Transmission chain resistance increasing control method and device of wind generating set and wind power converter

Abstract

The invention provides a transmission chain resistance increasing control method and device of a wind generating set and a wind power converter. The transmission chain resistance increasing control method of the wind generating set comprises the steps that the rotating speed fluctuation frequency and the rotating speed fluctuation amplitude are determined based on generator rotating speed data of the wind generating set; based on the rotating speed fluctuation frequency and the rotating speed fluctuation amplitude, the rotating speed fluctuation maximum amplitude of the current control period and the rotating speed fluctuation maximum amplitude frequency of the current control period corresponding to the rotating speed fluctuation maximum amplitude are determined; determining a resistance increasing frequency based on the rotation speed fluctuation maximum amplitude of the current control period, the rotation speed fluctuation maximum amplitude frequency of the current control period and the rotation speed fluctuation maximum amplitude frequency of a previous control period of the current control period; determining a transmission chain resistance increasing torque based on the rotating speed data of the generator and the resistance increasing frequency; and transmission chain resistance increasing control is executed based on the transmission chain resistance increasing torque.

Description

Technical Field

[0001] The present disclosure relates to the technical field of wind power generation, and more specifically, to a transmission chain resistance control method and device of a wind power generator set and a wind power converter. Background Art

[0002] The existing wind turbine transmission chain resistance is determined by whole machine system simulation to determine the system's vibration mode. Generally, the vibration mode is resisted at the characteristic frequency in the whole machine control strategy. One unit can only resist one characteristic frequency.

[0003] The transmission chain resistance needs to extract the characteristic frequency of speed fluctuation for resistance. Since the fan control strategy is executed in the PLC, the control cycle is 20ms, and the characteristic frequency below 0.5Hz can be effectively resisted. The speed signal used in the whole machine control strategy is calculated by the fan converter and transmitted to the main control system through DP communication. Due to the transmission delay of the communication, the speed characteristic frequency fluctuates above 0.5Hz, and there is a phase delay in the whole machine detection, resulting in a phase delay in the execution of the resistance torque, which affects the resistance effect and cannot reliably suppress the speed oscillation of the whole machine.

[0004] Due to the different configurations of wind turbine blades, gearboxes, towers and generators, different configurations and oscillation modes will result. The use of a fixed characteristic frequency to add resistance cannot adapt to different unit configurations. Different units need to be configured with different characteristic frequencies for adding resistance, which increases the complexity of the configuration and cannot achieve platform-based management of the control software. Summary of the invention

[0005] An exemplary embodiment of the present disclosure provides a transmission chain resistance control method and device for a wind turbine generator set and a wind power converter to implement transmission chain adaptive resistance control, thereby being able to adapt to different unit configurations and further realizing platform management of control software.

[0006] According to an exemplary embodiment of the present disclosure, a method for controlling a transmission chain resistance of a wind turbine generator set is provided, comprising: determining a speed fluctuation frequency and a speed fluctuation amplitude based on generator speed data of the wind turbine generator set; determining a maximum speed fluctuation amplitude of a current control cycle and a speed fluctuation maximum amplitude frequency of the current control cycle corresponding to the speed fluctuation maximum amplitude based on the speed fluctuation frequency and the speed fluctuation amplitude; determining a resistance frequency based on the maximum speed fluctuation amplitude of the current control cycle, the maximum speed fluctuation frequency of the current control cycle and the maximum speed fluctuation frequency of a control cycle previous to the current control cycle; determining a transmission chain resistance torque based on the generator speed data and the resistance frequency; and performing transmission chain resistance control based on the transmission chain resistance torque.

[0007] Optionally, the step of determining the speed fluctuation frequency and the speed fluctuation amplitude based on the generator speed data of the wind turbine generator set may include: performing low-pass filtering on the speed data to obtain low-frequency speed data; performing frequency domain transformation on the low-frequency speed data to obtain the speed fluctuation frequency and the speed fluctuation amplitude.

[0008] Optionally, the step of determining the resistance frequency based on the maximum speed fluctuation amplitude of the current control cycle, the maximum speed fluctuation frequency of the current control cycle and the maximum speed fluctuation frequency of the previous control cycle of the current control cycle may include: determining whether to turn on the resistance function based on the maximum speed fluctuation amplitude of the current control cycle; in response to determining to turn on the resistance function, determining whether to update the resistance frequency based on the maximum speed fluctuation frequency of the current control cycle and the maximum speed fluctuation frequency of the previous control cycle; in response to determining to update the resistance frequency, updating the resistance frequency to the maximum speed fluctuation frequency of the current control cycle.

[0009] Optionally, the step of determining whether to turn on the resistance function based on the maximum amplitude of the speed fluctuation in the current control cycle may include: when the maximum amplitude of the speed fluctuation in the current control cycle meets the amplitude condition for turning on the resistance function, determining to turn on the resistance function, wherein the amplitude condition for turning on the resistance function includes at least one of the following: the resistance function is currently in the on state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than or equal to a first amplitude threshold, the resistance function is currently in the off state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than a second amplitude threshold.

[0010] Optionally, the step of determining whether to update the resistance frequency based on the maximum speed fluctuation frequency of the current control cycle and the maximum speed fluctuation frequency of the previous control cycle may include: determining the frequency difference between the maximum speed fluctuation frequency of the current control cycle and the maximum speed fluctuation frequency of the previous control cycle; in response to the frequency difference being within a preset difference range and the maximum speed fluctuation frequency of the current control cycle being within a preset frequency range, determining to update the resistance frequency.

