Three-order integral type wind generating set position and rotating speed estimation method and system

Abstract

The invention relates to the technical field of wind generating set control, and discloses a three-order integral type wind generating set position and rotating speed estimation method and system. Three-phase power data is converted into rotating two-phase counter electromotive force under rotating coordinates through two times of coordinate conversion and a preset counter electromotive force observer; secondly, calculating error data of the wind generating set, and combining the error data with set operation data to serve as input of a preset third-order integral type position and rotating speed estimator to obtain more accurate target rotating speed data and target position data; the technical problem of how to accurately estimate the position and the rotating speed of the wind generating set is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind generator set control, and in particular to a third-order integral type wind generator set position and rotation speed estimation method and system. Background Art

[0002] With the widespread application of wind power generation technology, the special working conditions of wind turbines have brought new challenges to their position and speed detection technology. In particular, during the operation of wind turbines, there are large-scale and continuous frequency changes, and high-order harmonic components appear in the back electromotive force of wind turbines under special working conditions. These characteristics make the existing technical means significantly insufficient in the accurate measurement of wind turbine position and speed. Therefore, there is an urgent need for a solution that can accurately obtain the position and speed information of wind turbines. Summary of the invention

[0003] The present invention provides a third-order integral type wind generator position and rotation speed estimation method and system, which solves the technical problem of how to accurately estimate the wind generator position and rotation speed.

[0004] A first aspect of the present invention provides a third-order integral type wind turbine generator position and speed estimation method, comprising:

[0005] In response to a request for estimating the position and speed of a target unit, obtaining three-phase power data and unit operation data of the target unit;

[0006] Performing coordinate transformation on the three-phase power data to obtain two-phase power data under a stationary two-phase coordinate system axis;

[0007] The two-phase power data and the unit operation data are input into a preset back electromotive force observer for solving, so as to obtain the stationary two-phase back electromotive force under the stationary two-phase coordinate system axis;

[0008] Perform coordinate transformation on the two stationary back electromotive forces to obtain the rotating two-phase back electromotive forces under the rotating two-phase coordinate system axis;

[0009] The target position data and target speed data of the target unit are determined by using the rotating two-phase back electromotive force and the unit operation data.

[0010] Optionally, the step of using the rotating two-phase back electromotive force and the unit operation data to determine the target position data and the target speed data of the target unit includes:

[0011] Using the rotating two-phase back electromotive force, determine the target error data;

[0012] The target error data and the unit operation data are used to determine the target position data and the target speed data of the target unit.

[0013] Optionally, the rotating two-phase back electromotive force includes a first rotating two-phase back electromotive force and a second rotating two-phase back electromotive force, and the step of using the rotating two-phase back electromotive force to determine the target error data includes:

[0014] Performing a sum operation using the square value of the first rotating two-phase back electromotive force and the square value of the second rotating two-phase back electromotive force to obtain a first sum value;

[0015] Performing a square root operation using the first sum value to obtain a first square root value;

[0016] The target error data is obtained by performing a ratio operation on the second rotating two-phase back electromotive force and the first square root value.

[0017] Optionally, the unit operation data includes a first observer parameter, a second observer parameter and a third observer parameter, and the step of using the target error data and the unit operation data to determine the target position data and the target speed data of the target unit includes:

[0018] Performing a first integral operation on the target error data to obtain a first integral value;

[0019] Determine target speed data using the first integral value, the target error data, the second observer parameter, and the third observer parameter;

[0020] Target position data is determined using the first integral value, the target rotation speed data, and the first observer parameter.

[0021] Optionally, the step of determining target speed data by using the first integral value, the target error data, the second observer parameter and the third observer parameter comprises:

[0022] Performing a double integral operation on the target error data to obtain a second integral value;

[0023] Performing a multiplication operation on the first integral value and the second observer parameter to obtain a first product value;

[0024] Performing a multiplication operation on the second integral value and the third observer parameter to obtain a second product value;

[0025] The first multiplication value and the second multiplication value are used to perform a sum operation to obtain target speed data.

