Emergency control method, device and equipment based on PMSG wind turbine generator and medium

Abstract

The invention belongs to the technical field of wind power control, and particularly discloses an emergency control method, device and equipment based on a PMSG wind turbine generator and a medium. The emergency control method comprises the steps that error data of the running state and the rated state of the wind turbine generator are obtained, the error data are input into a variable-pitch control system, and the variable-pitch control system has a multi-feedback compensation control mode; determining a feedback compensation control mode from multiple feedback compensation control modes according to the error data; the variable pitch control system comprises a fuzzy PID controller; the fuzzy PID controller outputs a pitch angle according to error data corresponding to the determined feedback compensation mode; and the variable pitch control system adjusts the output power of the wind turbine generator according to the pitch angle output by the fuzzy PID controller. The control speed of the wind turbine generator can be increased, and the regulation and control precision of the pitch angle is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind power control, and in particular relates to an emergency control method, device, equipment and medium based on a PMSG wind turbine. Background Art

[0002] Unlike traditional thermal power generation, wind power, as a renewable energy source, is highly susceptible to external meteorological factors, resulting in intermittent and fluctuating power generation. Under normal weather conditions, numerical weather forecasts can accurately predict renewable energy output, minimizing the impact of weather fluctuations on power grid operations. However, in recent years, with the intensification of global warming, extreme weather events have become more frequent, severely impacting the safe operation of renewable energy sources and even the power system.

[0003] Due to the aerodynamic characteristics of wind turbines, grid-type PMSG (permanent magnet synchronous wind turbine) wind turbines can output power exceeding their rated power when experiencing strong winds, causing fluctuations in power system operation. Existing solutions to this problem rely on classical or intelligent algorithms to control the pitch angle. However, classical algorithms, such as graph theory and heuristic algorithms, are computationally intensive, inefficient, and unsuitable for large-scale systems. Many intelligent algorithms also suffer from drawbacks such as numerous parameters, difficulty in operation, and a tendency to fall into local optimal solutions, making them unsuitable. Existing pitch angle control strategies are slow and often rely on a fixed set of parameters. This makes it difficult to precisely adjust the pitch angle as wind speeds fluctuate, making effective power control difficult under extreme conditions. Summary of the Invention

[0004] The purpose of the present invention is to provide an emergency control method, device, equipment and medium based on a PMSG wind turbine to solve the technical problems of slow wind turbine control speed and low pitch angle control accuracy.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions: According to one aspect of the present invention, there is provided an emergency control method based on a PMSG wind turbine generator system, comprising the following steps: Obtain error data between the wind turbine operating state and the rated state, input the error data into a variable pitch control system, the variable pitch control system having multiple feedback compensation control modes; determine a feedback compensation control mode from the multiple feedback compensation control modes based on the error data; The variable pitch control system includes a fuzzy PID controller; the fuzzy PID controller outputs a pitch angle according to error data corresponding to the determined feedback compensation mode; The variable pitch control system adjusts the output power of the wind turbine according to the pitch angle output by the fuzzy PID controller.

[0006] The above technical solution, for microgrid systems connected to the grid by permanent magnet direct-drive wind turbines via back-to-back converters, employs virtual synchronous machine control technology, leveraging frequency rate feedback to flexibly adjust the virtual inertia coefficient, thereby achieving active frequency control of the system. A feedback compensation control mode is determined based on the actual power error during wind turbine operation, allowing the turbine pitch angle to be adjusted according to varying output power, improving pitch angle control speed. The use of a fuzzy PID controller, which adaptively corrects PID parameters, enables more precise pitch angle adjustment and control.

[0007] According to one embodiment of the present invention, the step of determining a feedback compensation control mode from multiple feedback compensation control modes according to error data includes: determining a power error from the error data, and determining a feedback compensation control mode according to the power error; The power error is the deviation between the rated power and output power of the wind turbine.

