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

Abstract

The application relates to the technical field of wind turbine units, in particular to a wind turbine unit decoupling control method, device, equipment, medium and program product, wherein the method comprises the following steps: obtaining an inverse system torque expression and an inverse system pitch angle expression in a wind turbine unit based on an actual wind speed and an inverse system static curve; combining a rotating speed, the wind speed, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine unit to generate a torque nonlinear function and a pitch angle nonlinear function; and obtaining required torque control and pitch angle control by using the torque nonlinear function and the pitch angle nonlinear function when the operating area of the wind turbine unit is switched between a transition area and a high wind speed area. Thus, the problems of coupling of two controllers, loss of power generation and overspeed of the rotating speed when the operating area of the wind turbine unit is switched between the transition area and the high wind speed area in the related art are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine, and particularly relates to a wind turbine decoupling control method, device, equipment, medium and program product. BACKGROUND

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

[0003] In related technologies, in order to solve the coupling problem of the two controllers, a lookup table method is used to design a slope 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 fluctuation and sudden load caused by gust near the rated wind speed, a full load optimal control region is defined, and the torque set point is corrected according to the pitch angle and its change trend, which can effectively suppress the power fluctuation and loss caused by switching near the rated operating point; in addition, the pitch angle control variable can be introduced into the torque controller, the torque control variable can be introduced into the pitch controller, the difference between the reference speeds of the two proportional integral controllers can be increased, and the frequent action of the pitch angle can be reduced to improve the power drop.

[0004] However, in related technologies, when the operating region of the wind turbine switches between the transition region and the high wind speed region, the two controllers are easy to couple, the generated power is easy to be lost, and the speed is easy to be too high, which needs to be improved. SUMMARY

[0005] The present application provides a wind turbine decoupling control method, device, equipment, medium and program product to solve the problem that in related technologies, when the operating region of the wind turbine switches between the transition region and the high wind speed region, the two controllers are easy to couple, the generated power is easy to be lost, and the speed is easy to be too high.

[0006] The first aspect of this application provides a decoupling control method for a wind turbine, comprising the following steps: obtaining the torque expression and the pitch angle expression of the inverse system in the wind turbine based on the actual wind speed and the static curve of the inverse system; generating a torque nonlinear function and a pitch angle nonlinear function by combining the wind turbine's rotational speed, wind speed, the torque expression and the pitch angle expression of the inverse system; and obtaining the required torque control quantity and pitch angle control quantity by using the torque nonlinear function and the pitch angle nonlinear function when the operating region of the wind turbine switches between the transition region and the high wind speed region, so as to ensure that the final output power of the wind turbine meets the preset conditions.

[0007] Optionally, in one embodiment of this application, obtaining the inverse system torque expression and the inverse system pitch angle expression of the wind turbine based on the actual wind speed and the inverse system static curve includes: obtaining the leading wind speed of the wind turbine; obtaining the optimal power curve of the wind turbine based on the aerodynamic characteristic data of the wind tunnel test of the wind turbine; and obtaining the inverse system static curve based on the steady-state relationship between wind speed and electromagnetic torque, rotational speed and pitch angle in the optimal power curve.

[0008] Optionally, in one embodiment of this application, before generating the torque nonlinear function and the pitch angle nonlinear function by combining the wind turbine's rotational speed, wind speed, the inverse system torque expression, and the inverse system pitch angle expression, the method further includes: controlling the rotational speed using a torque PI (Proportional Integral) controller, outputting a torque control quantity based on the rotational speed tracking error, and obtaining the torque PI control quantity; controlling the rotational speed using a pitch PI controller, outputting a pitch control quantity based on the rotational speed tracking error, and obtaining the pitch PI control quantity.

