Wind turbine generator position and speed estimation method and system of third-order hyperbolic tangent type

Abstract

The application relates to the technical field of wind turbine generator set control, and discloses a wind turbine generator set position and rotating speed estimation method and system of a three-order half tangent type, which converts three-phase power data into rotating two-phase counter electromotive force in rotating coordinates through twice coordinate transformation and pre-setting of a counter electromotive force observer, then calculates error data of the wind turbine generator set based on a half tangent algorithm, and combines the error data with unit operation data as input of an improved three-order loop filter, so that the precision of estimated information is improved, more accurate target rotating speed data are obtained, and the accurate target rotating speed data are taken as input of a position estimator, so that more accurate 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 semi-tangent method and system for estimating the position and speed of a wind turbine generator. Background Technology

[0002] In the control process of wind turbine generator sets, to ensure that the turbine is always in optimal operating condition, it is necessary to monitor the rotor speed in real time and apply corresponding control data. Especially when the wind turbine generator set is operating in the optimal tip speed ratio zone (where torque and speed need to continuously track the given value as it increases) or transitions from the optimal tip speed ratio zone to the rated speed zone and then into the constant power zone (where torque increases significantly in a short period), the requirements for the real-time performance and accuracy of wind turbine generator set speed detection will increase significantly. Existing conventional methods for detecting and estimating rotor position and speed suffer from slow response, severe oscillation, and poor disturbance suppression capabilities in these two extreme conditions. They cannot quickly and accurately obtain the position and speed information of the wind turbine generator set, making it difficult to meet the requirements of speed estimation in wind turbine generator set control in practical applications, thus reducing the overall control effect of the wind turbine generator system. Summary of the Invention

[0003] This invention provides a third-order semi-tangent 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 semi-tangent method for estimating the position and rotational speed of a wind turbine generator, 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] Based on the unit's operating data, the two stationary opposite electromotive forces are transformed using a preset rotating coordinate equation to obtain the two rotating opposite electromotive forces under the rotating two-phase coordinate system.

[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 two-phase power data includes two-phase current data and two-phase voltage data; the unit operating data includes stator resistance, stator inductance, sliding mode gain coefficient, and filter cutoff frequency; the preset back EMF observer includes a stationary two-phase estimated current model and a stationary two-phase back EMF model; the step of using the two-phase power data and the unit operating data to input the preset back EMF observer for solving to obtain the stationary two-phase back EMF in the stationary two-phase coordinate system 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 stationary two-phase estimated current model for solution to obtain the stationary 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 EMF model for solution, and the static two-phase back EMF in the static two-phase coordinate system is obtained.

[0013] Optionally, the unit operating data further includes position feedback data, and the two stationary back EMFs include a first stationary back EMF and a second stationary back EMF. The step of performing coordinate transformation on the two stationary back EMFs based on the unit operating data using a preset rotating coordinate equation to obtain the two rotating back EMFs in the rotating two-phase coordinate system includes:

[0014] The first multiplication value is obtained by multiplying the cosine value of the position feedback data with the two opposite electromotive forces at rest.

[0015] The second multiplication value is obtained by multiplying the sine value of the position feedback data with the first two opposing electromotive forces at rest.

[0016] The third multiplication value is obtained by multiplying the sine value of the position feedback data with the two opposite electromotive forces at rest.

[0017] The cosine value of the position feedback data is multiplied by the first two opposing electromotive forces at rest to obtain the fourth multiplication value.

[0018] The difference between the first multiplication value and the second multiplication value is used to obtain the first two opposing electromotive forces of rotation.

[0019] The difference between the opposite of the third multiplier and the fourth multiplier is used to obtain the second rotating two opposite electromotive forces.

[0020] 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:

[0021] Based on the semi-tangent algorithm, the target error data is determined using the two opposing rotating electromotive forces.

[0022] Using the target error data and the unit operation data, the target position data and target speed data of the target unit are determined.

[0023] Optionally, the step of determining the target error data using the two opposite rotating electromotive forces based on the half-tangent algorithm includes:

[0024] 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.

[0025] The square root of the first sum is used to obtain the back electromotive force amplitude;

[0026] The second sum is obtained by summing the back electromotive force amplitude and the first two rotating back electromotive forces.

[0027] The target error data is obtained by comparing the second rotational two opposite electromotive forces with the second sum.