[0011] Optionally, the transmission chain resistance control method may further include: determining the generator speed data based on the machine-side voltage and machine-side current of the wind power converter of the wind turbine generator set.

[0012] Optionally, the step of performing frequency domain transformation on the low-frequency rotation speed data may include: sampling the low-frequency rotation speed data to obtain sampled data of the low-frequency rotation speed data; and performing frequency domain transformation on the sampled data.

[0013] Optionally, the step of determining the transmission chain resistance torque based on the generator speed data and the resistance frequency may include: extracting characteristic components of the low-frequency speed data with the resistance frequency as the center frequency; determining the first transmission chain resistance torque based on the extracted characteristic components and a predetermined gain; limiting the first transmission chain resistance torque, and determining the limiting result as the transmission chain resistance torque.

[0014] Optionally, the step of performing transmission chain resistance control based on the transmission chain resistance torque may include: determining a torque command applied to the wind turbine generator set or wind power converter based on a given torque and the transmission chain resistance torque; and performing torque control of the wind turbine generator set or wind power converter based on the torque command.

[0015] According to an exemplary embodiment of the present disclosure, a transmission chain resistance control device is provided, comprising: a fluctuation data determination unit, configured to determine a speed fluctuation frequency and a speed fluctuation amplitude based on generator speed data of a wind turbine generator set; a fluctuation peak determination unit, configured to determine a maximum speed fluctuation amplitude of a current control cycle and a maximum speed fluctuation amplitude frequency of the current control cycle corresponding to the maximum speed fluctuation amplitude based on the speed fluctuation frequency and the speed fluctuation amplitude; a resistance frequency determination unit, configured to determine a resistance frequency based on the maximum speed fluctuation amplitude of the current control cycle, the maximum speed fluctuation amplitude frequency of the current control cycle and the maximum speed fluctuation amplitude frequency of a previous control cycle of the current control cycle; a resistance torque determination unit, configured to determine a transmission chain resistance torque based on the generator speed data and the resistance frequency; and a resistance control unit, configured to perform transmission chain resistance control based on the transmission chain resistance torque.

[0016] Optionally, the fluctuation data determination unit may be configured to: perform low-pass filtering on the rotational speed data to obtain low-frequency rotational speed data; perform frequency domain transformation on the low-frequency rotational speed data to obtain the rotational speed fluctuation frequency and the rotational speed fluctuation amplitude.

[0017] Optionally, the fluctuation peak determination unit can be configured to: determine whether to turn on the resistance function based on the maximum amplitude of the speed fluctuation in the current control cycle; in response to determining to turn on the resistance function, determine whether to update the resistance frequency based on the maximum amplitude frequency of the speed fluctuation in the current control cycle and the maximum amplitude frequency of the speed fluctuation in the previous control cycle; in response to determining to update the resistance frequency, update the resistance frequency to the maximum amplitude frequency of the speed fluctuation in the current control cycle.

[0018] Optionally, the fluctuation peak determination unit may be configured to: determine to turn on the resistance function when the maximum amplitude of the speed fluctuation in the current control cycle meets the amplitude condition for turning on the resistance function, wherein the amplitude condition for turning on the resistance function includes at least one of the following: the resistance function is currently in the on state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than or equal to a first amplitude threshold, the resistance function is currently in the off state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than a second amplitude threshold.

[0019] Optionally, the fluctuation peak determination unit can be configured to: determine the frequency difference between the maximum frequency of the speed fluctuation in the current control cycle and the maximum frequency of the speed fluctuation in the previous control cycle; in response to the frequency difference being within a preset difference range and the maximum frequency of the speed fluctuation in the current control cycle being within a preset frequency range, determine to update the resistance frequency.

[0020] Optionally, the transmission chain resistance control device may further include: a speed data determination unit configured to determine the generator speed data based on the machine-side voltage and machine-side current of the wind power converter of the wind turbine generator set.

[0021] Optionally, the fluctuation data determination unit may be configured to: sample the low-frequency rotation speed data to obtain sampled data of the low-frequency rotation speed data; and perform frequency domain transformation on the sampled data.

[0022] Optionally, the resistance torque determination unit can be configured to: extract characteristic components of the low-frequency speed data using the resistance frequency as the center frequency; determine the first transmission chain resistance torque based on the extracted characteristic components and a predetermined gain; limit the first transmission chain resistance torque, and determine the limiting result as the transmission chain resistance torque.

[0023] Optionally, the resistance torque determination unit may be configured to: determine a torque command applied to the wind turbine or wind power converter based on a given torque and the transmission chain resistance torque; and perform torque control of the wind turbine or wind power converter based on the torque command.

[0024] According to an exemplary embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, a transmission chain resistance control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure is implemented.

[0025] According to an exemplary embodiment of the present disclosure, a wind power converter is provided, comprising: at least one processor; and at least one memory storing a computer program. When the computer program is executed by the at least one processor, a transmission chain resistance control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure is implemented.

[0026] According to an exemplary embodiment of the present disclosure, a computer program product is provided, and instructions in the computer program product can be executed by a processor of a computer device to implement a transmission chain resistance control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure.