[0026] Optionally, the step of determining target position data by using the first integral value, the target speed data and the first observer parameter comprises:

[0027] Performing a first integration operation on the target speed data to obtain a third integral value;

[0028] Performing a multiplication operation on the first integral value and the first observer parameter to obtain a third product value;

[0029] The third integral value and the third product value are used to perform a sum operation to obtain target position data.

[0030] Optionally, the Clarke transformation method is used to perform coordinate transformation on the three-phase power data.

[0031] Optionally, the Park transformation method is used to perform coordinate transformation on the two stationary back electromotive forces.

[0032] Optionally, the unit operation data input into the preset back electromotive force observer includes stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current and two-phase estimated back electromotive force.

[0033] A third-order integral type wind turbine generator position and speed estimation system is provided in a second aspect of the present invention, comprising:

[0034] A response module, used to respond to a request for estimating the position and speed of a target unit, and obtain three-phase power data and unit operation data of the target unit;

[0035] A first coordinate transformation module, used for performing coordinate transformation on the three-phase power data to obtain two-phase power data under a stationary two-phase coordinate system axis;

[0036] An observer solution module, used for using the two-phase power data and the unit operation data to input a preset back electromotive force observer for solution, and obtaining the stationary two-phase back electromotive force under the stationary two-phase coordinate system axis;

[0037] A second coordinate transformation module is used to perform coordinate transformation on the stationary two-phase back electromotive force to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis;

[0038] The data output module is used to determine the target position data and the target speed data of the target unit by using the rotating two-phase back electromotive force and the unit operation data.

[0039] It can be seen from the above technical solutions that the present invention has the following advantages:

[0040] In the present invention, in response to a request for estimating the position and speed of a target unit, the three-phase power data and the unit operation data of the target unit are obtained, the three-phase power data is subjected to coordinate transformation to obtain the two-phase power data under the axis of a stationary two-phase coordinate system, the two-phase power data and the unit operation data are input into a preset back-electromotive force observer for solution to obtain the stationary two-phase back-electromotive force under the axis of a stationary two-phase coordinate system, the stationary two-phase back-electromotive force is subjected to coordinate transformation to obtain the rotating two-phase back-electromotive force under the axis of a rotating two-phase coordinate system, the rotating two-phase back-electromotive force and the unit operation data are used to determine the target position data and target speed data of the target unit; through two coordinate transformations and a preset back-electromotive force observer, the three-phase power data is converted into the rotating two-phase back-electromotive force under the rotating coordinates, and then the error data of the wind turbine is calculated, and the error data is combined with the unit operation data as the input of a preset third-order integral position and speed estimator to obtain more accurate target speed data and target position data; the technical problem of how to accurately estimate the position and speed of a wind turbine is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1 A flowchart of the steps of a third-order integral type wind turbine generator position and speed estimation method provided in the first embodiment of the present invention;

[0043] Figure 2 A flowchart of the steps of a third-order integral type wind turbine generator position and speed estimation method provided in the second embodiment of the present invention;

[0044] Figure 3 A complete closed-loop control block diagram of the position and speed estimation method according to an embodiment of the present invention;

[0045] Figure 4 This is a structural block diagram of a third-order integral wind turbine generator position and speed estimation system provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0046] The embodiment of the present invention provides a third-order integral type wind turbine generator position and rotation speed estimation method and system, which are used to solve the technical problem of how to accurately estimate the position and rotation speed of a wind turbine generator set.

[0047] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] First, the frequency of wind turbines continuously changes during operation, which is beyond the scope of application of traditional measurement technology. Specifically, although traditional measurement methods can track frequency changes to a certain extent, their inherent system characteristics limit their ability to accurately track frequency ramp signals, resulting in the inability to achieve accurate measurement without steady-state errors when the frequency of wind turbines continuously changes.

[0049] Secondly, the high-order harmonic components in the back electromotive force of wind turbines have a great interference with the traditional measurement method for measuring wind turbine speed, seriously affecting the accuracy of frequency estimation. When high-order harmonics and continuous frequency changes exist at the same time, the measurement effect of traditional technology is further deteriorated.