[0028] Optionally, the step of determining the target position data and target speed data of the target unit using the target error data and the unit operating data includes:

[0029] The target speed data is obtained by inputting the target error data and the unit operation data into a preset improved loop filter and solving the problem.

[0030] The target position data is obtained by performing a single-integration operation using the target rotation speed data preset position estimator.

[0031] Optionally, the unit operating data further includes first observer parameters, second observer parameters, and third observer parameters. The step of using the target error data and the unit operating data to input a preset improved loop filter for solving to obtain the target speed data includes:

[0032] The target error data is multiplied by the first observer parameters to obtain the fifth multiplier.

[0033] The target error data is multiplied with the second observer parameters to obtain the sixth multiplier.

[0034] The target error data is multiplied by the parameters of the third observer to obtain the seventh multiplier.

[0035] Perform a first integration operation on the sixth multiplier to obtain the first integral value;

[0036] Perform a double integral operation on the seventh multiplier to obtain the second integral value;

[0037] The target rotational speed data is obtained by performing a summation operation using the fifth multiplication value, the first integral value, and the second integral value.

[0038] Optionally, the three-phase power data can be transformed using the Clarke transform method.

[0039] Optionally, it also includes:

[0040] The target location data is used to update the new location feedback data in the unit operation data, and then the process jumps to the step of performing coordinate transformation on the three-phase power data to obtain two-phase power data in a stationary two-phase coordinate system.

[0041] The second aspect of this invention provides a third-order semi-tangent type wind turbine generator position and speed estimation system, comprising:

[0042] 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.

[0043] 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.

[0044] 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.

[0045] The second coordinate transformation module is used to perform coordinate transformation on the two stationary opposite electromotive forces based on the unit operating data and using a preset rotating coordinate equation to obtain the two rotating opposite electromotive forces under the rotating two-phase coordinate system axis.

[0046] 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.

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

[0048] In this invention, in response to a request to estimate the position and speed of a target unit, three-phase power data and unit operation data of the target unit are acquired; coordinate transformation is performed on the three-phase power data to obtain two-phase power data in a stationary two-phase coordinate system; the two-phase power data and unit operation data are input into a preset back EMF observer for solving to obtain the stationary two-phase back EMF in the stationary two-phase coordinate system; based on the unit operation data, a coordinate transformation is performed on the stationary two-phase back EMF using a preset rotating coordinate equation to obtain the rotating two-phase back EMF in a rotating two-phase coordinate system; the rotating two-phase back EMF and unit operation data are used to determine... The target location and target rotational speed data of the target turbine generator are obtained. Through two coordinate transformations and a preset 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 is calculated based on the half-tangent algorithm. The error data is combined with the generator's operating data as input to an improved third-order loop filter, which improves the accuracy of the estimation information and obtains more accurate target rotational speed data. The accurate target rotational speed data is then used as input to the position estimator, thereby obtaining more accurate target location data. This solves the technical problem of how to accurately estimate the position and rotational speed of a wind turbine generator. Attached Figure Description

[0049] 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.

[0050] Figure 1 The flowchart illustrates the steps of a third-order semi-tangent wind turbine generator position and speed estimation method provided in Embodiment 1 of the present invention.

[0051] Figure 2 The flowchart illustrates the steps of a third-order semi-tangent wind turbine generator position and speed estimation method provided in Embodiment 2 of the present invention.

[0052] 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;

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

[0054] This invention provides a third-order semi-tangent 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.

[0055] 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.

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

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

[0058] Please see Figure 1 , Figure 1 The flowchart illustrates the steps of a third-order semi-tangent wind turbine generator position and speed estimation method provided in Embodiment 1 of the present invention.

[0059] This invention provides a third-order semi-tangent method for estimating the position and rotational speed of a wind turbine generator, comprising:

[0060] 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.

[0061] 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.

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

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

[0064] 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.

[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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] A pre-set back EMF observer refers to a back EMF observer pre-built based on sliding mode control theory, also known as a sliding mode 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.

[0070] 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.

[0071] Step 104: Based on the unit's operating data, use the preset rotating coordinate equation to perform coordinate transformation on the two stationary back electromotive forces to obtain the two rotating back electromotive forces under the rotating two-phase coordinate system.

[0072] Preset rotating coordinate equations refer to coordinate equations used to transform variables in a stationary coordinate system to a rotating coordinate system.