[0008] Furthermore, the multi-feedback compensation control mode includes a single power feedback compensation mode and a power-speed combined feedback compensation mode; When the wind turbine input power is less than or equal to 1.1 times the rated power, it is in single power feedback compensation mode; When the input power of the wind turbine is greater than 1.1 times the rated power, it is the power-speed combined feedback compensation mode.

[0009] Furthermore, the error data includes the error and error change rate between the rated power and output power of the wind turbine, and the error and error change rate between the rated speed and actual speed of the wind turbine; The error data corresponding to the single power feedback compensation mode includes the error between the rated power and output power of the wind turbine and the error change rate; The error data corresponding to the power-speed joint feedback compensation mode includes the error and error change rate between the rated power and output power of the wind turbine generator set, and the error and error change rate between the rated speed and actual speed of the wind turbine generator set.

[0010] According to one embodiment of the present invention, the step of outputting a pitch angle according to error data corresponding to the determined feedback compensation mode by the fuzzy PID controller includes: The error data is input into the fuzzy controller corresponding to the feedback compensation control mode, and the fuzzy controller outputs the PID parameter adjustment amount. The PID controller performs parameter correction according to the PID parameter adjustment amount and outputs the pitch angle according to the error data.

[0011] The step of inputting the error data into the fuzzy controller corresponding to the feedback compensation control mode, and the fuzzy controller outputting the PID parameter adjustment amount includes: Fuzzy description, defining the discrete domain of input variables, and processing the error data according to the discrete domain to obtain the error fuzzy quantity; Establish fuzzy rules and determine the values ​​of proportional parameters, integral parameters and differential parameters in the fuzzy PID controller according to the error fuzzy quantity obtained by fuzzy description; Fuzzy reasoning: establish fuzzy relationship equations based on the values ​​of proportional parameters, integral parameters, and differential parameters determined by fuzzy rules, use the error fuzzy quantity to obtain the output fuzzy control quantity, establish a fuzzy control table based on all possible output fuzzy control quantities, and use the table lookup method to determine the corresponding output fuzzy control quantity; Defuzzification, using the weighted average method to adjust the output fuzzy control quantity to obtain the defuzzified output control quantity, and obtain the adjustment quantities of the proportional parameter, integral parameter and differential parameter in the fuzzy PID controller according to the defuzzified output control quantity, and correct the PID parameters based on the adjustment quantities of the proportional parameter, integral parameter and differential parameter.

[0012] According to one embodiment of the present invention, the whale algorithm is used to optimize the parameters of the fuzzy PID controller, and the parameters include the error parameter, error change rate parameter, proportional parameter, integral parameter and differential parameter in the fuzzy PID controller; In the whale algorithm, the error parameter, error change rate parameter, proportional parameter, integral parameter and differential parameter in the fuzzy PID controller are matched with the position of the whale.

[0013] The whale algorithm has the advantages of fewer parameter settings, simple operation, easy implementation and strong optimization ability. On the basis of using the fuzzy PID controller, the whale algorithm is added to optimize the parameters in the fuzzy controller. The global search capability of the whale algorithm is used to further improve the accuracy and speed of pitch angle adjustment.

[0014] Furthermore, in the whale algorithm, ITAE, a performance evaluation index for measuring the control system, is used as the fitness function.

[0015] According to one aspect of the present invention, there is provided an emergency control method and apparatus based on a PMSG wind turbine generator system, comprising: Data acquisition module, used to obtain error data between the wind turbine operating state and the rated state; A feedback compensation module is configured to input error data into a variable pitch control system having multiple feedback compensation control modes; determine a feedback compensation control mode from the multiple feedback compensation control modes based on the error data; the variable pitch control system includes a fuzzy PID controller; the fuzzy PID controller outputs a pitch angle based on the error data corresponding to the determined feedback compensation mode; The control execution module is used for the variable pitch control system to adjust the output power of the wind turbine according to the pitch angle output by the fuzzy PID controller.