[0050] Problems with existing technologies: On the one hand, traditional measurement technologies cannot track frequency ramp signals without steady-state errors; on the other hand, traditional measurement technologies have weak resistance to interference from high-order harmonics.

[0051] In view of the problems existing in the prior art, the present invention aims to provide a method for estimating the position and speed of a wind turbine generator set based on a third-order integral phase-locked loop, which can, on the one hand, maintain good steady-state accuracy when the speed of the wind turbine generator set continues to change; on the other hand, has good resistance to high-frequency harmonics.

[0052] It should be noted that the signal with continuously changing speed belongs to frequency ramp signal, and the third-order phase-locked loop can estimate the position and speed of the fan without steady-state error in this case. The special third-order integral type in this method has better resistance to high-frequency harmonics.

[0053] See also Figure 1 , Figure 1 A flowchart of the steps of a third-order integral type wind turbine generator position and rotation speed estimation method provided in Embodiment 1 of the present invention.

[0054] The present invention provides a third-order integral type wind turbine generator position and speed estimation method, comprising:

[0055] Step 101: In response to a request for estimating the position and speed of a target unit, three-phase power data and unit operation data of the target unit are acquired.

[0056] The position and speed estimation request refers to a request instruction for estimating the position and speed of a wind turbine in a target wind turbine generator set, wherein the position of the wind turbine refers to the angular position of the wind turbine rotor, and the speed of the wind turbine refers to the angular velocity of the wind turbine.

[0057] Three-phase power data refers to the three-phase current and three-phase voltage of the wind turbine.

[0058] The unit operation data refers to a set of parameters involved in the operation of a wind turbine generator set, which reflects various information such as the unit's operating status, performance, and environmental impact, including but not limited to stator resistance, stator inductance, observer parameter matrix, speed feedback data (that is, the target speed data estimated in the previous cycle, with an initial value of 0) and observer parameters.

[0059] In an embodiment of the present invention, in response to receiving a request instruction for estimating the position and rotation speed of a wind turbine in a target wind turbine generator set, three-phase power data and unit operation data of the target unit are acquired.

[0060] Step 102: perform coordinate transformation on the three-phase power data to obtain two-phase power data under the stationary two-phase coordinate system axis.

[0061] Two-phase power data refers to the two-phase power data under the αβ axes of the two-phase coordinate system obtained after the coordinate transformation of the three-phase power data, wherein the two-phase power data includes α-axis power data and β-axis power data, the α-axis power data includes α-axis current data and α-axis voltage data, and the β-axis power data includes β-axis current data and β-axis voltage data.

[0062] In the embodiment of the present invention, the first coordinate transformation is performed on the three-phase power data to transform the three-phase power data into two-phase power data under the αβ axes of a stationary two-phase coordinate system.

[0063] Step 103: Use the two-phase power data and the unit operation data to input the preset back electromotive force observer to solve and obtain the stationary two-phase back electromotive force under the stationary two-phase coordinate system axis.

[0064] The preset back-EMF observer refers to a back-EMF observer pre-built based on the sliding mode control theory, namely, the Romberg observer, which is used to estimate the back-EMF of the wind turbine. Since the back-EMF cannot be measured directly, it needs to be estimated through an observer.

[0065] In the embodiment of the present invention, two-phase power data and unit operation data are input into a preset back electromotive force observer for solving, so as to obtain the stationary two-phase back electromotive force under the stationary two-phase coordinate system axis.

[0066] Step 104 , coordinate transformation is performed on the stationary two-phase back electromotive force to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis.

[0067] In the embodiment of the present invention, a second coordinate transformation is performed on the stationary two-phase back electromotive force, thereby obtaining the rotating two-phase back electromotive force under the dq axis of the rotating two-phase coordinate system.

