Method and system for estimating position and rotating speed of three-order semi-tangent wind generating set

Abstract

The invention relates to the technical field of wind generating set control, and discloses a three-order semi-tangent type wind generating set position and rotating speed estimation method and system, and the method comprises the steps: converting three-phase power data into rotating two-phase counter electromotive force under rotating coordinates through two times of coordinate transformation and a preset counter electromotive force observer; and then error data of the wind generating set is calculated based on a semi-tangent algorithm, the error data is combined with set operation data to serve as the input of an improved third-order loop filter, the precision of estimation information is improved, more accurate target rotating speed data is obtained, the accurate target rotating speed data serves as the input of a position estimator, and the accuracy of the position estimator is improved. Therefore, more accurate target position data can be obtained; 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 invention relates to the technical field of wind generator set control, and in particular to a third-order half-tangent wind generator set position and rotation speed estimation method and system. Background Art

[0002] In the process of wind turbine control, in order to ensure that the wind turbine is always in the optimal operating state, it is necessary to monitor the speed of the unit rotor in real time and apply corresponding control data. Especially when the wind turbine operates in the optimal tip speed ratio area (torque and speed need to continue to track the rise of the given value) or enters the rated speed area from the optimal tip speed ratio area, and then enters the constant power area (torque increases significantly in a short time), the real-time and accuracy requirements for wind turbine speed detection will be greatly increased. The existing conventional rotor position and speed detection and estimation methods have problems such as slow response speed, severe oscillation, and poor disturbance suppression ability in the above two abnormal situations. It is impossible to quickly and accurately obtain the position and speed information of the wind turbine. In practical applications, it is difficult to meet the requirements of speed estimation in wind turbine control, thereby reducing the control effect of the entire wind turbine system. Summary of the invention

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

[0004] A first aspect of the present invention provides a third-order half-tangent 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, acquiring 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] Based on the unit operation data, coordinate transformation is performed on the stationary two-phase back electromotive force using a preset rotating coordinate equation to obtain the rotating two-phase back electromotive force 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 two-phase power data includes two-phase current data and two-phase voltage data, the unit operation data includes stator resistance, stator inductance, sliding mode gain coefficient and filter cutoff frequency, the preset back electromotive force observer includes a static two-phase estimated current model and a static two-phase back electromotive force model, and the step of using the two-phase power data and the unit operation data to input the preset back electromotive force observer for solving to obtain the static two-phase back electromotive force under the static two-phase coordinate system axis includes:

[0011] The two-phase current data, the two-phase voltage data, the stator resistance, the stator inductance and the sliding mode gain coefficient are input into the static two-phase estimated current model for solving to obtain the static two-phase estimated current;

[0012] The static two-phase estimated current, the filter cutoff frequency, the two-phase current data and the sliding mode gain coefficient are input into the static two-phase back electromotive force model for solving to obtain the static two-phase back electromotive force under the static two-phase coordinate system axis.

[0013] Optionally, the unit operation data further includes position feedback data, the stationary two-phase back electromotive force includes a first stationary two-phase back electromotive force and a second stationary two-phase back electromotive force, and the step of performing coordinate transformation on the stationary two-phase back electromotive force based on the unit operation data by using a preset rotating coordinate equation to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis includes:

[0014] Performing a multiplication operation on the cosine value of the position feedback data and the second two-phase static back electromotive force to obtain a first multiplication value;

[0015] Performing a multiplication operation on the sine value of the position feedback data and the first two stationary back electromotive forces to obtain a second product value;

[0016] Performing a multiplication operation on the sine value of the position feedback data and the second two-phase static back electromotive force to obtain a third product value;

[0017] Performing a multiplication operation on the cosine value of the position feedback data and the first two-phase static back electromotive force to obtain a fourth multiplication value;

[0018] Performing a difference operation using the first multiplication value and the second multiplication value to obtain a first rotating two-phase back electromotive force;

[0019] The inverse of the third multiplication value is used to perform a difference operation with the fourth multiplication value to obtain a second rotating two-phase counter electromotive force.

[0020] 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:

[0021] Based on the half-tangent algorithm, the target error data is determined by using the two rotating back electromotive forces;

[0022] 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.

