Wind turbine generator position and speed estimation method and system of third order integral type

Abstract

The application relates to the technical field of wind turbine generator set control, and discloses a three-order integral type wind turbine generator set position and rotating speed estimation method and system, three-phase power data is converted into rotating two-phase counter electromotive force in rotating coordinates through twice coordinate transformation and a preset counter electromotive force observer, error data of the wind turbine generator set is calculated, and the error data is combined with unit operation data to be input into a preset three-order integral type position and rotating speed estimator, so that more accurate target rotating speed data and target position data are obtained; and the technical problem of how to accurately estimate the position and rotating speed of the wind turbine generator set is solved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine generator control technology, and in particular to a third-order integral method and system for estimating the position and speed of a wind turbine generator. Background Technology

[0002] With the widespread application of wind power generation technology, the unique operating conditions of wind turbine generators have presented new challenges to their position and speed detection technologies. In particular, during the operation of wind turbine generators, there are situations involving large-scale and continuous frequency variations, as well as the emergence of high-order harmonic components in the back electromotive force under special operating conditions. These characteristics render existing technologies significantly insufficient for the accurate measurement of wind turbine position and speed. Therefore, there is an urgent need for a solution capable of accurately obtaining the position and speed information of wind turbine generators. Summary of the Invention

[0003] This invention provides a third-order integral method and system for estimating the position and speed of a wind turbine generator set, solving the technical problem of how to accurately estimate the position and speed of a wind turbine generator set.

[0004] The first aspect of this invention provides a third-order integral method for estimating the position and rotational speed of a wind turbine generator set, comprising:

[0005] In response to a request to estimate the location and speed of the target unit, the system acquires the three-phase power data and unit operation data of the target unit.

[0006] The three-phase power data are transformed by coordinates to obtain two-phase power data in a stationary two-phase coordinate system.

[0007] The two-phase power data and the unit operation data are input into a preset back EMF observer for solution, and the stationary two-phase back EMFs under the stationary two-phase coordinate system are obtained.

[0008] By performing a coordinate transformation on the two stationary opposite electromotive forces, the two rotating opposite electromotive forces under the axes of the rotating two-phase coordinate system are obtained.

[0009] Using the two opposing electromotive forces of rotation and the unit operating data, the target position data and target speed data of the target unit are determined.

[0010] Optionally, the step of determining the target position data and target speed data of the target unit using the two opposing electromotive forces and the unit operating data includes:

[0011] The target error data is determined by using the two opposing electromotive forces of the rotation.

[0012] Using the target error data and the unit operation data, the target position data and target speed data of the target unit are determined.

[0013] Optionally, the two rotating opposite electromotive forces include a first rotating opposite electromotive force and a second rotating opposite electromotive force, and the step of determining the target error data using the two rotating opposite electromotive forces includes:

[0014] The first sum is obtained by summing the squares of the first two opposite electromotive forces and the squares of the second two opposite electromotive forces.

[0015] The first sum is used to perform a square root operation to obtain the first square root value;

[0016] The target error data is obtained by comparing the second rotational two opposite electromotive forces with the first square root value.

[0017] Optionally, the unit operating data includes first observer parameters, second observer parameters, and third observer parameters. The step of determining the target unit's target position data and target rotational speed data using the target error data and the unit operating data includes:

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

[0019] The target rotational speed data is determined using the first integral value, the target error data, the second observer parameters, and the third observer parameters;

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

[0021] Optionally, the step of determining the target rotational speed data using the first integral value, the target error data, the second observer parameters, and the third observer parameters includes:

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

[0023] The first integral value is multiplied by the second observer parameter to obtain the first multiplication value;

[0024] The second integral value is multiplied by the third observer parameter to obtain the second multiplier value;

[0025] The target rotational speed data is obtained by performing a summation operation using the first multiplication value and the second multiplication value.

[0026] Optionally, the step of determining the target position data using the first integral value, the target rotation speed data, and the first observer parameters includes:

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

[0028] The first integral value is multiplied by the first observer parameter to obtain the third multiplication value;

[0029] The target location data is obtained by performing a summation operation using the third integral value and the third multiplication value.

[0030] Optionally, the three-phase power data can be transformed using the Clarke transform method.

[0031] Optionally, the Park transformation method can be used to perform coordinate transformation on the two stationary opposite electromotive forces.

