Wind turbine generator decoupling control method, device, equipment, medium and program product

Abstract

The invention relates to the technical field of wind turbine generators, in particular to a wind turbine generator decoupling control method, device and equipment, a medium and a program product, and the method comprises the steps that based on the actual wind speed and an inverse system static curve, an inverse system torque expression and an inverse system pitch angle expression in a wind turbine generator are obtained; combining the rotating speed, the wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine generator to generate a torque nonlinear function and a pitch angle nonlinear function; when the operation area of the wind turbine generator is switched between the transition area and the high wind speed area, the torque nonlinear function and the pitch angle nonlinear function are used for obtaining the required torque control quantity and the pitch angle control quantity respectively. Therefore, the problems that in the related technology, when the operation area of the wind turbine generator set is switched between the transition area and the high-wind-speed area, coupling of the two controllers is likely to happen, the generated power is lost, and the rotating speed is too high are solved.

Description

Technical Field

[0001] The present application relates to the technical field of wind turbines, and in particular to a decoupling control method, device, equipment, medium and program product for a wind turbine. Background Art

[0002] The operating area of ​​variable speed and variable pitch wind turbines can be divided into low wind speed area, high wind speed area and transition area. In the low wind speed area, the generator speed is lower than the rated value, and torque control is mainly used to make the speed track the optimal power curve; in the high wind speed area, the speed is controlled to the rated value by variable pitch to output constant power; in the transition area, the generator speed has reached the rated value, but the output power is still lower than the rated value, and torque control is mainly used to make the speed run within the rated mechanical range. When the wind turbine operating area switches between the transition area and the high wind speed area, the torque control loop and the variable pitch control loop are prone to coupling near the rated working point, and there is also a saturation problem of the controller. If the control strategy is inappropriate, it may cause negative effects such as power generation loss, output power oscillation, speed overshoot, and even extreme loads.

[0003] In the related art, in order to solve the coupling problem of the two controllers, a table lookup method is used. The slope is designed to make the torque-speed static working curve have a certain buffer before the rated wind speed to solve the problem; in order to cope with the power fluctuations and sudden loads caused by gusts near the rated wind speed, a full-load optimal control area is defined, and the torque set point is corrected according to the pitch angle and its changing trend, which can effectively suppress the power fluctuations and losses caused by switching near the rated working point; in addition, the pitch angle control amount can be introduced into the torque controller, and the torque control amount can be introduced into the pitch controller, thereby increasing the difference in the reference speeds of the two proportional-integral controllers, reducing the frequent action of the pitch angle, and improving the power drop.

[0004] However, in the related art, when the operating area of ​​the wind turbine is switched between the transition zone and the high wind speed zone, coupling of the two controllers, power generation loss and overspeed are likely to occur, which urgently needs improvement. Summary of the invention

[0005] The present application provides a wind turbine decoupling control method, device, equipment, medium and program product to solve the problem in the related art that when the operating area of ​​the wind turbine is switched between the transition zone and the high wind speed zone, the two controllers are easily coupled, the power generation power is lost and the speed is too fast.

[0006] A first aspect of the present application provides a decoupling control method for a wind turbine, comprising the following steps: based on the actual wind speed and the inverse system static curve, respectively obtaining an inverse system torque expression and an inverse system pitch angle expression in the wind turbine; generating a torque nonlinear function and a pitch angle nonlinear function by combining the rotational speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine; when the operating area of ​​the wind turbine switches between a transition zone and a high wind speed zone, respectively obtaining a required torque control amount and a pitch angle control amount using the torque nonlinear function and the pitch angle nonlinear function, so that the final output power of the wind turbine meets a preset condition.

[0007] Optionally, in one embodiment of the present application, the inverse system torque expression and the inverse system pitch angle expression in the wind turbine are obtained based on the actual wind speed and the inverse system static curve, respectively, including: obtaining the leading wind speed of the wind turbine; obtaining the optimal power curve of the wind turbine according to the aerodynamic characteristics data of the wind tunnel test of the wind turbine; and obtaining the inverse system static curve according to the steady-state relationship between wind speed and electromagnetic torque, rotation speed and pitch angle in the optimal power curve.

[0008] Optionally, in one embodiment of the present application, before generating the torque nonlinear function and the pitch angle nonlinear function by combining the speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine, it also includes: controlling the speed by using a torque PI (Proportional Integral) controller, outputting the torque control amount according to the speed tracking error, and obtaining the torque PI control amount; controlling the speed by using a variable pitch PI controller, outputting the variable pitch control amount according to the speed tracking error, and obtaining the variable pitch PI control amount.

[0009] Optionally, in one embodiment of the present application, the torque nonlinear function and the pitch angle nonlinear function are generated by combining the rotational speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine, including: using the rotational speed and the wind speed to calculate the torque wind speed weight and the torque speed weight in the torque nonlinear function and the pitch angle wind speed weight and the pitch angle speed weight in the pitch angle nonlinear function; obtaining the allocation weight of the inverse system torque expression and the torque PI control quantity based on the torque wind speed weight and the torque speed weight; obtaining the allocation weight of the inverse system pitch angle expression and the variable pitch PI control quantity based on the pitch angle wind speed weight and the pitch angle speed weight.