[0073] In this embodiment of the invention, based on the unit's operating data, a second coordinate transformation is performed on the two stationary opposite electromotive forces using a preset rotating coordinate equation, thereby obtaining the two rotating opposite electromotive forces 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 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.

[0075] 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.

[0076] In this embodiment of the invention, based on the semi-tangent algorithm, the error data of the semi-tangent wind turbine generator set is calculated by using two rotating opposite electromotive forces. Based on a preset improved loop filter and position estimator, the error information of the semi-tangent wind turbine generator set and the unit operation data are used as inputs to the improved loop filter to estimate the target speed data of the target unit. Then, the target speed data is input into the position estimator to estimate the target position data.

[0077] In this invention, in response to a request to estimate the position and speed of a target unit, three-phase power data and unit operation data of the target unit are acquired; coordinate transformation is performed on the three-phase power data to obtain two-phase power data in a stationary two-phase coordinate system; the two-phase power data and unit operation data are input into a preset back EMF observer for solving to obtain the stationary two-phase back EMF in the stationary two-phase coordinate system; based on the unit operation data, a coordinate transformation is performed on the stationary two-phase back EMF using a preset rotating coordinate equation to obtain the rotating two-phase back EMF in a rotating two-phase coordinate system; the rotating two-phase back EMF and unit operation data are used to determine... The target location and target rotational speed data of the target turbine generator are obtained. Through two coordinate transformations and a preset 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 is calculated based on the half-tangent algorithm. The error data is combined with the generator's operating data as input to an improved third-order loop filter, which improves the accuracy of the estimation information and obtains more accurate target rotational speed data. The accurate target rotational speed data is then used as input to the position estimator, thereby obtaining more accurate target location data. This solves the technical problem of how to accurately estimate the position and rotational speed of a wind turbine generator.

[0078] Please see Figures 2-3 , Figure 2The flowchart illustrates the steps of a third-order semi-tangent wind turbine generator position and speed estimation method provided in Embodiment 2 of the present invention.

[0079] 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.

[0080] This invention provides a third-order semi-tangent method for estimating the position and rotational speed of a wind turbine generator, comprising:

[0081] 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.

[0082] 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.

[0083] 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.

[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.

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

[0086] 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:

[0087]

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

[0089]

[0090] 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.

[0091] 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.

[0092] 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.

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

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

[0095] S11. The static two-phase estimated current model is solved by inputting two-phase current data, two-phase voltage data, stator resistance, stator inductance and sliding mode gain coefficient.

[0096] The specific model for estimating current in a static two-phase system is as follows:

[0097]

[0098] In the formula, This represents the estimation of the stationary two-phase current along the α-axis. This represents the estimated current in a stationary two-phase system along the β-axis. Indicates stator inductance, Indicates stator resistance. This represents the sliding mode gain coefficient.

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

[0100] S12. The static two-phase back EMF model is solved by inputting the static two-phase back EMF, filter cutoff frequency, two-phase current data and sliding mode gain coefficient into the static two-phase back EMF model to obtain the static two-phase back EMF under the coordinate system axis.

[0101] The specific model of two opposing electromotive forces at rest is as follows:

[0102]

[0103] In the formula, This represents two opposite electromotive forces at rest along the α-axis. This represents two opposite electromotive forces at rest along the β-axis. This represents the estimation of the opposite electromotive force between two stationary phases along the α-axis. This represents the estimation of the opposite electromotive force in a stationary two-phase system along the β-axis. This indicates the filter cutoff frequency, specifically the cutoff frequency of the low-pass filter used in the sliding mode observer. This represents the complex variable in the Laplace transform.

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

[0105] Step 204: Based on the unit operation data, use the preset rotating coordinate equation to perform coordinate transformation on the two stationary back electromotive forces to obtain the two rotating back electromotive forces under the rotating two-phase coordinate system.

[0106] The preset rotation coordinate equations are as follows:

[0107]

[0108] Furthermore, the unit operating data also includes position feedback data, and the two stationary back EMFs include a first stationary back EMF and a second stationary back EMF. Step 204 may include the following sub-steps:

[0109] S21. The cosine value of the position feedback data is multiplied by the two opposite electromotive forces at rest to obtain the first multiplication value.

[0110] S22. The second multiplication value is obtained by multiplying the sine value of the position feedback data with the two opposite electromotive forces at the first stationary position.

