Umbrella ladder type high-altitude wind turbine generator control method and system

Abstract

The invention discloses an umbrella ladder type high-altitude wind turbine generator control method and system, and relates to the technical field of high-altitude wind power generation control. According to the method, the high-altitude wind speed and the operation height of the helium balloon are obtained in real time; if the first condition or the second condition is met, the air umbrella ladder is controlled to descend according to the set recovery speed; condition 1: the deviation between the real-time high-altitude wind speed and the reference wind speed is less than zero; the second condition is that the deviation between the real-time high-altitude wind speed and the reference wind speed is larger than zero, and the deviation between the real-time running height of the helium balloon and the upper limit of the running height of the aerial umbrella ladder is larger than zero; if the condition 3 is met, the aerial umbrella ladder is controlled to rise according to the optimal release speed; the third condition is that the deviation between the real-time high-altitude wind speed and the reference wind speed is larger than zero, and the deviation between the real-time running height of the helium balloon and the upper limit of the running height of the aerial umbrella ladder is smaller than zero. The wind energy capturing efficiency of the umbrella ladder type high-altitude wind turbine generator can be improved, meanwhile, long-time coordinated and stable operation of the umbrella ladder type high-altitude wind turbine generator is ensured, and unmanned operation or few-person operation of the generator is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of high-altitude wind power generation control, and in particular to a control method and system for an umbrella-ladder type high-altitude wind turbine unit. Background Art

[0002] Wind energy is an environmentally friendly and clean energy that plays an important role in the field of energy supply. However, traditional near-ground wind energy projects still have many technical limitations, such as wind turbine hub height constraints, when meeting the growing demand for electricity. High-altitude wind energy projects developed based on breakthroughs in aerial wind power generation technology have opened up a new track in the field of wind power. At present, more than 50 R&D companies and dozens of research institutions around the world have carried out control, electronic and mechanical design research related to high-altitude wind power systems (Airborne Wind Energysystems, AWEs) and achieved stable power generation.

[0003] The parachute-ladder high-altitude wind power is a new exploration of the development of AWEs technology. It is a cutting-edge and subversive new wind power generation technology with obvious advantages in large-scale, lightweight, and safety. At present, given the high degree of autonomy and innovation of this technology, it is necessary to further study how to improve the automation level of parachute-ladder high-altitude wind turbines, get rid of manual dependence, and achieve safe, efficient and coordinated operation, so as to make the parachute-ladder high-altitude wind power technology more competitive than other energy sources. Therefore, it is urgent to develop intelligent control of parachute-ladder high-altitude wind turbines to ensure the long-term coordinated and stable operation of parachute-ladder high-altitude wind turbines, and at the same time realize unmanned or less-manned operation of the units. Summary of the invention

[0004] The purpose of this application is to provide a control method and system for an umbrella-ladder high-altitude wind turbine unit, which can improve the wind energy capture efficiency of the umbrella-ladder high-altitude wind turbine unit, while ensuring the long-term coordinated and stable operation of the umbrella-ladder high-altitude wind turbine unit, and realize unmanned or less-manned operation of the unit.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a control method for a parachute-ladder type high-altitude wind turbine set, including: the parachute-ladder type high-altitude wind turbine set includes an aerial parachute ladder and a ground winch-generator set, the aerial parachute ladder includes a helium balloon, a balancing parachute group and a working parachute group connected in sequence from top to bottom, and the working parachute group transmits wind power to the ground winch-generator set through a cable; the control method for the parachute-ladder type high-altitude wind turbine set includes: real-time acquisition of the high-altitude wind speed and the operating height of the helium balloon; if condition one or condition two is met, a descent command of the aerial parachute ladder is generated; the condition one is: the deviation of the real-time high-altitude wind speed from the reference wind speed is less than zero; the condition two is: the real-time high-altitude wind speed is less than zero; the real-time high-altitude wind speed is less than zero. The deviation of the air wind speed from the reference wind speed is greater than zero and the deviation of the real-time operating altitude of the helium balloon from the upper limit of the operating altitude of the aerial ladder is greater than zero; according to the aerial ladder descent instruction, the aerial ladder is controlled to descend at the set recovery speed and the working parachute group is closed; if condition three is met, an aerial ladder ascent instruction is generated; the condition three is: the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the deviation of the real-time operating altitude of the helium balloon from the upper limit of the operating altitude of the aerial ladder is less than zero; according to the real-time high-altitude wind speed, the optimal releasing speed of the aerial ladder is determined; according to the aerial ladder ascent instruction, the aerial ladder is controlled to ascend at the optimal releasing speed.