[0010] Optionally, in one embodiment of the present application, the expression of the torque nonlinear function may be, but is not limited to,:

[0011] T e =ωt ·T e.inv +(1-ω t )·T e.PI ,

[0012] Among them, ω t Assign weights to the torque related to the rotation speed and wind speed, T e.inv is the electromagnetic torque value of the inverse system calculated according to the radar wind speed, T e.PI is the output of the torque PI controller.

[0013] The expression of the pitch angle nonlinear function may be, but is not limited to,:

[0014] β=ω β β inv +(1-ω β )·β PI ,

[0015] Among them, ω β Assign weights to the pitch angle related to the rotation speed and wind speed, β inv is the inverse system pitch angle value calculated according to the radar wind speed, β PI is the output of the pitch PI controller.

[0016] A second aspect of the present application provides a decoupling control device for a wind turbine, comprising: a first generation module, for obtaining an inverse system torque expression and an inverse system pitch angle expression in the wind turbine based on an actual wind speed and an inverse system static curve; a second generation module, for generating a torque nonlinear function and a pitch angle nonlinear function in combination with the rotational speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine; and a control module, for obtaining a required torque control amount and a pitch angle control amount respectively using the torque nonlinear function and the pitch angle nonlinear function when the operating area of ​​the wind turbine switches between a transition zone and a high wind speed zone, so that the final output power of the wind turbine meets a preset condition.

[0017] Optionally, in one embodiment of the present application, the first generation module includes: a first acquisition unit, used to obtain the leading wind speed of the wind turbine group before obtaining the inverse system torque expression and the inverse system pitch angle expression in the wind turbine group based on the actual wind speed and the inverse system static curve respectively; a first calculation unit, used to obtain the optimal power curve of the wind turbine group based on the aerodynamic characteristics data of the wind tunnel test of the wind turbine group; and a first generation unit, used to obtain the inverse system static curve based on the steady-state relationship between wind speed and electromagnetic torque, rotation speed and pitch angle in the optimal power curve.

[0018] Optionally, in one embodiment of the present application, it also includes: a first acquisition module, which is used to control the speed using a torque PI controller, output the torque control amount according to the speed tracking error, and obtain the torque PI control amount before generating the torque nonlinear function and the pitch angle nonlinear function by combining the speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine set; and a second acquisition module, which is used to control the speed using a variable pitch PI controller, output the variable pitch control amount according to the speed tracking error, and obtain the variable pitch PI control amount.

[0019] Optionally, in one embodiment of the present application, the second generation module includes: a second calculation unit, used to calculate the torque wind speed weight and the torque speed weight in the torque nonlinear function and the pitch angle wind speed weight and the pitch angle speed weight in the pitch angle nonlinear function using the speed and the wind speed; a second generation unit, used to obtain the allocation weight of the inverse system torque expression and the torque PI control quantity based on the torque wind speed weight and the torque speed weight; a third generation unit, used to obtain the allocation weight of the inverse system pitch angle expression and the variable pitch PI control quantity based on the pitch angle wind speed weight and the pitch angle speed weight.

[0020] Optionally, in one embodiment of the present application, the expression of the torque nonlinear function may be, but is not limited to,:

[0021] T e =ω t ·T e.inv +(1-ω t )·T e.PI ,

[0022] Among them, ω t Assign weights to the torque related to the rotation speed and wind speed, T e.inv is the electromagnetic torque value of the inverse system calculated according to the radar wind speed, T e.PI is the output of the torque PI controller.

[0023] The expression of the pitch angle nonlinear function may be, but is not limited to,:

[0024] β=ω β β inv +(1-ω β )·β PI ,

[0025] Among them, ω β Assign weights to the pitch angle related to the rotation speed and wind speed, β inv is the inverse system pitch angle value calculated according to the radar wind speed, β PI is the output of the pitch PI controller.

[0026] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the wind turbine decoupling control method as described in the above embodiment.

[0027] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned wind turbine decoupling control method.

[0028] A fifth aspect of the present application provides a computer program product, including a computer program, which implements the above wind turbine decoupling control method when executed.