[0111] S23. The sine value of the position feedback data is multiplied by the two opposite electromotive forces at the second stationary position to obtain the third multiplier.

[0112] S24. The cosine value of the position feedback data is multiplied with the two opposite electromotive forces at the first stationary position to obtain the fourth multiplication value.

[0113] S25. The difference between the first multiplier and the second multiplier is used to obtain the first two opposite electromotive forces of rotation.

[0114] S26. The difference between the opposite of the third multiplier and the fourth multiplier is used to obtain the second rotating two opposite electromotive forces.

[0115] 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.

[0116] In practical implementation, to facilitate the method's implementation, the above process can be converted into a formulaic encapsulation. The calculation methods for the first two opposing electromotive forces and the second two opposing electromotive forces can be as follows:

[0117]

[0118] 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.

[0119] In this embodiment of the invention, based on a preset rotating coordinate equation, the calculation formulas for the first rotating two-phase opposite electromotive force and the second rotating two-phase opposite electromotive force are converted, and the coordinate transformation of the stationary two-phase opposite electromotive force is performed using the unit operation data to obtain the first rotating two-phase opposite electromotive force and the second rotating two-phase opposite electromotive force under the rotating two-phase coordinate system axis.

[0120] It is worth mentioning that, due to the static two opposite electromotive forces of the wind turbine generator and the stator magnetic flux... Rotor position and electric angular velocity There exists a specific proportional relationship, and the rotor position and electric angular velocity It can be replaced with the location feedback data from the previous period. and speed feedback data Therefore, in the subsequent calculation of the two opposing electromotive forces of rotation, the stator flux linkage can be used. Location feedback data from the previous period and speed feedback data The two opposing electromotive forces at rest along the α-axis and the two opposing electromotive forces at rest along the β-axis can be directly calculated, and the specific expressions are as follows:

[0121]

[0122] Furthermore, substituting the above expression into the preset rotating coordinate equation and transforming it, we can obtain:

[0123]

[0124] Step 205: 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.

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

[0126] S31. Based on the half-tangent algorithm, the target error data is determined by rotating two opposite electromotive forces.

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

[0128] S311. 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.

[0129] S312. Perform a square root operation using the first sum to obtain the back electromotive force amplitude.

[0130] S313. The second sum is obtained by using the back electromotive force amplitude and the two back electromotive forces of the first rotation.

[0131] S314. The target error data is obtained by comparing the second rotating two opposite electromotive forces with the second sum.

[0132] 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:

[0133]

[0134]

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

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

[0137] It is worth mentioning that the back electromotive force amplitude can also be determined by the stator magnetic flux. With electric angular velocity The calculation is performed, and the specific expression is:

[0138]

[0139] S32. Using target error data and unit operation data, determine the target position data and target speed data of the target unit.

[0140] Furthermore, the unit operation data also includes first observer parameters, second observer parameters, and third observer parameters. S32 may include the following sub-steps:

[0141] S321. The target speed data is obtained by inputting the target error data and the unit operation data into the preset improved loop filter.

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

[0143] S3211. The target error data and the first observer parameters are multiplied to obtain the fifth multiplier.

[0144] S3212. The target error data and the second observer parameters are multiplied to obtain the sixth multiplier.

[0145] S3213. Multiply the target error data with the parameters of the third observer to obtain the seventh multiplier.

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

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

[0148] S3216. The target rotational speed data is obtained by performing a summation operation using the fifth multiplication value, the first integral value, and the second integral value.

[0149] 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:

[0150]

[0151] In the formula, This represents the target rotational speed data. Indicates the parameters of the first observer. Indicates the parameters of the second observer. This represents the parameters of the third observer.

[0152] In this embodiment of the invention, the target speed data is obtained by inputting the target error data and the unit operation data into a preset improved loop filter.

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

[0154] 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:

[0155]

[0156] In the formula, This indicates the 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 estimates are calculated. , .

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

[0159]

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

[0161]

[0162] This leads to the construction of a position and velocity estimator coupled with an improved loop filter and a position estimator. The specific state equation is as follows:

[0163]

[0164] Step 206: Update the target position data into 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.

[0165] In this embodiment of the invention, the target location data is updated to new location feedback data within the unit operation data, and the process jumps to the step of performing coordinate transformation on the three-phase power data to obtain two-phase power data under the stationary two-phase coordinate system.