[0027] According to the transmission chain resistance control method and device of the wind turbine generator set and the wind power converter of the exemplary embodiment of the present disclosure, the speed fluctuation frequency and the speed fluctuation amplitude are determined based on the generator speed data of the wind turbine generator set, the maximum speed fluctuation amplitude of the current control cycle and the maximum speed fluctuation amplitude frequency of the current control cycle corresponding to the maximum speed fluctuation amplitude are determined based on the speed fluctuation frequency and the speed fluctuation amplitude, the resistance frequency is determined based on the maximum speed fluctuation amplitude of the current control cycle, the maximum speed fluctuation amplitude frequency of the current control cycle and the maximum speed fluctuation amplitude frequency of the previous control cycle of the current control cycle, the transmission chain resistance torque is determined based on the generator speed data and the resistance frequency, and the transmission chain resistance control is performed based on the transmission chain resistance torque, thereby realizing transmission chain adaptive resistance control, and further being able to adapt to different unit configurations and realize platform management of control software.

[0028] Additional aspects and / or advantages of the present general inventive concept will be set forth in part in the following description and in part will be apparent from the description or may be learned through practice of the present general inventive concept. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects and features of the exemplary embodiments of the present disclosure will become more apparent through the following description in conjunction with the accompanying drawings which exemplarily illustrate the embodiments, in which:

[0030] Figure 1 A flow chart showing a transmission chain resistance control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure;

[0031] Figure 2 A schematic diagram showing a transmission chain resistance control of a wind turbine generator set according to an exemplary embodiment of the present disclosure;

[0032] Figure 3 The principle block diagram of the second-order generalized integrator is shown;

[0033] Figure 4A schematic diagram showing the maximum speed fluctuation amplitude and the maximum speed fluctuation amplitude frequency during an adaptive resistance-adding start process according to an exemplary embodiment of the present disclosure;

[0034] Figure 5 Generator speed and resistance torque during adaptive resistance start-up process;

[0035] Figure 6 The FFT amplitude and frequency when the resistance frequency changes during the adaptive resistance-adding process;

[0036] Figure 7 Generator speed and resistance torque when resistance frequency changes during adaptive resistance activation;

[0037] Figure 8 A block diagram showing a transmission chain resistance control device according to an exemplary embodiment of the present disclosure; and

[0038] Fig. 9 A schematic diagram of a wind power converter according to an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0039] Reference will now be made in detail to exemplary embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein like reference numerals refer to like parts throughout. The embodiments will be described below with reference to the drawings in order to explain the present disclosure.

[0040] Figure 1 A flow chart showing a transmission chain resistance control method of a wind turbine generator system according to an exemplary embodiment of the present disclosure is shown. Figure 2 A schematic diagram showing transmission chain resistance control of a wind turbine generator system according to an exemplary embodiment of the present disclosure is shown. Figure 1 The transmission chain resistance control method of the wind turbine generator set in the invention can be executed by, for example, but not limited to, a wind power converter, wherein the wind power converter can be, for example, but not limited to, a medium-speed permanent magnet direct-drive converter. The controller of the wind power converter is a multi-core processor including an advanced reduced instruction set processor (Advanced RISC Machines, referred to as ARM) and a field programmable gate array (Field Programmable Gate Array, referred to as FPGA). The machine-side and grid-side control algorithms of the converter can be implemented in the ARM, and the online fast Fourier transform (FFT) calculation and the drive pulse generation of the power device can be implemented in the FPGA. However, the present disclosure is not limited to this, and the controller of the wind power converter can be implemented in any form, for example, the controller of the wind power converter can be implemented by a digital signal processor (DSP), a central processing unit (CPU), etc.

[0041] Reference Figure 1In step S101, based on the generator speed data of the wind turbine generator set, the speed fluctuation frequency and the speed fluctuation amplitude are determined.

[0042] In an exemplary embodiment of the present disclosure, Figure 2 As shown, the generator speed data can be determined based on the machine-side voltage and machine-side current of the wind power converter of the wind turbine generator set. That is, in the machine-side control algorithm, the machine-side voltage and machine-side current of the wind power converter are sampled, and the instantaneous speed of the generator (that is, the generator speed data) is obtained through the generator rotor position and speed estimation algorithm.

[0043] In an exemplary embodiment of the present disclosure, step S101 may specifically include: performing low-pass filtering on the speed data to obtain low-frequency speed data; performing frequency domain transformation on the low-frequency speed data to obtain the speed fluctuation frequency and the speed fluctuation amplitude. Figure 2 As shown, the speed data can be low-pass filtered by a low-pass filter with a cut-off frequency of 20 Hz (but not limited thereto), thereby obtaining low-frequency speed data and filtering out high-frequency components in the speed data. Figure 2 As shown, when the low-frequency rotation speed data is transformed in the frequency domain, it can be realized by performing an online fast Fourier transform (i.e., FFT) on the low-frequency rotation speed data in the FPGA. Specifically, the FPGA side (the IP core inside the FPGA) can use, for example, a 1024-point FFT algorithm to calculate the rotation speed fluctuation frequency and amplitude within 0.5Hz to 3Hz, but is not limited thereto. In other words, an appropriate FFT algorithm can be used to calculate the rotation speed fluctuation frequency and amplitude within other frequency ranges.

[0044] In an exemplary embodiment of the present disclosure, the step of performing frequency domain transformation on the low-frequency rotation speed data may include: sampling the low-frequency rotation speed data to obtain sampled data of the low-frequency rotation speed data; and performing frequency domain transformation on the sampled data. Figure 2 As shown, the rotation speed after 20Hz low-pass filtering can be sampled on the ARM side, and the sampled rotation speed data is transmitted to the FPGA side through the direct memory access (DMA) channel inside the chip. Here, the sampling frequency can be, for example, but not limited to, 9.8ms.