[0032] Optionally, the unit operating data input to the preset back EMF observer includes stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current, and two-phase estimated back EMF.

[0033] The second aspect of this invention provides a third-order integral-type wind turbine generator position and speed estimation system, comprising:

[0034] The response module is used to respond to requests for estimation of the location and speed of the target unit, and to acquire the three-phase power data and unit operation data of the target unit.

[0035] The first coordinate transformation module is used to perform coordinate transformation on the three-phase power data to obtain two-phase power data under the axis of the stationary two-phase coordinate system.

[0036] The observer solution module is used to input the two-phase power data and the unit operation data into the preset back EMF observer for solution, and obtain the stationary two-phase back EMF under the stationary two-phase coordinate system axis.

[0037] The second coordinate transformation module is used to perform coordinate transformation on the two stationary opposite electromotive forces to obtain the two rotating opposite electromotive forces under the axes of the rotating two-phase coordinate system.

[0038] The data output module is used to determine the target position data and target speed data of the target unit by using the two opposing electromotive forces of the rotating units and the unit operating data.

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

[0040] In this invention, in response to a request to estimate the position and speed of a target turbine generator set, the three-phase power data and generator set operation data of the target turbine generator set are acquired. The three-phase power data is then transformed into two-phase power data in a stationary two-phase coordinate system. This two-phase power data and generator set operation data are input into a pre-set back EMF observer for calculation, yielding two stationary back EMFs in the stationary two-phase coordinate system. The stationary back EMFs are then transformed into two rotating back EMFs in a rotating two-phase coordinate system. These rotating back EMFs and generator set operation data are used to determine the target position and target speed of the target turbine generator set. Through two coordinate transformations and the pre-set back EMF observer, the three-phase power data is converted into two rotating back EMFs in a rotating coordinate system. Then, the error data of the wind turbine generator set is calculated. This error data, combined with the generator set operation data, is used as input to a pre-set third-order integral type position and speed estimator, resulting in more accurate target speed and target position data. This invention solves the technical problem of accurately estimating the position and speed of a wind turbine generator set. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 The flowchart illustrates the steps of a third-order integral-type method for estimating the position and speed of a wind turbine generator set, as provided in Embodiment 1 of the present invention.

[0043] Figure 2 The flowchart illustrates the steps of a third-order integral-type method for estimating the position and speed of a wind turbine generator set, as provided in Embodiment 2 of the present invention.

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

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

[0046] This invention provides a third-order integral method and system for estimating the position and speed of a wind turbine generator set, which solves the technical problem of how to accurately estimate the position and speed of a wind turbine generator set.

[0047] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0048] First, the continuous frequency changes that occur during the operation of wind turbine generators exceed the applicability of traditional measurement techniques. Specifically, while traditional measurement methods can track frequency changes to some extent, their inherent system characteristics limit their ability to accurately track frequency ramp signals, making it impossible to achieve accurate measurements without steady-state errors when the frequency of wind turbine generators changes continuously.

[0049] Secondly, the high-order harmonic components present in the back electromotive force of wind turbine generators significantly interfere with the measurement of turbine speed using traditional methods, severely affecting the accuracy of frequency estimation. When high-order harmonics and continuous frequency changes are simultaneously present, the measurement performance of traditional techniques deteriorates further.

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

[0051] To address the problems existing in the prior art, this 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. On the one hand, it can maintain good steady-state accuracy when the speed of the wind turbine generator set changes continuously; on the other hand, it has good resistance to high-frequency harmonics.

[0052] It should be noted that the continuously changing rotational speed signal is a frequency ramp signal, and the third-order phase-locked loop can estimate the position and speed of the wind turbine without steady-state error under this condition. Furthermore, the special third-order integral form in this method has better resistance to high-frequency harmonics.

[0053] Please see Figure 1 , Figure 1 The flowchart illustrates the steps of a third-order integral method for estimating the position and speed of a wind turbine generator set, as provided in Embodiment 1 of the present invention.

[0054] This invention provides a third-order integral method for estimating the position and rotational speed of a wind turbine generator set, comprising:

[0055] Step 101: Respond to the request for position and speed estimation of the target unit, and obtain the three-phase power data and unit operation data of the target unit.

[0056] A position and speed estimation request is a request command to estimate the position and speed of the wind turbine in a target wind turbine generator set. The position of the wind turbine generator refers to the angular position of the turbine rotor, and the speed of the wind turbine generator refers to the angular velocity of the turbine.