[0009] Optionally, in one embodiment of this application, the step of generating a torque nonlinear function and a pitch angle nonlinear function by combining the wind turbine's rotational speed, wind speed, the inverse system torque expression, and the inverse system pitch angle expression includes: calculating 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 using the rotational speed and wind speed; obtaining the allocation weights of the inverse system torque expression and the torque PI control quantity based on the torque-wind speed weight and the torque-speed weight; and obtaining the allocation weights of the inverse system pitch angle expression and the pitch PI control quantity based on the pitch angle-wind speed weight and the pitch angle-speed weight.

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

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

[0012] Where, ω t For torque distribution weights related to rotational speed and wind speed, T e.inv T is the electromagnetic torque value of the inverse system calculated based on radar wind speed. e.PI This is the output of the torque PI controller.

[0013] The expression for the nonlinear function of the pitch angle can be, but is not limited to, as follows:

[0014] β=ω β ·β inv +(1-ω β )·β PI ,

[0015] Where, ω β Assigning weights to the pitch angle related to rotational speed and wind speed, β inv β is the inverse system pitch angle value calculated based on radar wind speed. PI This is the output of the pitch PI controller.

[0016] A second aspect of this application provides a wind turbine decoupling control device, comprising: a first generation module, configured to obtain, based on actual wind speed and inverse system static curves, the inverse system torque expression and the inverse system pitch angle expression of the wind turbine; a second generation module, configured to generate a torque nonlinear function and a pitch angle nonlinear function by combining the wind turbine's rotational speed, wind speed, the inverse system torque expression, and the inverse system pitch angle expression; and a control module, configured to, when the wind turbine's operating region switches between a transition zone and a high wind speed zone, use the torque nonlinear function and the pitch angle nonlinear function to obtain the required torque control quantity and pitch angle control quantity, respectively, so that the final output power of the wind turbine meets preset conditions.

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

[0018] Optionally, in one embodiment of this application, it further includes: a first acquisition module, used to control the rotational speed using a torque PI controller and output a torque control quantity based on the rotational speed, wind speed, the inverse system torque expression, and the inverse system pitch angle expression before generating the torque nonlinear function and the pitch angle nonlinear function; and a second acquisition module, used to control the rotational speed using a pitch PI controller and output a pitch control quantity based on the rotational speed tracking error; and an second acquisition module, used to control the rotational speed using a pitch PI controller and output a pitch control quantity based on the rotational speed tracking error; and a second acquisition module, used to control the rotational speed using a pitch PI controller and output a pitch control quantity based on the pitch tracking error; and a second acquisition module, used to obtain the pitch PI control quantity.

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

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

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

[0022] Where, ω t For torque distribution weights related to rotational speed and wind speed, T e.inv T is the electromagnetic torque value of the inverse system calculated based on radar wind speed. e.PI This is the output of the torque PI controller.

[0023] The expression for the nonlinear function of the pitch angle can be, but is not limited to, as follows:

[0024] β=ω β ·β inv +(1-ω β )·β PI ,

[0025] Where, ω β Assigning weights to the pitch angle related to rotational speed and wind speed, β inv β is the inverse system pitch angle value calculated based on radar wind speed. PI This is the output of the pitch PI controller.

[0026] A third aspect of this application provides an electronic device, including: 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 embodiments.

[0027] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the wind turbine decoupling control method described above.

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

[0029] This application embodiment can derive the inverse system torque expression and inverse system pitch angle expression of the wind turbine based on the actual wind speed and the inverse system static curve, thereby generating a torque nonlinear function and a pitch angle nonlinear function. When the wind turbine's operating region switches between the transition zone and the high wind speed zone, the required torque control quantity and pitch angle control quantity are obtained using the torque nonlinear function and the pitch angle nonlinear function, respectively. By obtaining the inverse system static curves of the two control quantities in advance, torque control combines torque inverse system feedforward and torque PI control to increase output power. Pitch control introduces pitch inverse system feedforward, enabling the speed to respond to changes in wind speed in advance, effectively solving the problem of speed overspeed and eliminating speed instability and overspeed problems caused by uncertain disturbances at the operating point, effectively improving the power control performance in the transition zone. Thus, it solves the problem in related technologies where, when the wind turbine's operating region switches between the transition zone and the high wind speed zone, the coupling of two controllers, power generation loss, and speed overspeed can easily occur. Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. Attached Figure Description