[0007] In the second aspect, the present application provides a parachute-ladder type high-altitude wind turbine control system, including: the parachute-ladder type high-altitude wind turbine control system includes: a wind field monitoring system, a height measuring device, a central control system, an aerial parachute group opening and closing drive and a winch-generator controller; the wind field monitoring system is used to measure the high-altitude wind speed in real time; the height measuring device is used to measure the operating height of the helium balloon in real time; the central control system is used to obtain the high-altitude wind speed and the operating height of the helium balloon in real time; when it is judged that condition one or condition two is met, an aerial parachute ladder descent instruction is generated and transmitted to the aerial parachute group opening and closing drive and the winch-generator controller respectively; the condition one is: the deviation of the real-time high-altitude wind speed from the reference wind speed is less than zero; the condition two is: the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the real-time operating height of the helium balloon is consistent with the operating height of the aerial parachute ladder. The deviation of the upper limit of the flying height is greater than zero; the winch-generator controller is used to control the aerial parachute ladder to descend according to the set recovery speed according to the aerial parachute ladder descent instruction; the aerial parachute group opening and closing driver is used to drive the closure of the working parachute group according to the aerial parachute ladder descent instruction; the central control system is also used to generate an aerial parachute ladder ascent instruction when judging that condition three is met; according to the real-time high-altitude wind speed, the optimal releasing speed of the aerial parachute ladder is determined, and the aerial parachute ladder ascent instruction and the optimal releasing speed are transmitted to the winch-generator controller; the condition three is that the deviation of the real-time high-altitude wind speed from the reference wind speed is greater than zero and the deviation of the real-time operating altitude of the helium balloon from the upper limit of the operating altitude of the aerial parachute ladder is less than zero; the winch-generator controller is also used to control the aerial parachute ladder to ascend according to the optimal releasing speed according to the aerial parachute ladder ascent instruction.

[0008] According to the specific embodiments provided in this application, this application has the following technical effects:

[0009] The present application provides a control method and system for a parachute-ladder high-altitude wind turbine unit. During the autonomous operation of the parachute-ladder high-altitude wind turbine unit, the high-altitude wind speed and the operating altitude of the helium balloon are obtained in real time, the height and lifting speed of the aerial parachute ladder are adjusted in real time, and the unit is in a maximum power tracking mode for a long time, which significantly improves the wind energy capture efficiency of the parachute-ladder high-altitude wind turbine unit, ensures the long-term coordinated and stable operation of the parachute-ladder high-altitude wind turbine unit, and realizes unmanned or less-manned operation of the unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 This is a structural diagram of an umbrella-ladder type high-altitude wind turbine unit provided in one embodiment of the present application;

[0012] Figure 2 A schematic flow chart of a control method for an umbrella-ladder type high altitude wind turbine set provided in one embodiment of the present application;

[0013] Figure 3 A schematic diagram of the overall control logic of a method for controlling an umbrella-ladder type high altitude wind turbine generator system provided in one embodiment of the present application;

[0014] Figure 4 A logic diagram of height control provided for another embodiment of the present application;

[0015] Figure 5 A logic diagram of the umbrella opening and closing control provided by another embodiment of the present application;

[0016] Figure 6 A logical diagram of recycling control provided by another embodiment of the present application;

[0017] Figure 7 A logic diagram of MPPT (Maximum Power Point Tracking) control provided by another embodiment of the present application;

[0018] Figure 8 A schematic diagram of a ground coordinate system and a relative coordinate system provided for another embodiment of the present application;

[0019] Fig. 9A schematic diagram of a wind coordinate system provided in another embodiment of the present application;

[0020] Fig.10 A schematic diagram of a hierarchical control architecture of an umbrella-ladder type high-altitude wind turbine set provided in an embodiment of the present application;

[0021] Fig.11 A schematic diagram of the actual unit control system network architecture provided in one embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0024] The parachute ladder type high altitude wind turbine is composed of helium balloon, balance parachute, working parachute, ground winch-generator and other basic components. The parachute ladder type high altitude wind turbine uses a specially designed working parachute to capture wind energy in high altitude areas, and transmits wind power to the ground winch-generator through traction cables to achieve the capture, conversion and utilization of high altitude wind energy. Figure 1 shown.

[0025] In an exemplary embodiment, Figure 2 As shown, a control method for a parachute-ladder type high-altitude wind turbine set is provided, wherein the parachute-ladder type high-altitude wind turbine set comprises an aerial parachute ladder and a ground winch-generator set, wherein the aerial parachute ladder comprises a helium balloon, a balance parachute set and a working parachute set connected in sequence from top to bottom, and the working parachute set transmits wind power to the ground winch-generator set through a cable; the control method for the parachute-ladder type high-altitude wind turbine set comprises the following steps 101 to 106. Among them:

[0026] Step 101: Obtain the high-altitude wind speed and the operating altitude of the helium balloon in real time.

[0027] Step 102: If condition one or condition two is met, an aerial ladder descent instruction is generated; the condition one is that the deviation between the real-time high-altitude wind speed and the reference wind speed is less than zero; the condition two is that the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating altitude of the helium balloon and the upper limit of the operating altitude of the aerial ladder is greater than zero.

[0028] Step 103: According to the aerial parachute ladder descent instruction, the aerial parachute ladder is controlled to descend at a set recovery speed, and the working parachute group is closed.