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

[0058] Unit operation data refers to the set of parameters that reflect various aspects of the unit's operating status, performance, and environmental impact during the operation of a wind turbine generator set. These parameters include, but are not limited to, stator resistance, stator inductance, observer parameter matrix, speed feedback data (i.e., the target speed data estimated in the previous cycle, with an initial value of 0), and observer parameters.

[0059] In this embodiment of the invention, in response to receiving a request command to estimate the position and speed of the wind turbine in the target wind turbine generator set, the three-phase power data and generator set operation data of the target generator set are obtained.

[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.

[0061] Two-phase power data refers to the two-phase power data obtained under the αβ axis of the two-phase coordinate system after the coordinate transformation of the three-phase power data. 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 this embodiment of the invention, the three-phase power data undergoes a first coordinate transformation to convert the three-phase power data into two-phase power data under the stationary two-phase coordinate system αβ axis.

[0063] Step 103: Input the two-phase power data and unit operation data into the preset back EMF observer to solve for the stationary two-phase back EMF under the stationary two-phase coordinate system axis.

[0064] A pre-set back EMF observer refers to a back EMF observer pre-built based on sliding mode control theory, also known as a Romberg observer, used to estimate the back EMF of a wind turbine. Since the back EMF cannot be directly measured, it needs to be estimated through an observer.

[0065] In this embodiment of the invention, the two-phase power data and unit operation data are input into a preset back EMF observer for solution, and the stationary two-phase back EMF under the stationary two-phase coordinate system axis can be obtained.

[0066] Step 104: Perform coordinate transformation on the two stationary opposite electromotive forces to obtain the two rotating opposite electromotive forces under the axes of the rotating two-phase coordinate system.

[0067] In this embodiment of the invention, a second coordinate transformation is performed on the two stationary opposite electromotive forces to obtain the two rotating opposite electromotive forces 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 in this invention. The first coordinate transformation is to convert the three-phase power data into two-phase power data under the αβ axis of the stationary two-phase coordinate system. The second coordinate transformation is to convert the stationary two-phase back electromotive force into two rotating two-phase back electromotive forces under the dq axis of the rotating two-phase coordinate system.

[0069] Step 105: Using the two opposing electromotive forces and the unit's operating data, determine the target position data and target speed data of the target unit.

[0070] In this embodiment of the invention, the two opposing electromotive forces and the unit operating data are input into a preset third-order integral type position and speed estimator for calculation, thereby obtaining the target position data and target speed data of the target unit.

[0071] In this invention, in response to a request to estimate the position and speed of a target turbine generator set, the three-phase power data and generator set operation data of the target turbine generator set are acquired. The three-phase power data is then transformed into two-phase power data in a stationary two-phase coordinate system. This two-phase power data and generator set operation data are input into a pre-set back EMF observer for calculation, yielding two stationary back EMFs in the stationary two-phase coordinate system. The stationary back EMFs are then transformed into two rotating back EMFs in a rotating two-phase coordinate system. These rotating back EMFs and generator set operation data are used to determine the target position and target speed of the target turbine generator set. Through two coordinate transformations and the pre-set back EMF observer, the three-phase power data is converted into two rotating back EMFs in a rotating coordinate system. Then, the error data of the wind turbine generator set is calculated. This error data, combined with the generator set operation data, is used as input to a pre-set third-order integral type position and speed estimator, resulting in more accurate target speed and target position data. This invention solves the technical problem of accurately estimating the position and speed of a wind turbine generator set.

[0072] Please see Figure 2-3 , Figure 2 The flowchart illustrates the steps of a third-order integral-type method for estimating the position and speed of a wind turbine generator set, as provided in Embodiment 2 of the present invention.

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

[0074] This invention provides a third-order integral method for estimating the position and rotational speed of a wind turbine generator set, comprising:

[0075] Step 201: Respond to the request for estimation of the position and speed of the target unit, and obtain the three-phase power data and unit operation data of the target unit.

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

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

[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.

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

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

[0081]

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

[0083]

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

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

[0086] Step 203: Input the two-phase power data and unit operation data into the preset back EMF observer to solve for the stationary two-phase back EMF under the stationary two-phase coordinate system axis.

[0087] Furthermore, the unit operating data input to the preset back EMF observer includes stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current, and two-phase estimated back EMF.