[0016] According to one aspect of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the emergency control method based on a PMSG wind turbine generator set according to any one of the above-mentioned embodiments is implemented.

[0017] According to one aspect of the present invention, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, it implements the emergency control method based on a PMSG wind turbine generator set according to any of the above embodiments.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects: 1. The present invention determines a feedback compensation control mode based on the actual power error during wind turbine operation, thereby adjusting the wind turbine pitch angle according to different output powers and improving pitch angle control speed. The use of a fuzzy PID controller adaptively corrects the PID parameters, enabling more precise pitch angle adjustment and control.

[0019] 2. Based on the fuzzy PID controller, the present invention adds the whale algorithm to optimize the parameters in the fuzzy controller, and utilizes the global search capability of the whale algorithm to further improve the accuracy and speed of pitch angle adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 The ideal output power curve of a PMSG wind turbine generator system at different wind speeds based on an emergency control method for a PMSG wind turbine generator system in high winds proposed in Example 1; Figure 2 This is a control block diagram of a variable pitch control system of a grid-type PMSG wind turbine generator system according to Example 1; Figure 3 This is a control block diagram of a variable pitch control system of a grid-type PMSG wind turbine generator system according to Example 2; Figure 4 Iterative curve of the whale algorithm optimized fuzzy PID controller in Example 2; Figure 5 A control block diagram of a variable pitch control system for a PMSG wind turbine generator system of a grid type is provided for Example 3; Figure 6 1-3 are pitch angle variation curves under three different pitch control systems of Examples 1-3; Figure 7 These are output power variation curves under three different variable pitch control systems of Examples 1-3. DETAILED DESCRIPTION

[0021] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other.

[0022] The following detailed description is an exemplary description and is intended to provide further detailed description of the present invention. Unless otherwise indicated, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. The terms used in the present invention are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention.

[0023] Example 1 An emergency control method based on a PMSG wind turbine generator system comprises the following steps: Obtain error data between the wind turbine operating state and the rated state, input the error data into a variable pitch control system, the variable pitch control system having multiple feedback compensation control modes; determine a feedback compensation control mode from the multiple feedback compensation control modes based on the error data; The variable pitch control system includes a fuzzy PID controller; the fuzzy PID controller outputs a pitch angle according to error data corresponding to the determined feedback compensation mode; The variable pitch control system adjusts the output power of the wind turbine according to the pitch angle output by the fuzzy PID controller.

[0024] The above technical solution, for microgrid systems connected to the grid by permanent magnet direct-drive wind turbines via back-to-back converters, employs virtual synchronous machine control technology, leveraging frequency rate feedback to flexibly adjust the virtual inertia coefficient, thereby achieving active frequency control of the system. A feedback compensation control mode is determined based on the actual power error during wind turbine operation, allowing the turbine pitch angle to be adjusted according to varying output power, improving pitch angle control speed. The use of a fuzzy PID controller, which adaptively corrects PID parameters, enables more precise pitch angle adjustment and control.

[0025] like Figure 1Figure 2 shows the ideal output power curve for a PMSG wind turbine at different wind speeds. When the wind speed is greater than the cut-in speed but less than or equal to the rated wind speed, the PMSG wind turbine outputs power according to MPPT (Maximum Power Point Tracking). When the wind speed is greater than the rated speed but less than the cut-out speed, if the MPPT power output is still used, the output will be overloaded. Furthermore, in strong winds, the wind speed is often high, and output power overload is more severe. Uncontrolled, this can cause power system instability. Therefore, it is desirable for the PMSG wind turbine to maintain its rated output power. When the wind speed is greater than the cut-out speed, the PMSG wind turbine is cut out for safety reasons, and the output power is reduced to zero.