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

[0031] Figure 1 This is a block diagram illustrating an aerodynamic characteristic curve provided according to an embodiment of this application;

[0032] Figure 2 This is a block diagram illustrating the static torque-speed curve of a wind turbine generator according to an embodiment of this application;

[0033] Figure 3 This is a block diagram illustrating the static operating curve of an inverse system according to an embodiment of this application;

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

[0035] Figure 5 This is a flowchart of a wind turbine decoupling control method provided according to an embodiment of this application;

[0036] Figure 6 The weight ω provided according to one embodiment of this application t A functional diagram illustrating the design method;

[0037] Figure 7 The weight ω provided according to one embodiment of this application β A functional diagram illustrating the design method;

[0038] Figure 8 This is a block diagram illustrating a design method for a torque control loop according to an embodiment of this application;

[0039] Figure 9 This is a block diagram illustrating a design method for a pitch control loop according to an embodiment of this application;

[0040] Figure 10 This is a block diagram of a wind turbine decoupling control device provided according to an embodiment of this application;

[0041] Figure 11 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

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

[0043] The following describes, with reference to the accompanying drawings, a wind turbine decoupling control method, apparatus, device, medium, and program product according to embodiments of this application. Addressing the issues mentioned in the background art, such as the easy occurrence of coupling between two controllers, power loss, and speed overspeed when the operating region of a wind turbine switches between the transition zone and the high wind speed zone, this application provides a wind turbine decoupling control method. In this method, the inverse system torque expression and inverse system pitch angle expression of the wind turbine can be obtained based on the actual wind speed and the inverse system static curve, thereby generating a torque nonlinear function and a pitch angle nonlinear function. When the operating region of the wind turbine switches between the transition zone and the high wind speed zone, the required torque control quantity and pitch angle control quantity are obtained using the torque nonlinear function and the pitch angle nonlinear function, respectively. By obtaining the inverse system static curves of the two control quantities in advance, torque control combines torque inverse system feedforward and torque PI control to increase output power. Pitch control introduces pitch inverse system feedforward, enabling the speed to respond to changes in wind speed in advance, effectively solving the speed overspeed problem, eliminating speed instability and overspeed problems caused by uncertain disturbances at the operating point, and effectively improving the power control performance in the transition zone. This solves the problem in related technologies where, when the operating area of ​​a wind turbine switches between the transition zone and the high wind speed zone, it is easy for two controllers to become coupled, resulting in power loss and excessive speed.

[0044] Before introducing the methods proposed in the embodiments of this application, the relevant concepts involved in the embodiments of this application will be introduced first.

[0045] (1) Wind turbine model

[0046] The embodiments of this application provide a simplified nonlinear model for wind turbine generators used in speed controller design. This model may include, but is not limited to, the degrees of freedom for rotor rotation and controllable inputs such as the blade pitch angle β and the generator electromagnetic torque T. e This application does not impose specific limitations on uncontrollable inputs, such as wind speed v. Furthermore, the embodiments of this application assume that the rotor speed is measurable.

[0047] (2) Pneumatic subsystem

[0048] Based on the leaf element momentum theory, the embodiments of this application can obtain nonlinear aerodynamics, which can be, but are not limited to, expressed as:

[0049]

[0050]

[0051]

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

[0053]

[0054] Among them, Ω r C is the rotor speed. t C q C p These are the aerodynamic thrust coefficient, aerodynamic torque coefficient, and aerodynamic power coefficient, respectively. Figure 1 It can be seen that the aerodynamic characteristic data of each wind turbine can be obtained through steady-state simulation and wind tunnel testing, and the aerodynamic thrust coefficient C t Aerodynamic torque coefficient C q Let be a nonlinear function of λ and β. Where, 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 this embodiment of the 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, and T a For aerodynamic torque, T e Let n be the electromagnetic torque of the generator, and n be the gear ratio of the gearbox.