[0029] Step 104: If condition three is met, an aerial parachute ladder ascent instruction is generated; the condition three is that the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating altitude of the helium balloon and the upper limit of the operating altitude of the aerial parachute ladder is less than zero.

[0030] Step 105: Determine the optimal deployment speed of the parachute ladder in the air according to the real-time high-altitude wind speed.

[0031] Step 106: According to the aerial parachute ladder ascending instruction, the aerial parachute ladder is controlled to ascend at the optimal releasing speed.

[0032] Implementing the above steps 101 to 106 will help realize the autonomous operation process of the parachute-ladder high-altitude wind turbine set, and can automatically adjust according to the wind speed changes in the high-altitude wind farm, and stay in the maximum power tracking mode for a long time, thereby significantly improving the wind energy capture efficiency of the parachute-ladder high-altitude wind turbine set and improving the automation level of the set; it is conducive to realizing unmanned or less-manned operation of wind farms that deploy parachute-ladder high-altitude wind turbines.

[0033] In another exemplary embodiment of the present application, the real-time acquisition of high-altitude wind speed in the above-mentioned step 101 specifically includes: measuring the horizontal wind speed at different altitudes in the air where the aerial parachute ladder is located; and determining the average value of all measured horizontal wind speeds as the real-time high-altitude wind speed.

[0034] The method of this application covers altitude control, parachute opening and closing control, recovery control and MPPT control. The overall control logic is as follows: Figure 3 Each control is introduced below.

[0035] (1) Height control

[0036] Highly controlled logic such as Figure 4 As shown, the control target is to maintain the ascending and descending operation state of the parachute ladder of the unit. Control design scheme: High-altitude wind field wind speed v wind Redundant transmitters are used for measurement (measurement values ​​of six wind speed measurement points: Alitiude1, Alitiude2, Alitiude3, Alitiude4, Alitiude5, and Alitiude6), with reference to wind speed v est By v wind Take the average value as the input signal, wind speed setting value v set1 The redundant transmitter measurement (VwindHB) is used as the reference signal, and the helium balloon operating altitude AlitiudeHB is measured by the redundant transmitter (AlitiudeHB) as the input signal. The ascent and descent control of the parachute ladder is determined by two layers of control loops:

[0037] 1. Reference signal v set1 With the input signal v est If the deviation HP is less than 0, the motor will reverse, switch to the power mode, and the parachute ladder will descend; that is, when the parachute ladder in the air is controlled to descend according to the set recovery speed, the winch-generator in the ground winch-generator set will reverse and switch to the power mode.

[0038] 2. Set the upper limit of the parachute ladder operating altitude to 3000m, that is, Alitiudemax = 3000m. The reference signal Alitiudemax is deviated from the input signal AlitiudeHB.

[0039] 3. If the reference signal v set1 With the input signal v est As a deviation, after the amplification link, the deviation HP>0, and the reference signal Alitiudemax and the input signal AlitiudeHB deviation value HP<0, the motor rotates forward, the power generation mode is switched, and the parachute ladder rises; that is, when the aerial parachute ladder is controlled to rise according to the optimal releasing speed, the winch-generator in the ground winch-generator set rotates forward and switches to the power generation mode.

[0040] 4. If the reference signal v set1 With the input signal v est As a deviation, after the amplification link, the deviation HP>0, and the deviation value HP between the reference signal Alitiudemax and the input signal AlitiudeHB>0, the motor reverses, switches the power mode, and the parachute ladder descends.

[0041] When the wind speed measurement transmitter fails, manual control is cut off, an alarm signal is issued, and the parachute ladder is controlled to descend; the GPS altitude measurement transmitter is installed on the top helium balloon to measure the operating altitude of the helium balloon AlitiudeHB; when the GPS altitude measurement transmitter fails, manual control is cut off, an alarm signal is issued, and the parachute ladder is controlled to descend.

[0042] (2) Parachute opening and closing control

[0043] The logic of the parachute opening and closing control is as follows Figure 5 As shown. The control target is to set the opening and closing logic of the work parachute group (the opening and closing control of the parachute body is that the four work parachutes are opened and closed at the same time). Control design scheme: The helium balloon operating altitude AlitiudeHB is measured by a redundant transmitter (AlitiudeHB) as the input signal. The parachute opening altitude is set to 500m, that is, h set1=500m. The reference signal is deviated from the input signal. If the deviation HP>0, the working parachute group and the balance parachute group are all opened. That is, if the deviation between the real-time operating altitude of the helium balloon and the set parachute opening altitude is less than zero, the working parachute group and the balance parachute group are all opened. The external input signal AI3 is the motor reversal command in the 1.2 altitude control system, that is, all working parachute groups are immediately closed after the motor reverses. The opening and closing status of the working parachute group and the balance parachute group is measured by redundant transmitters (U11, U12, U13, U21, U22, U23, U24) as reference signals.

[0044] When the GPS altitude measurement transmitter and driver circuit fail and the reference signal deviates, switch to manual mode.