[0026] Build as Figure 2 The pitch control system for a meshed PMSG wind turbine shown in the figure includes a fuzzy PID controller. Based on the fact that wind turbines can operate continuously for long periods at 110% of the rated current, or 1.1 times the rated power, a pitch control system with multiple feedback compensation control modes is established. When the wind turbine output power is 1.1 times the rated power or less, a single power feedback compensation mode is used. When the output power is greater than 1.1 times the rated power, a combined power-speed feedback compensation mode is used. The pitch control systems for different feedback compensation control modes correspond to different input data.

[0027] The input data of the variable pitch control system is the error data between the operating state and the rated state of the PMSG wind turbine. The error data includes the error and error change rate between the rated power and output power of the wind turbine, as well as the error and error change rate between the rated speed and actual speed of the wind turbine. When the single power feedback compensation mode is adopted, the rated power of the PMSG wind turbine is P ref and output power P m Error e 1 and error change rate ec 1 is used as the input of the fuzzy controller in the single power feedback compensation mode to obtain the PID parameter adjustment amount; when the power-speed combined feedback compensation mode is adopted, the rated power of the PMSG wind turbine is P ref and output power P m Error e 2 and error change rate ec 2 as the input of the fuzzy controller of power feedback compensation control in the power-speed combined feedback compensation mode; the rated speed of the PMSG wind turbine is w ref With actual speed wr Error e 3 and error change rate ec 3 serves as the input to the fuzzy controller for speed feedback compensation control in the combined power-speed feedback compensation mode. After fuzzification, fuzzy rule establishment, fuzzy inference, and defuzzification, the fuzzy controller obtains the PID parameter adjustments for power feedback control and speed feedback control, respectively. The PID controller then modifies the PID parameters based on the PID parameter adjustments to achieve a better pitch angle adjustment effect.

[0028] In the above process, the fuzzy controller outputs the PID parameter adjustment amount according to the corresponding error data input, which specifically includes the following steps: S1. Fuzzy description The discrete domain of input variables is defined, and the error data is processed according to the discrete domain to obtain the error fuzzy quantity.

[0029] Specifically, the input of the variable pitch control system is determined to be the rated power of the wind turbine corresponding to the single power feedback compensation mode. P ref and output power P m Error e 1 and error change rate ec 1, or the rated power of the wind turbine corresponding to the power-speed combined feedback compensation mode P ref and output power P m Error e 2 and error change rate ec 2 and the rated speed of the wind turbine w ref With actual speed w r Error e 3 and error change rate ec 3.

[0030] The fuzzy controller outputs the PID parameter proportional parameter according to the above error data k p , integral parameters k i and differential parameters k d Adjustment amount , and , define the input variables e 1, e 2, e 3. ec 1, ec 2, ecThe discrete domain of 3 is {-3, -2, -1, 0, 1, 2, 3}, where the deviation e 1, e 2, e The basic domain of 3 is [-30, 30], and the quantization factor K e =0.1.

[0031] S2. Establish fuzzy rules The values ​​of the proportional parameter, integral parameter and differential parameter in the fuzzy PID controller are determined based on the error fuzzy quantity obtained by fuzzy description.

[0032] Specifically, the deviation value e 1, e 2, e 3 When it is larger, you can take the larger one k p The value is used to speed up the response of the system. If the integral effect of the system is not limited, integral saturation will occur, resulting in excessive overshoot. Therefore, it is generally chosen to take To avoid this situation; In the deviation value e 1, e 2, e 3 and the rate of change of deviation value ec 1, ec 2, ec 3. When the size is medium, you can take a smaller k p Value, moderate k i Value and k d value, which can not only make the system response have a smaller overshoot, but also ensure the system response speed; In the deviation value e 1, e 2, e 3 When the value is small and close to the set value, you can increase k p and k i The value of k d The value of is particularly important for the system to have a good control effect in the face of interference. ec 1, ec 2, ec 3 is larger, the smaller one should be taken k d Value, rate of change of deviation value ec 1, ec 2, ec When 3 is smaller, the larger one should be taken kd value.