[0059] Specifically, Figure 5 This is a flowchart of a wind turbine decoupling control method provided according to an embodiment of this application.

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

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

[0062] In some embodiments, the inverse system torque expression in a wind turbine can be obtained based on the actual wind speed and the inverse system static curve.

[0063] For example, in order to maximize power generation, the embodiments of this application can obtain the leading wind speed through lidar. Based on the steady-state relationship between the pitch angle and electromagnetic torque and the wind speed, the steady-state values ​​of the inverse system torque and pitch angle under the optimal power curve can be obtained. During wind turbine operation, the system model parameters themselves have a certain degree of uncertainty, leading to perturbation of the model parameters. Furthermore, the steady-state value of the inverse system is an open-loop control quantity, making it difficult to overcome external disturbances, and the dynamic performance of the rotational speed is easily affected. Since the dual PI controller can respond quickly to changes in rotational speed, when the rotational speed tracking performance deteriorates, the PI controller takes the lead in rapidly adjusting the rotational speed dynamics. If the rotational speed tracking error is within an acceptable range, the steady-state value of the inverse system takes the lead in maximizing the output power. At this time, the expression for the inverse system torque can be, but is not limited to, as follows:

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

[0065] Among them, T e.inv T is the electromagnetic torque value of the inverse system calculated based on radar wind speed. e.PI This represents the output of the PI controller.

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

[0067]

[0068] The weight distribution between the two can be determined by ω t It means that ω t It exhibits a non-linear relationship with rotational speed and wind speed.

[0069] Therefore, in considering the dynamics of rotational speed, this embodiment of the application designs a weight ω1 related to rotational speed, which can be, but is not limited to, expressed as:

[0070]

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

[0072] Furthermore, such as Figure 6 As shown, where, Figure 6 (a) ω1 as a function of ΔΩ according to an embodiment of this application r A schematic diagram of the changing box; Figure 6 (b) is a block diagram showing the variation of ω2 with Δv according to an embodiment of this application.

[0073] In this embodiment, since the electromagnetic torque is generally kept constant in high wind speed areas, with only the pitch controller operating, the switching between control strategies in the transition zone and high wind speed areas needs to be considered. When the wind speed is high, to ensure the system switches to pitch control in the high wind speed area, a wind speed-related weight ω2 is designed. When the difference between the actual wind speed and the rated wind speed increases, the electromagnetic torque control amount is reduced to the rated value, which is equivalent to setting T. e.inv With a weight of 1, its expression can be, but is not limited to, as follows:

[0074]

[0075] Where, Δv=vv N Additionally, a max function is added to simultaneously implement the control logic for the transition zone and the high wind speed zone, ω. t The expression can be, but is not limited to:

[0076] ω t =max(ω1, ω2), (10)

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

[0078] For example, similar to torque control, the pitch angle in this application also considers the design of weights related to speed and wind speed in the transition region, realizing a trade-off between the steady-state control quantity of the inverse system and the output of the pitch PI controller. Its overall control logic is similar to torque, and the expression for the pitch angle of the inverse system can be, but is not limited to, as follows:

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

[0080] Where, β inv β is the inverse system pitch angle value calculated based on radar wind speed. PI The output of the PI controller can be expressed as, but is not limited to, the following:

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

[0082] Furthermore, such as Figure 7 As shown, where, Figure 7(a) ω1 as a function of ΔΩ according to an embodiment of this application r A schematic diagram of the changing box; Figure 7 (a) is a block diagram showing the variation of ω3 with Δv according to an embodiment of this application.