[0023] Optionally, the step of determining the target error data based on the half-tangent algorithm and using the rotating two-phase back electromotive force comprises:

[0024] 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;

[0025] Performing a square root operation on the first sum value to obtain a back electromotive force amplitude;

[0026] Performing a sum operation using the back electromotive force amplitude and the first two rotating back electromotive forces to obtain a second sum;

[0027] The target error data is obtained by performing a ratio operation on the second rotating two-phase back electromotive force and the second sum value.

[0028] Optionally, 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:

[0029] The target error data and the unit operation data are input into a preset improved loop filter for solving to obtain target speed data;

[0030] The target speed data is used to preset the position estimator to perform a single integral operation to obtain the target position data.

[0031] Optionally, the unit operation data further 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 input a preset improved loop filter for solving to obtain the target speed data includes:

[0032] Performing a multiplication operation on the target error data and the first observer parameter to obtain a fifth multiplication value;

[0033] performing a multiplication operation on the target error data and the second observer parameter to obtain a sixth multiplication value;

[0034] Performing a multiplication operation on the target error data and the third observer parameter to obtain a seventh multiplication value;

[0035] Performing a first integral operation on the sixth product value to obtain a first integral value;

[0036] Performing a double integral operation on the seventh product value to obtain a second integral value;

[0037] The fifth product value, the first integral value and the second integral value are used to perform a sum operation to obtain target speed data.

[0038] Optionally, the Clarke transformation method is used to perform coordinate transformation on the three-phase power data.

[0039] Optionally, it also includes:

[0040] The target position data is updated as new position feedback data in the unit operation data, and the step of performing coordinate transformation on the three-phase power data to obtain two-phase power data under a stationary two-phase coordinate system is jumped to.

[0041] A third-order half-tangent wind turbine generator position and speed estimation system is provided in a second aspect of the present invention, comprising:

[0042] 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;

[0043] 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;

[0044] 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;

[0045] A second coordinate transformation module is used to transform the coordinates of the two stationary back electromotive forces using a preset rotating coordinate equation based on the unit operation data to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis;

[0046] 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.

[0047] It can be seen from the above technical solutions that the present invention has the following advantages:

[0048] 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 transformed into coordinates 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 solving to obtain the stationary two-phase back electromotive force under the axis of a stationary two-phase coordinate system; based on the unit operation data, the stationary two-phase back electromotive force is transformed into coordinates using a preset rotating coordinate equation 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 rotating two-phase back electromotive force under rotating coordinates, and then the error data of the wind turbine generator set is calculated based on the half-tangent algorithm, and the error data is combined with the unit operation data as the input of the improved third-order loop filter, which improves the accuracy of the estimated information and obtains more accurate target speed data, and the accurate target speed data is used as the input of the position estimator to obtain more accurate target position data; the technical problem of how to accurately estimate the position and speed of the wind turbine generator set is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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.

[0050] Figure 1 A flowchart of the steps of a third-order half-tangent wind turbine generator position and speed estimation method provided in Embodiment 1 of the present invention;

[0051] Figure 2 A flowchart of the steps of a third-order half-tangent wind turbine generator position and speed estimation method provided in the second embodiment of the present invention;

[0052] Figure 3 A complete closed-loop control block diagram of the position and speed estimation method according to an embodiment of the present invention;

[0053] Figure 4 This is a structural block diagram of a third-order half-tangent wind turbine generator position and speed estimation system provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0054] The embodiment of the present invention provides a third-order half-tangent 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.

[0055] 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.

[0056] The problem with the existing technology is that when the current rotor position and speed detection methods are applied to wind turbine control, they cannot quickly and accurately extract the position and speed information of the wind turbine under certain critical operating conditions. When the wind turbine is in the optimal tip speed ratio operating state or the transition state between regions, the existing detection and estimation technology responds slowly and is prone to fluctuations, making it difficult to effectively respond to external interference. Such problems will affect the overall control performance of the system.

[0057] 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 half-tangent phase-locked loop. By introducing a half-tangent algorithm to calculate the target error data, the rotor position and speed can be accurately estimated when the wind turbine is operating in an optimal tip speed ratio operating state or in a transition state between regions. This can improve the response accuracy and rapidity of the position and speed estimation, and suppress adverse oscillations when the system switches between different steady states.

[0058] See also Figure 1 , Figure 1 A flowchart of the steps of a third-order half-tangent wind turbine generator position and rotation speed estimation method provided in Embodiment 1 of the present invention.

[0059] The present invention provides a third-order half-tangent wind turbine generator position and speed estimation method, comprising:

[0060] 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.

[0061] 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.

