also present.

[0069] The embodiments in the present application and the features in the embodiments can be combined with each other without conflict, if necessary.

[0070] The pitch control system is the blade adjustment system of a wind turbine, which includes a pitch angle controller. It responds to the changes in wind speed and direction acting on the wind turbine blades by adjusting the blade angles of the blades, so as to optimize the wind energy conversion efficiency.

[0071] In view of the fact that the traditional RSC (Rotor speed control) method frequently adjusts the pitch angle at high wind speeds, significantly reducing the service life of the pitch system, the present invention designs a coordinated active power control method for wind turbines based on wind speed estimation, hereinafter simply referred to as the RSC method based on wind speed estimation. This method utilizes the kinetic energy utilization adjustment coefficient to effectively expand the pitch angle change range in which the pitch control system participates in active power adjustment, significantly reduce the load on the pitch control system, and extend the service life of the key components of the unit.

[0072] Meanwhile, in view of the fact that the traditional RSC method can ensure that the wind turbine generator outputs a preset active power according to the grid demand, the present invention also designs a torque controller structure that is basically the same as the traditional RSC method. By using the kinetic energy utilization adjustment coefficient the corresponding speed adjustment range is obtained, so as to satisfy that as the wind speed changes, when the wind turbine rotor speed is in the variable speed range , inertia control is carried out; when the wind turbine rotor speed is lower than , OTC (Optimal torque control) control is carried out.

[0073] The following further describes the coordinated active power control method and device for wind turbines based on wind speed estimation of the present invention with specific embodiments.

[0074] Embodiment 1

[0075] Refer Figure 1 , this embodiment provides a coordinated active power control method for wind turbines based on wind speed estimation, and the method includes:

[0076] Step S1: Under turbulent wind conditions, use an extended Kalman filter to estimate the wind speed to obtain the estimated wind speed change amount within a set sampling period .

[0077] In this embodiment, the OpenFast wind power technology simulation platform is used. The generated turbulent wind with a time of 600 s and an average wind speed of 7 m / s is used as the input of the OpenFast wind power technology simulation platform. Under these turbulent wind conditions, the extended Kalman filter is used to estimate the wind speed to obtain the wind speed estimated value .

[0078] Based on the wind speed estimates obtained above ,by The estimated wind speed change is calculated based on the sampling period. Specifically:

[0079] (1);

[0080] In formula (1): This represents the estimated wind speed at the current sampling time. This represents the wind speed estimate at the previous sampling time.

[0081] Step S2: Set the wind turbine speed Speed ​​range and kinetic energy utilization adjustment coefficient And using the wind speed change Update the kinetic energy utilization adjustment coefficient ,in, Reference power for optimal power curve and grid demand The intersection, This refers to the rated rotor speed.

[0082] Specifically, the wind turbine rotation speed is used This indicates that the wind turbine speed range is set as follows: Meanwhile, to effectively expand the range of constant pitch angle variation for active power adjustment by the pitch control system, a kinetic energy utilization adjustment coefficient is set in the input signal of the pitch angle controller. And the wind turbine speed satisfy:

[0083] ①When At that time, the pitch angle controller adjusts the pitch angle upwards;

[0084] ②When In the range During this time, the torque controller performs inertia control;

[0085] ③When In the range When inside, the pitch angle controller adjusts the pitch angle downwards;

[0086] ④ When At this time, the torque controller performs OTC control.

[0087] As can be seen from the above, the speed range of the wind turbine is adjusted by the kinetic energy utilization coefficient. Decision. Based on this, in this embodiment, wind speed change is used. To update the kinetic energy utilization adjustment coefficient Its expression is:

[0088] (2);

[0089] In formula (2), the update coefficient is a positive constant, the update coefficient is a negative constant, and and are values satisfying:

[0090] (3);

[0091] In formula (3), the constant is a small positive number, which is selected according to actual conditions, and is generally between 0.1 and 0.4; the purpose is to ensure that the constant value range of the pitch angle of the variable pitch system participating in active power adjustment, while reducing the power loss caused by low wind speed.

[0092] Step S3, the kinetic energy utilization adjustment coefficient is updated to calculate the second rotating speed adjustment error when the wind wheel rotating speed is in the interval , and the target rotating speed adjustment error is calculated according to the first rotating speed adjustment error in the RSC method and the second rotating speed adjustment error .

[0093] In this step, the calculation formula of the second rotating speed adjustment error is:

[0094] (4).

[0095] The RSC method refers to a conventional RSC method, such as an active power control method of switching different control strategies according to the wind wheel rotating speed value. The calculation formula of the first rotating speed adjustment error in the RSC method is:

[0096] (5).