[0033] , and The fuzzy rule tables are shown in Tables 1 to 3 respectively.

[0034] Table 1 Fuzzy rule table

[0035] Table 2 Fuzzy rule table

[0036] Table 3 Fuzzy rule table

[0037] S3. Fuzzy reasoning A fuzzy relation equation is established based on the values ​​of the proportional parameter, integral parameter and differential parameter determined by fuzzy rules. The output fuzzy control quantity is obtained using the error fuzzy quantity. A fuzzy control table is established based on all possible output fuzzy control quantities, and the corresponding output fuzzy control quantity is determined using the table lookup method.

[0038] According to the fuzzy quantity of the input of the fuzzy adaptive PID, based on the set fuzzy relationship equation, the output fuzzy control quantity is obtained, and the above operations are repeated to obtain all possible output values, and a fuzzy control table is established. After that, the corresponding output value can be determined by the table lookup method. This method is the CRI table lookup method, which has the advantages of simple operation and good real-time performance.

[0039] S4. Defuzzification The weighted average method is used to adjust the output fuzzy control quantity to obtain the defuzzified output control quantity. The adjustment quantities of the proportional parameter, integral parameter and differential parameter in the fuzzy PID controller are obtained according to the defuzzified output control quantity. The PID parameters are corrected based on the adjustment quantities of the proportional parameter, integral parameter and differential parameter.

[0040] After fuzzy inference, a fuzzy control table is obtained. The control quantity information in the fuzzy control table is complex. To obtain a precise and clear control quantity, it needs to be defuzzified. This embodiment adopts a weighted average method. This method takes into account multiple elements in the fuzzy control table and improves the system response characteristics by adjusting the weighting coefficients. This method has greater flexibility and better control effect.

[0041] By obtaining the defuzzified output control quantity, the proportional parameter can be obtained k p , integral parameter ki , differential parameters k d Adjustment amount: ; ; ; Where, , , They are , , The initial value of the fuzzy adaptive PID parameters can be adjusted in real time according to the adjustment amount.

[0042] When the single power feedback compensation mode is adopted, the modified PID controller outputs the pitch angle by comparing the output power with the rated power. When the power-speed combined feedback compensation mode is adopted, the modified PID controller can obtain the pitch angle by comparing the output power with the rated power. By comparing the actual speed and the rated speed, the pitch angle can be obtained . Figure 2 The variable pitch control system of the grid-type PMSG wind turbine shown can adjust the output power of the wind turbine according to the pitch angle of the corresponding feedback compensation control mode, and realize emergency control of the PMSG wind turbine in high wind conditions.

[0043] The emergency control method based on the PMSG wind turbine of this embodiment is adopted. The variable pitch control system adopts a switching feedback control compensation strategy, which can adjust the pitch angle control method according to different output powers, so that the control speed is faster; for the PID parameters in the pitch angle control, a fuzzy controller is used to adaptively correct the PID parameters, which can make the adjustment of the pitch angle more accurate; and solves the problem of fixed parameters of traditional PID controllers.

[0044] Example 2 An emergency control method and device based on a PMSG wind turbine generator system, which differs from Example 1 in that: Build as Figure 3 The variable pitch control system of the PMSG wind turbine generator system shown in the figure includes a fuzzy PID controller, and the whale algorithm is used to optimize the parameters of the fuzzy PID controller, including the error parameters in the fuzzy PID controller. k e , error change rate parameter k ec , scale parameters k p , integral parameter k i, differential parameters k d ; In the whale algorithm, the error parameter in the fuzzy PID controller is k e , error change rate parameter k ec , scale parameters k p , integral parameter k i , differential parameters k d Corresponding to the position of the whale.

[0045] After adding fuzzy control, the traditional PID controller has improved adjustment speed and accuracy. Using the whale algorithm to optimize the parameters in the fuzzy PID controller can further improve the adjustment effect.