[0062] Three-phase power data refers to the three-phase current and three-phase voltage of the wind turbine.

[0063] 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, sliding mode gain coefficient, filter cutoff frequency, position feedback data (that is, the target position data estimated in the previous cycle, with an initial value of 0) and observer parameters.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] The preset back-EMF observer refers to a back-EMF observer pre-built based on the sliding mode control theory, that is, a sliding mode 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.

[0070] 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.

[0071] Step 104: Based on the unit operation data, the preset rotating coordinate equation 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.

[0072] The preset rotating coordinate equation refers to a coordinate equation used to convert variables in a stationary coordinate system into a rotating coordinate system.

[0073] In an embodiment of the present invention, based on the unit operation data, a preset rotating coordinate equation is used to perform a second coordinate transformation 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.

[0074] 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.

[0075] 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.

[0076] In an embodiment of the present invention, based on the half-tangent algorithm, the error data of the half-tangent wind turbine generator set is calculated using the rotating two-phase back electromotive force. Based on a preset improved loop filter and position estimator, the error information of the half-tangent wind turbine generator set and the unit operation data are used as inputs of the improved loop filter to estimate the target speed data of the target unit, and then the target speed data is input into the position estimator to estimate the target position data.

[0077] 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 transformed into coordinates 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 solving to obtain the stationary two-phase back electromotive force under the axis of a stationary two-phase coordinate system; based on the unit operation data, the stationary two-phase back electromotive force is transformed into coordinates using a preset rotating coordinate equation 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 rotating two-phase back electromotive force under rotating coordinates, and then the error data of the wind turbine generator set is calculated based on the half-tangent algorithm, and the error data is combined with the unit operation data as the input of the improved third-order loop filter, which improves the accuracy of the estimated information and obtains more accurate target speed data, and the accurate target speed data is used as the input of the position estimator to obtain more accurate target position data; the technical problem of how to accurately estimate the position and speed of the wind turbine generator set is solved.

[0078] See also Figure 2-Figure 3 , Figure 2A flowchart of the steps of a third-order half-tangent wind turbine generator position and speed estimation method provided in Embodiment 2 of the present invention.

[0079] 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.

[0080] The present invention provides a third-order half-tangent wind turbine generator position and speed estimation method, comprising:

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] Furthermore, the Clarke transformation method is used to perform coordinate transformation on the three-phase power data.

[0086] 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:

[0087]

[0088] With the constraint that the vector amplitude remains unchanged before and after the transformation, the Clarke transformation is used to obtain:

[0089]

[0090] 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.

[0091] 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.

[0092] 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.

[0093] Further, the two-phase power data includes two-phase current data and two-phase voltage data, the unit operation data includes stator resistance, stator inductance, sliding mode gain coefficient and filter cutoff frequency, the preset back electromotive force observer includes a static two-phase estimated current model and a static two-phase back electromotive force model, and step 203 may include the following sub-steps:

[0094] The preset back electromotive force observer is a sliding mode observer (SMO), which includes a static two-phase estimated current model and a static two-phase back electromotive force model.

[0095] S11. Use two-phase current data, two-phase voltage data, stator resistance, stator inductance and sliding mode gain coefficient to input the static two-phase estimated current model for solution to obtain the static two-phase estimated current.

[0096] The static two-phase estimated current model is as follows:

[0097]

[0098] In the formula, 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 stator inductance, is the stator resistance, Represents the sliding mode gain coefficient.

[0099] In an embodiment of the present invention, two-phase current data, two-phase voltage data, stator resistance, stator inductance and sliding mode gain coefficient are input into a static two-phase estimated current model for solution to obtain the α-axis static two-phase estimated current and the β-axis static two-phase estimated current.

[0100] S12, using the static two-phase estimated current, filter cutoff frequency, two-phase current data and sliding mode gain coefficient to input the static two-phase back electromotive force model for solution, and obtaining the static two-phase back electromotive force under the static two-phase coordinate system axis.

[0101] The specific model of two static back electromotive force is:

[0102]

[0103] In the formula, It represents the two opposing electromotive forces when the α-axis is stationary. It represents the two opposing electromotive forces when the β axis is stationary. It represents the estimated back electromotive force of the two phases at rest on the α axis, It represents the estimated back electromotive force of the two phases at rest on the β axis, represents the filter cutoff frequency, specifically the cutoff frequency of the low-pass filter used by the sliding mode observer, represents a complex variable in the Laplace transform.