[0045] In step S102, based on the speed fluctuation frequency and the speed fluctuation amplitude, the maximum speed fluctuation amplitude of the current control cycle (hereinafter, also referred to as the maximum speed fluctuation spectrum amplitude) and the speed fluctuation maximum amplitude frequency of the current control cycle corresponding to the speed fluctuation maximum amplitude (hereinafter, also referred to as the speed fluctuation spectrum maximum amplitude frequency) are determined. Here, the control cycle refers to the control cycle of the controller of the wind turbine generator set or wind power converter.

[0046] According to an exemplary embodiment of the present disclosure, the rotation speed fluctuation amplitudes may be compared to determine the maximum rotation speed fluctuation amplitude of the current control cycle and the rotation speed fluctuation maximum amplitude frequency of the current control cycle corresponding to the maximum rotation speed fluctuation amplitude.

[0047] In step S103, the resistance frequency is determined based on the maximum speed fluctuation amplitude of the current control cycle, the maximum speed fluctuation frequency of the current control cycle, and the maximum speed fluctuation frequency of the previous control cycle of the current control cycle. Figure 2 As shown, the frequency with the largest speed fluctuation amplitude can be passed to the ARM side as the resistance frequency and used as the center frequency of the second-order generalized integrator (SOGI).

[0048] In an exemplary embodiment of the present disclosure, step S103 may specifically include: determining whether to turn on the resistance function based on the maximum amplitude of the speed fluctuation in the current control cycle; in response to determining to turn on the resistance function, determining whether to update the resistance frequency based on the maximum amplitude frequency of the speed fluctuation in the current control cycle and the maximum amplitude frequency of the speed fluctuation in the previous control cycle; in response to determining to update the resistance frequency, updating the resistance frequency to the maximum amplitude frequency of the speed fluctuation in the current control cycle. For example, the ARM side needs to determine whether to turn on the resistance function through control logic based on the amplitude of the maximum speed FFT spectrum transmitted from the FPGA side (i.e., the maximum amplitude of the speed fluctuation). When the amplitude is too small, turn off the resistance function (by setting the resistance gain to 0) to avoid turning on the resistance function for units without speed oscillation.

[0049] In an exemplary embodiment of the present disclosure, the step of determining whether to turn on the resistance function based on the maximum amplitude of the speed fluctuation of the current control cycle may include: when the maximum amplitude of the speed fluctuation of the current control cycle meets the amplitude condition for turning on the resistance function, determining to turn on the resistance function. Here, the amplitude condition for turning on the resistance function may include at least one of the following: the resistance function is currently in an on state and the maximum amplitude of the speed fluctuation of the current control cycle is greater than or equal to a first amplitude threshold, the resistance function is currently in an off state and the maximum amplitude of the speed fluctuation of the current control cycle is greater than a second amplitude threshold. Optionally, the second amplitude threshold may be greater than the first amplitude threshold.

[0050] In an exemplary embodiment of the present disclosure, based on the maximum speed fluctuation frequency of the current control cycle and the maximum speed fluctuation frequency of the previous control cycle, the step of determining whether to update the resistance frequency may include: determining the frequency difference between the maximum speed fluctuation frequency of the current control cycle and the maximum speed fluctuation frequency of the previous control cycle; in response to the frequency difference being within a preset difference range and the maximum speed fluctuation frequency of the current control cycle being within a preset frequency range, determining to update the resistance frequency.

[0051] As an example, the resistance control logic on the ARM side mainly includes resistance frequency generation and resistance start logic. The resistance frequency generation logic is that when the maximum amplitude frequency of the speed fluctuation of the current control cycle read from the FPGA side is greater than 0.6Hz and less than 2.9Hz and the absolute value of the error between the maximum amplitude frequency of the speed fluctuation of the current control cycle calculated by the FFT on the FPGA side and the maximum amplitude frequency of the speed fluctuation of the previous control cycle is greater than 0.1Hz, the resistance frequency is updated to the maximum amplitude frequency of the speed fluctuation of the current control cycle calculated by the FFT on the FPGA side, otherwise the resistance frequency remains unchanged, thereby avoiding the FFT frequency change less than 0.1Hz during the resistance process, and the resistance frequency also changes accordingly. The resistance start logic is that when the maximum amplitude of the speed fluctuation read from the FPGA side is greater than 2.5rpm, the resistance is turned on, and the maximum amplitude of the speed fluctuation is less than 0.8rpm or the maximum amplitude frequency of the speed fluctuation is less than 0.6Hz or the maximum amplitude frequency of the speed fluctuation is greater than 2.9Hz, the resistance is turned off. More specifically, when the resistance adding function is currently in the off state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than 2.5rpm, the resistance adding function can be turned on; otherwise, the resistance adding function is kept in the off state. When the resistance adding function is currently in the on state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than or equal to 0.8rpm, the resistance adding function can be kept in the on state. Optionally, when the resistance adding function is currently in the on state and the maximum amplitude of the speed fluctuation is greater than or equal to 0.8rpm, or the frequency of the maximum amplitude of the speed fluctuation is greater than or equal to 0.6Hz and less than or equal to 2.9Hz, the resistance adding function can also be kept in the on state.

[0052] Since the frequency range of FFT upload on the FPGA side is 0.5-3.0Hz, when the unit accelerates or decelerates normally, there will be a large low-frequency component less than 0.5Hz in the speed. The frequency of FFT upload on the FPGA side is 0.5Hz, and this part of the component cannot be controlled by resistance.