[0068] It should be noted that the second coordinate transformation here refers to a total of two coordinate transformations performed in the present invention. The first coordinate transformation is to convert the three-phase power data into two-phase power data under the αβ axes of the stationary two-phase coordinate system, and the second coordinate transformation is to convert the stationary two-phase back electromotive force into a rotating two-phase back electromotive force under the dq axes of the rotating two-phase coordinate system.

[0069] Step 105: Use the rotating two-phase back electromotive force and the unit operation data to determine the target position data and target speed data of the target unit.

[0070] In the embodiment of the present invention, the rotating back electromotive force and the unit operation data are input into a preset third-order integral position and speed estimator for calculation, thereby obtaining the target position data and target speed data of the target unit.

[0071] In the present invention, in response to a request for estimating the position and speed of a target unit, the three-phase power data and the unit operation data of the target unit are obtained, the three-phase power data is subjected to coordinate transformation to obtain the two-phase power data under the axis of a stationary two-phase coordinate system, the two-phase power data and the unit operation data are input into a preset back-electromotive force observer for solution to obtain the stationary two-phase back-electromotive force under the axis of a stationary two-phase coordinate system, the stationary two-phase back-electromotive force is subjected to coordinate transformation to obtain the rotating two-phase back-electromotive force under the axis of a rotating two-phase coordinate system, the rotating two-phase back-electromotive force and the unit operation data are used to determine the target position data and target speed data of the target unit; through two coordinate transformations and a preset back-electromotive force observer, the three-phase power data is converted into the rotating two-phase back-electromotive force under the rotating coordinates, and then the error data of the wind turbine is calculated, and the error data is combined with the unit operation data as the input of a preset third-order integral position and speed estimator to obtain more accurate target speed data and target position data; the technical problem of how to accurately estimate the position and speed of a wind turbine is solved.

[0072] See also Figure 2-3 , Figure 2 A flowchart of the steps of a third-order integral type wind turbine generator position and rotation speed estimation method provided in the second embodiment of the present invention.

[0073] Figure 3 4 is a complete closed-loop control block diagram of the position and speed estimation method according to an embodiment of the present invention.

[0074] The present invention provides a third-order integral type wind turbine generator position and speed estimation method, comprising:

[0075] Step 201: In response to a request for estimating the position and speed of a target unit, three-phase power data and unit operation data of the target unit are acquired.

[0076] In the embodiment of the present invention, the specific implementation process of step 201 is similar to step 101 and will not be repeated here.

[0077] Furthermore, three-phase power data of the stator of the wind turbine generator set is collected by a three-phase current sensor and a three-phase voltage sensor. The collected three-phase power data is processed by a second-order filter, an amplifier and an analog-to-digital converter, and then the processed three-phase power data is used to estimate the rotor position and speed of the wind turbine generator set.

[0078] Step 202: perform coordinate transformation on the three-phase power data to obtain two-phase power data under the stationary two-phase coordinate system axis.

[0079] Furthermore, the Clarke transformation method is used to perform coordinate transformation on the three-phase power data.

[0080] In the embodiment of the present invention, the collected three-phase power data of the wind turbine generator set includes three-phase current and three-phase voltage, which are respectively expressed as , , and , , ,in, is the Clarke coordinate transformation matrix, as follows:

[0081]

[0082] With the constraint that the vector amplitude remains unchanged before and after the transformation, the Clarke transformation is used to obtain:

[0083]

[0084] In the formula, represents the α-axis current data, represents the β-axis current data, represents the α-axis voltage data, represents the β-axis voltage data, represents the a-phase current, represents the b-phase current, represents the c-phase current, represents the voltage of phase a, represents the b-phase voltage, represents the c-phase voltage, represents the Clarke coordinate transformation matrix.

[0085] It is worth mentioning that the coordinate transformation can also be performed by direct calculation method and vector synthesis method to obtain the two-phase power data under the αβ axis of the stationary two-phase coordinate system.

[0086] Step 203: Use the two-phase power data and the unit operation data to input the preset back electromotive force observer to solve and obtain the stationary two-phase back electromotive force under the stationary two-phase coordinate system axis.

[0087] Furthermore, the unit operation data input into the preset back electromotive force observer includes stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current and two-phase estimated back electromotive force.