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

[0089] In this embodiment of the invention, the two-phase power data under the αβ axis of the stationary two-phase coordinate system obtained in step 202 is combined with stator resistance, stator inductance, observer parameter matrix, speed feedback data, estimated two-phase current, and estimated two-phase back EMF input to a preset back EMF observer for solution. The expression of the preset back EMF observer is as follows:

[0090]

[0091] In the formula, This represents the estimation of the opposite electromotive force between two stationary phases along the α-axis. This represents two opposite electromotive forces at rest along the α-axis. This represents the estimation of the opposite electromotive force in a stationary two-phase system along the β-axis. This represents two opposite electromotive forces at rest along the β-axis. This represents the estimated current in a stationary two-phase system along the α-axis. This represents the estimated current in a stationary two-phase system along the β-axis. Represents the observer parameter matrix, Indicates stator inductance, This represents the speed feedback data, specifically the target speed data estimated in the previous cycle. Indicates stator resistance. This represents the differential value of the estimated current in the stationary two-phase system along the α-axis. This represents the differential value of the estimated current in a stationary two-phase system along the β-axis. This represents the differential value for estimating the back electromotive force of two stationary phases along the α-axis. This represents the differential value of the estimated back electromotive force for a stationary two-phase system along the β axis.

[0092] It should be noted that by substituting the current, voltage, resistance, and inductance values ​​of the wind turbine generator at the current moment, along with the estimated speed, current, and back EMF values ​​of the wind turbine generator from the previous moment, into the Luneburg observer, the differentials of the estimated current and back EMF values ​​of the wind turbine generator can be obtained. Integrating these differential values ​​yields the current and back EMF of the wind turbine generator at the current moment.

[0093] Step 204: Perform coordinate transformation on the two stationary opposite electromotive forces to obtain the two rotating opposite electromotive forces under the axes of the rotating two-phase coordinate system.

[0094] Furthermore, the unit operation data also includes position feedback data (i.e., 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 this embodiment of the invention, based on position feedback data, the Park transformation method is used to perform coordinate transformation on the two stationary opposite electromotive forces, wherein the Park transformation matrix is ​​specifically:

[0096]

[0097] In the formula, This indicates the two opposite electromotive forces during the first rotation. This indicates the two opposite electromotive forces of the second rotation. This represents the cosine value of the location feedback data. This represents the sine value of the location feedback data.

[0098] It should be noted that the first two opposing electromotive forces refer to the two opposing electromotive forces rotating along the d-axis, and the second two opposing electromotive forces refer to the two opposing electromotive forces rotating along the q-axis.

[0099] Step 205: Use two rotating opposite electromotive forces to determine the target error data.

[0100] Furthermore, the rotating two opposite electromotive forces include a first rotating two opposite electromotive forces and a second rotating two opposite electromotive forces, and step 205 may include the following sub-steps:

[0101] S11. The sum of the squares of the first two opposite electromotive forces and the squares of the second two opposite electromotive forces is used to obtain the first sum.

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

[0103] S13. The target error data is obtained by comparing the ratio of the two opposite electromotive forces of the second rotation with the first square root value.

[0104] In practical implementation, to facilitate the method's implementation, the above process can be converted into a formulaic encapsulation, where the target error data can be calculated as follows:

[0105]

[0106] In the formula, This represents the target error data.

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

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

[0109] Furthermore, the unit operating data includes first observer parameters, second observer parameters, and third observer parameters, and step 206 may include the following sub-steps:

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

[0111] S22. Using the first integral value, target error data, second observer parameters, and third observer parameters, determine the target rotational speed data.

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

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

[0114] S222. The first integral value is obtained by multiplying the first integral value with the second observer parameter.

[0115] S223. The second integral value is obtained by multiplying the second integral value with the third observer parameter.

[0116] S224. The first and second multiplication values ​​are used to perform a summation operation to obtain the target rotational speed data.

[0117] In practical implementation, to facilitate the method's implementation, the above process can be converted into a formula encapsulation, where the target rotational speed data can be calculated as follows:

[0118]

[0119] In the formula, This represents the target rotational speed data. Indicates the parameters of the second observer. Indicates the parameters of the third observer. This indicates that a first-order integral operation is performed on the target error data. This indicates that a double integral operation is performed on the target error data.

[0120] S23. Using the first integral value, target rotation speed data, and first observer parameters, determine the target position data.

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

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

[0123] S232. The first integral value and the first observer parameter are multiplied to obtain the third multiplication value.