[0053] Figure 3 The schematic diagram of the second-order generalized integrator is shown in Figure 2. Figure 3 As shown, the input N of the second-order generalized integrator is the speed after 20Hz low-pass filtering, ω is the center frequency, and N / is the speed after passing through the bandpass filter, which is in phase with the input speed signal. K is the bandwidth coefficient of the filter, and qN is / is a signal that is 90 degrees out of phase with the input speed signal. Among them, the output qN of the second-order generalized integrator / is a signal near the center frequency of the bandpass filter, and the center frequency range can be, for example, but not limited to, 0.6-3.0 Hz. From the above principle block diagram, it can be concluded that N / The transfer function for N is:

[0054]

[0055] From the transfer function expression, it can be seen that the transfer function is essentially a second-order bandpass filter with a center frequency of ω and a bandwidth coefficient of K. The bandwidth coefficient sets the bandwidth of the filter to be not too wide to avoid amplification of unnecessary signals. The characteristic frequency component of the speed fluctuation is extracted using the characteristics of the bandpass filter. Since it has a certain bandwidth, the speed fluctuation signal near the characteristic frequency can be extracted. Since there are only two integrators in the second-order generalized integrator, it is relatively simple to implement, which is simpler than the traditional second-order bandpass filter algorithm and can reduce the overhead of the program code.

[0056] In step S104, the transmission chain resistance torque is determined based on the generator speed data and the resistance frequency.

[0057] In an exemplary embodiment of the present disclosure, step S104 may specifically include: extracting characteristic components of the low-frequency speed data using the resistance frequency as the center frequency; determining the first transmission chain resistance torque based on the extracted characteristic components and a predetermined gain; limiting the first transmission chain resistance torque, and determining the limiting result as the transmission chain resistance torque. For example, the characteristic component of the speed fluctuation is multiplied by the proportional gain (G), and then the transmission chain resistance torque is obtained after being limited to, for example but not limited to, plus or minus 5% of the rated torque. Here, the gain is determined by simulation of the wind turbine control system and actual on-site testing.

[0058] In step S105, the transmission chain resistance control is performed based on the transmission chain resistance torque. For example, the resistance torque and the master control given torque can be added to obtain the total torque command of the converter side, and the wind turbine generator set or wind power converter performs real-time tracking control on the total torque command to realize the control of the electromagnetic torque of the generator and complete the power transmission of the wind turbine generator set.

[0059] That is, in an exemplary embodiment of the present disclosure, step S105 may specifically include: determining a torque command applied to the wind turbine or wind power converter based on a given torque and the transmission chain resistance torque; and performing torque control of the wind turbine or wind power converter based on the torque command.

[0060] Figure 4 A schematic diagram showing the maximum speed fluctuation amplitude (ie, FFT amplitude) and the maximum speed fluctuation amplitude frequency (ie, FFT frequency) during an adaptive resistance-adding start process according to an exemplary embodiment of the present disclosure. Figure 1 Generator speed and resistance torque during adaptive resistance start-up process. Figure 2 FFT amplitude and frequency when the resistance frequency changes during the adaptive resistance-adding process. Figure 7 Generator speed and resistance torque when the resistance frequency changes during the adaptive resistance turning on process.

[0061] from Figure 4 It can be seen that when the maximum amplitude of the speed fluctuation spectrum is greater than the resistance-adding threshold, 1-2 FFT calculation times will be started, the resistance-adding frequency is 0.8Hz, and the FFT calculation time is 10s. Specifically, when the FFT sampling frequency is 9.8ms, the time for executing an FFT at 1024 points is 1024*9.8=10035ms=10.035s. After the resistance is turned on for 1-2 FFT calculation times, when the maximum amplitude of the speed fluctuation spectrum is less than the resistance-adding closing threshold, the resistance will be closed. Figure 5 From the generator speed and torque waveforms, it can be seen that after adding resistance, the characteristic frequency fluctuation of the speed is reduced, the fluctuation amount extracted by the bandpass filter will also change, and thus the torque amplitude of the resistance will also change, which verifies that the adaptive recognition frequency resistance is effective. Figure 6 The test waveform shows that during the resistance adding process, the maximum amplitude frequency of the speed fluctuation detected by FFT switches between 0.8Hz and 1.9Hz. Since the switching frequency is greater than 0.1Hz, the actual resistance adding frequency also switches. Figure 7 It can be seen from the generator speed and resistance torque waveforms that when the resistance center frequency changes, the resistance torque can be switched smoothly during the switching process of the resistance frequency, which verifies the function of adaptively switching the resistance frequency during operation.

[0062] The above has been combined Figures 1 to 7 A transmission chain resistance control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure is described. Figure 8 A transmission chain resistance control device and units thereof according to an exemplary embodiment of the present disclosure are described.

[0063] Figure 8 A block diagram of a transmission chain resistance control device according to an exemplary embodiment of the present disclosure is shown.

[0064] Reference Figure 8 The transmission chain resistance control device includes a fluctuation data determination unit 81, a fluctuation peak value determination unit 82, a resistance frequency determination unit 83, a resistance torque determination unit 84 and a resistance control unit 85.

[0065] The fluctuation data determination unit 81 is configured to determine the rotation speed fluctuation frequency and the rotation speed fluctuation amplitude based on the generator rotation speed data of the wind turbine generator set.

[0066] In an exemplary embodiment of the present disclosure, the transmission chain resistance control device may further include: a speed data determination unit (not shown), configured to determine the generator speed data based on the machine-side voltage and machine-side current of the wind power converter of the wind turbine generator set.

[0067] In an exemplary embodiment of the present disclosure, the fluctuation data determination unit 81 may be configured to: perform low-pass filtering on the speed data to obtain low-frequency speed data; perform frequency domain transformation on the low-frequency speed data to obtain the speed fluctuation frequency and the speed fluctuation amplitude.