[0088] It should be noted that the speed feedback data, two-phase estimated current and two-phase estimated back electromotive force are respectively the target speed data, two-phase power data and static two-phase back electromotive force estimated in the previous cycle.

[0089] In the embodiment of the present invention, according to the two-phase power data under the αβ axis of the stationary two-phase coordinate system obtained in step 202, the stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current and two-phase estimated back electromotive force are input into the preset back electromotive force observer for solving, and the expression of the preset back electromotive force observer is as follows:

[0090]

[0091] In the formula, It represents the estimated back electromotive force of the two phases at rest on the α axis, It represents the two opposing electromotive forces when the α axis is stationary. It represents the estimated back electromotive force of the two phases at rest on the β axis, It represents the two opposing electromotive forces when the β axis is stationary. represents the estimated current of the two phases at rest on the α axis, represents the estimated two-phase static current of the β-axis, represents the observer parameter matrix, represents the stator inductance, Represents the speed feedback data, specifically the target speed data estimated in the previous cycle, is the stator resistance, represents the differential value of the static two-phase estimated current of the α-axis, It represents the differential value of the static two-phase estimated current of the β axis, It represents the differential value of the estimated back electromotive force of the two phases at rest on the α axis. It represents the differential value of the estimated back electromotive force of the two phases at rest on the β-axis.

[0092] It should be noted that by substituting the wind turbine generator set's current value, voltage value, resistance value, inductance value, and the wind turbine generator set's speed estimation value, current estimation value, and back electromotive force estimation value at the previous moment into the Romberg observer, the differential of the wind turbine generator set's current estimation value and the differential of the back electromotive force estimation value can be obtained. By integrating the differential of the wind turbine generator set's current estimation value and the differential of the back electromotive force estimation value, the current and back electromotive force of the wind turbine generator set at the current moment can be obtained.

[0093] Step 204: Perform coordinate transformation on the stationary two-phase back electromotive force to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis.

[0094] Furthermore, the unit operation data also includes position feedback data (that is, the target position data estimated in the previous cycle, with an initial value of 0), and the Park transformation method is used to perform coordinate transformation on the two stationary back electromotive forces.

[0095] In the embodiment of the present invention, based on the position feedback data, the Park transformation method is used to transform the coordinates of the two stationary back electromotive forces, wherein the Park transformation matrix is ​​specifically:

[0096]

[0097] In the formula, Represents the first rotating two-phase counter electromotive force, Represents the second rotating two-phase counter electromotive force, Represents the cosine value of the position feedback data, Indicates the sine value of the position feedback data.

[0098] It should be noted that the first rotating two-phase back electromotive force refers to the d-axis rotating two-phase back electromotive force, and the second rotating two-phase back electromotive force refers to the q-axis rotating two-phase back electromotive force.

[0099] Step 205: Use the rotating two-phase back electromotive force to determine the target error data.

[0100] Further, the rotating two-phase back electromotive force includes a first rotating two-phase back electromotive force and a second rotating two-phase back electromotive force, and step 205 may include the following sub-steps:

[0101] S11, performing a sum operation using the square value of the first rotating two-phase counter electromotive force and the square value of the second rotating two-phase counter electromotive force to obtain a first sum value.

[0102] S12. Perform a square root operation on the first sum to obtain a first square root value.

[0103] S13, performing a ratio operation on the second rotating two-phase back electromotive force and the first square root value to obtain target error data.

[0104] In a specific implementation, in order to facilitate the implementation of the method, the above process can be converted into a formula encapsulation form, wherein the target error data can be calculated as follows:

[0105]

[0106] In the formula, Represents target error data.

[0107] It should be noted that the formula divided by This step is to eliminate the effect of the back EMF amplitude on the error signal.

[0108] Step 206: Use the target error data and the unit operation data to determine the target position data and the target speed data of the target unit.

[0109] Further, the unit operation data includes a first observer parameter, a second observer parameter, and a third observer parameter, and step 206 may include the following sub-steps:

[0110] S21. Perform a first integral operation on the target error data to obtain a first integral value.