[0166] In this 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 wind turbine generator operation; on the other hand, the order of the overall system is increased by improving the loop filter of the phase-locked loop, which greatly improves the accuracy of the estimation information.

[0167] In this invention, in response to a request to estimate the position and speed of a target unit, three-phase power data and unit operation data of the target unit are acquired; coordinate transformation is performed on the three-phase power data to obtain two-phase power data in a stationary two-phase coordinate system; the two-phase power data and unit operation data are input into a preset back EMF observer for solving to obtain the stationary two-phase back EMF in the stationary two-phase coordinate system; based on the unit operation data, a coordinate transformation is performed on the stationary two-phase back EMF using a preset rotating coordinate equation to obtain the rotating two-phase back EMF in a rotating two-phase coordinate system; the rotating two-phase back EMF and unit operation data are used to determine... The target location and target rotational speed data of the target turbine generator are obtained. Through two coordinate transformations and a preset 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 is calculated based on the half-tangent algorithm. The error data is combined with the generator's operating data as input to an improved third-order loop filter, which improves the accuracy of the estimation information and obtains more accurate target rotational speed data. The accurate target rotational speed data is then used as input to the position estimator, thereby obtaining more accurate target location data. This solves the technical problem of how to accurately estimate the position and rotational speed of a wind turbine generator.

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

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

[0170] 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.

[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 the axis of the stationary two-phase coordinate system.

[0172] 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.

[0173] The second coordinate transformation module 304 is used to perform coordinate transformation on the two stationary opposite electromotive forces based on the unit operation data and using a preset rotating coordinate equation to obtain the two rotating opposite electromotive forces 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 two opposing electromotive forces of rotation and the unit operating data.

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

[0176] The static two-phase current estimation submodule is used to solve the static two-phase current estimation model by taking two-phase current data, two-phase voltage data, stator resistance, stator inductance and sliding mode gain coefficient as inputs, and 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 taking the estimated current of the stationary two-phase phases, the filter cutoff frequency, the two-phase current data and the sliding mode gain coefficient as inputs, and obtaining the stationary two-phase back EMF in the stationary two-phase coordinate system.

[0178] Furthermore, the unit operating data also includes position feedback data, and the two stationary back EMFs include a first stationary back EMF and a second stationary back EMF. The second coordinate transformation module 304 includes:

[0179] The first multiplication submodule is used to perform a multiplication operation on the cosine value of the position feedback data and the two opposite electromotive forces at rest to obtain the first multiplication value.

[0180] The second multiplication submodule is used to perform a multiplication operation between the sine value of the position feedback data and the two opposite electromotive forces at the first stationary position to obtain the second multiplication value.

[0181] The third multiplication submodule is used to perform a multiplication operation on the sine value of the position feedback data and the two opposite electromotive forces at the second station to obtain the third multiplication value.

[0182] The fourth multiplication submodule is used to perform a multiplication operation between the cosine value of the position feedback data and the two opposite electromotive forces at the first stationary position to obtain the fourth multiplication value;

[0183] The first rotating two opposite electromotive force submodule is used to perform a difference operation using the first multiplication value and the second multiplication value to obtain the first rotating two opposite electromotive force.

[0184] The second rotating two opposite electromotive force submodule is used to perform a difference operation between the opposite number of the third multiplier and the fourth multiplier to obtain the second rotating two opposite electromotive force.

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

[0186] The target error data submodule is used to determine the target error data based on the semi-tangent algorithm and by rotating two opposite electromotive forces.

[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] 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.

[0190] The back electromotive force amplitude unit is used to perform a square root operation using the first sum to obtain the back electromotive force amplitude.

[0191] The second sum unit is used to perform a sum operation using the back electromotive force amplitude and the two back electromotive forces of the first rotation to obtain the second sum.

[0192] The error processing unit is used to perform a ratio calculation between the second rotating two opposite electromotive forces and the second sum to obtain the target error data.

[0193] Furthermore, the data processing submodule includes:

[0194] The target speed data unit is used to solve for the target speed data by inputting the target error data and the unit operation data into a preset improved loop filter.

[0195] The target position data unit is used to perform a first-order integration operation using a target rotation speed data preset position estimator to obtain the target position data.