[0068] In an exemplary embodiment of the present disclosure, the fluctuation data determination unit 81 may be configured to: sample the low-frequency rotation speed data to obtain sampled data of the low-frequency rotation speed data; and perform frequency domain transformation on the sampled data.

[0069] The fluctuation peak value determination unit 82 is configured to determine the maximum speed fluctuation amplitude of the current control cycle and the speed fluctuation maximum amplitude frequency of the current control cycle corresponding to the speed fluctuation maximum amplitude based on the speed fluctuation frequency and the speed fluctuation amplitude.

[0070] In an exemplary embodiment of the present disclosure, the fluctuation peak determination unit 82 can be configured to: determine whether to turn on the resistance function based on the maximum amplitude of the speed fluctuation in the current control cycle; in response to determining to turn on the resistance function, determine whether to update the resistance frequency based on the maximum amplitude frequency of the speed fluctuation in the current control cycle and the maximum amplitude frequency of the speed fluctuation in the previous control cycle; in response to determining to update the resistance frequency, update the resistance frequency to the maximum amplitude frequency of the speed fluctuation in the current control cycle.

[0071] In an exemplary embodiment of the present disclosure, the fluctuation peak determination unit 82 may be configured to: when the maximum amplitude of the speed fluctuation in the current control cycle meets the amplitude condition for starting the resistance function, determine to turn on the resistance function, wherein the amplitude condition for turning on the resistance function includes at least one of the following: the resistance function is currently in the on state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than or equal to the first amplitude threshold, the resistance function is currently in the off state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than the second amplitude threshold.

[0072] In an exemplary embodiment of the present disclosure, the fluctuation peak determination unit 82 can be configured to: determine the frequency difference between the maximum frequency of the speed fluctuation in the current control cycle and the maximum frequency of the speed fluctuation in the previous control cycle; in response to the frequency difference being within a preset difference range and the maximum frequency of the speed fluctuation in the current control cycle being within a preset frequency range, determine to update the resistance frequency.

[0073] The resistance frequency determination unit 83 is configured to determine the resistance frequency based on the maximum speed fluctuation amplitude of the current control cycle, the maximum speed fluctuation frequency of the current control cycle, and the maximum speed fluctuation frequency of the previous control cycle of the current control cycle.

[0074] The resistance torque determination unit 84 is configured to determine the transmission chain resistance torque based on the generator speed data and the resistance frequency.

[0075] In an exemplary embodiment of the present disclosure, the resistance torque determination unit 84 can be configured to: extract characteristic components of the low-frequency speed data by taking the resistance frequency as the center frequency; determine the first transmission chain resistance torque based on the extracted characteristic components and a predetermined gain; limit the first transmission chain resistance torque, and determine the limiting result as the transmission chain resistance torque.

[0076] In an exemplary embodiment of the present disclosure, the resistance torque determination unit 84 may be configured to: determine a torque command applied to the wind turbine or wind power converter based on a given torque and the transmission chain resistance torque; and perform torque control of the wind turbine or wind power converter based on the torque command.

[0077] The resistance control unit 85 is configured to perform a transmission chain resistance control based on the transmission chain resistance torque.

[0078] In addition, according to an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed, the transmission chain resistance control method of the wind turbine generator set according to the exemplary embodiment of the present disclosure is implemented.

[0079] In an exemplary embodiment of the present disclosure, the computer-readable storage medium may carry one or more programs, and when the computer program is executed, the following steps can be implemented: based on the generator speed data of the wind turbine generator set, determine the speed fluctuation frequency and the speed fluctuation amplitude; based on the speed fluctuation frequency and the speed fluctuation amplitude, determine the maximum speed fluctuation amplitude of the current control cycle and the speed fluctuation maximum amplitude frequency of the current control cycle corresponding to the maximum speed fluctuation amplitude; based on the maximum speed fluctuation amplitude of the current control cycle, the speed fluctuation maximum amplitude frequency of the current control cycle and the speed fluctuation maximum amplitude frequency of the previous control cycle of the current control cycle, determine the resistance frequency; based on the generator speed data and the resistance frequency, determine the transmission chain resistance torque; based on the transmission chain resistance torque, perform transmission chain resistance control.

[0080] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In an embodiment of the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a computer program that may be used by or in conjunction with an instruction execution system, device or device. The computer program contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof. The computer-readable storage medium may be contained in any device; it may also exist alone without being assembled into the device.

[0081] In addition, according to an exemplary embodiment of the present disclosure, a computer program product is also provided, and instructions in the computer program product can be executed by a processor of a computer device to complete the method for controlling transmission chain resistance of a wind turbine generator set according to an exemplary embodiment of the present disclosure.

[0082] The above has been combined Figure 8 The transmission chain resistance control device according to the exemplary embodiment of the present disclosure is described. Fig. 9 A wind power converter according to an exemplary embodiment of the present disclosure is described.

[0083] Fig. 9 A schematic diagram of a wind power converter according to an exemplary embodiment of the present disclosure is shown.

[0084] Reference Fig. 9 According to the exemplary embodiment of the present disclosure, the wind power converter 9 includes a memory 91 and a processor 92. The memory 91 stores a computer program. When the computer program is executed by the processor 92, the transmission chain resistance control method of the wind turbine generator set according to the exemplary embodiment of the present disclosure is implemented.