[0111] S22, determining target speed data using the first integral value, the target error data, the second observer parameter, and the third observer parameter.

[0112] Further, S22 may include the following sub-steps:

[0113] S221. Perform a double integral operation on the target error data to obtain a second integral value.

[0114] S222: Perform a multiplication operation on the first integral value and the second observer parameter to obtain a first product value.

[0115] S223: Perform a multiplication operation on the second integral value and the third observer parameter to obtain a second product value.

[0116] S224. Perform a sum operation using the first product value and the second product value to obtain target speed data.

[0117] In a specific implementation, in order to facilitate the implementation of the method, the above process can be converted into a formula encapsulation form, wherein the target speed data can be calculated as follows:

[0118]

[0119] In the formula, Indicates the target speed data, represents the second observer parameter, represents the third observer parameter, Indicates a single integration operation on the target error data. Indicates that a double integration operation is performed on the target error data.

[0120] S23, using the first integral value, the target speed data and the first observer parameter to determine the target position data.

[0121] Further, S23 may include the following sub-steps:

[0122] S231. Perform a first integration operation on the target speed data to obtain a third integral value.

[0123] S232: Perform a multiplication operation on the first integral value and the first observer parameter to obtain a third product value.

[0124] S233, performing a sum operation using the third integral value and the third product value to obtain target position data.

[0125] In a specific implementation, in order to facilitate the implementation of the method, the above process can be converted into a formula encapsulation form, wherein the target position data can be calculated as follows:

[0126]

[0127] In the formula, Indicates the target location data, represents the first observer parameter.

[0128] Furthermore, the target speed data and target position data are used to update the new speed feedback data and position feedback data of the unit operation data, and the step jumps to the step of coordinate transformation of the three-phase power data to obtain the two-phase power data under the stationary two-phase coordinate system axis.

[0129] In the present invention, in response to a request for estimating the position and speed of a target unit, the three-phase power data and the unit operation data of the target unit are obtained, the three-phase power data is subjected to coordinate transformation to obtain the two-phase power data under the axis of a stationary two-phase coordinate system, the two-phase power data and the unit operation data are input into a preset back-electromotive force observer for solution to obtain the stationary two-phase back-electromotive force under the axis of a stationary two-phase coordinate system, the stationary two-phase back-electromotive force is subjected to coordinate transformation to obtain the rotating two-phase back-electromotive force under the axis of a rotating two-phase coordinate system, the rotating two-phase back-electromotive force and the unit operation data are used to determine the target position data and target speed data of the target unit; through two coordinate transformations and a preset back-electromotive force observer, the three-phase power data is converted into the rotating two-phase back-electromotive force under the rotating coordinates, and then the error data of the wind turbine is calculated, and the error data is combined with the unit operation data as the input of a preset third-order integral position and speed estimator to obtain more accurate target speed data and target position data; the technical problem of how to accurately estimate the position and speed of a wind turbine is solved.

[0130] See also Figure 4 , Figure 4 This is a structural block diagram of a third-order integral wind turbine generator position and speed estimation system provided in Embodiment 3 of the present invention.

[0131] The present invention provides a third-order integral type wind turbine generator position and speed estimation system, comprising:

[0132] A response module 301 is used to respond to a request for estimating the position and speed of a target unit and obtain three-phase power data and unit operation data of the target unit;

[0133] The first coordinate transformation module 302 is used to perform coordinate transformation on the three-phase power data to obtain two-phase power data under a stationary two-phase coordinate system axis;

[0134] The observer solution module 303 is used to use the two-phase power data and the unit operation data to input the preset back electromotive force observer for solution, and obtain the static two-phase back electromotive force under the static two-phase coordinate system axis;

[0135] The second coordinate transformation module 304 is used to transform the coordinates of the stationary two-phase back electromotive force to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis;

[0136] The data output module 305 is used to determine the target position data and target speed data of the target unit by using the rotating two-phase back electromotive force and the unit operation data.