[0045] (3) Recycling control

[0046] The logic of recycling control is as follows Figure 6 The control target is to maintain the recovery speed of the parachute ladder within the set value range. Control design: The external input signal AI3 is the motor reversal command in the 1.2 altitude control system, and the cable retraction speed during the recovery process is set to 8m / s, that is, v set2 =8m / s. G(x) is the conversion module between cable linear velocity and motor rotor speed, which is:

[0047] ω set =v set2 G(x);

[0048]

[0049] Where ω set The motor rotor speed is set for the recovery process, and r is the radius of the drum on which the cable is wound.

[0050] Actual rotor speed of the motor during the recycling processω r2 The redundant transmitter measurement (Omega) is used as the reference signal. In order to maintain the parachute ladder recovery speed within the set value range, the actual rotor speed ω r2 As the feedback signal of the control loop, the deviation is eliminated by the controller.

[0051] When the adjusted parameter has bad value, large deviation or drive circuit failure, switch to manual mode.

[0052] Then, the control of the aerial parachute ladder in step 103 to descend according to the set recovery speed may specifically include: according to the formula ω set =v set2 G(x) and Determine the set motor rotor speed during the parachute ladder recovery process; where ω set is the set motor rotor speed during the parachute ladder recovery process, v set2is the set cable retraction speed during the aerial parachute ladder recovery process, G(x) is the conversion amount between the cable linear velocity and the motor rotor speed, and r is the radius of the drum around which the cable is wound; according to the deviation between the actual motor rotor speed and the set motor rotor speed during the aerial parachute ladder recovery process, the motor rotor speed is regulated by PID control so that the actual motor rotor speed is equal to the set motor rotor speed.

[0053] (4)MPPT control

[0054] The logic of MPPT control is as follows Figure 7 The control goal is to enable the parachute ladder high-altitude wind power generation system to maximize the use of available wind energy resources, track the optimal power point under different wind speed conditions in real time, and respond quickly to wind speed changes. Control design: The external input signal AI1 is the reference wind speed v in the 1.2 altitude control system. set , the external input signal AI2 is the motor reversal instruction in the height control execution module. That is, MPPT control is performed during the cable release process. F(x) is the optimal wind speed and cable release speed conversion module:

[0055]

[0056] Reference wind speed v est The optimal cable release speed v is obtained through the conversion module opt , the optimal motor rotor speed ω is obtained through the cable linear speed and motor rotor speed conversion module G(x) opt , release the actual rotor speed of the motor during the process ω r1 The redundant transmitter measurement (Omega) is used as the reference signal. In order to maintain the parachute ladder recovery speed within the set value range, the actual rotor speed ω r1 As the feedback signal of the control loop, the deviation is eliminated by the controller.

[0057] The formula for determining the optimal release speed of the aerial parachute ladder is:

[0058]

[0059] In the formula, v est is the real-time upper wind speed, v opt It is the optimal release speed of the parachute ladder in the air.

[0060] When the adjusted parameter has bad value, large deviation or drive circuit failure, switch to manual mode.

[0061] The signal measurement arrangement of the redundant transmitter mentioned above is shown in Table 1.

[0062] Table 1 Signal measurement arrangement

[0063]

[0064] In another exemplary embodiment of the present application, the method may further include: determining the pitch angle of the aerial parachute ladder through a dynamic coupling model, and monitoring whether the pitch angle of the aerial parachute ladder is between the lower angle limit and the critical stall angle.

[0065] Figure 8 and Fig. 9 The established ground coordinate system, relative coordinate system and wind coordinate system are shown respectively. Figure 8 and Fig. 9 As shown, a parachute relative coordinate system is constructed with the center of mass of the parachute in the air as the origin to characterize the change of the parachute polar coordinates (θ, Φ, r). Indicates the positive direction of the change in cable length r, which is the cable vector The corresponding forward unit vector: Represents the umbrella projection The positive direction of the change of the angle Φ with the horizontal x-axis direction, Perpendicular to the plane OPP', that is Represents the cable vector The positive direction of the angle θ with the vertical direction changes, and According to the orthogonal relationship, we have The direction of aerodynamic drag on the parachute and the relative wind speed W e Parallel; aerodynamic drag F D and aerodynamic lift F L In the projection plane S, and F L ⊥F D . Then record x w ,y w and z w is the coordinate axis of the wind coordinate system. w Indication F D positive direction; y w Perpendicular to the projection plane; z w With x w and w All vertical, indicating F L The positive direction of e With the parachute axis The angle between the two angles (considered to coincide with the direction of the cable) is the angle of attack α, and the parachute's aerodynamic lift coefficient C l The aerodynamic drag coefficient C of the parachute d They are all related to the angle of attack α.