[0097] In this step, the target rotating speed adjustment error is calculated according to the first rotating speed adjustment error in the RSC method and the second rotating speed adjustment error , specifically:

[0098] (6);

[0099] In formula (6), the function is a unit step function, and its expression is:

[0100] (7);

[0101] In formula (7), the variable is represented by x

[0102] Step S4, adjusting the target rotating speed by using the target rotating speed adjustment error calculated in step S3 The coordinated active power control of the pitch angle and the torque is performed in view of the kinetic energy regulation of the wind turbine rotor.

[0103] That is, finally, the target rotating speed adjustment error is calculated by using the calculated wind speed variation The coordinated active power control of the pitch angle and the torque is performed in view of the kinetic energy regulation of the wind turbine rotor.

[0104] Thus, the method of the embodiment uses the OpenFast simulation platform to estimate the wind speed by using the extended Kalman filter under the turbulent flow condition, to calculate the corresponding wind speed variation, to update the kinetic energy utilization regulation coefficient by using the calculated wind speed variation , to obtain the corresponding rotating speed adjustment interval, to effectively expand the constant variation range of the pitch angle of the variable pitch system participating in the active power adjustment, to further obtain the rotating speed adjustment error at this time, and to perform the coordinated active power control of the pitch angle and the torque in view of the kinetic energy regulation of the wind turbine rotor according to the rotating speed adjustment error.

[0105] Referring to Figure 2 , a principle block diagram of the pitch angle controller and the torque controller of the embodiment is shown.

[0106] The design of the torque controller has basically the same control structure as the traditional RSC method, that is, inertia control and OTC control.

[0107] In the pitch angle controller, first, the wind speed is estimated by using the extended Kalman filter , the corresponding wind speed variation is calculated according to the estimated wind speed , the calculated wind speed variation is used to update the set kinetic energy utilization regulation coefficient , and the wind turbine rotating speed can be calculated . At this time, the corresponding rotating speed adjustment error is added to the rotating speed adjustment error in the traditional RSC method , and the rotating speed adjustment error input signal of the pitch angle controller is obtained. .

[0108] The pitch angle controller adopts the PI control mode, and its expression is as follows:

[0109] (8);

[0110] In formula (8), the variable is represented by ​pitch angle of the wind turbine, unit is ; 、 are proportional control parameters and integral control parameters, respectively.

[0111] The torque controller adopts inertia control and OTC control modes, and the corresponding expressions are respectively:

[0112] (9);

[0113] In formula (9): is a reference power of grid demand, is a wind wheel speed, and the expression corresponds to inertia control; is an optimal wind wheel speed control gain, and the expression corresponds to OTC control; represents the generator torque equivalent to the low speed side, and , wherein, represents a gear box variable speed ratio, represents an electromagnetic torque of the generator.

[0114] In actual application, according to the method and the controller structure thereof, under the action of the kinetic energy utilization adjustment coefficient , the pitch angle constant change range of the active power adjustment participated by the pitch system can be effectively expanded, the method is simple and easy to implement, the wind turbine can be ensured to output preset active power according to the grid demand, the load of the pitch system is obviously reduced, and the service life of key components of the unit is prolonged.

[0115] Further, in order to quantitatively compare the control effects of the RSC control method based on wind speed estimation and the traditional RSC method, an evaluation index of the pitch angle load needs to be described. In actual application, frequent adjustment of the pitch angle can obviously increase the load of the pitch system and shorten the service life of key components of the unit. Therefore, the following index (PF, Pitch Fatigue) is used for evaluation of the load of the pitch system in the embodiment:

[0116] (10);

[0117] In formula (10): represents the pitch angle of the wind turbine, unit is , and the unit of the above index is , which reflects the average change amount of the pitch angle per second in the unit operation time period seconds, can better evaluate the load of the pitch system, and can reflect the fatigue degree of the blade by comparing the blade root moment and the blade end deflection.

[0118] The embodiment uses a wind power technology development software OpenFast simulation platform to verify the effectiveness of the method.

[0119] Specifically, a 5MW three-blade horizontal variable-speed wind turbine model is used, and the main parameters are shown in Table 1:

[0120] Table 1 5MW three-blade horizontal variable-speed wind turbine model parameters

[0121]

[0122] The controller-related parameters are selected as follows:

[0123] .

[0124] Through simulation experiments, it is obtained that Figure 3 The real wind speed and the wind speed estimation are shown respectively. It can be seen that the extended Kalman filter can accurately estimate the wind speed.

[0125] Figure 4 The wind wheel speed comparison chart of the traditional RSC method and the RSC method based on wind speed estimation of the embodiment is shown. Through comparison, it can be seen that the wind wheel speed of the RSC method based on wind speed estimation is lower than that of the traditional RSC method, and effectively expands the constant change range of the pitch angle of the active power adjustment of the variable pitch system.

