Experimental device for advanced control algorithm of variable pitch system of wind generating set

Abstract

The invention belongs to the technical field of teaching experiment devices, and particularly relates to an advanced control algorithm experiment device for a variable pitch system of a wind generating set, which comprises a 2-meter-high wind generating set and a variable pitch system control algorithm device, and is characterized in that the 2-meter-high wind generating set consists of a tower, a wind indicator, an anemometer, a cabin, a rotor blade and a hub; a brake mechanism, a low-speed shaft, a gearbox, a variable-pitch system, a high-speed shaft and a generator are arranged in the cabin. The problems that an existing wind turbine generator master control and variable pitch controller is high in cost, and an advanced control algorithm is difficult to achieve are solved. Data acquisition and algorithm writing are realized through the sensor board, the industrial control all-in-one machine and other parts, variable pitch control, program correction and automatic scoring can be demonstrated, students can master the operation process and advanced control algorithm of the wind turbine generator, the teaching cost is reduced, and the teaching effect and the innovation ability of the students are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of teaching experimental devices, and in particular relates to an advanced control algorithm experimental device for a variable pitch system of a wind turbine generator set. Background Art

[0002] As a strategic emerging industry, wind power generation has been highly valued by countries and regions and has become the focus of renewable energy development. However, there are many problems with the main control systems such as WP3100 and pitch controllers such as L+B commonly used in wind turbines in actual operation. On the one hand, these controllers are relatively expensive, which increases the cost of wind power projects; on the other hand, they are packaged modules and integrate PID control algorithms, which makes it difficult to implement advanced control algorithms, which is not conducive to the research and teaching practice of wind power generation technology at the control algorithm level. In the teaching scenario, due to the limitations of existing equipment, it is difficult for students to deeply understand and practice the application of advanced control algorithms in the pitch system of wind turbines. In order to solve the above problems, the present invention proposes a control system experimental device based on an industrial control all-in-one computer. Summary of the invention

[0003] In order to solve the problems raised in the above background technology, the present invention provides an experimental device for an advanced control algorithm of a variable pitch system of a wind turbine generator set.

[0004] (I) Purpose of the invention

[0005] The present invention aims to design a control algorithm experimental device for a 2-meter-high wind turbine. Through the device, students can have a clearer and more intuitive understanding of the operation process of wind turbines and the implementation of advanced control algorithms during the teaching process, thereby improving the teaching quality and students' practical ability.

[0006] (II) Wind turbine structure

[0007] The 2-meter-high wind turbine generator set of the present invention (such as Figure 1 As shown) mainly consists of the following parts:

[0008] Tower 1: As a supporting body, it bears the weight of the entire unit and provides stable support for the wind turbine.

[0009] Wind vane 2: used to measure the direction of the wind and provide wind direction data for the variable pitch system to adjust the blade angle, so that the wind turbine can better capture wind energy.

[0010] Anemometer 3: Measures air velocity and obtains wind speed information. Wind speed data is crucial for the variable pitch system to adjust the blade angle to achieve maximum wind energy conversion efficiency.

[0011] The nacelle 4 is the core part of the entire wind turbine generator set, which contains key equipment such as a brake mechanism 7, a low-speed shaft 8, a gearbox 9, a pitch system 10, a high-speed shaft 11, and a generator 12.

[0012] The rotor blades 5 and the hub 6 together constitute the wind wheel of the wind turbine generator set. The hub 6 connects the rotor blades 5 and the low-speed shaft 8, and the rotation of the rotor blades 5 drives the low-speed shaft 8 to rotate at a low speed.

[0013] Braking mechanism 7: It realizes the function of stopping the operation of the fan. During fan maintenance, emergency or when power generation is not required, the fan can be stopped by the braking mechanism.

[0014] Low-speed shaft 8 and high-speed shaft 11: The low-speed shaft 8 rotates at a low speed driven by the rotor blades 5, and the gear box 9 increases the speed of the high-speed shaft 11 to 50 times the speed of the low-speed shaft 8, so that the speed reaches the size required for the generator 12 to generate electrical energy.

[0015] Gearbox 9: plays a role of speed increase, converting the low speed of the low-speed shaft 8 into the high speed of the high-speed shaft 11, so as to meet the speed requirement of the generator 12 for power generation.

[0016] Generator 12: converts mechanical energy into electrical energy to realize the core function of wind power generation.

[0017] The variable pitch system 10 adjusts the blade angle according to the wind force and direction to obtain the maximum wind energy conversion efficiency. It is one of the key components for wind turbines to achieve efficient power generation.