[0104] In an embodiment of the present invention, a stationary two-phase estimated current, a filter cutoff frequency, two-phase current data and a sliding mode gain coefficient are input into a stationary two-phase back electromotive force model for solution to obtain an α-axis stationary two-phase estimated back electromotive force and a β-axis stationary two-phase estimated back electromotive force, and the α-axis stationary two-phase estimated back electromotive force and the β-axis stationary two-phase estimated back electromotive force are used as the α-axis stationary two-phase back electromotive force and the β-axis stationary two-phase back electromotive force under the stationary two-phase coordinate system.

[0105] Step 204: Based on the unit operation data, the preset rotating coordinate equation 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.

[0106] The preset rotation coordinate equation is as follows:

[0107]

[0108] Furthermore, the unit operation data also includes position feedback data, the static two-phase back electromotive force includes a first static two-phase back electromotive force and a second static two-phase back electromotive force, and step 204 may include the following sub-steps:

[0109] S21, performing a multiplication operation on the cosine value of the position feedback data and the second stationary two-phase back electromotive force to obtain a first product value.

[0110] S22, performing a multiplication operation on the sine value of the position feedback data and the first stationary two-phase back electromotive force to obtain a second product value.

[0111] S23, performing a multiplication operation on the sine value of the position feedback data and the second stationary two-phase back electromotive force to obtain a third product value.

[0112] S24, performing a multiplication operation on the cosine value of the position feedback data and the first two stationary back electromotive forces to obtain a fourth multiplication value.

[0113] S25, performing a difference operation using the first product value and the second product value to obtain a first rotating two-phase counter electromotive force.

[0114] S26, performing a difference operation between the inverse of the third product value and the fourth product value to obtain a second rotating two-phase counter electromotive force.

[0115] 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.

[0116] 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 calculation method of the first rotating two-phase back electromotive force and the second rotating two-phase back electromotive force can be as follows:

[0117]

[0118] 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.

[0119] In an embodiment of the present invention, based on the preset rotating coordinate equation, the calculation formula of the first rotating two-phase back electromotive force and the second rotating two-phase back electromotive force is converted, and the coordinate transformation of the stationary two-phase back electromotive force is performed using the unit operation data to obtain the first rotating two-phase back electromotive force and the second rotating two-phase back electromotive force under the rotating two-phase coordinate system axis.

[0120] It is worth mentioning that due to the static back electromotive force of the wind turbine and the stator flux , rotor position and electrical angular velocity There is a specific proportional relationship, and the rotor position and electrical angular velocity Can be replaced with the position feedback data of the previous cycle and speed feedback data Therefore, in the subsequent calculation of the reverse electromotive force of the rotating two phases, the stator flux can be used , the position feedback data of the previous cycle and speed feedback data The two-way back electromotive force of the α-axis and the two-way back electromotive force of the β-axis can be directly calculated. The specific expressions are:

[0121]

[0122] Furthermore, substituting the above expression into the preset rotation coordinate equation for transformation, we can obtain:

[0123]

[0124] Step 205: 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.

[0125] Further, step 205 may include the following sub-steps:

[0126] S31. Based on the half-tangent algorithm, the target error data is determined by using the reverse electromotive force of the two rotating phases.

[0127] Further, S31 may include the following sub-steps:

[0128] S311, 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.

[0129] S312, performing a square root operation on the first sum to obtain a back electromotive force amplitude.

[0130] S313, performing a sum operation using the back electromotive force amplitude and the back electromotive forces of the first two rotations to obtain a second sum.

[0131] S314, performing a ratio operation on the second rotating two-phase back electromotive force and the second sum value to obtain target error data.

[0132] 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:

[0133]

[0134]

[0135] In the formula, represents the back electromotive force amplitude, Represents target error data, specifically the error signal used by the half-tangent phase-locked loop.

[0136] In the embodiment of the present invention, the back electromotive force amplitude of the back electromotive force vector under the dq axes of the orthogonal rotating two-phase coordinate system is calculated according to the half-tangent algorithm, and the half-tangent type wind turbine generator position estimation error information can be further calculated.

[0137] It is worth mentioning that the back EMF amplitude can also be measured by the stator flux With electrical angular velocity To calculate, the specific expression is:

[0138]

[0139] S32. 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 unit operation data further includes a first observer parameter, a second observer parameter and a third observer parameter, and S32 may include the following sub-steps:

[0141] S321. Use the target error data and the unit operation data to input the preset improved loop filter for solving and obtain the target speed data.