[0029] The embodiment of the present application can obtain the inverse system torque expression and the inverse system pitch angle expression in the wind turbine based on the actual wind speed and the inverse system static curve, and then generate the torque nonlinear function and the pitch angle nonlinear function, and when the operating area of ​​the wind turbine is switched between the transition zone and the high wind speed zone, the torque nonlinear function and the pitch angle nonlinear function are used to obtain the required torque control amount and the pitch angle control amount respectively. By obtaining the inverse system static curve of the two control amounts in advance, the torque inverse system feedforward and the torque PI control are combined in the torque control to increase the output power, and the pitch inverse system feedforward is introduced in the pitch control to make the speed respond to the change of wind speed in advance, effectively solve the problem of speed overspeed, eliminate the speed instability and overspeed caused by the uncertainty disturbance under the working point, and effectively improve the power control performance of the transition zone. As a result, the problem of coupling of two controllers, power loss and speed overspeed is easily caused in the related art when the operating area of ​​the wind turbine is switched between the transition zone and the high wind speed zone. The additional aspects and advantages of the present application will be partially given in the following description, and part will become obvious from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 A schematic block diagram of an aerodynamic characteristic curve provided according to an embodiment of the present application;

[0032] Figure 2 A schematic block diagram of a static torque-speed curve of a wind turbine generator system provided according to an embodiment of the present application;

[0033] Figure 3 A schematic block diagram of a static working curve of an inverse system provided according to an embodiment of the present application;

[0034] Figure 4 A block diagram of a control method provided according to an embodiment of the present application;

[0035] Figure 5 A flow chart of a wind turbine decoupling control method provided according to an embodiment of the present application;

[0036] Figure 6 is the weight ω provided according to one embodiment of the present application t Functional diagram of the design method;

[0037] Figure 7 is the weight ω provided according to one embodiment of the present application β Functional diagram of the design method;

[0038] Figure 8 A block diagram of a method for designing a torque control loop according to an embodiment of the present application;

[0039] Fig. 9 A block diagram of a method for designing a pitch control loop according to an embodiment of the present application;

[0040] Fig.10 A block diagram of a wind turbine decoupling control device provided according to an embodiment of the present application;

[0041] Fig.11 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0043] The following describes the decoupling control method, device, equipment, medium and program product of the wind turbine group of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology that when the operating area of ​​the wind turbine group switches between the transition zone and the high wind speed zone, it is easy to have two controller coupling, power generation loss and speed overspeed, the present application provides a decoupling control method for a wind turbine group, in which the inverse system torque expression and the inverse system pitch angle expression in the wind turbine group can be obtained based on the actual wind speed and the inverse system static curve, and then the torque nonlinear function and the pitch angle nonlinear function are generated, and when the operating area of ​​the wind turbine group switches between the transition zone and the high wind speed zone, the torque nonlinear function and the pitch angle nonlinear function are used to obtain the required torque control amount and the pitch angle control amount respectively. By obtaining the inverse system static curves of the two control amounts in advance, the torque inverse system feedforward and the torque PI control are combined in the torque control to increase the output power, and the pitch inverse system feedforward is introduced in the pitch control to make the speed respond to the change of wind speed in advance, effectively solving the problem of speed overspeed, eliminating the speed instability and overspeed problems caused by the uncertainty disturbance under the working point, and effectively improving the power control performance in the transition zone. Thereby, the problem in the related art that when the operating area of ​​the wind turbine generator set switches between the transition area and the high wind speed area, the two controllers are easily coupled, the power generation power is lost and the speed is over-speeded is solved.

[0044] Before introducing the method proposed in the embodiment of the present application, the relevant concepts involved in the embodiment of the present application are first introduced.

[0045] (1) Wind turbine model

[0046] The simplified nonlinear model of the wind turbine used in the speed controller design of the present application embodiment may include, but is not limited to, the degrees of freedom of the wind rotor rotation motion, controllable inputs such as the pitch angle β and the generator electromagnetic torque T e The present application does not make any specific restrictions on the uncontrollable input, such as the wind speed v, etc. In addition, the present application assumes that the rotor speed can be measured.

[0047] (2) Pneumatic subsystem

[0048] The embodiment of the present application can obtain nonlinear aerodynamics according to the blade element momentum theory, which can be expressed as but not limited to:

[0049]

[0050]

[0051]

[0052] Among them, F a , T a , Pa are the nonlinear aerodynamic thrust, nonlinear aerodynamic torque and nonlinear aerodynamic power respectively, ρ is the air density, R is the radius of the wind wheel, λ is the tip speed ratio, which can be expressed as but not limited to:

[0053]

[0054] Among them, Ω r is the wind wheel speed, C t , C q , C p are respectively aerodynamic thrust coefficient, aerodynamic torque coefficient, and aerodynamic power coefficient, and are given by Figure 1 It can be seen that the aerodynamic characteristics data of each fan can be obtained through steady-state simulation and wind tunnel testing, and the aerodynamic thrust coefficient C t , aerodynamic torque coefficient C q is a nonlinear function of λ and β. Figure 1 (a) is a block diagram of an aerodynamic torque coefficient characteristic curve provided according to an embodiment of the present application; Figure 1 (b) is a block diagram of an aerodynamic thrust coefficient characteristic curve provided according to an embodiment of the present application.