[0085] In an exemplary embodiment of the present disclosure, when the computer program is executed by the processor 92, the following steps can be implemented: based on the generator speed data of the wind turbine generator set, determine the speed fluctuation frequency and the speed fluctuation amplitude; based on the speed fluctuation frequency and the speed fluctuation amplitude, determine the maximum speed fluctuation amplitude of the current control cycle and the speed fluctuation maximum amplitude frequency of the current control cycle corresponding to the maximum speed fluctuation amplitude; based on the maximum speed fluctuation amplitude of the current control cycle, the speed fluctuation maximum amplitude frequency of the current control cycle and the speed fluctuation maximum amplitude frequency of the previous control cycle of the current control cycle, determine the resistance frequency; based on the generator speed data and the resistance frequency, determine the transmission chain resistance torque; based on the transmission chain resistance torque, perform transmission chain resistance control.

[0086] Fig. 9 The wind power converter shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0087] The above has been referred to Figures 1 to 9 The transmission chain resistance control method and device of a wind turbine generator set according to an exemplary embodiment of the present disclosure are described. However, it should be understood that: Figure 8 The transmission chain resistance control device and its units shown in the figure can be respectively configured as software, hardware, firmware or any combination of the above items to perform specific functions. Fig. 9 The wind power converter shown in is not limited to including the components shown above, but some components may be added or deleted as needed, and the above components may also be combined.

[0088] According to the transmission chain resistance control method and device of the wind turbine generator set and the wind power converter of the exemplary embodiment of the present disclosure, the speed fluctuation frequency and the speed fluctuation amplitude are determined based on the generator speed data of the wind turbine generator set, the maximum speed fluctuation amplitude of the current control cycle and the maximum speed fluctuation amplitude frequency of the current control cycle corresponding to the maximum speed fluctuation amplitude are determined based on the speed fluctuation frequency and the speed fluctuation amplitude, the resistance frequency is determined based on the maximum speed fluctuation amplitude of the current control cycle, the maximum speed fluctuation amplitude frequency of the current control cycle and the maximum speed fluctuation amplitude frequency of the previous control cycle of the current control cycle, the transmission chain resistance torque is determined based on the generator speed data and the resistance frequency, and the transmission chain resistance control is performed based on the transmission chain resistance torque, thereby realizing transmission chain adaptive resistance control, and further being able to adapt to different unit configurations and realize platform management of control software.

[0089] While the present disclosure has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure as defined by the appended claims.

Claims

1. A method for controlling the transmission chain resistance of a wind turbine generator set, characterized in that: include: Based on the generator speed data of the wind turbine generator set, determining the speed fluctuation frequency and the speed fluctuation amplitude; Based on the speed fluctuation frequency and the speed fluctuation amplitude, determining a maximum speed fluctuation amplitude of a current control cycle and a speed fluctuation maximum amplitude frequency of the current control cycle corresponding to the speed fluctuation maximum amplitude; Determine the resistance frequency based on the maximum amplitude of the speed fluctuation in the current control cycle, the maximum amplitude frequency of the speed fluctuation in the current control cycle, and the maximum amplitude frequency of the speed fluctuation in the previous control cycle of the current control cycle; Determining the transmission chain resistance torque based on the generator speed data and the resistance frequency; A transmission chain resistance control is performed based on the transmission chain resistance torque.

2. The transmission chain resistance control method according to claim 1, characterized in that: The step of determining the speed fluctuation frequency and the speed fluctuation amplitude based on the generator speed data of the wind turbine generator set comprises: Performing low-pass filtering on the speed data to obtain low-frequency speed data; The low-frequency rotation speed data is transformed in the frequency domain to obtain the rotation speed fluctuation frequency and the rotation speed fluctuation amplitude.

3. The transmission chain resistance control method according to claim 1, characterized in that: The step of determining the resistance frequency based on the maximum speed fluctuation amplitude of the current control cycle, the maximum speed fluctuation frequency of the current control cycle, and the maximum speed fluctuation frequency of the previous control cycle of the current control cycle includes: Determining whether to turn on the resistance adding function based on the maximum amplitude of the speed fluctuation in the current control cycle; In response to determining to start the resistance function, determining whether to update the resistance frequency based on the maximum frequency of the speed fluctuation amplitude in the current control cycle and the maximum frequency of the speed fluctuation amplitude in the previous control cycle; In response to determining to update the resistance frequency, the resistance frequency is updated to the maximum amplitude frequency of the rotation speed fluctuation in the current control cycle.

4. The transmission chain resistance control method according to claim 3, characterized in that: The step of determining whether to turn on the resistance adding function based on the maximum amplitude of the speed fluctuation of the current control cycle includes: When the maximum amplitude of the speed fluctuation in the current control cycle meets the amplitude condition for starting the resistance adding function, it is determined to start the resistance adding function. Among them, the amplitude condition for starting the resistance function includes at least one of the following: the resistance function is currently in the on state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than or equal to the first amplitude threshold, the resistance function is currently in the off state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than the second amplitude threshold.

5. The transmission chain resistance control method according to claim 3, characterized in that: The step of determining whether to update the resistance frequency based on the maximum frequency of the speed fluctuation in the current control cycle and the maximum speed fluctuation in the previous control cycle includes: Determine a frequency difference between a maximum frequency of speed fluctuations in the current control cycle and a maximum frequency of speed fluctuations in the previous control cycle; In response to the frequency difference being within a preset difference range and the maximum frequency of the rotation speed fluctuation in the current control cycle being within a preset frequency range, it is determined to update the resistance frequency.