[0124] S233. The target position data is obtained by performing a summation operation using the third integral value and the third multiplication value.

[0125] In practical implementation, to facilitate the method's implementation, the above process can be converted into a formula encapsulation, where the target location data can be calculated as follows:

[0126]

[0127] In the formula, Indicates target location data. This represents the parameters of the first observer.

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

[0129] In this invention, in response to a request to estimate the position and speed of a target turbine generator set, the three-phase power data and generator set operation data of the target turbine generator set are acquired. The three-phase power data is then transformed into two-phase power data in a stationary two-phase coordinate system. This two-phase power data and generator set operation data are input into a pre-set back EMF observer for calculation, yielding two stationary back EMFs in the stationary two-phase coordinate system. The stationary back EMFs are then transformed into two rotating back EMFs in a rotating two-phase coordinate system. These rotating back EMFs and generator set operation data are used to determine the target position and target speed of the target turbine generator set. Through two coordinate transformations and the pre-set back EMF observer, the three-phase power data is converted into two rotating back EMFs in a rotating coordinate system. Then, the error data of the wind turbine generator set is calculated. This error data, combined with the generator set operation data, is used as input to a pre-set third-order integral type position and speed estimator, resulting in more accurate target speed and target position data. This invention solves the technical problem of accurately estimating the position and speed of a wind turbine generator set.

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

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

[0132] The response module 301 is used to respond to the request for estimation of the position and speed of the target unit, and to obtain the 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 the axis of the stationary two-phase coordinate system.

[0134] The observer solving module 303 is used to input two-phase power data and unit operation data into a preset back EMF observer for solving, and obtain the stationary two-phase back EMF under the stationary two-phase coordinate system axis.

[0135] The second coordinate transformation module 304 is used to perform coordinate transformation on the two stationary opposite electromotive forces to obtain the two rotating opposite electromotive forces under the axes of the rotating two-phase coordinate system.

[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 two opposing electromotive forces of rotation and the unit operating data.

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

[0138] The first processing submodule is used to determine the target error data by rotating two opposite electromotive forces;

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

[0140] Furthermore, the rotating two opposite electromotive forces include a first rotating two opposite electromotive forces and a second rotating two opposite electromotive forces, and the first processing submodule includes:

[0141] The first sum unit is used to perform a summation operation using the squares of the first two opposite electromotive forces and the squares of the second two opposite electromotive forces to obtain the first sum.

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

[0143] The target error data unit is used to perform a ratio calculation between the second rotating two opposite electromotive forces and the first square root value to obtain the target error data.

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

[0145] The first integral value unit is used to perform a first integration operation on the target error data to obtain the first integral value;

[0146] The target rotational speed data unit is used to determine the target rotational speed data using the first integral value, target error data, second observer parameters, and third observer parameters;

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

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

[0149] The second integral value subunit is used to perform double integration on the target error data to obtain the second integral value;

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

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

[0152] The first output subunit is used to perform a summation operation using the first and second multiplication values ​​to obtain the target rotational speed data.

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

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

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

[0156] The second output sub-unit is used to perform a summation operation using the third integral value and the third multiplication value to obtain the target position data.

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

[0158] Furthermore, the Park transformation method is used to perform coordinate transformation on the two stationary opposite electromotive forces.

[0159] Furthermore, the unit operating data input to the preset back EMF observer includes stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current, and two-phase estimated back EMF.

[0160] In this invention, in response to a request to estimate the position and speed of a target turbine generator set, the three-phase power data and generator set operation data of the target turbine generator set are acquired. The three-phase power data is then transformed into two-phase power data in a stationary two-phase coordinate system. This two-phase power data and generator set operation data are input into a pre-set back EMF observer for calculation, yielding two stationary back EMFs in the stationary two-phase coordinate system. The stationary back EMFs are then transformed into two rotating back EMFs in a rotating two-phase coordinate system. These rotating back EMFs and generator set operation data are used to determine the target position and target speed of the target turbine generator set. Through two coordinate transformations and the pre-set back EMF observer, the three-phase power data is converted into two rotating back EMFs in a rotating coordinate system. Then, the error data of the wind turbine generator set is calculated. This error data, combined with the generator set operation data, is used as input to a pre-set third-order integral type position and speed estimator, resulting in more accurate target speed and target position data. This invention solves the technical problem of accurately estimating the position and speed of a wind turbine generator set.