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

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

[0198] The fifth multiplication subunit is used to perform a multiplication operation between the target error data and the parameters of the first observer to obtain the fifth multiplication value;

[0199] The sixth multiplication subunit is used to perform a multiplication operation between the target error data and the second observer parameters to obtain the sixth multiplication value;

[0200] The seventh multiplication subunit is used to perform a multiplication operation between the target error data and the third observer parameters to obtain the seventh multiplication value;

[0201] The first integral value subunit is used to perform a single integration operation on the sixth multiplication value to obtain the first integral value;

[0202] The second integral value subunit is used to perform double integration on the seventh multiplier to obtain the second integral value;

[0203] The summation subunit is used to perform summation using the fifth multiplication value, the first integral value, and the second integral value to obtain the target rotational speed data.

[0204] Furthermore, the Clarke transform 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 within the unit operation data, and then 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.

[0207] In this invention, in response to a request to estimate the position and speed of a target unit, three-phase power data and unit operation data of the target unit are acquired; coordinate transformation is performed on the three-phase power data to obtain two-phase power data in a stationary two-phase coordinate system; the two-phase power data and unit operation data are input into a preset back EMF observer for solving to obtain the stationary two-phase back EMF in the stationary two-phase coordinate system; based on the unit operation data, a coordinate transformation is performed on the stationary two-phase back EMF using a preset rotating coordinate equation to obtain the rotating two-phase back EMF in a rotating two-phase coordinate system; the rotating two-phase back EMF and unit operation data are used to determine... The target location and target rotational speed data of the target turbine generator are obtained. Through two coordinate transformations and a preset 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 is calculated based on the half-tangent algorithm. The error data is combined with the generator's operating data as input to an improved third-order loop filter, which improves the accuracy of the estimation information and obtains more accurate target rotational speed data. The accurate target rotational speed data is then used as input to the position estimator, thereby obtaining more accurate target location data. This solves the technical problem of how to accurately estimate the position and rotational speed of a wind turbine generator.

[0208] 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.

[0209] 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.

[0210] 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 semi-tangent 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. Based on the unit's operating data, the two stationary opposite electromotive forces are transformed using a preset rotating coordinate equation to obtain the two rotating opposite electromotive forces under the rotating two-phase coordinate system. 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 two-phase power data includes two-phase current data and two-phase voltage data. The unit operating data includes stator resistance, stator inductance, sliding mode gain coefficient, and filter cutoff frequency. The preset back EMF observer includes a stationary two-phase estimated current model and a stationary two-phase back EMF model. The step of inputting the two-phase power data and the unit operating data into the preset back EMF observer to solve for the stationary two-phase back EMF in the stationary two-phase coordinate system 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 stationary two-phase estimated current model for solution to obtain the stationary two-phase estimated current. The stationary two-phase estimated current, the filter cutoff frequency, the two-phase current data, and the sliding mode gain coefficient are input into the stationary two-phase back electromotive force model for solution, and the stationary two-phase back electromotive force under the coordinate system axis is obtained. The unit operating data also includes position feedback data. The two stationary back EMFs include a first stationary back EMF and a second stationary back EMF. The step of performing coordinate transformation on the two stationary back EMFs based on the unit operating data using a preset rotating coordinate equation to obtain the rotating two-phase coordinate system axes includes: The first multiplication value is obtained by multiplying the cosine value of the position feedback data with the two opposite electromotive forces at rest. The second multiplication value is obtained by multiplying the sine value of the position feedback data with the first two opposing electromotive forces at rest. The third multiplication value is obtained by multiplying the sine value of the position feedback data with the two opposite electromotive forces at rest. The cosine value of the position feedback data is multiplied by the first two opposing electromotive forces at rest to obtain the fourth multiplication value. The difference between the first multiplication value and the second multiplication value is used to obtain the first two opposing electromotive forces of rotation. The difference between the opposite of the third multiplier and the fourth multiplier is calculated to obtain the second rotating two opposite electromotive forces. 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: Based on the semi-tangent algorithm, the target error data is determined using the two opposing rotating electromotive forces. Using the target error data and the unit operation data, the target position data and target speed data of the target unit are determined.

2. The method for estimating the position and speed of a third-order semi-tangent wind turbine generator as described in claim 1, characterized in that, The step of determining the target error data using the two rotating opposite electromotive forces based on the half-tangent algorithm 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 square root of the first sum is used to obtain the back electromotive force amplitude; The second sum is obtained by summing the back electromotive force amplitude and the first two rotating back electromotive forces. The target error data is obtained by comparing the second rotational two opposite electromotive forces with the second sum.