[0046] The Whale Algorithm is similar to the intelligent optimization algorithm. It has the advantages of fewer parameter settings, simple operation, easy implementation, and strong optimization ability. Its steps are as follows: Set the initial population size and the maximum number of iterations; and set the error parameter in the fuzzy PID controller k e , error change rate parameter k ec , scale parameters k p , integral parameter k i , differential parameters k d Corresponding to the position of the whale; Set the upper and lower bounds of the parameters; Determine the fitness function and use the performance evaluation index ITAE to measure the control system as the fitness function, and its expression is: Where, is the value of the fitness function; t is the time; is the absolute error; Run the whale optimization algorithm and output the optimized 5 parameters (respectively ( k e 、 k ec 、 k p0 、 k i0 、 k d0 ) value; through simThe function inputs the numerical values ​​of the five parameters obtained by the whale algorithm into the wind turbine system simulation model and evaluates the optimized parameters through the fitness function; if the maximum number of iterations is reached, the global optimal solution is output.

[0047] In this embodiment, the whale algorithm sets the population size to 10, the maximum number of iterations to 20, and the population dimension to 5; the optimization range of the parameters is set to 、 、 、 、 See also Figure 4 , which is the iteration curve of the fuzzy PID controller optimized by the whale algorithm. After simulation, it can be seen from the iteration curve that the fitness value of WOA converges and reaches the optimal value after 7 iterations.

[0048] The optimal solution obtained by the whale algorithm is input into the fuzzy controller in the fuzzy PID controller. On this basis, the fuzzy controller obtains the PID parameter adjustment amount according to the error data of the corresponding feedback compensation control mode; the PID controller corrects the PID parameters based on the PID parameter adjustment amount, and the corrected PID controller outputs the pitch angle corresponding to the feedback compensation control mode; a variable pitch control system is adopted; the output power of the wind turbine is adjusted according to the pitch angle output by the fuzzy PID controller, and emergency control of the PMSG wind turbine is achieved under strong wind conditions.

[0049] Example 3 Build as Figure 5 The pitch control system of the grid-type PMSG wind turbine shown is based on the fact that the wind turbine can operate continuously for a long time at 110% of the rated current, that is, operate at 1.1 times the rated power. A pitch control system with multiple feedback compensation control modes is established. When the output power of the wind turbine is 1.1 times the rated power or less, a single power feedback compensation mode is adopted. When the output power is greater than 1.1 times the rated power, a power-speed combined feedback compensation mode is adopted. Pitch control systems with different feedback compensation control modes correspond to different input data.

[0050] When using the single power feedback compensation mode, the pitch angle can be obtained by comparing the output power with the rated power. When the power-speed combined feedback compensation mode is used, the pitch angle can be obtained by comparing the output power with the rated power. ; By comparing the actual speed and the rated speed, the pitch angle can be obtained When the output power of the wind turbine is different, different pitch angle control methods can be switched, which has a faster adjustment speed than the traditional pitch angle control strategy.

[0051] Pitch angle 、 and Calculate according to the following formulas: ; ; ; in, 、 and is the proportionality coefficient; 、 and is the integration coefficient; Output power for wind turbines; is the rated power of the wind turbine; is the actual speed of the wind turbine; is the rated speed of the wind turbine.

[0052] When the output power of the wind turbine is different, different pitch angle control methods can be switched, which has a faster adjustment speed than the traditional pitch angle control strategy.

[0053] Simulation Example Based on the emergency control methods for PMSG wind turbines described in Examples 1-3, wind turbine system simulation models were established. Wind speed steps were set at 6s and 11s, respectively, to simulate the high winds encountered by the grid-type PMSG wind turbine. The wind speeds were 11m / s from 0s to 6s, 14m / s from 6s to 11s, and 25m / s from 11s to 16s. The rated wind speed for the grid-type PMSG wind turbine was 11m / s, the cut-out wind speed was 25m / s, and the rated power was 2MW.