[0126] Figure 5 The pitch angle comparison chart of the traditional RSC method and the RSC method based on wind speed estimation of the embodiment is shown. Through calculation, the total amount of pitch angle adjustment of the traditional RSC method is 91.79 , and the total amount of pitch angle adjustment of the RSC method based on wind speed estimation is 30.38 , which is reduced by 66.9%.

[0127] Figure 6 The power generation comparison chart of the traditional RSC method and the RSC method based on wind speed estimation of the embodiment is shown. It can be seen that from nearly 350s to 450s, due to the low wind speed, the wind energy collected and the kinetic energy stored in the wind rotor cannot maintain the reference power Stable output.

[0128] The traditional RSC method and the RSC method based on wind speed estimation of the embodiment both perform OTC control. Through calculation, the root mean square deviation of the power generation of the traditional RSC method is 114.18KW, and the root mean square deviation of the power generation of the RSC method based on wind speed estimation of the embodiment is 120.08KW, which increases by 5.2%.

[0129] This is because the wind speed is low enough that the RSC method based on wind speed estimation of the embodiment adjusts the pitch angle downward slightly later than the traditional RSC method, triggering the OTC control slightly early, which causes slightly more power loss than the traditional RSC method. However, it is worth noting that the focus of active power control is to ensure that the wind turbine generator set can be adjusted according to the grid demand, rather than simply pursuing the maximum wind energy capture efficiency, and the power loss can be reduced by reasonably increasing the value of the coefficient and to make the downward pitch angle adjustment earlier and trigger the OTC control later when the wind speed is low enough.

[0130] Figure 7 A comparison chart of the pitch angle change rate of the traditional RSC method and the RSC method based on wind speed estimation of the embodiment is shown. It is calculated that the pitch system load evaluation index PF of the traditional RSC method is 0.1530 , and the pitch system load evaluation index PF of the RSC method based on wind speed estimation of the embodiment is 0.0506 , a decrease of 66.9%.

[0131] Figure 8 A comparison chart of the blade root lateral moment of the traditional RSC method and the RSC method based on wind speed estimation of the embodiment is shown. It can be seen that, compared with the traditional RSC method, the RSC method based on wind speed estimation of the embodiment reduces the blade root lateral moment.

[0132] Figure 9 A comparison chart of the blade root longitudinal moment of the traditional RSC method and the RSC method based on wind speed estimation of the embodiment is shown. It can be seen that, compared with the traditional RSC method, the RSC method based on wind speed estimation of the embodiment reduces the oscillation frequency of the blade root longitudinal moment.

[0133] Figure 10 A comparison chart of the blade tip lateral deflection of the traditional RSC method and the RSC method based on wind speed estimation of the embodiment is shown. It can be seen that, compared with the traditional RSC method, the RSC method based on wind speed estimation of the embodiment reduces the blade tip lateral deflection.

[0134] Figure 11 A comparison chart of the blade tip longitudinal deflection of the traditional RSC method and the RSC method based on wind speed estimation of the embodiment is shown. It can be seen that, compared with the traditional RSC method, the RSC method based on wind speed estimation of the embodiment reduces the oscillation frequency of the blade tip longitudinal deflection.

[0135] In summary, according to the RSC method based on wind speed estimation in this embodiment, the wind speed is estimated and the corresponding wind speed change is obtained, which is used to update the kinetic energy utilization adjustment coefficient set in the pitch angle controller input signal. It can meet the reference power requirements of the power grid. At the same time, it effectively expands the range of constant pitch angle variation in which the pitch system participates in active power adjustment, reduces the pitch angle adjustment frequency, optimizes the load of the pitch system, extends the service life of the unit, and greatly reduces the operation and maintenance costs of wind farms.

[0136] Example 2

[0137] This embodiment provides an apparatus for implementing a wind turbine active power coordinated control method based on wind speed estimation. The apparatus includes:

[0138] The estimation module is used to estimate wind speed under turbulent wind conditions using an extended Kalman filter, so as to obtain the estimated wind speed change within a set sampling period. ;

[0139] The update module is used to set the wind turbine speed. Speed ​​range and kinetic energy utilization adjustment coefficient And using the wind speed change Update the kinetic energy utilization adjustment coefficient ,in, Reference power for optimal power curve and grid demand The intersection, This refers to the rated rotor speed;

[0140] The calculation module is used to utilize the updated kinetic energy with the adjustment coefficient. Calculate the wind turbine speed In the range Second speed adjustment error And based on the first speed adjustment error in the RSC method and the second speed adjustment error Calculate the target speed adjustment error ;

[0141] The control module is used to adjust the error using the target speed. Coordinated active power control of pitch angle and torque for wind turbine rotor kinetic energy regulation.