[0142] Further, S321 may include the following sub-steps:

[0143] S3211. Perform a multiplication operation on the target error data and the first observer parameter to obtain a fifth multiplication value.

[0144] S3212: Perform a multiplication operation on the target error data and the second observer parameter to obtain a sixth multiplication value.

[0145] S3213: Perform a multiplication operation on the target error data and the third observer parameter to obtain a seventh multiplication value.

[0146] S3214. Perform a first integral operation on the sixth product value to obtain a first integral value.

[0147] S3215. Perform a double integral operation on the seventh product value to obtain a second integral value.

[0148] S3216. Perform a sum operation using the fifth product value, the first integral value, and the second integral value to obtain target speed data.

[0149] 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:

[0150]

[0151] In the formula, Indicates the target speed data, represents the first observer parameter, represents the second observer parameter, represents the third observer parameter.

[0152] In the embodiment of the present invention, the target error data and the unit operation data are input into a preset improved loop filter for solving, thereby obtaining the target speed data.

[0153] S322, using the target speed data to preset the position estimator to perform a single integration operation to obtain the target position data.

[0154] 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:

[0155]

[0156] In the formula, Represents target location data.

[0157] It should be noted that based on the improved loop filter and combined with the rotor position estimator, the rotor speed and position estimation values ​​are calculated. , .

[0158] First, determine the state variables, is the location estimate, is the velocity estimator, is the derivative of velocity, i.e. acceleration, and its specific expression is:

[0159]

[0160] The state space expression of the third-order nonlinear system is constructed, and the state equation is:

[0161]

[0162] Thus, a position and speed estimator is constructed by coupling the improved loop filter with the position estimator. The state equation is as follows:

[0163]

[0164] Step 206: Use the target position data to update the new position feedback data in the unit operation data, and jump 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 axis.

[0165] In the embodiment of the present invention, the target position data is updated as new position feedback data in the unit operation data, and the step jumps to coordinate transformation of the three-phase power data to obtain two-phase power data under the stationary two-phase coordinate system axis.

[0166] In the present invention, on the one hand, the system convergence domain is adjusted by changing the phase-locked loop structure, so that the rotor speed and position estimation algorithm can adapt to the special conditions of the operation of the wind turbine generator set; on the other hand, the order of the overall system is increased by improving the loop filter of the phase-locked loop, thereby greatly improving the accuracy of the estimated information.

[0167] 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 transformed into coordinates 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 solving to obtain the stationary two-phase back electromotive force under the axis of a stationary two-phase coordinate system; based on the unit operation data, the stationary two-phase back electromotive force is transformed into coordinates using a preset rotating coordinate equation 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 rotating two-phase back electromotive force under rotating coordinates, and then the error data of the wind turbine generator set is calculated based on the half-tangent algorithm, and the error data is combined with the unit operation data as the input of the improved third-order loop filter, which improves the accuracy of the estimated information and obtains more accurate target speed data, and the accurate target speed data is used as the input of the position estimator to obtain more accurate target position data; the technical problem of how to accurately estimate the position and speed of the wind turbine generator set is solved.

[0168] See also Figure 4 , Figure 4 This is a structural block diagram of a third-order half-tangent wind turbine generator position and speed estimation system provided in Embodiment 3 of the present invention.

[0169] The present invention provides a third-order half-tangent wind turbine generator position and speed estimation system, comprising:

[0170] 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;

[0171] 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;

[0172] 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;

[0173] The second coordinate transformation module 304 is used to transform the stationary two-phase back electromotive force using the preset rotating coordinate equation based on the unit operation data to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis;

[0174] 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.

[0175] Further, the two-phase power data includes two-phase current data and two-phase voltage data, the unit operation data includes stator resistance, stator inductance, sliding mode gain coefficient and filter cutoff frequency, the preset back electromotive force observer includes a static two-phase estimated current model and a static two-phase back electromotive force model, and the observer solution module 303 includes:

[0176] The static two-phase estimated current submodule is used to use two-phase current data, two-phase voltage data, stator resistance, stator inductance and sliding mode gain coefficient to input the static two-phase estimated current model for solution to obtain the static two-phase estimated current;

[0177] The stationary two-phase back EMF submodule is used to solve the stationary two-phase back EMF model by using the stationary two-phase estimated current, filter cutoff frequency, two-phase current data and sliding mode gain coefficient to obtain the stationary two-phase back EMF under the stationary two-phase coordinate system axis.