[0083] Similarly, based on the transition zone and high wind speed zone, this application embodiment ensures that the system switches to pitch PI control when the wind speed is high. Therefore, a wind speed-related weight ω3 is designed, that is, when operating in the high wind speed zone, the pitch controller activates and sets β. PI With a weight of 1, its expression can be, but is not limited to, as follows:

[0084]

[0085] Additionally, a min function is added to simultaneously implement the control logic for the transition zone and the high wind speed zone, ω. β The expression can be, but is not limited to:

[0086] ω β =min(ω1, ω3), (14)

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

[0088] As can be seen from the above analysis, the embodiments of this application can use lidar to obtain the leading wind speed of the wind turbine, and obtain the optimal power curve of the wind turbine based on the aerodynamic characteristic data of the wind tunnel test of the wind turbine, and then obtain the static curve of the inverse system.

[0089] Optionally, in one embodiment of this application, before generating the torque nonlinear function and the pitch angle nonlinear function by combining the wind turbine's rotational speed, wind speed, inverse system torque expression, and inverse system pitch angle expression, the method includes: controlling the rotational speed using a torque PI controller, outputting a torque control quantity based on the rotational speed tracking error, and obtaining the torque PI control quantity; obtaining the pitch PI controller controlling the rotational speed, outputting a pitch control quantity based on the rotational speed tracking error, and obtaining the pitch PI control quantity.

[0090] It is understood that in the embodiments of this application, when the wind speed is in the transition zone, ω2 approaches 0, at which point ω t≈ω1, based on the speed tracking error, the torque control quantity is output to obtain the torque PI control quantity, thereby achieving a trade-off between the torque control quantity and the torque PI control output of the inverse system; when the wind speed is significantly higher than the rated wind speed, ω2 approaches 1, at which point ω t ≈1, at which point the electromagnetic torque remains at its rated value. Specifically, Figure 8 This application provides a design method for a torque control loop.

[0091] In some embodiments, the present application embodiments can control the rotational speed based on the obtained pitch PI controller, and output the pitch control quantity based on the rotational speed tracking error, thereby obtaining the pitch PI control quantity.

[0092] It is understood that in the embodiments of this application, when the wind speed is in the transition zone, ω3 approaches 1, at which point ω β ≈ω1, meaning that the pitch control quantity is output based on the speed error and speed tracking error to obtain the pitch PI control quantity, thereby achieving a trade-off between the pitch control quantity and the pitch PI control output of the inverse system; when the wind speed is significantly higher than the rated wind speed, ω3 approaches 0, at which point ω β ≈0, meaning the output remains the inverse system control quantity, and the electromagnetic torque remains at its rated value. Specifically, Figure 9 This application provides a design method for a pitch control loop.

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

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

[0095] Where, ω t For torque distribution weights related to rotational speed and wind speed, T e.inv T is the electromagnetic torque value of the inverse system calculated based on radar wind speed. e.PI This is the output of the torque PI controller;

[0096] The expression for the nonlinear function of the pitch angle can be, but is not limited to, as follows:

[0097] β=ω β ·β inv +(1-ω β )·β PI ,

[0098] Where, ω βAssigning weights to the pitch angle related to rotational speed and wind speed, β inv β is the inverse system pitch angle value calculated based on radar wind speed. PI This is the output of the pitch PI controller.

[0099] Those skilled in the art will understand that the weight ω1 related to rotational speed in the embodiments of this application only needs to consider two parameters during design: slope s1 and center point c1. To select appropriate nonlinear function parameters and simultaneously achieve the power control objective, the average power and tower fatigue load under different s1 and c1 are calculated, and then appropriate parameters are selected. Since ω1 is only dynamically related to rotational speed, to simplify the analysis, the control module related to wind speed is turned off, and only the control module related to rotational speed is retained. The wind speed range of the experimental wind conditions is selected as the transition zone wind speed, thus obtaining the torque nonlinear function and the pitch angle nonlinear function. Their expressions can be, but are not limited to, as follows:

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

[0101] β=ω1·β inv +(1-ω1)·β PI (16)

[0102] In this embodiment of the application, when calculating the slope and center point changes, the average power and tower load during the simulation working period are plotted to generate a heat map, and appropriate nonlinear function parameters are selected based on the heat map.