[0066] The dynamic coupling model is:

[0067] T=F h sin(β)+ΣF li sin(α)+F di cos(α)-(M+∑m)gsin(β);

[0068]

[0069] Where, T is the cable tension; β is the pitch angle; is the second-order derivative of the pitch angle; F h F is the buoyancy of the helium balloon; li is the aerodynamic lift and drag of the ith parachute in the parachute ladder; F di is the resistance of the i-th parachute in the air parachute ladder; is the relative wind speed second norm; α is the angle between the relative wind speed and the parachute axis; C l is the lift coefficient; C d is the resistance coefficient; ρ, ρ q , R h and g are respectively the air density, helium balloon density, helium balloon radius and gravitational acceleration; S i is the effective windward area of ​​the ith parachute in the parachute ladder, M, m h are the total mass of the aerial equipment and the mass of the helium balloon respectively; m i is the mass of the i-th parachute in the parachute ladder; l h l is the distance between the helium balloon and the ground launch pile; i is the distance between the ith parachute in the aerial parachute ladder and the ground launch pile.

[0070] Based on the same inventive concept, the embodiment of the present application also provides a control system for an umbrella-ladder type high-altitude wind turbine set for implementing the above-mentioned umbrella-ladder type high-altitude wind turbine set control method. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the umbrella-ladder type high-altitude wind turbine set control system provided below can refer to the limitations of the umbrella-ladder type high-altitude wind turbine set control method above, and will not be repeated here.

[0071] In an exemplary embodiment, a parachute-ladder high-altitude wind turbine control system is provided, including: a wind field monitoring system, a height measuring device, a central control system, an aerial parachute group opening and closing drive, and a winch-generator controller.

[0072] The wind field monitoring system is used to measure the high-altitude wind speed in real time; the height measuring device is used to measure the operating height of the helium balloon in real time; the central control system is used to obtain the high-altitude wind speed and the operating height of the helium balloon in real time; when it is judged that condition one or condition two is met, an aerial parachute ladder descent instruction is generated and transmitted to the aerial parachute group opening and closing driver and the winch-generator controller respectively; the condition one is: the deviation between the real-time high-altitude wind speed and the reference wind speed is less than zero; the condition two is: the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating height of the helium balloon and the upper limit of the operating height of the aerial parachute ladder is greater than zero. The winch-generator controller is used to control the aerial parachute ladder to descend according to the set recovery speed according to the aerial parachute ladder descent instruction. The aerial parachute group opening and closing driver is used to drive the closing of the working parachute group according to the aerial parachute ladder descent instruction.

[0073] The central control system is also used to determine that when condition three is met, generate an aerial ladder ascent instruction; determine the optimal release speed of the aerial ladder according to the real-time high-altitude wind speed, and transmit the aerial ladder ascent instruction and the optimal release speed to the winch-generator controller; the condition three is: the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating height of the helium balloon and the upper limit of the operating height of the aerial ladder is less than zero. The winch-generator controller is also used to control the aerial ladder to rise according to the optimal release speed according to the aerial ladder ascent instruction.

[0074] Fig.10 This is the hierarchical control architecture of the designed parachute ladder type high altitude wind turbine. Fig.10 As shown in the figure, the control architecture is divided into two levels: the optimization decision layer and the control execution layer. This architecture is designed to address the issues of wind energy capture and safe operation in complex wind farm environments. By adjusting the height and rope speed optimization in real time, it ensures that wind turbines can achieve efficient and safe power generation under wind shear changes and extreme climate conditions.

[0075] The optimization decision layer first collects data from high-altitude wind fields and obtains meteorological data such as wind speed, wind shear, air pressure and temperature in real time through the wind field monitoring system. Then, based on the real-time wind shear situation and historical wind field data, it generates lifting instructions and executes the ascent or descent of the parachute ladder through the winch-generator. At the same time, the pitch angle change of the parachute ladder equipment is analyzed through the dynamic coupling model, and the rope speed is calculated and adjusted to ensure that the parachute group can capture wind energy at the best angle and optimize the power generation efficiency.

[0076] As an optional implementation, the central control system of the parachute-ladder high-altitude wind turbine set includes a status information recording module, which reads the status information during the operation of the parachute group opening and closing drive controller and the winch-generator, and the fault detection module determines whether there is a fault in the component. The fault detection module detects the parachute group switch monitoring signal, the winch-generator cable retraction and release speed monitoring signal and the cable tension monitoring signal. In order to realize the fault detection function of the central control system, the parachute-ladder high-altitude wind turbine set control system also includes: a speed wheel sensor, a torque sensor and a plurality of limit switch position sensors. The speed wheel sensor, the torque sensor and the plurality of limit switch position sensors are all connected to the central control system.

[0077] A limit switch position sensor is installed at the opening and closing limit position of each umbrella; the limit switch position sensor is used to measure the umbrella switch monitoring signal; the central control system is used to determine that the umbrella has not reached the fully opened or fully closed position, and there is an abnormality in the opening or closing action of the umbrella when the umbrella switch monitoring signal is not received, and issue an umbrella alarm message.