[0054] The wind speed can be used to obtain the output power of the wind turbine base, which can be calculated according to the following formula: ; in: is the power output of the fan; is the air density (kg / m 3 ); is the swept area of ​​the wind turbine (m 2 ); v is the actual wind speed (m / s); C p is the wind energy utilization coefficient; is an intermediate variable; is the tip speed ratio; is the pitch angle (°); R t is the radius of the wind turbine blade (m); is the blade rotation angular velocity (rad / s).

[0055] Therefore, the proportional relationship between the output power and the rated power of the wind turbine can be determined according to the actual wind speed and the rated wind speed. In other words, the feedback compensation control mode of the pitch control system can be determined according to the actual wind speed and the rated wind speed.

[0056] The pitch angle is basically stable at 3° between 1s and 6s. At the 6th second, the wind speed jumps to 14m / s. At this time, the wind speed has exceeded the rated wind speed. According to the relationship between wind speed and output power, it can be determined that the output power of the wind turbine is greater than 1.1 times the rated power. After pitch angle control, the output power should continue to maintain the rated power, so the pitch angle is increased. Figure 6 Under the three different control strategies of Examples 1-3, the pitch angle first increases and then decreases. It can be seen that the variable pitch control system of Example 2 has a small overshoot of the pitch angle under the fuzzy PID control improved based on the whale algorithm, and is more accurate and fast; the fuzzy PID control in the variable pitch control system of Example 1 first increases and then decreases faster than the traditional PID control in Example 3, and finally stabilizes at about 6.2°; at the 11th second, the wind speed jumps to 25m / s, and the cut-out wind speed is reached at this time. The wind turbine should be cut out and the output power is 0. At this time, the pitch angle control system no longer works, so it remains at the original angle unchanged.

[0057] See also Figure 7 , the output power variation curves of the grid-type PMSG wind turbine under the three different variable pitch control systems of Examples 1-3, The output power of the meshed PMSG wind turbine is between 1s and 6s, and is basically stable at 2MW; at the 6th second, the wind speed jumps to 14m / s. At this time, the wind speed has exceeded the rated wind speed. After pitch angle control, the output power should continue to be maintained at the rated power. Therefore, the output power is reduced by increasing the pitch angle. Under the three different variable pitch control systems, the change rules of the meshed PMSG wind turbine are different. Under the fuzzy PID control improved based on the whale algorithm, the output power of the variable pitch control system of Example 2 fluctuates slightly, basically around 2MW. In the variable pitch control system of Example 1, under fuzzy PID control, the output power first increases and then decreases. The overshoot is smaller than the traditional PID control strategy, and the speed of recovering to 2MW is faster than the traditional PID control strategy in Example 3. It finally stabilizes at 2MW, which takes about 2.2s; at the 11th second, the wind speed jumps to 25m / s. At this time, the cut-out wind speed is reached. The wind turbine should be cut out and the output power is 0. It can be seen that the output power is also 0 at this time, and the wind turbine is successfully cut out.

[0058] Example 4 An emergency control method and device based on a PMSG wind turbine generator system, comprising: Data acquisition module, used to obtain error data between the wind turbine operating state and the rated state; A feedback compensation module is configured to input error data into a variable pitch control system having multiple feedback compensation control modes; determine a feedback compensation control mode from the multiple feedback compensation control modes based on the error data; the variable pitch control system includes a fuzzy PID controller; the fuzzy PID controller outputs a pitch angle based on the error data corresponding to the determined feedback compensation mode; The control execution module is used for the variable pitch control system to adjust the output power of the wind turbine according to the pitch angle output by the fuzzy PID controller.

[0059] Example 5 A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the emergency control method based on the PMSG wind turbine generator set of the above-mentioned embodiment 1 or embodiment 2 is implemented.