[0103] Optionally, in one embodiment of this application, the torque nonlinear function and the pitch angle nonlinear function are generated by combining the wind turbine's rotational speed, wind speed, inverse system torque expression, and inverse system pitch angle expression. This includes: calculating 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 using the rotational speed and wind speed; obtaining the allocation weights of the inverse system torque expression and torque PI control quantity based on the torque-wind speed weight and torque-speed weight; and obtaining the allocation weights of the inverse system pitch angle expression and pitch PI control quantity based on the pitch angle-wind speed weight and pitch angle-speed weight.

[0104] In some embodiments, the present application can use rotational speed and wind speed to calculate torque-wind speed weights and torque-rotational speed weights, thereby obtaining a torque nonlinear function.

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

[0106] In step S503, when the operating area of ​​the wind turbine switches between the transition zone and the high wind speed zone, the required torque control amount and pitch angle control amount are obtained by using the torque nonlinear function and the pitch angle nonlinear function, respectively, so that the final output power of the wind turbine meets the preset conditions.

[0107] As one possible implementation method, in the embodiments of this application, when the operating area of ​​the wind turbine switches between the transition zone and the high wind speed zone, the required torque control quantity and pitch angle control quantity can be obtained by using the torque nonlinear function and the pitch angle nonlinear function, respectively, so that the final output power of the wind turbine meets certain conditions. These certain conditions can be set by those skilled in the art according to actual conditions, and this application does not impose specific limitations.

[0108] In this embodiment, when the wind turbine's operating area switches between the transition zone and the high wind speed zone, there are problems such as large power fluctuations and speed overspeed caused by controller coupling and saturation switching. Therefore, to ensure the safe and economical operation of the wind turbine, it is necessary to control the wind turbine to smoothly transition to the rated power curve when it is operating near the rated wind speed. Therefore, this embodiment comprehensively considers the advantages of rapid dynamic speed response and near-ideal optimal power of the inverse system steady-state value under dual PI control near the rated wind speed, and optimizes and improves torque control and pitch angle control respectively. The inverse system steady-state optimal values ​​of the two control quantities are obtained in advance by radar wind measurement. In torque control, torque inverse system feedforward and basic torque control are combined to increase output power. Pitch angle control introduces pitch inverse system feedforward, so that the speed responds to changes in wind speed in advance, effectively solving the problem of speed overspeed. To eliminate the speed instability problem caused by uncertain disturbances at the operating point, PI control and inverse system control are combined, and weights are designed and allocated according to speed error and wind speed to obtain the final weighted control quantity.

[0109] According to the wind turbine decoupling control method proposed in this application, the inverse system torque expression and inverse system pitch angle expression of the wind turbine can be obtained based on the actual wind speed and the inverse system static curve. This generates torque nonlinear functions and pitch angle nonlinear functions. When the wind turbine's operating region switches between the transition zone and the high wind speed zone, the required torque control quantity and pitch angle control quantity are obtained using the torque nonlinear function and the pitch angle nonlinear function, respectively. By obtaining the inverse system static curves of the two control quantities in advance, torque control combines torque inverse system feedforward and torque PI control to increase output power. Pitch control introduces pitch inverse system feedforward, enabling the speed to respond to wind speed changes in advance, effectively solving the problem of speed overspeed and eliminating speed instability caused by uncertain disturbances at the operating point. This effectively improves the power control performance in the transition zone. Therefore, this solves the problems of coupling between two controllers, power loss, and speed overspeed that easily occur when the wind turbine's operating region switches between the transition zone and the high wind speed zone in related technologies.

[0110] Next, the wind turbine decoupling control device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0111] Figure 10 This is a block diagram of a wind turbine decoupling control device provided according to an embodiment of this application.