[0055] (3) Transmission subsystem

[0056] In the embodiment of the present application, the rotor motion equation can be expressed by a first-order equation, which can be, but is not limited to, expressed as:

[0057]

[0058] Where J is the equivalent moment of inertia of the rotor, T a is the aerodynamic torque, T e is the electromagnetic torque of the generator, and n is the transformation ratio of the gearbox.

[0059] Specifically, Figure 5 The present invention is a flow chart of a wind turbine decoupling control method provided according to an embodiment of the present application.

[0060] like Figure 5 As shown, the wind turbine decoupling control method includes the following steps:

[0061] In step S501, based on the actual wind speed and the inverse system static curve, an inverse system torque expression and an inverse system pitch angle expression in the wind turbine are obtained respectively.

[0062] In some embodiments, the embodiments of the present application can obtain an inverse system torque expression in a wind turbine generator system based on the actual wind speed and the inverse system static curve.

[0063] Exemplarily, in order to make the power generation as large as possible, the embodiment of the present application can obtain the leading wind speed through a laser radar, and the inverse system torque and pitch angle steady-state values ​​under the optimal power curve can be obtained according to the relationship between the pitch angle and electromagnetic torque and the wind speed in the steady state. During the operation of the wind turbine, the system model parameters themselves have certain uncertainties, which lead to perturbations in the model parameters. In addition, the steady-state value of the inverse system is an open-loop control quantity, which is difficult to overcome external disturbances, and the speed dynamics are easily affected. Since the dual PI controller can respond to speed changes quickly, when the speed tracking performance deteriorates, the PI controller is dominant and the speed dynamics are quickly adjusted. If the speed tracking error is within the allowable range, the inverse system steady-state value is dominant to maximize the output power as much as possible. At this time, the inverse system torque expression can be, but is not limited to:

[0064] T e =ω t ·T e.inv +(1-ω t )·T e.PI , (6)

[0065] Among them, T e.inv is the electromagnetic torque value of the inverse system calculated according to the radar wind speed, T e.PI Represents the output of the PI controller.

[0066] Furthermore, in the embodiment of the present application, T e.PI The expression can be, but is not limited to:

[0067]

[0068] The weight distribution between the two can be expressed as t Indicates that ω t It has a nonlinear relationship with rotation speed and wind speed.

[0069] Furthermore, in the embodiment of the present application, when considering the speed dynamics, a weight ω1 related to the speed is designed, which can be expressed as but not limited to:

[0070]

[0071] Where ΔΩ r =Ω r.inv -Ω r , s1 is the slope, c1 is the center point.

[0072] Furthermore, if Figure 6 As shown, Figure 6 (a) is the value of ω1 with ΔΩ provided according to one embodiment of the present application. r Block diagram of the changes; Figure 6 (b) is a block diagram showing the variation of ω2 with Δv according to an embodiment of the present application.

[0073] In the embodiment of the present application, since the electromagnetic torque is generally kept constant in the high wind speed area, only the pitch controller is activated, the switching problem of the control strategy between the transition area and the high wind speed area needs to be considered. When the wind speed is high, in order to ensure that the system switches to the pitch control in the high wind speed area, a weight ω2 related to the wind speed is designed. When the difference between the actual wind speed and the rated wind speed increases, the electromagnetic torque control amount is set to the rated value, which is equivalent to setting T e.inv The weight is 1, and its expression can be but is not limited to:

[0074]

[0075] Where Δv=vv N In addition, the max function is added to realize the control logic of the transition zone and the high wind speed zone at the same time, ω t The expression can be, but is not limited to:

[0076] ω t =max(ω1,ω2), (10)

[0077] In some embodiments, the embodiments of the present application can obtain an inverse system pitch angle expression in a wind turbine based on the actual wind speed and the inverse system static curve.

[0078] For example, the embodiment of the present application is similar to the torque control, and the pitch angle in the transition zone also considers the weights related to the rotational speed and wind speed to achieve the trade-off between the steady-state control amount of the inverse system and the output of the variable pitch PI controller. The overall control logic is similar to the torque, and the inverse system pitch angle expression can be but is not limited to:

[0079] β=ω β β inv +(1-ω β )·β PI , (11)

[0080] Among them, β inv is the inverse system pitch angle value calculated according to the radar wind speed, β PI Represents the output of the PI controller, and its expression can be but is not limited to:

[0081] β PI =k pb (Ω rN -Ω r )+k ib ∫(Ω rN -Ω r )dt, (12)

[0082] Furthermore, if Figure 7 As shown, Figure 7(a) is the value of ω1 with ΔΩ provided according to one embodiment of the present application. r Block diagram of the changes; Figure 7 (a) is a block diagram showing the variation of ω3 with Δv according to an embodiment of the present application.