[0078] The tachometer wheel sensor is installed on the front end path of the winch-generator inlet and outlet cable; the tachometer wheel sensor is used to measure the cable retraction and release speed and generate a cable retraction and release speed monitoring signal; the central control system is also used to determine whether the cable retraction and release speed monitoring signal is within the speed adjustment setting range. If the cable retraction and release speed monitoring signal is not within the speed adjustment setting value range, a speed alarm message is issued.

[0079] The torque sensor is installed on the winch-generator drive motor shaft; the torque sensor is used to measure the torque of the winch-generator; the central control system is also used to use the formula according to the torque of the winch-generator The cable tension is calculated. If the calculated cable tension deviates from the tension setting range, a cable alarm message is issued; where T is the cable tension (unit: N), M is the torque of the winch-generator (unit: N·m), and r is the radius of the winch drum (unit: m).

[0080] The cable tension monitoring signal is used to monitor whether the ground system such as the winch-generator controls the tensioning device to tension the cable normally. If the cable is not tensioned normally and deviates from the normal setting range, an alarm message is issued. Specifically, through real-time tension monitoring, the tension working range is set to T min ≤T≤T max Among them, calculated by the first formula (tension calculation model) in the dynamic coupling model, T min =T·0.8,T max =T·1.2. Force is lower than T min When the tension is higher than T, the cable may become slack and the parachute assembly cannot be controlled. maxThere is a risk that the cables may be over-tensioned, causing overloading of the system.

[0081] When there is no fault in the component, the status information is sent to the optimization decision layer signal switch module.

[0082] As another optional implementation, the control system of the parachute-ladder high-altitude wind turbine set further includes: an actual physical system component layer of the parachute-ladder.

[0083] The actual physical system component layer of the parachute ladder includes a video monitoring system, a digital twin system and a human-computer interaction system. The video monitoring system is used to shoot videos of the working status and on-site working environment of the parachute ladder high-altitude wind turbine set. The digital twin system is used to display the three-dimensional dynamics of the parachute ladder high-altitude wind turbine set during operation and display the operating status of the parachute ladder high-altitude wind turbine set. The human-computer interaction system is used to accept real-time control instructions input by the user and send them to the central control system, while displaying the status and data of the operation process of the parachute ladder high-altitude wind turbine set to the user through a dynamic visualization platform.

[0084] The video surveillance system includes real-time monitoring of the on-site working environment to ensure the safety of on-site unit operation; the digital twin system is used to display the three-dimensional dynamic visualization platform of the unit during operation, showing the operating status of the unit, including animation display of some operating actions that cannot be directly observed by the human eye. This process is consistent with the actual operating status of the unit; the human-computer interaction system includes a user-oriented visualization interface of the designed control system, which has the function of accepting relevant real-time control instructions input by the user and sending them to the optimization decision-making layer. At the same time, it displays the relevant status and data of the unit operation process to the user through the dynamic visualization platform to realize human-computer interaction.

[0085] According to the designed hierarchical control architecture, equipment control interface, equipment maintenance interface and data acquisition interface are set at each layer and each module layer. The equipment control interface manages the generation, issuance and execution of control instructions, and adopts high-speed communication protocol to ensure low latency; the equipment maintenance interface is used for basic software updates, parameter adjustments and system status diagnosis and maintenance, using serial communication protocol and supporting remote maintenance; the data acquisition interface collects meteorological data such as wind speed, wind shear, temperature, air pressure, and the operating status of the parachute group and winch-generator, and has the function of collecting human-machine operation data, and adopts a wireless protocol that supports high sampling rate and anti-interference data transmission.

[0086] Specifically, the actual unit control system network architecture is as follows: Fig.11As shown. The control system of the parachute group in the air is responsible for real-time monitoring of the status of the parachute group and controlling its actions. Data is exchanged with the ground part through the wireless module to ensure that the system can be flexibly adjusted under different environmental conditions. The basic real-time control data network of the central control system is the main line, which is responsible for connecting various subsystems to ensure the rapid transmission of information. Through optical fiber or high-bandwidth wireless connection, it supports the transmission of large data traffic. The terminal devices such as the history station, engineer station, printer, and operator station provide user interfaces. Engineers can use these devices to monitor the system, diagnose faults, and print data, and operators can interact directly with the control system. Each winch-generator set and auxiliary system are controlled and data collected through the central control system to ensure efficient generation and conversion of electric energy. Advanced application service network In addition to the basic network, the additional advanced application service network provides the functions of real-time data processing, analysis and calculation, and optimization decision-making. This includes: real-time database equipment (storing and managing real-time data from various subsystems) and advanced servers for analysis, calculation, and optimization (responsible for complex computing tasks such as data analysis, fault prediction, and performance optimization).

[0087] Control instructions: When one of the following conditions occurs, the regulator interlock switches to manual mode: ① Large deviation of the regulated quantity; ② Sensor / transmitter failure; ③ Actuator failure.