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

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

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

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

[0116] Optionally, in one embodiment of this application, the first generation module 100 includes: a first acquisition unit, a first calculation unit, and a first generation unit.

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

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

[0119] The first generation unit is used to obtain the static curve of the inverse system based on the steady-state relationship between wind speed and electromagnetic torque, rotational speed and pitch angle in the optimal power curve.

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

[0121] The first acquisition module is used to control the rotational speed using a torque PI controller before generating the torque nonlinear function and the pitch angle nonlinear function by combining the rotational speed, wind speed, inverse system torque expression, and inverse system pitch angle expression of the wind turbine, and to output the torque control quantity based on the rotational speed tracking error, thereby acquiring the torque PI control quantity.

[0122] The second acquisition module is used to control the rotational speed using the pitch PI controller, output the pitch control quantity based on the speed tracking error, and acquire the pitch PI control quantity.

[0123] Optionally, in one embodiment of this 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 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 using rotational speed and wind speed.

[0125] The second generation unit is used to obtain the inverse system torque expression and the allocation weight of the torque PI control quantity based on the torque wind speed weight and the torque speed weight.

[0126] The third generation unit is used to obtain the pitch angle expression of the inverse system and the allocation weight of the pitch angle PI control quantity based on the pitch angle wind speed weight and the pitch angle rotation speed weight.

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

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

[0129] Where, ωt For torque distribution weights related to rotational speed and wind speed, T e.inv T is the electromagnetic torque value of the inverse system calculated based on radar wind speed. e.PI This is the output of the torque PI controller.

[0130] The expression for the nonlinear function of the pitch angle can be, but is not limited to, as follows:

[0131] β=ω β ·β inv +(1-ω β )·β PI ,

[0132] Where, ω β Assigning weights to the pitch angle related to rotational speed and wind speed, β inv β is the inverse system pitch angle value calculated based on radar wind speed. PI This is the output of the pitch PI controller.

[0133] It should be noted that the foregoing explanation of the wind turbine decoupling control method embodiment also applies to the wind turbine decoupling control device of this embodiment, and will not be repeated here.

[0134] According to the wind turbine decoupling control device proposed in this application, the inverse system torque expression and inverse system pitch angle expression of the wind turbine can be obtained based on the actual wind speed and the inverse system static curve. This generates a torque nonlinear function and a pitch angle nonlinear function. When the wind turbine's operating region switches between the transition zone and the high wind speed zone, the required torque control quantity and pitch angle control quantity are obtained using the torque nonlinear function and the pitch angle nonlinear function, respectively. By obtaining the inverse system static curves of the two control quantities in advance, torque control combines torque inverse system feedforward and torque PI control to increase output power. Pitch control introduces pitch inverse system feedforward, enabling the speed to respond to wind speed changes in advance, effectively solving the problem of speed overspeed and eliminating speed instability and overspeed caused by uncertain disturbances at the operating point. This effectively improves the power control performance in the transition zone. Therefore, it solves the problems of coupling between two controllers, power loss, and speed overspeed that easily occur when the wind turbine's operating region switches between the transition zone and the high wind speed zone in related technologies.

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

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

[0137] When the processor 1102 executes the program, it implements the wind turbine decoupling control method provided in the above embodiments.

[0138] Furthermore, electronic devices also include:

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

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

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

[0142] If the memory 1101, processor 1102, and communication interface 1103 are implemented independently, then the communication interface 1103, memory 1101, and processor 1102 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

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

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

[0145] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the wind turbine decoupling control method described above.

[0146] This application also provides a computer program product, including a computer program that, when executed, implements the wind turbine decoupling control method described above.

