Inductive cooperative control method and system of permanent magnet wind power generator

Abstract

The application relates to an inductive cooperative control method and system of a permanent magnet wind power generator, equivalent incoming flow wind speed is obtained by collecting and interpolating multi-point wind speed data, and synchronous collection of electrical quantities forms a unit operation electrical parameter, an optimal rotating speed instruction is calculated based on the equivalent incoming flow wind speed, a torque feedforward compensation amount is generated in combination with wind speed change, rotor observation angles and observation rotating speeds are obtained by completing flux linkage solution by relying on the equivalent incoming flow wind speed and the unit operation electrical parameter in combination with a working condition adaptation observation strategy, the torque feedforward compensation amount is superposed to synthesize a comprehensive torque instruction, and an inverter driving signal is generated to realize motor vector driving control, which is helpful for eliminating rotating speed regulation and control lag problems caused by fan mechanical inertia, realizing stable and accurate observation of rotor positions in a full wind speed range, and greatly improving the operation robustness and wind energy capture efficiency of the permanent magnet wind power generator under variable working conditions.

Description

Technical Field

[0001] This invention relates to the field of new energy power generation control technology, and in particular to sensorless operation control and wind farm unit coordinated regulation technology for permanent magnet direct-drive wind turbines, specifically a sensorless coordinated control method and system for permanent magnet wind turbines. Background Technology

[0002] New energy power generation is a core supporting component of the construction of new power systems. Wind power, with its wide resource distribution and high construction flexibility, has become an important development route for distributed clean energy. Permanent magnet synchronous wind turbines, relying on efficient gearless transmission structures, are gradually becoming widespread. Sensorless vector control technology estimates rotor position through algorithms, eliminating the need for physical position detection devices and effectively reducing equipment hardware investment and maintenance losses. This is currently a common technical route in the field of wind power control. In the multi-unit joint operation mode of wind farms, the wakes between units interfere with each other, and it is difficult to achieve balanced power generation across the entire field with independent control of a single unit. Cluster collaborative control has also become a technical direction that the industry continues to explore. Existing sensorless control of permanent magnet wind turbines relies on fixed parameter observation algorithms to estimate rotor angles. Combined with single-loop feedback maximum power point tracking control logic and a basic fault blocking protection mechanism, it can meet the basic power generation operation requirements under stable and constant wind speeds.

[0003] In the process of realizing this invention, the inventors discovered that the existing sensorless collaborative control scheme for permanent magnet wind turbines still has a core defect that is difficult to overcome: the actual operation of the wind turbine includes multiple different wind speed conditions, and the traditional fixed parameter observation algorithm cannot adapt to the dynamic operating conditions of all conditions. In disturbance scenarios such as sudden gusts and high wind speed voltage saturation, rotor angle tracking divergence and loss of synchronization faults are prone to occur, which greatly reduces the wind turbine's power generation efficiency and the robustness of the whole machine operation. Summary of the Invention

[0004] Based on this, and to address the aforementioned problems, this invention provides a sensorless collaborative control method and system for permanent magnet wind turbines. It obtains an equivalent incoming wind speed by collecting and interpolating multi-point wind speed data, and simultaneously collects electrical quantities to form the unit's operating electrical parameters. Based on the equivalent incoming wind speed, it calculates the optimal speed command and generates a torque feedforward compensation amount by combining wind speed changes. Relying on the equivalent incoming wind speed and the unit's operating electrical parameters, and combining a condition-specific adaptive observation strategy, it completes flux linkage calculation to obtain the rotor observation angle and observation speed. The torque feedforward compensation amount is superimposed to synthesize a comprehensive torque command and generate an inverter drive signal to achieve vector drive control of the motor. This helps to eliminate the speed reduction caused by the mechanical inertia of the wind turbine. Addressing the issue of control lag, this system adapts to all operating conditions, including low wind speed start-up, rated stability, high wind speed load limiting, and sudden gusts. It resolves the industry pain points of traditional fixed-parameter sensorless observation algorithms, such as easy angle loss and delayed wind energy capture response. This enables stable and accurate observation of rotor position across the entire wind speed range, significantly improving the robustness and wind energy capture efficiency of permanent magnet wind turbines under varying operating conditions. Simultaneously, it incorporates fault angle memory restart and wind farm unit wake collaborative balancing control mechanisms to reduce mechanical impact from fault restarts and cluster power generation losses. This provides stable and reliable technical support for high-precision sensorless speed regulation of distributed permanent magnet wind turbine units and collaborative optimized power generation of multiple units in wind farms.