[0137] Furthermore, the data output module 305 includes:

[0138] The first processing submodule is used to determine the target error data by using the reverse electromotive force of the two rotating phases;

[0139] The second processing submodule is used to determine the target position data and the target speed data of the target unit by using the target error data and the unit operation data.

[0140] Further, the rotating two-phase back electromotive force includes a first rotating two-phase back electromotive force and a second rotating two-phase back electromotive force, and the first processing submodule includes:

[0141] A first sum unit is used to perform a sum operation using the square value of the first rotating two-phase back electromotive force and the square value of the second rotating two-phase back electromotive force to obtain a first sum;

[0142] A first square root value unit, used to perform a square root operation using the first sum value to obtain a first square root value;

[0143] The target error data unit is used to perform a ratio operation on the second rotating two-phase back electromotive force and the first square root value to obtain the target error data.

[0144] Furthermore, the unit operation data includes a first observer parameter, a second observer parameter and a third observer parameter, and the second processing submodule includes:

[0145] A first integral value unit, used for performing a first integral operation on the target error data to obtain a first integral value;

[0146] a target speed data unit, configured to determine the target speed data by using the first integral value, the target error data, the second observer parameter and the third observer parameter;

[0147] The target position data unit is used to determine the target position data by using the first integral value, the target rotation speed data and the first observer parameter.

[0148] Furthermore, the target speed data unit includes:

[0149] A second integral value subunit is used to perform a double integral operation on the target error data to obtain a second integral value;

[0150] A first multiplication subunit is used to perform a multiplication operation using the first integral value and the second observer parameter to obtain a first product value;

[0151] A second multiplication subunit is used to perform a multiplication operation using the second integral value and the third observer parameter to obtain a second product value;

[0152] The first output subunit is used to perform a sum operation using the first multiplication value and the second multiplication value to obtain target rotation speed data.

[0153] Furthermore, the target location data unit includes:

[0154] A third integral value subunit is used to perform a single integral operation on the target speed data to obtain a third integral value;

[0155] A third multiplication subunit is used to perform a multiplication operation using the first integral value and the first observer parameter to obtain a third multiplication value;

[0156] The second output subunit is used to perform a sum operation using the third integral value and the third product value to obtain target position data.

[0157] Furthermore, the Clarke transformation method is used to perform coordinate transformation on the three-phase power data.

[0158] Furthermore, the Park transformation method is used to transform the coordinates of the two stationary back electromotive forces.

[0159] Furthermore, the unit operation data input into the preset back electromotive force observer includes stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current and two-phase estimated back electromotive force.

[0160] In the present invention, in response to a request for estimating the position and speed of a target unit, the three-phase power data and the unit operation data of the target unit are obtained, the three-phase power data is subjected to coordinate transformation to obtain the two-phase power data under the axis of a stationary two-phase coordinate system, the two-phase power data and the unit operation data are input into a preset back-electromotive force observer for solution to obtain the stationary two-phase back-electromotive force under the axis of a stationary two-phase coordinate system, the stationary two-phase back-electromotive force is subjected to coordinate transformation to obtain the rotating two-phase back-electromotive force under the axis of a rotating two-phase coordinate system, the rotating two-phase back-electromotive force and the unit operation data are used to determine the target position data and target speed data of the target unit; through two coordinate transformations and a preset back-electromotive force observer, the three-phase power data is converted into the rotating two-phase back-electromotive force under the rotating coordinates, and then the error data of the wind turbine is calculated, and the error data is combined with the unit operation data as the input of a preset third-order integral position and speed estimator to obtain more accurate target speed data and target position data; the technical problem of how to accurately estimate the position and speed of a wind turbine is solved.

[0161] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0162] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0163] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A third-order integral type wind turbine position and speed estimation method, characterized in that: include: In response to a request for estimating the position and speed of a target unit, acquiring three-phase power data and unit operation data of the target unit; Performing coordinate transformation on the three-phase power data to obtain two-phase power data under a stationary two-phase coordinate system axis; The two-phase power data and the unit operation data are input into a preset back electromotive force observer for solving, so as to obtain the stationary two-phase back electromotive force under the stationary two-phase coordinate system axis; Perform coordinate transformation on the two stationary back electromotive forces to obtain the rotating two-phase back electromotive forces under the rotating two-phase coordinate system axis; The target position data and target speed data of the target unit are determined by using the rotating two-phase back electromotive force and the unit operation data.