[0178] Furthermore, the unit operation data also includes position feedback data, the static two-phase back electromotive force includes a first static two-phase back electromotive force and a second static two-phase back electromotive force, and the second coordinate transformation module 304 includes:

[0179] A first multiplication submodule is used to perform a multiplication operation using the cosine value of the position feedback data and the back electromotive force of the second stationary pair to obtain a first multiplication value;

[0180] A second multiplication submodule is used to perform a multiplication operation on the sine value of the position feedback data and the first two stationary back electromotive forces to obtain a second product value;

[0181] A third multiplication submodule is used to perform a multiplication operation on the sine value of the position feedback data and the second two stationary back electromotive forces to obtain a third product;

[0182] A fourth multiplication submodule, configured to perform a multiplication operation on the cosine value of the position feedback data and the first two stationary back electromotive forces to obtain a fourth multiplication value;

[0183] A first rotating two-phase back electromotive force submodule is used to perform a difference operation using the first multiplication value and the second multiplication value to obtain a first rotating two-phase back electromotive force;

[0184] The second rotating two-way back electromotive force submodule is used for performing a difference operation using the opposite number of the third multiplication value and the fourth multiplication value to obtain a second rotating two-way back electromotive force.

[0185] Furthermore, the data output module 305 includes:

[0186] A target error data submodule is used to determine the target error data based on a half-tangent algorithm and using the reverse electromotive force of two rotating phases;

[0187] The data 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.

[0188] Furthermore, the target error data submodule includes:

[0189] 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;

[0190] A back electromotive force amplitude unit, used for performing a square root operation on the first sum to obtain a back electromotive force amplitude;

[0191] A second summing unit is used to perform a summing operation using the back electromotive force amplitude and the back electromotive force of the first two rotating phases to obtain a second summing value;

[0192] The error processing unit is used to perform a ratio operation on the second rotating two-phase back electromotive force and the second sum value to obtain target error data.

[0193] Furthermore, the data processing submodule includes:

[0194] A target speed data unit is used to input the target error data and the unit operation data into a preset improved loop filter for solving, so as to obtain the target speed data;

[0195] The target position data unit is used to use the target speed data to preset the position estimator to perform a single integral operation to obtain the target position data.

[0196] Furthermore, the unit operation data also includes a first observer parameter, a second observer parameter and a third observer parameter.

[0197] Furthermore, the target speed data unit includes:

[0198] a fifth multiplication subunit, configured to perform a multiplication operation on the target error data and the first observer parameter to obtain a fifth multiplication value;

[0199] a sixth multiplication subunit, configured to perform a multiplication operation on the target error data and the second observer parameter to obtain a sixth multiplication value;

[0200] a seventh multiplication subunit, configured to perform a multiplication operation on the target error data and the third observer parameter to obtain a seventh multiplication value;

[0201] A first integral value subunit, used for performing a first integral operation on the sixth product value to obtain a first integral value;

[0202] A second integral value subunit is used to perform a double integral operation on the seventh product value to obtain a second integral value;

[0203] The sum operation subunit is used to perform a sum operation using the fifth product value, the first integral value and the second integral value to obtain target speed data.

[0204] Furthermore, the Clarke transformation method is used to perform coordinate transformation on the three-phase power data.

[0205] Furthermore, it also includes:

[0206] The jump module is used to update the target position data into new position feedback data in the unit operation data, and jump 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.

[0207] 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 transformed into coordinates 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 solving to obtain the stationary two-phase back electromotive force under the axis of a stationary two-phase coordinate system; based on the unit operation data, the stationary two-phase back electromotive force is transformed into coordinates using a preset rotating coordinate equation 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 rotating two-phase back electromotive force under rotating coordinates, and then the error data of the wind turbine generator set is calculated based on the half-tangent algorithm, and the error data is combined with the unit operation data as the input of the improved third-order loop filter, which improves the accuracy of the estimated information and obtains more accurate target speed data, and the accurate target speed data is used as the input of the position estimator to obtain more accurate target position data; the technical problem of how to accurately estimate the position and speed of the wind turbine generator set is solved.

[0208] 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.

[0209] 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.