[0005] In a first aspect, the present invention provides a sensorless collaborative control method for a permanent magnet wind turbine generator. The method includes: collecting multi-point wind speed data and interpolating and fusing it to obtain an equivalent incoming wind speed; synchronously collecting stator current and bus voltage to form unit operating electrical parameters; determining the optimal speed command based on the equivalent incoming wind speed and generating a torque feedforward compensation amount according to the change of the equivalent incoming wind speed; performing flux linkage calculation using an adaptive observation strategy in combination with the unit operating conditions, and obtaining the rotor observation angle and observation speed based on the equivalent incoming wind speed and the unit operating electrical parameters; obtaining a basic torque command by combining the optimal speed command and the observation speed, and generating an inverter drive signal after superimposing the torque feedforward compensation amount to drive the generator to match the real-time incoming wind conditions.

[0006] Optionally, the optimal speed command is determined based on the equivalent incoming air velocity, and a torque feedforward compensation amount is generated according to the change of the equivalent incoming air velocity. This includes: retrieving the preset optimal tip speed ratio reference parameter and converting it with the equivalent incoming air velocity to obtain the optimal speed command; solving for the change trend information based on the equivalent incoming air velocity over a continuous period; using the fan mechanical inertia compensation coefficient to perform a weighted conversion on the change trend information to generate the torque feedforward compensation amount; and caching the optimal speed command and the torque feedforward compensation amount to obtain a cached parameter set. By retrieving the optimal tip speed ratio reference parameter and converting it into the optimal speed command based on the equivalent incoming wind speed, the wind speed change trend information is solved based on the equivalent incoming wind speed over a continuous period. Furthermore, the wind turbine mechanical inertia compensation coefficient is introduced to generate a weighted conversion of the torque feedforward compensation amount. A unified cached parameter set of two types of control parameters helps to accurately match the unit's optimal wind energy capture operating point based on the multi-point fused global incoming flow data. The torque compensation amount is generated in advance using the wind speed change trend to offset the control lag caused by the mechanical rotational inertia of the wind turbine hub, avoiding the gust response delay problem caused by traditional closed-loop speed feedback regulation alone. This shortens the dynamic tracking response time of the optimal tip speed ratio, continuously maintaining the unit's high wind energy capture efficiency. Simultaneously, the centralized caching of speed and feedforward control parameters provides a unified and quickly accessible control data source for backend flux linkage calculation and torque synthesis calculation, ensuring the synchronous stability of the entire control sequence and providing reliable parameter support for rapid dynamic speed regulation control of permanent magnet wind turbines under variable wind speed conditions.

[0007] Optionally, an adaptive observation strategy is adopted to perform flux linkage calculation based on the unit's operating conditions. The rotor observation angle and observation speed are obtained based on the equivalent incoming wind speed and the unit's operating electrical parameters. This includes: classifying the unit's operating conditions into four categories based on the equivalent incoming wind speed: low-wind-speed start-up, rated stable operation, high-wind-speed load-limiting operation, and gust-induced sudden change operation; and matching an adaptive observation strategy for each category of unit operating conditions. Specifically, a high observation gain is configured for the low-wind-speed start-up condition, the observation gain is dynamically adjusted for the rated stable operation condition, and the observation gain is directed to a phase-locked loop for the high-wind-speed load-limiting condition. Phase compensation is superimposed to shorten the flux linkage iteration step size under sudden gust conditions. Stator current and bus voltage components are separated from the unit's operating electrical parameters and input together with the equivalent incoming wind speed into the flux linkage solution model. The flux linkage solution is executed cyclically, and the multi-point wind speed data and unit operating electrical parameters are updated in each cycle. The appropriate observation strategy for the current unit operating condition is retrieved, and iterative calculations are performed in combination with the updated multi-point wind speed data and unit operating electrical parameters to obtain the rotor observation angle and observation speed. By classifying four differentiated unit operating conditions based on equivalent incoming wind speed and matching each condition with a dedicated adaptive observation strategy, the stator current and bus voltage components are separated from the unit's operating electrical parameters and then combined with the equivalent incoming wind speed to input into the flux linkage calculation model. The model iteratively updates wind speed and electrical data and matches the corresponding observation strategy to solve for the rotor observation angle and observation speed. It can match gain adjustment, phase compensation, and iteration step size optimization mechanisms for low wind speed, rated, high wind speed load limiting, and sudden gust scenarios, overcoming the shortcomings of traditional single fixed parameter flux linkage observers that cannot adapt to the entire wind speed range, gust, or voltage saturation conditions and are prone to angle step loss. The continuous iterative update of the entire domain wind speed and real-time electrical data ensures that the observed input closely matches the actual dynamic operating state of the wind turbine. The differentiated observation strategy for each operating condition can maintain the rotor position tracking accuracy and convergence speed in low speed weak back EMF, high speed voltage limiting, and severe wind speed fluctuation scenarios, respectively, greatly improving the robustness of sensorless flux linkage observation under all operating conditions and stably outputting accurate rotor observation angle and observation speed.