6. The transmission chain resistance control method according to claim 1, characterized in that: Also includes: The generator speed data is determined based on a machine-side voltage and a machine-side current of a wind power converter of the wind turbine generator set.

7. The transmission chain resistance control method according to claim 2, characterized in that: The step of performing frequency domain transformation on the low-frequency rotation speed data comprises: Sampling the low-frequency rotation speed data to obtain sampled data of the low-frequency rotation speed data; Perform frequency domain transformation on the sampled data.

8. The transmission chain resistance control method according to claim 2, characterized in that: The step of determining the transmission chain resistance torque based on the generator speed data and the resistance frequency comprises: Taking the resistance frequency as the center frequency, extracting characteristic components from the low-frequency rotation speed data; Determining the first transmission chain resistance torque based on the extracted characteristic component and the predetermined gain; The first transmission chain resistance torque is limited, and the limitation result is determined as the transmission chain resistance torque.

9. The transmission chain resistance control method according to claim 8, characterized in that: The step of performing transmission chain resistance control based on the transmission chain resistance torque comprises: Determining a torque command applied to the wind turbine generator set or the wind power converter based on a given torque and the transmission chain resistance torque; Torque control of the wind turbine generator set or the wind power converter is performed based on the torque command.

10. A transmission chain resistance control device for a wind turbine generator set, characterized in that: include: A fluctuation data determination unit is configured to determine a speed fluctuation frequency and a speed fluctuation amplitude based on the generator speed data of the wind turbine generator set; a fluctuation peak value determination unit configured to determine a maximum speed fluctuation amplitude of a current control cycle and a speed fluctuation maximum amplitude frequency of the current control cycle corresponding to the speed fluctuation maximum amplitude based on the speed fluctuation frequency and the speed fluctuation amplitude; A resistance adding frequency determining unit, configured to determine the resistance adding frequency based on the maximum amplitude of the speed fluctuation in the current control cycle, the maximum amplitude frequency of the speed fluctuation in the current control cycle, and the maximum amplitude frequency of the speed fluctuation in the previous control cycle of the current control cycle; a resistance torque determination unit configured to determine a transmission chain resistance torque based on the generator speed data and the resistance frequency; and The resistance control unit is configured to perform transmission chain resistance control based on the transmission chain resistance torque.

11. The transmission chain resistance control device according to claim 10, characterized in that: The fluctuation data determination unit is configured to: Performing low-pass filtering on the speed data to obtain low-frequency speed data; The low-frequency rotation speed data is transformed in the frequency domain to obtain the rotation speed fluctuation frequency and the rotation speed fluctuation amplitude.

12. The transmission chain resistance control device according to claim 10, characterized in that: The fluctuation peak value determination unit is configured to: Determining whether to turn on the resistance adding function based on the maximum amplitude of the speed fluctuation in the current control cycle; In response to determining to start the resistance function, determining whether to update the resistance frequency based on the maximum frequency of the speed fluctuation amplitude in the current control cycle and the maximum frequency of the speed fluctuation amplitude in the previous control cycle; In response to determining to update the resistance frequency, the resistance frequency is updated to the maximum amplitude frequency of the rotation speed fluctuation in the current control cycle.

13. The transmission chain resistance control device according to claim 12, characterized in that: The fluctuation peak value determination unit is configured to: When the maximum amplitude of the speed fluctuation in the current control cycle meets the amplitude condition for starting the resistance adding function, it is determined to start the resistance adding function. Among them, the amplitude condition for starting the resistance function includes at least one of the following: the resistance function is currently in the on state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than or equal to the first amplitude threshold, the resistance function is currently in the off state and the maximum amplitude of the speed fluctuation in the current control cycle is greater than the second amplitude threshold.

14. The transmission chain resistance control device according to claim 12, characterized in that: The fluctuation peak value determination unit is configured to: Determine a frequency difference between a maximum frequency of speed fluctuations in the current control cycle and a maximum frequency of speed fluctuations in the previous control cycle; In response to the frequency difference being within a preset difference range and the maximum frequency of the rotation speed fluctuation in the current control cycle being within a preset frequency range, it is determined to update the resistance frequency.

15. The transmission chain resistance control device according to claim 10, characterized in that: Also includes: The rotation speed data determining unit is configured to determine the generator rotation speed data based on the machine side voltage and machine side current of the wind power converter of the wind turbine generator set.

16. The transmission chain resistance control device according to claim 11, characterized in that: The fluctuation data determination unit is configured to: Sampling the low-frequency rotation speed data to obtain sampled data of the low-frequency rotation speed data; Perform frequency domain transformation on the sampled data.

17. The transmission chain resistance control device according to claim 11, characterized in that: The resistance torque determination unit is configured as follows: Taking the resistance frequency as the center frequency, extracting characteristic components from the low-frequency rotation speed data; Determining the first transmission chain resistance torque based on the extracted characteristic component and the predetermined gain; The first transmission chain resistance torque is limited, and the limitation result is determined as the transmission chain resistance torque.

18. The transmission chain resistance control device according to claim 17, characterized in that: The resistance torque determination unit is configured as follows: Determining a torque command applied to the wind turbine generator set or the wind power converter based on a given torque and the transmission chain resistance torque; Torque control of the wind turbine generator set or the wind power converter is performed based on the torque command.

19. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the transmission chain resistance control method of a wind turbine generator set according to any one of claims 1 to 9 is implemented.

20. A wind power converter, characterized in that: include: at least one processor; At least one memory stores a computer program, and when the computer program is executed by the at least one processor, the transmission chain resistance control method according to any one of claims 1 to 9 is implemented.

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