[0088] The beneficial effects of this application are as follows:

[0089] The optimization decision layer of the designed hierarchical control logic architecture adjusts the wind turbine operation strategy in real time according to the changes in the wind field, and the control execution layer is responsible for the specific execution of the optimization decision to ensure the sensitivity and accuracy of the control. The hierarchical structure enables the system to respond faster when dealing with wind speed fluctuations and wind field changes, reduces the impact of wind speed fluctuations on system performance, and improves the overall wind energy capture efficiency. The design of the central control system covers the automated control logic of each functional submodule, and supports remote monitoring and operation in unmanned or less-manned environments.

[0090] The integrated and coordinated design of multiple modules for height control, parachute opening and closing control, recovery control, and MPPT control provides a multi-dimensional system adjustment method. When the wind speed changes, the system can accurately control the opening and closing of the parachute, automatically adjust the height, and quickly respond to power generation needs, so that the parachute ladder wind turbine can operate stably under different working conditions. This module-integrated control solution significantly improves the system's adaptability to changes in wind fields. In particular, through the continuous optimization of the MPPT control module, the unit maintains the maximum power tracking mode for a long time, and the system can stably capture the maximum wind energy, ensuring that the system automatically adjusts to the optimal operating state under variable wind conditions, effectively improving the system's wind energy capture efficiency and automation level.

[0091] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A control method for an umbrella-ladder type high altitude wind turbine generator set, characterized in that: The parachute ladder type high-altitude wind turbine generator set comprises an aerial parachute ladder and a ground winch-generator set, wherein the aerial parachute ladder comprises a helium balloon, a balance parachute set and a working parachute set connected in sequence from top to bottom, and the working parachute set transmits wind power to the ground winch-generator set through a cable; The control method of the parachute ladder type high altitude wind turbine generator set comprises: Obtain high-altitude wind speed and the operating altitude of the helium balloon in real time; If condition one or condition two is met, an air parachute ladder descent instruction is generated; the condition one is that the deviation between the real-time high-altitude wind speed and the reference wind speed is less than zero; the condition two is that the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating altitude of the helium balloon and the upper limit of the operating altitude of the air parachute ladder is greater than zero; According to the aerial parachute ladder descent instruction, the aerial parachute ladder is controlled to descend at a set recovery speed, and the working parachute group is closed; If condition three is met, an aerial parachute ladder ascent instruction is generated; the condition three is that the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating altitude of the helium balloon and the upper limit of the operating altitude of the aerial parachute ladder is less than zero; Determine the optimal release speed of the parachute ladder in the air based on the real-time high-altitude wind speed; According to the aerial parachute ladder ascending instruction, the aerial parachute ladder is controlled to ascend at the optimal releasing speed.

2. The control method of the parachute ladder type high altitude wind turbine set according to claim 1 is characterized in that: Get high-altitude wind speed in real time, including: Measure the horizontal wind speed at different altitudes in the air where the parachute ladder is located; The average of all measured horizontal wind speeds is determined as the real-time upper air wind speed.

3. The control method of the parachute ladder type high altitude wind turbine generator set according to claim 1, characterized in that: Control the parachute ladder in the air to descend according to the set recovery speed, including: According to the formula ω set =v set2 G(x) and Determine the set motor rotor speed during the parachute ladder recovery process; where ω set is the set motor rotor speed during the parachute ladder recovery process, v set2 is the set cable retraction speed during the parachute ladder recovery process, G(x) is the conversion value between the cable linear speed and the motor rotor speed, and r is the drum radius of the cable winding; According to the deviation between the actual motor rotor speed and the set motor rotor speed during the parachute ladder recovery process, the motor rotor speed is regulated by PID control so that the actual motor rotor speed is equal to the set motor rotor speed.

4. The control method of the parachute ladder type high altitude wind turbine generator set according to claim 1, characterized in that: The formula for determining the optimal release speed of an aerial parachute ladder is: In the formula, v est is the real-time upper air wind speed, v opt It is the optimal release speed of the parachute ladder in the air.

5. The control method of the parachute ladder type high altitude wind turbine set according to claim 1, characterized in that: When the parachute ladder in the air is controlled to descend according to the set recovery speed, the winch-generator in the ground winch-generator set is reversed and switched to the power mode; When the aerial parachute ladder is controlled to rise at the optimal releasing speed, the winch-generator in the ground winch-generator set rotates forward and switches to the power generation mode.

6. The control method of the parachute ladder type high altitude wind turbine set according to claim 1, characterized in that: The control method of the parachute ladder type high altitude wind turbine generator set also includes: If the deviation between the real-time operating altitude of the helium balloon and the set parachute opening altitude is less than zero, the working parachute group and the balance parachute group will all be opened.