[0147] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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

[0149] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0150] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0151] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0152] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0153] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0154] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A decoupling control method for wind turbine generators, characterized in that, Includes the following steps: Based on the actual wind speed and the static curve of the inverse system, the expressions for the inverse system torque and the inverse system pitch angle in the wind turbine are obtained respectively. By combining the wind turbine's rotational speed, wind speed, the inverse system torque expression, and the inverse system pitch angle expression, a torque nonlinear function and a pitch angle nonlinear function are generated. When the operating area of ​​the wind turbine switches between the transition zone and the high wind speed zone, the required torque control amount and the pitch angle control amount are obtained by using the torque nonlinear function and the pitch angle nonlinear function respectively, so that the final output power of the wind turbine meets the preset conditions. The step of generating the torque nonlinear function and the pitch angle nonlinear function by combining the wind turbine's rotational speed, wind speed, the inverse system torque expression, and the inverse system pitch angle expression includes: 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 are calculated using the rotational speed and the wind speed. Based on the torque-wind speed weight and the torque-speed weight, the torque expression of the inverse system and the allocation weight of the torque PI control quantity are obtained. Based on the pitch angle wind speed weight and the pitch angle rotation speed weight, the pitch angle expression of the inverse system and the allocation weight of the pitch PI control quantity are obtained. The expression for the torque nonlinear function is as follows: ， in, Torque allocation weights related to rotational speed and wind speed, The electromagnetic torque value of the inverse system is calculated based on radar wind speed. This is the output of the torque PI controller; The expression for the nonlinear function of the pitch angle is: ， in, Assign weights to the pitch angle related to rotational speed and wind speed. The inverse system pitch angle value is calculated based on radar wind speed. This is the output of the pitch PI controller.

2. The method according to claim 1, characterized in that, Based on the actual wind speed and the static curve of the inverse system, the expressions for the inverse system torque and the inverse system pitch angle in the wind turbine are obtained, respectively, including: Obtain the leading wind speed of the wind turbine; The optimal power curve of the wind turbine is obtained based on the aerodynamic characteristic data from the wind tunnel test. The static curve of the inverse system is obtained based on the steady-state relationship between wind speed and electromagnetic torque, rotational 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 wind turbine's rotational speed, wind speed, the inverse system torque expression, and the inverse system pitch angle expression, the process further includes: The speed is controlled by a torque proportional-integral (PI) controller, and the torque control quantity is output based on the speed tracking error to obtain the torque PI control quantity. The pitch PI controller is used to control the speed, and the pitch control quantity is output according to the speed tracking error to obtain the pitch PI control quantity.

4. A decoupling control device for a wind turbine generator set, characterized in that, The wind turbine decoupling control method according to any one of claims 1-3 is adopted, wherein the device comprises: The first generation module is used to obtain the reverse system torque expression and the reverse system pitch angle expression of the wind turbine based on the actual wind speed and the static curve of the reverse system, respectively. The second generation module is used to generate a torque nonlinear function and a pitch angle nonlinear function by combining the wind turbine's rotational speed, wind speed, the inverse system torque expression, and the inverse system pitch angle expression. The control module is used to obtain the required torque control amount and pitch angle control amount by using the torque nonlinear function and the pitch angle nonlinear function respectively when the operating area of ​​the wind turbine switches between the transition zone and the high wind speed zone, so that the final output power of the wind turbine meets the preset conditions.

5. The apparatus according to claim 4, characterized in that, The first generation module includes: The acquisition unit is used to acquire the leading wind speed of the wind turbine before obtaining the torque expression of the reverse system and the pitch angle expression of the reverse system based on the actual wind speed and the static curve of the reverse system, respectively. The calculation unit is used to obtain the optimal power curve of the wind turbine based on the aerodynamic characteristic data of the wind tunnel test. The generation unit is used to obtain the static curve of the inverse system based on the steady-state relationship between wind speed and electromagnetic torque, rotational speed and pitch angle in the optimal power curve.

6. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the processor executing the program to implement the wind turbine decoupling control method as described in any one of claims 1-3.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the wind turbine decoupling control method as described in any one of claims 1-3.

8. A computer program product, characterized in that, Includes a computer program, which, when executed, is used to implement the wind turbine decoupling control method as described in any one of claims 1-3.

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