[0060] Example 6 A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the emergency control method based on a PMSG wind turbine generator set according to the first or second embodiment.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An emergency control method based on a PMSG wind turbine generator system, characterized in that: The following steps are involved: Obtain error data between the wind turbine operating state and the rated state; inputting the error data into a pitch control system having multiple feedback compensation control modes; and determining a feedback compensation control mode from the multiple feedback compensation control modes based on the error data; The pitch control system includes a fuzzy PID controller; The fuzzy PID controller outputs a pitch angle according to the error data corresponding to the determined feedback compensation mode; The variable pitch control system adjusts the output power of the wind turbine generator set according to the pitch angle output by the fuzzy PID controller.

2. The emergency control method based on PMSG wind turbine according to claim 1, characterized in that: The step of determining the feedback compensation control mode from the multiple feedback compensation control modes according to the error data includes: determining a power error from the error data, and determining a feedback compensation control mode according to the power error; The power error is the deviation between the rated power and output power of the wind turbine.

3. The emergency control method based on PMSG wind turbine according to claim 2, characterized in that: The multi-feedback compensation control mode includes a single power feedback compensation mode and a power-speed combined feedback compensation mode; When the wind turbine input power is less than or equal to 1.1 times the rated power, it is in single power feedback compensation mode; When the input power of the wind turbine is greater than 1.1 times the rated power, it is the power-speed combined feedback compensation mode.

4. The emergency control method based on PMSG wind turbine according to claim 3, characterized in that: The error data also includes the error change rate between the rated power and output power of the wind turbine generator set, and the error and error change rate between the rated speed and actual speed of the wind turbine generator set; The error data corresponding to the single power feedback compensation mode includes the error between the rated power and output power of the wind turbine and the error change rate; The error data corresponding to the power-speed joint feedback compensation mode includes the error and error change rate between the rated power and output power of the wind turbine generator set, and the error and error change rate between the rated speed and actual speed of the wind turbine generator set.

5. The emergency control method based on PMSG wind turbine according to claim 1, characterized in that: The fuzzy PID controller outputs a pitch angle according to error data corresponding to the determined feedback compensation mode, comprising: The error data is input into the fuzzy controller corresponding to the feedback compensation control mode, and the fuzzy controller outputs the PID parameter adjustment amount. The PID controller performs parameter correction according to the PID parameter adjustment amount and outputs the pitch angle according to the error data.

6. The emergency control method based on PMSG wind turbine according to claim 1, characterized in that: The whale algorithm is used to optimize the parameters of the fuzzy PID controller, wherein the parameters include an error parameter, an error change rate parameter, a proportional parameter, an integral parameter, and a differential parameter in the fuzzy PID controller; In the whale algorithm, the error parameter, error change rate parameter, proportional parameter, integral parameter and differential parameter in the fuzzy PID controller are matched to the position of the whale.

7. The emergency control method based on PMSG wind turbine according to claim 6, characterized in that: In the whale algorithm, ITAE, a performance evaluation index for measuring the control system, is used as the fitness function.

8. The emergency control method and device based on PMSG wind turbine is characterized in that: include: Data acquisition module, used to obtain error data between the wind turbine operating state and rated state; a feedback compensation module configured to input error data into a pitch control system having multiple feedback compensation control modes; and determine a feedback compensation control mode from the multiple feedback compensation control modes based on the error data; the pitch control system including a fuzzy PID controller; The fuzzy PID controller outputs a pitch angle according to the error data corresponding to the determined feedback compensation mode; The control execution module is used for the variable pitch control system to adjust the output power of the wind turbine according to the pitch angle output by the fuzzy PID controller.

9. An electronic device, characterized in that: The system comprises a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the emergency control method based on a PMSG wind turbine as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the emergency control method based on a PMSG wind turbine generator set according to any one of claims 1 to 7 is implemented.

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