7. The control method of the parachute ladder type high altitude wind turbine set according to claim 1, characterized in that: The control method of the parachute ladder type high altitude wind turbine generator set also includes: The pitch angle of the parachute ladder in the air is determined by a dynamic coupling model, and the pitch angle of the parachute ladder in the air is monitored to see whether it is between the lower limit and the critical stall angle; The dynamic coupling model is: T=F h sin(β)+ΣF li sin(a)+ΣF di cos(α)-(M+Σm)gsin(β); Where, T is the cable tension; β is the pitch angle; is the second derivative of the pitch angle; F h F is the buoyancy of the helium balloon; li is the aerodynamic lift and drag of the ith parachute in the parachute ladder; F di is the resistance of the i-th parachute in the aerial parachute ladder; is the relative wind speed second norm; α is the angle between the relative wind speed and the parachute axis; C l is the lift coefficient; C d is the resistance coefficient; ρ, ρ q , R h and g are respectively the air density, helium balloon density, helium balloon radius and gravitational acceleration; S i is the effective windward area of ​​the ith parachute in the parachute ladder, M, m h are the total mass of the aerial equipment and the mass of the helium balloon respectively; m i is the mass of the i-th parachute in the parachute ladder; l h l is the distance between the helium balloon and the ground launch pile; i is the distance between the ith parachute in the aerial parachute ladder and the ground launch pile.

8. A control system for an umbrella-ladder type high altitude wind turbine, characterized in that: The control system of the parachute ladder type high altitude wind turbine generator set includes: a wind field monitoring system, a height measuring device, a central control system, an aerial parachute set opening and closing driver and a winch-generator controller; The wind field monitoring system is used to measure the high-altitude wind speed in real time; The altitude measuring device is used to measure the operating altitude of the helium balloon in real time; The central control system is used to obtain the high-altitude wind speed and the operating height of the helium balloon in real time; when it is judged that condition one or condition two is met, an aerial parachute ladder descent instruction is generated and transmitted to the aerial parachute assembly opening and closing driver and the winch-generator controller respectively; the condition one is: the deviation between the real-time high-altitude wind speed and the reference wind speed is less than zero; the condition two is: the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating height of the helium balloon and the upper limit of the operating height of the aerial parachute ladder is greater than zero; The winch-generator controller is used to control the aerial parachute ladder to descend at a set recovery speed according to the aerial parachute ladder descent instruction; The aerial parachute group opening and closing driver is used to drive the closing of the working parachute group according to the aerial parachute ladder descending instruction; The central control system is also used to determine that when condition three is met, generate an aerial parachute ladder ascending instruction; determine the optimal release speed of the aerial parachute ladder according to the real-time high-altitude wind speed, and transmit the aerial parachute ladder ascending instruction and the optimal release speed to the winch-generator controller; the condition three is: the deviation between the real-time high-altitude wind speed and the reference wind speed is greater than zero and the deviation between the real-time operating altitude of the helium balloon and the upper limit of the operating altitude of the aerial parachute ladder is less than zero; The winch-generator controller is also used to control the aerial parachute ladder to rise at the optimal releasing speed according to the aerial parachute ladder rising instruction.

9. The umbrella-ladder type high altitude wind turbine control system according to claim 8 is characterized in that: The control system of the parachute ladder type high altitude wind turbine generator set also includes: a speed wheel sensor, a torque sensor and a plurality of limit switch position sensors; The speed wheel sensor, torque sensor and multiple limit switch position sensors are all connected to the central control system; A limit switch position sensor is installed at the opening and closing limit position of each umbrella; the limit switch position sensor is used to measure the umbrella switch monitoring signal; the central control system is used to determine that the umbrella has not reached the fully opened or fully closed position, and the opening or closing action of the umbrella is abnormal when the umbrella switch monitoring signal is not received, and issue an umbrella warning message; The speed wheel sensor is installed on the front end path of the winch-generator inlet and outlet cable; the speed wheel sensor is used to measure the cable retraction and release speed and generate a cable retraction and release speed monitoring signal; the central control system is also used to determine whether the cable retraction and release speed monitoring signal is within the speed adjustment setting range, and if the cable retraction and release speed monitoring signal is not within the speed adjustment setting value range, a speed alarm message is issued; The torque sensor is installed on the winch-generator drive motor shaft; the torque sensor is used to measure the torque of the winch-generator; the central control system is also used to use the formula according to the torque of the winch-generator The cable tension is calculated. If the calculated cable tension deviates from the tension setting range, a cable alarm message is issued; where T is the cable tension, M is the torque of the winch-generator, and r is the radius of the winch drum.

10. The control system of the parachute ladder type high altitude wind turbine generator set according to claim 8, characterized in that: The control system of the parachute ladder type high altitude wind turbine generator system further comprises: an actual physical system component layer of the parachute ladder; The actual physical system component layer of the parachute ladder includes a video monitoring system, a digital twin system and a human-computer interaction system; The video monitoring system is used to capture the working status of the parachute-ladder high-altitude wind turbines and the on-site working environment; The digital twin system is used to display the three-dimensional dynamics of the parachute-ladder high-altitude wind turbine during operation and to display the operating status of the parachute-ladder high-altitude wind turbine; The human-computer interaction system is used to accept real-time control instructions input by users and send them to the central control system. At the same time, it displays the status and data of the operation process of the parachute-ladder high-altitude wind turbine to users through a dynamic visualization platform.

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