[0210] 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 half-tangent 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; Based on the unit operation data, coordinate transformation is performed on the stationary two-phase back electromotive force using a preset rotating coordinate equation to obtain the rotating two-phase back electromotive force 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 half-tangent type wind turbine generator position and speed estimation method according to claim 1, characterized in that: The two-phase power data includes two-phase current data and two-phase voltage data, the unit operation data includes stator resistance, stator inductance, sliding mode gain coefficient and filter cutoff frequency, the preset back electromotive force observer includes a static two-phase estimated current model and a static two-phase back electromotive force model, and the step of using the two-phase power data and the unit operation data to input the preset back electromotive force observer for solving to obtain the static two-phase back electromotive force under the static two-phase coordinate system axis includes: The two-phase current data, the two-phase voltage data, the stator resistance, the stator inductance and the sliding mode gain coefficient are input into the static two-phase estimated current model for solving to obtain the static two-phase estimated current; The static two-phase estimated current, the filter cutoff frequency, the two-phase current data and the sliding mode gain coefficient are input into the static two-phase back electromotive force model for solving to obtain the static two-phase back electromotive force under the static two-phase coordinate system axis.

3. The third-order half-tangent type wind turbine generator position and speed estimation method according to claim 1, characterized in that: The unit operation data also includes position feedback data, the stationary two-phase back electromotive force includes a first stationary two-phase back electromotive force and a second stationary two-phase back electromotive force, and the step of performing coordinate transformation on the stationary two-phase back electromotive force using a preset rotating coordinate equation based on the unit operation data to obtain the rotating two-phase back electromotive force under the rotating two-phase coordinate system axis includes: Performing a multiplication operation on the cosine value of the position feedback data and the second two-phase static back electromotive force to obtain a first multiplication value; Performing a multiplication operation on the sine value of the position feedback data and the first two stationary back electromotive forces to obtain a second product value; Performing a multiplication operation on the sine value of the position feedback data and the second two-phase static back electromotive force to obtain a third product value; Performing a multiplication operation on the cosine value of the position feedback data and the first two-phase static back electromotive force to obtain a fourth multiplication value; Performing a difference operation using the first multiplication value and the second multiplication value to obtain a first rotating two-phase back electromotive force; The inverse of the third multiplication value is used to perform a difference operation with the fourth multiplication value to obtain a second rotating two-phase counter electromotive force.

4. The third-order half-tangent type wind turbine generator position and speed estimation method according to claim 3 is 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: Based on the half-tangent algorithm, the target error data is determined by using the two rotating back electromotive forces; 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.

5. The third-order half-tangent type wind turbine generator position and speed estimation method according to claim 4, characterized in that: The step of determining the target error data based on the half-tangent algorithm and using the rotating two-phase back electromotive force comprises: 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 on the first sum value to obtain a back electromotive force amplitude; Performing a sum operation using the back electromotive force amplitude and the first two rotating back electromotive forces to obtain a second sum; The target error data is obtained by performing a ratio operation on the second rotating two-phase back electromotive force and the second sum value.

6. The third-order half-tangent type wind turbine generator position and speed estimation method according to claim 4, characterized in that: 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: The target error data and the unit operation data are input into a preset improved loop filter for solving to obtain target speed data; The target speed data is used to preset the position estimator to perform a single integral operation to obtain the target position data.

7. The third-order half-tangent type wind turbine generator position and speed estimation method according to claim 4, characterized in that: The unit operation data further 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 input a preset improved loop filter for solving to obtain the target speed data includes: Performing a multiplication operation on the target error data and the first observer parameter to obtain a fifth multiplication value; performing a multiplication operation on the target error data and the second observer parameter to obtain a sixth multiplication value; Performing a multiplication operation on the target error data and the third observer parameter to obtain a seventh multiplication value; Performing a first integral operation on the sixth product value to obtain a first integral value; Performing a double integral operation on the seventh product value to obtain a second integral value; The fifth product value, the first integral value and the second integral value are used to perform a sum operation to obtain target speed data.

8. The third-order half-tangent 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.

9. The third-order half-tangent type wind turbine generator position and speed estimation method according to claim 3, characterized in that: Also includes: The target position data is updated as new position feedback data in the unit operation data, and the step of performing coordinate transformation on the three-phase power data to obtain two-phase power data under a stationary two-phase coordinate system is jumped to.

10. A third-order half-tangent wind turbine 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 transform the coordinates of the two stationary back electromotive forces using a preset rotating coordinate equation based on the unit operation data 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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