3. The method for estimating the position and speed of a third-order semi-tangent wind turbine generator as described in claim 1, characterized in that, The step of determining the target position data and target speed data of the target unit using the target error data and the unit operating data includes: The target speed data is obtained by inputting the target error data and the unit operation data into a preset improved loop filter and solving the problem. The target position data is obtained by performing a single-integration operation using a position estimator preset with target rotational speed data.

4. The method for estimating the position and speed of a third-order semi-tangent wind turbine generator set according to claim 1, characterized in that, The unit operating data also includes first observer parameters, second observer parameters, and third observer parameters. The step of using the target error data and the unit operating data to input a preset improved loop filter for solving to obtain the target speed data includes: The target error data is multiplied by the first observer parameters to obtain the fifth multiplier. The target error data is multiplied with the second observer parameters to obtain the sixth multiplier. The target error data is multiplied by the parameters of the third observer to obtain the seventh multiplier. Perform a first integration operation on the sixth multiplier to obtain the first integral value; Perform a double integral operation on the seventh multiplier to obtain the second integral value; The target rotational speed data is obtained by performing a summation operation using the fifth multiplication value, the first integral value, and the second integral value.

5. The method for estimating the position and speed of a third-order semi-tangent wind turbine generator as described in claim 1, characterized in that, The three-phase power data were subjected to coordinate transformation using the Clarke transform method.

6. The method for estimating the position and speed of a third-order semi-tangent wind turbine generator as described in claim 3, characterized in that, Also includes: The target location data is used to update the new location feedback data in the unit operation data, and then the process jumps to the step of performing coordinate transformation on the three-phase power data to obtain two-phase power data in a stationary two-phase coordinate system.

7. A third-order semi-tangent type wind turbine generator position and speed estimation system, characterized in that, include: 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 based on the unit operating data and using a preset rotating coordinate equation to obtain the two rotating opposite electromotive forces under the rotating two-phase coordinate system axis. 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 rotation and the unit operating data; The two-phase power data includes two-phase current data and two-phase voltage data. The unit operating data includes stator resistance, stator inductance, sliding mode gain coefficient, and filter cutoff frequency. The preset back EMF observer includes a static two-phase estimated current model and a static two-phase back EMF model. The observer solution module includes: The static two-phase current estimation submodule is used to input the two-phase current data, the two-phase voltage data, the stator resistance, the stator inductance, and the sliding mode gain coefficient into the static two-phase current estimation model for solving to obtain the static two-phase estimated current; The stationary two-phase back electromotive force submodule is used to input the estimated current of the stationary two-phase, the cutoff frequency of the filter, the current data of the two-phase and the sliding mode gain coefficient into the stationary two-phase back electromotive force model to solve for the stationary two-phase back electromotive force under the coordinate system of the stationary two-phase; The unit operating data also includes position feedback data, and the two stationary back electromotive forces include a first stationary back electromotive force and a second stationary back electromotive force. The second coordinate transformation module includes: The first multiplication submodule is used to perform a multiplication operation with the cosine value of the position feedback data and the second two opposite electromotive forces at rest to obtain the first multiplication value; The second multiplication submodule is used to perform a multiplication operation between the sine value of the position feedback data and the first two opposing electromotive forces at rest to obtain the second multiplication value. The third multiplication submodule is used to perform a multiplication operation between the sine value of the position feedback data and the second stationary two opposite electromotive forces to obtain the third multiplication value. The fourth multiplication submodule is used to perform a multiplication operation between the cosine value of the position feedback data and the first two opposing electromotive forces at rest to obtain the fourth multiplication value; The first rotating two opposite electromotive force submodule is used to perform a difference operation on the first multiplication value and the second multiplication value to obtain the first rotating two opposite electromotive force. The second rotating two opposite electromotive force submodule is used to perform a difference operation between the opposite number of the third multiplier and the fourth multiplier to obtain the second rotating two opposite electromotive force. The data output module includes: The target error data submodule is used to determine the target error data based on the half-tangent algorithm and the two opposite rotating electromotive forces. The data processing submodule is used to determine the target position data and target speed data of the target unit using the target error data and the unit operation data.

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