[0083] Similarly, the embodiment of the present application is based on the connection between the transition zone and the high wind speed zone. When the wind speed is high, the system is ensured to switch to the variable pitch PI control. Therefore, the weight ω3 related to the wind speed is designed, that is, when running in the high wind speed zone, the variable pitch controller is activated and β is set. PI The weight is 1, and its expression can be but is not limited to:

[0084]

[0085] In addition, the min function is added to realize the control logic of the transition zone and the high wind speed zone at the same time, ω β The expression can be, but is not limited to:

[0086] ω β =min(ω1,ω3), (14)

[0087] Optionally, in one embodiment of the present application, based on the actual wind speed and the inverse system static curve, an inverse system torque expression and an inverse system pitch angle expression in the wind turbine are respectively obtained, including: obtaining the leading wind speed of the wind turbine; obtaining the optimal power curve of the wind turbine according to the aerodynamic characteristics data of the wind tunnel test of the wind turbine; and obtaining the inverse system static curve according to the steady-state relationship between wind speed and electromagnetic torque, rotation speed and pitch angle in the optimal power curve.

[0088] From the above analysis, it can be seen that the embodiment of the present application can use laser radar to obtain the leading wind speed of the wind turbine, and obtain the optimal power curve of the wind turbine based on the aerodynamic characteristics data of the wind tunnel test of the wind turbine, and then obtain the inverse system static curve.

[0089] Optionally, in one embodiment of the present application, before generating the torque nonlinear function and the pitch angle nonlinear function by combining the speed, wind speed, inverse system torque expression and inverse system pitch angle expression of the wind turbine, it includes: controlling the speed by using a torque PI controller, outputting a torque control quantity according to a speed tracking error, and obtaining a torque PI control quantity; obtaining a variable pitch PI controller to control the speed, outputting a variable pitch control quantity according to a speed tracking error, and obtaining a variable pitch PI control quantity.

[0090] It can be understood that in the embodiment of the present application, when the wind speed is in the transition zone, ω2 approaches 0. t≈ω1, output the torque control quantity according to the speed tracking error, obtain the torque PI control quantity, and then realize the trade-off between the inverse system torque control quantity and the torque PI control output; when the wind speed is significantly higher than the rated wind speed, ω2 approaches 1, at this time ω t ≈1, at which point the electromagnetic torque remains rated. Specifically, Figure 8 A method for designing a torque control loop is provided in an embodiment of the present application.

[0091] In some embodiments, the embodiments of the present application can control the rotational speed according to the acquired pitch PI controller, and output the pitch control amount according to the rotational speed tracking error, thereby obtaining the pitch PI control amount.

[0092] It can be understood that in the embodiment of the present application, when the wind speed is in the transition zone, ω3 approaches 1. β ≈ω1, that is, the pitch control quantity is output according to the speed error and speed tracking error, and the pitch PI control quantity is obtained, thereby achieving a trade-off between the inverse system pitch control quantity and the pitch PI control output; when the wind speed is significantly higher than the rated wind speed, ω3 approaches 0, at this time ω β ≈0, that is, the output remains the inverse system control quantity, and the electromagnetic torque remains rated. Specifically, Fig. 9 A design method for a pitch control loop is provided in an embodiment of the present application.

[0093] In step S502, a torque nonlinear function and a pitch angle nonlinear function are generated by combining the rotation speed, wind speed, inverse system torque expression and inverse system pitch angle expression of the wind turbine. The expression of the torque nonlinear function can be, but is not limited to,:

[0094] T e =ω t ·T e.inv +(1-ω t )·T e.PI ,

[0095] Among them, ω t Assign weights to the torque related to the rotation speed and wind speed, T e.inv is the electromagnetic torque value of the inverse system calculated according to the radar wind speed, T e.PI is the output of the torque PI controller;

[0096] The expression of the nonlinear function of the pitch angle may be, but is not limited to,:

[0097] β=ω β β inv +(1-ω β )·β PI ,

[0098] Among them, ω βAssign weights to the pitch angle related to the rotation speed and wind speed, β inv is the inverse system pitch angle value calculated according to the radar wind speed, β PI is the output of the pitch PI controller.

[0099] It will be understood by those skilled in the art that the weight ω1 related to the rotational speed in the embodiment of the present application only needs to consider two parameters during design: the slope s1 and the center point c1. In order to select appropriate nonlinear function parameters and achieve the power control target at the same time, the average power and tower fatigue load under different s1 and c1 are calculated, and then the appropriate parameters are selected. Since ω1 is only dynamically related to the rotational speed, in order to simplify the analysis, the control module related to the wind speed is turned off, and only the control module related to the rotational speed is retained. The wind speed range of the experimental wind condition is selected as the transition zone wind speed, and the torque nonlinear function and the pitch angle nonlinear function can be obtained. Its expression can be, but is not limited to:

[0100] T e =ω1·T e.inv +(1-ω1)·T e.PI , (15)

[0101] β=ω1·β inv +(1-ω1)·β PI , (16)

[0102] When calculating the slope and the change of the center point, the embodiment of the present application simulates the average power and tower load in the working time period, draws a thermal diagram, and selects appropriate nonlinear function parameters based on the thermal diagram.