2. The third-order integral type wind turbine generator position and speed estimation method according to claim 1, characterized in that: The step of using the rotating two-phase back electromotive force and the unit operation data to determine the target position data and the target speed data of the target unit includes: Using the rotating two-phase back electromotive force, determine the target error data; The target error data and the unit operation data are used to determine the target position data and the target speed data of the target unit.

3. The third-order integral type wind turbine generator position and speed estimation method according to claim 2, characterized in that: The rotating two-phase back electromotive force includes a first rotating two-phase back electromotive force and a second rotating two-phase back electromotive force, and the step of using the rotating two-phase back electromotive force to determine the target error data includes: Performing a sum operation using the square value of the first rotating two-phase back electromotive force and the square value of the second rotating two-phase back electromotive force to obtain a first sum value; Performing a square root operation using the first sum value to obtain a first square root value; The target error data is obtained by performing a ratio operation on the second rotating two-phase back electromotive force and the first square root value.

4. The third-order integral type wind turbine generator position and speed estimation method according to claim 2, characterized in that: The unit operation data includes a first observer parameter, a second observer parameter and a third observer parameter. The step of using the target error data and the unit operation data to determine the target position data and the target speed data of the target unit includes: Performing a first integral operation on the target error data to obtain a first integral value; Determine target speed data using the first integral value, the target error data, the second observer parameter, and the third observer parameter; Target position data is determined using the first integral value, the target rotation speed data, and the first observer parameter.

5. The third-order integral type wind turbine generator position and speed estimation method according to claim 4, characterized in that: The step of determining the target speed data by using the first integral value, the target error data, the second observer parameter and the third observer parameter comprises: Performing a double integral operation on the target error data to obtain a second integral value; Performing a multiplication operation on the first integral value and the second observer parameter to obtain a first product value; Performing a multiplication operation on the second integral value and the third observer parameter to obtain a second product value; The first multiplication value and the second multiplication value are used to perform a sum operation to obtain target speed data.

6. The third-order integral type wind turbine generator position and speed estimation method according to claim 4, characterized in that: The step of determining target position data by using the first integral value, the target speed data and the first observer parameter comprises: Performing a first integration operation on the target speed data to obtain a third integral value; Performing a multiplication operation on the first integral value and the first observer parameter to obtain a third product value; The third integral value and the third product value are used to perform a sum operation to obtain target position data.

7. The third-order integral type wind turbine generator position and speed estimation method according to claim 1, characterized in that: The Clarke transformation method is used to perform coordinate transformation on the three-phase power data.

8. The third-order integral type wind turbine generator position and speed estimation method according to claim 1, characterized in that: The Park transformation method is used to transform the coordinates of the two stationary back electromotive forces.

9. The third-order integral type wind turbine generator position and speed estimation method according to claim 1, characterized in that: The unit operation data input into the preset back electromotive force observer includes stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current and two-phase estimated back electromotive force.

10. A third-order integral type wind turbine generator position and speed estimation system, characterized in that: include: A response module, used to respond to a request for estimating the position and speed of a target unit, and obtain three-phase power data and unit operation data of the target unit; A first coordinate transformation module, used for performing coordinate transformation on the three-phase power data to obtain two-phase power data under a stationary two-phase coordinate system axis; An observer solution module, used for using the two-phase power data and the unit operation data to input a preset back electromotive force observer for solution, and obtaining the stationary two-phase back electromotive force under the stationary two-phase coordinate system axis; A second coordinate transformation module is used to perform coordinate transformation on the stationary two-phase back electromotive force to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis; The data output module is used to determine the target position data and the target speed data of the target unit by using the rotating two-phase back electromotive force and the unit operation data.

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