[0018] (III) Pitch control algorithm device structure

[0019] Pitch control algorithm device (such as Figure 2 The following parts are shown:

[0020] Wind vane and anemometer 13: Collect wind force and wind direction measurement data to provide real-time wind information for the variable pitch system, which is an important basis for the variable pitch system to adjust the blade angle.

[0021] The variable pitch motor 14 is responsible for driving the blades to adjust their angles and changing the blade angles according to control instructions to adapt to different wind conditions.

[0022] Sensor board 15: collects data from the wind vane and anemometer 13, and sends it to the industrial control integrated machine 17 to realize data transmission and conversion, and provide data support for the control algorithm.

[0023] The motor driver board 16 receives control instructions from the industrial control integrated computer 17, drives the variable pitch motor 14 to work, and realizes precise control of the blade angle.

[0024] Industrial control integrated machine 17: Control algorithms are written in it, data from the sensor board 15 is received, control instructions are generated according to the preset control algorithm, and sent to the motor driver board 16. At the same time, the built-in screen can conveniently demonstrate the variable pitch control system, and a program correction system and an automatic scoring system are integrated.

[0025] (IV) Control algorithm implementation and scoring mechanism

[0026] 1. Control algorithm implementation: The input of the controller of the experimental device is the actual measured pitch angle, and the output is the controlled pitch angle. The purpose is to make the actual measured pitch angle as close to the reference pitch angle as possible. Taking the pitch angle of blade A as the control target, the sliding mode control algorithm is implemented in the industrial control software as an example. The pitch angle is set to β ref , the actual measured pitch angle is β. The implementation code (C language) of the sliding mode control algorithm in the industrial control integrated machine control software is as follows:

[0027] float sign(float x)

[0028] {

[0029] float y=0.0f;

[0030] if(x>0.0f)

[0031] {

[0032] y=1.0f;

[0033] }

[0034] else if(x<0.0f)

[0035] {

[0036] y = -1.0f;

[0037] }

[0038] returny;

[0039] }

[0040] void SMcontrol()

[0041] {

[0042] float beta_ref,beta,e,de,pre_e,s,du,PWM;

[0043] float c=100.0f, k=100.0f, q=100.0f;

[0044] e = beta-beta_ref;

[0045] de = (e – pre_e) / 0.001f;

[0046] pre_e = e;

[0047] s = c*e+de;

[0048] du=-k*sq*sign(s);

[0049] PWM+=du*0.001f;

[0050] }

[0051] For other advanced control algorithms, it is relatively easy for students to implement them through C language programming.

[0052] 2. Program correction and scoring mechanism: The industrial computer comes with a program correction system and an automatic scoring system. After clicking on the advanced control algorithm program written by the student, the system enters the program correction system. If there is an error in the program, the system prompts to correct the error and returns to the program writing; if there is no error in the program, it is output to the variable pitch system of the wind turbine. The teacher can set the control target, such as the control error is ±10%. If the control target is not achieved, the student needs to redefine the control parameter value until the target is reached and enter the automatic scoring system (such as Figure 3 The automatic scoring system mainly scores automatically based on the following scoring points (such as Figure 4 shown).

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. Cost advantage

[0055] Compared with the traditional wind turbine main control system and pitch controller, the experimental device based on the industrial control all-in-one machine of the present invention has lower cost, reduces the equipment procurement cost of teaching experiments, and enables more educational institutions to carry out wind power generation related experimental teaching.

[0056] (II) Advantages of teaching practice

[0057] By writing and debugging advanced control algorithm programs on industrial computers, students can gain an in-depth understanding of the operation process of wind turbines and the application of advanced control algorithms in variable pitch systems, thereby improving their practical skills and mastery of professional knowledge.

[0058] The program correction system and automatic scoring system of the industrial control integrated machine can help students find program errors in time, standardize students' experimental operations, and improve students' programming ability and experimental efficiency. At the same time, the automatic scoring system can objectively and impartially evaluate students' experimental results and reduce the teaching burden of teachers.

[0059] (III) Advantages of algorithm expansion

[0060] This experimental device supports the implementation of a variety of advanced control algorithms. Students can try different control algorithms according to their own learning needs and innovative ideas. It provides a practical platform for the research and innovation of wind power control algorithms, and helps to cultivate students' innovative thinking and scientific research capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0062] Figure 1 It is a 2-meter-high wind turbine;

[0063] Figure 2 It is a control algorithm device for the pitch system;

[0064] Figure 3 Demonstrate flow charts for program correction systems and automated scoring systems;

[0065] Figure 4 This is a table diagram of scoring points for the automatic scoring system;

[0066] In the figure:

[0067] Tower 1, wind vane 2, anemometer 3, nacelle 4, rotor blades 5, hub 6, brake mechanism 7, low-speed shaft 8, gearbox 9, pitch system 10, high-speed shaft 11, generator 12, wind vane and anemometer 13, pitch motor 14, sensor board 15, motor driver board 16, industrial control all-in-one computer 17. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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.