[0103] Optionally, in one embodiment of the present application, a torque nonlinear function and a pitch angle nonlinear function are generated in combination with the rotational speed, wind speed, inverse system torque expression and inverse system pitch angle expression of the wind turbine, including: using the rotational speed and wind speed to calculate the torque wind speed weight and torque speed weight in the torque nonlinear function and the pitch angle wind speed weight and pitch angle speed weight in the pitch angle nonlinear function; obtaining the allocation weight of the inverse system torque expression and the torque PI control quantity based on the torque wind speed weight and the torque speed weight; obtaining the allocation weight of the inverse system pitch angle expression and the variable pitch PI control quantity based on the pitch angle wind speed weight and the pitch angle speed weight.

[0104] In some embodiments, the embodiments of the present application can use the rotational speed and wind speed to calculate the torque wind speed weight and the torque rotational speed weight, and then obtain the torque nonlinear function.

[0105] In some embodiments, the embodiments of the present application can use the rotational speed and wind speed to calculate the pitch angle wind speed weight and the pitch angle rotational speed weight, and then obtain a nonlinear function of the pitch angle.

[0106] In step S503, when the operating area of ​​the wind turbine is switched between the transition area and the high wind speed area, the torque nonlinear function and the pitch angle nonlinear function are used to obtain the required torque control amount and the pitch angle control amount respectively, so that the final output power of the wind turbine meets the preset conditions.

[0107] As a possible implementation method, in the embodiment of the present application, when the operating area of ​​the wind turbine generator set switches between the transition area and the high wind speed area, the torque nonlinear function and the pitch angle nonlinear function can be used to obtain the required torque control amount and the pitch angle control amount respectively, so that the final output power of the wind turbine generator set meets certain conditions. Among them, the certain conditions can be set by technicians in this field according to actual conditions, and this application does not make specific restrictions.

[0108] In the embodiment of the present application, when the operation area of ​​the wind turbine is switched between the transition area and the high wind speed area, there are problems of large power fluctuations and speed overspeed caused by controller coupling and saturation switching. Therefore, in order to ensure the safe and economical operation of the wind turbine, it is necessary to control the wind turbine to operate in the area near the rated wind speed so that the power can smoothly transition to the rated power curve. Therefore, the embodiment of the present application comprehensively considers the advantages of rapid dynamic response of the speed under dual PI control and the inverse system steady-state value close to the ideal optimal power near the rated wind speed, and optimizes and improves the torque control and pitch angle control respectively. The inverse system steady-state optimal values ​​of the two control quantities are obtained in advance through radar wind measurement, and the torque inverse system feedforward and basic torque control are combined in the torque control to increase the output power. The pitch angle control introduces the variable pitch inverse system feedforward, so that the speed responds to the change of wind speed in advance, which effectively solves the problem of speed overspeed. In order to eliminate the speed instability problem caused by the uncertainty disturbance under the working point, the PI control is combined with the inverse system control, and the weight is allocated according to the speed error and wind speed design to obtain the final weighted control quantity.

[0109] According to the decoupling control method of the wind turbine set proposed in the embodiment of the present application, the inverse system torque expression and the inverse system pitch angle expression in the wind turbine set can be obtained based on the actual wind speed and the inverse system static curve, and then the torque nonlinear function and the pitch angle nonlinear function are generated, and when the operating area of ​​the wind turbine set switches between the transition zone and the high wind speed zone, the torque nonlinear function and the pitch angle nonlinear function are used to obtain the required torque control amount and the pitch angle control amount respectively. By obtaining the inverse system static curve of the two control amounts in advance, the torque inverse system feedforward and the torque PI control are combined in the torque control to increase the output power, and the pitch inverse system feedforward is introduced in the pitch control to make the speed respond to the change of wind speed in advance, effectively solving the problem of speed overspeed, eliminating the speed instability problem caused by the uncertainty disturbance under the working point, and effectively improving the power control performance in the transition zone. As a result, the problem of coupling of two controllers, power loss and speed overspeed is easily caused in the related art when the operating area of ​​the wind turbine set switches between the transition zone and the high wind speed zone.

[0110] Next, the wind turbine decoupling control device proposed in accordance with the embodiment of the present application is described with reference to the accompanying drawings.

[0111] Fig.10 It is a block diagram of a wind turbine decoupling control device provided according to an embodiment of the present application.

[0112] like Fig.10 As shown, the wind turbine decoupling control device 10 includes: a first generating module 100 , a second generating module 200 and a control module 300 .

[0113] The first generating module 100 is used to obtain the inverse system torque expression and the inverse system pitch angle expression in the wind turbine generator system based on the actual wind speed and the inverse system static curve.

[0114] The second generating module 200 is used to generate a torque nonlinear function and a pitch angle nonlinear function by combining the rotation speed, wind speed, inverse system torque expression and inverse system pitch angle expression of the wind turbine.