[0142] Obviously, the above embodiments of the present application are only examples for clearly illustrating the technical solutions of the present application, and are not intended to limit the specific implementation of the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of coordinated control of active power of a wind turbine based on wind speed estimation, characterized in that, The method comprises: S1, under the condition of turbulent wind, using an extended Kalman filter to estimate the wind speed to obtain the estimated wind speed change amount in a set sampling period ; S2, Set the wind turbine speed Speed ​​range and kinetic energy utilization adjustment coefficient And using the wind speed change Update the kinetic energy utilization adjustment coefficient ,in, Reference power for optimal power curve and grid demand The intersection, This refers to the rated rotor speed; S3, using the updated kinetic energy utilization adjustment coefficient calculating a first rotational speed adjustment error when the wind wheel rotational speed is in the interval calculating a second rotational speed adjustment error when the wind wheel rotational speed is in the interval calculating a target rotational speed adjustment error according to the first rotational speed adjustment error in the RSC method and the second rotational speed adjustment error ; S4, adjusting the target rotational speed using the target rotational speed adjustment error Conduct coordinated active power control of the pitch angle and the torque in view of the kinetic energy of the rotor of the wind turbine.

2. The wind turbine active power coordinated control method based on wind speed estimation of claim 1, wherein, The step S1 specifically comprises: Using the OpenFast wind technology simulation platform, under turbulent wind conditions, the wind speed is estimated using an extended Kalman filter to obtain the wind speed estimate ; According to the estimated wind speed The estimated wind speed change amount is calculated as the sampling period, and the estimated wind speed change amount is calculated as Vest = Vcur + Vchange （1）； In formula (1): denotes the wind speed estimate value at the current sampling time point, denotes the wind speed estimate value at the previous sampling time point.

3. The wind turbine active power coordinated control method based on wind speed estimation of claim 1, wherein, In the step S2, the wind wheel rotating speed satisfies: When the pitch angle controller makes an upward pitch angle adjustment; ② when the vehicle is in the interval the torque controller performs inertia control; iii. when the pitch angle controller makes a downward pitch angle adjustment when the rotor speed is within an interval ​ (4) When the torque controller performs OTC control.

4. The wind turbine active power coordinated control method based on wind speed estimation of claim 1, wherein, In the step S2, the wind speed variation amount The kinetic energy is updated by using the adjusting coefficient The expression of the updating law is （2）； In formula (2), the update coefficient is a positive constant, and the update coefficient is a negative constant, and and the value of satisfies: （3）； In formula (3): is a positive number, and has a value of 0.1-0.

4.

5. The wind turbine active power coordinated control method based on wind speed estimation of claim 1, wherein, In the step S3, the second speed regulation error is: （4）。 6. The wind turbine active power coordinated control method based on wind speed estimation of claim 1, wherein, The first rotational speed regulation error in the RSC method in the step S3 is: is: （5）。 7. The wind turbine active power coordinated control method based on wind speed estimation of claim 1, wherein, In the step S3, the target speed regulation error is: （6）； In formula (6): The function represents a unit step function, which is expressed as: （7）； In formula (7): x denotes a function variable.

8. The wind turbine generator active power coordinated control method based on wind speed estimation according to claim 3, characterized by, In the step S4, the pitch angle is controlled by a PI controller, and an expression thereof is: （8）； In formula (8), represents the pitch angle of the wind turbine generator set, and the unit is ; , are proportional control parameters and integral control parameters, respectively.

9. The wind turbine generator active power coordinated control method based on wind speed estimation according to claim 3, characterized by, In the step S4, the torque is controlled by an inertia control and an OTC control, and corresponding expressions thereof are: （9）； In formula (9), is a reference power for grid demand; is an optimal wind wheel speed control gain; represents a generator torque equivalent to the low speed side, and wherein, represents a gear box variable ratio, represents an electromagnetic torque of the generator.

10. An apparatus for implementing a method of coordinated control of active power of a wind turbine based on wind speed estimation, characterized in that, The device comprises: an estimation module configured to estimate the wind speed using an extended Kalman filter to obtain an estimated wind speed variation amount in a set sampling period under a turbulent wind condition ; The update module is used to set the wind turbine speed. Speed ​​range and kinetic energy utilization adjustment coefficient And using the wind speed change Update the kinetic energy utilization adjustment coefficient ,in, Reference power for optimal power curve and grid demand The intersection, This refers to the rated rotor speed; a calculation module for calculating a target rotational speed adjustment error using an updated kinetic energy utilization adjustment coefficient a calculation module for calculating a first rotational speed adjustment error when the wind turbine rotational speed is in the interval a calculation module for calculating a second rotational speed adjustment error when the wind turbine rotational speed is in the interval and a target rotational speed adjustment error is calculated from a first rotational speed adjustment error in the RSC method and the second rotational speed adjustment error ; a control module for adjusting the target rotational speed using the target rotational speed regulation error Conduct coordinated active power control of the pitch angle and torque with a view to rotor kinetic energy regulation of the wind turbine.

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