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

[0162] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0163] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A third-order integral method for estimating the position and rotational speed of a wind turbine generator set, characterized in that, include: In response to a request to estimate the location and speed of the target unit, the system acquires the three-phase power data and unit operation data of the target unit. The three-phase power data are transformed by coordinates to obtain two-phase power data in a stationary two-phase coordinate system. The two-phase power data and the unit operation data are input into a preset back EMF observer for solution, and the stationary two-phase back EMFs under the stationary two-phase coordinate system are obtained. By performing a coordinate transformation on the two stationary opposite electromotive forces, the two rotating opposite electromotive forces under the axes of the rotating two-phase coordinate system are obtained. Using the two opposing electromotive forces of rotation and the unit operating data, the target position data and target speed data of the target unit are determined. The step of determining the target position data and target speed data of the target unit using the two opposing electromotive forces of rotation and the unit operating data includes: The target error data is determined by using the two opposing electromotive forces of the rotation. Using the target error data and the unit operating data, the target position data and target speed data of the target unit are determined. The two rotating opposite electromotive forces include a first rotating opposite electromotive force and a second rotating opposite electromotive force. The step of determining the target error data using the two rotating opposite electromotive forces includes: The first sum is obtained by summing the squares of the first two opposite electromotive forces and the squares of the second two opposite electromotive forces. The first sum is used to perform a square root operation to obtain the first square root value; The target error data is obtained by comparing the second rotating two opposite electromotive forces with the first square root value. The unit operating data includes first observer parameters, second observer parameters, and third observer parameters. The step of determining the target unit's target position data and target speed data using the target error data and the unit operating data includes: Perform a first integral operation on the target error data to obtain the first integral value; The target rotational speed data is determined using the first integral value, the target error data, the second observer parameters, and the third observer parameters; The target position data is determined using the first integral value, the target rotation speed data, and the first observer parameters; The step of determining the target rotational speed data using the first integral value, the target error data, the second observer parameters, and the third observer parameters includes: Perform a double integral operation on the target error data to obtain a second integral value; The first integral value is multiplied by the second observer parameter to obtain the first multiplication value; The second integral value is multiplied by the third observer parameter to obtain the second multiplier value; The target rotational speed data is obtained by performing a summation operation using the first multiplication value and the second multiplication value; The step of determining the target position data using the first integral value, the target rotation speed data, and the first observer parameters includes: Perform a first integral operation on the target rotational speed data to obtain a third integral value; The first integral value is multiplied by the first observer parameter to obtain the third multiplication value; The target location data is obtained by performing a summation operation using the third integral value and the third multiplication value.

2. The third-order integral method for estimating the position and speed of a wind turbine generator set according to claim 1, characterized in that, The three-phase power data were subjected to coordinate transformation using the Clarke transform method.

3. The third-order integral method for estimating the position and speed of a wind turbine generator set according to claim 1, characterized in that, The Park transformation method is used to perform coordinate transformation on the two stationary opposite electromotive forces.

4. The third-order integral method for estimating the position and speed of a wind turbine generator set according to claim 1, characterized in that, The unit operating data input to the preset back EMF observer includes stator resistance, stator inductance, observer parameter matrix, speed feedback data, two-phase estimated current, and two-phase estimated back EMF.

5. A third-order integral-type wind turbine generator position and speed estimation system, characterized in that, The third-order integral type wind turbine generator position and speed estimation system is used to implement the third-order integral type wind turbine generator position and speed estimation method as described in any one of claims 1-4, wherein the third-order integral type wind turbine generator position and speed estimation system includes: The response module is used to respond to requests for estimation of the location and speed of the target unit, and to acquire the three-phase power data and unit operation data of the target unit. The first coordinate transformation module is used to perform coordinate transformation on the three-phase power data to obtain two-phase power data under the axis of the stationary two-phase coordinate system. The observer solution module is used to input the two-phase power data and the unit operation data into the preset back EMF observer for solution, and obtain the stationary two-phase back EMF under the stationary two-phase coordinate system axis. The second coordinate transformation module is used to perform coordinate transformation on the two stationary opposite electromotive forces to obtain the two rotating opposite electromotive forces under the axes of the rotating two-phase coordinate system. The data output module is used to determine the target position data and target speed data of the target unit by using the two opposing electromotive forces of the rotating units and the unit operating data.

Images