[0115] The control module 300 is used to obtain the required torque control amount and pitch angle control amount respectively by using the torque nonlinear function and the pitch angle nonlinear function when the operating area of ​​the wind turbine generator set switches between the transition area and the high wind speed area, so that the final output power of the wind turbine generator set meets the preset conditions.

[0116] Optionally, in one embodiment of the present application, the first generating module 100 includes: a first acquiring unit, a first calculating unit and a first generating unit.

[0117] The first acquisition unit is used to acquire the leading wind speed of the wind turbine generator set before respectively obtaining the inverse system torque expression and the inverse system pitch angle expression in the wind turbine generator set based on the actual wind speed and the inverse system static curve.

[0118] The first calculation unit is used to obtain the optimal power curve of the wind turbine generator set according to the aerodynamic characteristic data of the wind tunnel test of the wind turbine generator set.

[0119] The first generating unit is used to obtain an inverse system static curve according to the steady-state relationship between wind speed and electromagnetic torque, rotation speed and pitch angle in the optimal power curve.

[0120] Optionally, in one embodiment of the present application, it further includes: a first acquisition module and a second acquisition module.

[0121] Among them, the first acquisition module is used to control the speed using a torque PI controller before generating a torque nonlinear function and a pitch angle nonlinear function by combining the speed, wind speed, inverse system torque expression and inverse system pitch angle expression of the wind turbine set, output the torque control amount according to the speed tracking error, and obtain the torque PI control amount.

[0122] The second acquisition module is used to control the speed by using the pitch control PI controller, output the pitch control amount according to the speed tracking error, and obtain the pitch control PI control amount.

[0123] Optionally, in one embodiment of the present application, the second generation module 200 includes: a second calculation unit, a second generation unit and a third generation unit.

[0124] The second calculation unit is used to calculate the torque wind speed weight and the torque speed weight in the torque nonlinear function and the pitch angle wind speed weight and the pitch angle speed weight in the pitch angle nonlinear function by using the speed and wind speed.

[0125] The second generating unit is used to obtain the inverse system torque expression and the distribution weight of the torque PI control amount based on the torque wind speed weight and the torque rotation speed weight.

[0126] The third generating unit is used to obtain the distribution weight of the inverse system pitch angle expression and the variable pitch PI control amount based on the pitch angle wind speed weight and the pitch angle rotation speed weight.

[0127] Optionally, in one embodiment of the present application, the expression of the torque nonlinear function may be, but is not limited to,:

[0128] T e =ω t ·T e.inv +(1-ω t )·T e.PI ,

[0129] Among them, ωt Assign weights to the torque related to the rotation speed and wind speed, T e.inv is the electromagnetic torque value of the inverse system calculated according to the radar wind speed, T e.PI is the output of the torque PI controller.

[0130] The expression of the nonlinear function of the pitch angle may be, but is not limited to,:

[0131] β=ω β β inv +(1-ω β )·β PI ,

[0132] Among them, ω β Assign weights to the pitch angle related to the rotation speed and wind speed, β inv is the inverse system pitch angle value calculated according to the radar wind speed, β PI is the output of the pitch PI controller.

[0133] It should be noted that the above explanations of the embodiment of the decoupling control method for a wind turbine generator set are also applicable to the decoupling control device for a wind turbine generator set of this embodiment, and will not be described in detail here.

[0134] According to the decoupling control device of the wind turbine set proposed in the embodiment of the present application, the inverse system torque expression and the inverse system pitch angle expression in the wind turbine set can be obtained based on the actual wind speed and the inverse system static curve, and then the torque nonlinear function and the pitch angle nonlinear function are generated, and when the operating area of ​​the wind turbine set switches between the transition zone and the high wind speed zone, the torque nonlinear function and the pitch angle nonlinear function are used to obtain the required torque control amount and the pitch angle control amount respectively. By obtaining the inverse system static curve of the two control amounts in advance, the torque inverse system feedforward and the torque PI control are combined in the torque control to increase the output power, and the pitch inverse system feedforward is introduced in the pitch control to make the speed respond to the change of wind speed in advance, effectively solving the problem of speed overspeed, eliminating the speed instability and overspeed problems caused by the uncertainty disturbance under the working point, and effectively improving the power control performance of the transition zone. Therefore, the problem of coupling of two controllers, power loss and speed overspeed is easily caused in the related art when the operating area of ​​the wind turbine set switches between the transition zone and the high wind speed zone.

[0135] Fig.11 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. The electronic device may include:

[0136] A memory 1101 , a processor 1102 , and a computer program stored in the memory 1101 and executable on the processor 1102 .

[0137] When the processor 1102 executes the program, the wind turbine decoupling control method provided in the above embodiment is implemented.

[0138] Furthermore, the electronic device further comprises:

[0139] The communication interface 1103 is used for communication between the memory 1101 and the processor 1102 .

[0140] The memory 1101 is used to store computer programs that can be executed on the processor 1102 .