[0069] Example 1

[0070] like Figure 1-4 As shown;

[0071] Experimental device construction

[0072] According to the design requirements, the tower 1, wind vane 2, anemometer 3, nacelle 4, rotor blades 5, hub 6 and other components are assembled into a 2-meter-high wind turbine. The brake mechanism 7, low-speed shaft 8, gearbox 9, pitch system 10, high-speed shaft 11, generator 12 and other equipment are installed in the nacelle 4, and it is ensured that each component is firmly installed and correctly connected. At the same time, the wind vane and anemometer 13, pitch motor 14, sensor board 15, motor driver board 16, and industrial control integrated machine 17 are assembled into a pitch system control algorithm device, and the line connection between the hardware devices is completed to ensure normal data transmission.

[0073] Example 2

[0074] like Figure 1-4 As shown;

[0075] Control algorithm programming and debugging

[0076] Students use C language to write advanced control algorithm programs on the industrial control integrated computer 17, such as sliding mode control algorithms or other customized advanced control algorithms. After writing, click to run the program and the program enters the program correction system. If there are syntax errors or logic errors in the program, the program correction system will prompt students to make corrections. Students modify the program according to the prompts until the program is output to the variable pitch system of the wind turbine without errors. Students observe the operation of the variable pitch system to determine whether the control objectives set by the teacher are achieved, such as the control error of the pitch angle is within the range of ±10%. If the control target is not achieved, students readjust the control parameters and run the program again for debugging until the control target is achieved.

[0077] Example 3

[0078] like Figure 1-4 As shown;

[0079] Experimental Assessment and Evaluation

[0080] When students complete the experiment and achieve the control goal, the automatic scoring system automatically scores them based on the completion progress, complexity of advanced control algorithms, advanced control algorithm detection and debugging, etc. Teachers can evaluate and guide students' experimental performance based on the scoring results, help students summarize their experimental experience, and improve their understanding and application of advanced control algorithms.

[0081] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An experimental device for advanced control algorithm of variable pitch system of wind turbine generator set, characterized in that: Including 2-meter-high wind turbine generator set and pitch control system control algorithm device: The 2-meter-high wind turbine generator set is composed of a tower (1), a weather vane (2), an anemometer (3), a nacelle (4), rotor blades (5), and a hub (6); the nacelle (4) includes a brake mechanism (7), a low-speed shaft (8), a gearbox (9), a pitch control system (10), a high-speed shaft (11), and a generator (12); the tower (1) supports the entire unit, the weather vane (2) measures the direction of the wind, the anemometer (3) measures the air flow rate, the nacelle (4) accommodates key equipment, the rotor blades (5) and the hub (6) constitute a wind wheel, the hub (6) connects the rotor blades (5) and the low-speed shaft (8), the gearbox (9) increases the rotation speed of the high-speed shaft (11) to 50 times the rotation speed of the low-speed shaft (8), the brake mechanism (7) stops the wind turbine, and the pitch control system (10) adjusts the blade angle according to the wind force; The variable pitch system control algorithm device is composed of a wind vane and anemometer (13), a variable pitch motor (14), a sensor board (15), a motor driver board (16), and an industrial control integrated machine (17). The sensor board (15) collects data from the wind vane and anemometer (13) and sends the data to the industrial control integrated machine (17). The industrial control integrated machine (17) writes a control algorithm and sends a control instruction to the motor driver board (16). The motor driver board (16) controls the variable pitch motor (14) to adjust the blade angle.

2. According to claim 1, an advanced control algorithm experimental device for a variable pitch system of a wind turbine generator set is characterized in that: The industrial control integrated machine (17) is equipped with a program correction system and an automatic scoring system. After the advanced control algorithm program written by the student is judged to be error-free by the program correction system, it is output to the variable pitch system. It is judged whether it is achieved according to the control target set by the teacher. After it is achieved, the automatic scoring system automatically scores according to the completion progress, the complexity of the advanced control algorithm, and the detection and debugging of the advanced control algorithm.

3. The advanced control algorithm experimental device for the variable pitch system of a wind turbine generator set according to claim 1 is characterized in that: The three blade pitches in the pitch system are driven by three DC motors with frequency conversion control respectively, and the actions are adjusted synchronously by the controller. When the power grid fails or the machine is shut down safely, the power of each motor is provided by its own backup battery. Each blade and motor is equipped with an angle encoder. The current and temperature of the pitch motor are monitored during operation. The three batteries are cyclically charged and voltage detected, and data is transmitted through communication with the main controller via the serial port.

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