[0141] The memory 1101 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0142] If the memory 1101, the processor 1102 and the communication interface 1103 are implemented independently, the communication interface 1103, the memory 1101 and the processor 1102 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0143] Optionally, in a specific implementation, if the memory 1101, the processor 1102 and the communication interface 1103 are integrated on a chip, the memory 1101, the processor 1102 and the communication interface 1103 can communicate with each other through an internal interface.

[0144] The processor 1102 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0145] The embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned wind turbine decoupling control method is implemented.

[0146] An embodiment of the present application further provides a computer program product, including a computer program, which implements the above wind turbine decoupling control method when executed.

[0147] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0148] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0149] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0150] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0151] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0152] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0153] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0154] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A decoupling control method for a wind turbine generator system, characterized in that: The following steps are involved: Based on the actual wind speed and the inverse system static curve, an inverse system torque expression and an inverse system pitch angle expression in the wind turbine are obtained respectively; Generate a torque nonlinear function and a pitch angle nonlinear function by combining the rotation speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine set; When the operating area of ​​the wind turbine generator set switches between the transition area and the high wind speed area, the torque nonlinear function and the pitch angle nonlinear function are used to obtain the required torque control amount and the pitch angle control amount respectively, so that the final output power of the wind turbine generator set meets the preset conditions.

2. The method according to claim 1, characterized in that The inverse system torque expression and the inverse system pitch angle expression in the wind turbine generator set are obtained based on the actual wind speed and the inverse system static curve, respectively, including: Obtaining the leading wind speed of the wind turbine generator set; Obtaining an optimal power curve of the wind turbine generator set according to aerodynamic characteristic data of a wind tunnel test of the wind turbine generator set; The inverse system static curve is obtained according to the steady-state relationship between wind speed and electromagnetic torque, rotation speed and pitch angle in the optimal power curve.

3. The method according to claim 1, characterized in that Before generating the torque nonlinear function and the pitch angle nonlinear function by combining the rotation speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine generator set, the method further includes: The torque proportional integral PI controller is used to control the speed, and the torque control amount is output according to the speed tracking error to obtain the torque PI control amount; The speed is controlled by a variable pitch PI controller, and the variable pitch control amount is output according to the speed tracking error to obtain the variable pitch PI control amount.

4. The method according to claim 1, characterized in that The step of combining the rotation speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine to generate a torque nonlinear function and a pitch angle nonlinear function comprises: Calculate the torque wind speed weight and torque speed weight in the torque nonlinear function and the pitch angle wind speed weight and pitch angle speed weight in the pitch angle nonlinear function by using the speed and wind speed; Obtaining the inverse system torque expression and the distribution weight of the torque PI control amount based on the torque wind speed weight and the torque rotation speed weight; The inverse system pitch angle expression and the distribution weight of the variable pitch PI control amount are obtained based on the pitch angle wind speed weight and the pitch angle rotation speed weight.

5. The method according to claim 1, characterized in that in, The expression of the torque nonlinear function is: T e =ω t ·T e.inv +(1-ω t )·T e.PI , Among them, ω t Assign weights to the torque related to the rotation speed and wind speed, T e . inv is the electromagnetic torque value of the inverse system calculated according to the radar wind speed, T e . PI is the output of the torque PI controller; The expression of the nonlinear function of the pitch angle is: β=ω β ·b inv +(1-ω β )·b PI , Among them, ω β Assign weights to the pitch angle related to the rotation speed and wind speed. βinv is the inverse system pitch angle value calculated based on the radar wind speed. PI is the output of the pitch PI controller.

6. A wind turbine decoupling control device, characterized in that: include: A first generating module is used to obtain an inverse system torque expression and an inverse system pitch angle expression in the wind turbine generator system based on the actual wind speed and the inverse system static curve; A second generating module is used to generate a torque nonlinear function and a pitch angle nonlinear function by combining the rotation speed, wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine set; A control module is used to obtain the required torque control amount and the pitch angle control amount respectively by using the torque nonlinear function and the pitch angle nonlinear function when the operating area of ​​the wind turbine group switches between the transition area and the high wind speed area, so that the final output power of the wind turbine group meets the preset conditions.

7. The device according to claim 6, characterized in that The first generating module comprises: An acquisition unit, configured to acquire the leading wind speed of the wind turbine generator set before respectively obtaining an inverse system torque expression and an inverse system pitch angle expression in the wind turbine generator set based on the actual wind speed and the inverse system static curve; A calculation unit, used for obtaining an optimal power curve of the wind turbine according to aerodynamic characteristic data of a wind tunnel test of the wind turbine; A generating unit is used to obtain the inverse system static curve according to the steady-state relationship between wind speed and electromagnetic torque, rotation speed and pitch angle in the optimal power curve.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the wind turbine decoupling control method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the wind turbine decoupling control method according to any one of claims 1 to 5.

10. A computer program product, characterized in that It comprises a computer program, which, when executed, is used to implement the wind turbine decoupling control method according to any one of claims 1 to 5.

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