[0008] Optionally, a basic torque command is obtained by combining the optimal speed command and the observed speed. After superimposing the torque feedforward compensation, an inverter drive signal is generated to drive the generator to match the real-time incoming flow conditions. This includes: calculating the difference between the optimal speed command and the observed rotor speed, inputting the difference into the closed-loop regulation calculation to obtain the basic torque command; superimposing the torque feedforward compensation to the basic torque command to obtain the comprehensive torque command; constraining the upper limit of the output voltage based on the bus voltage included in the unit's operating electrical parameters, and combining the comprehensive torque command to complete the decoupling regulation of the d-axis and q-axis currents to obtain the modulation voltage component; and performing coordinate transformation and space vector modulation calculations on the modulation voltage component to generate the inverter drive signal. By obtaining the difference between the optimal speed command and the observed rotor speed through closed-loop regulation, a basic torque command is obtained. The torque feedforward compensation is then superimposed on the basic torque command to form a comprehensive torque command. Relying on the bus voltage constraint, the d-axis and q-axis currents are decoupled and generated into an inverter drive signal through coordinate transformation and space vector modulation. This allows the pre-calculated wind speed feedforward torque to be directly superimposed on the basic torque output by the speed closed loop, bypassing the speed loop integral lag and quickly offsetting the speed response delay caused by the wind turbine's mechanical inertia, achieving millisecond-level dynamic tracking of the optimal tip speed ratio. Simultaneously, by combining the real-time bus voltage constraint on the d-axis and q-axis voltage output amplitudes, the inverter over-modulation saturation problem is avoided, ensuring linear stability of vector control throughout the entire process. The precise inverter drive waveform is output through standard coordinate transformation and space vector modulation, enabling the generator electromagnetic torque to match the current incoming wind speed changes in real time. This significantly improves the wind energy capture response speed and control accuracy under gust and variable wind speed conditions, fully leveraging the advantages of feedforward compensation and closed-loop feedback synergistic control, and providing reliable underlying power modulation support for the efficient and stable vector drive operation of permanent magnet wind turbines under all operating conditions.

[0009] Optionally, the above method also includes fault shutdown and restart control, specifically including: reading the unit's operating electrical parameters, identifying electrical abnormalities based on the unit's operating electrical parameters, and determining that the unit has entered a fault shutdown state; continuously executing the flux linkage calculation process throughout the fault shutdown, recording and storing the rotor observation angle throughout the process to obtain angle trajectory data; after monitoring that the incoming wind speed has recovered to the normal operating range, retrieving the rotor observation angle that has converged within the angle trajectory data; retrieving the inverter drive signal, and combining it with the retrieved rotor observation angle to obtain the unit restart control logic. By reading the unit's operating electrical parameters in real time, electrical anomalies are identified and fault shutdown status is determined. The entire fault shutdown process is continuously executed with flux linkage calculation and complete storage of rotor angle trajectory data. After the wind speed recovers, the converged rotor observation angle is directly retrieved to generate restart control logic. This avoids the loss of rotor position information caused by directly shutting down the flux linkage observation module during the fault shutdown phase, and eliminates the need to re-perform zero-speed rotor angle positioning operation when the unit restarts. It also eliminates the need for the high-frequency injection initial positioning process, significantly reducing the electromagnetic shock and mechanical vibration generated at the moment of restart, preventing the risk of wind turbine runaway instability, and shortening the time to restore grid connection and power generation after a fault. The angle change trajectory of the entire shutdown deceleration process is completely retained, ensuring the accuracy of rotor phase matching during restart, and improving the safety of wind turbine operation and the continuity of operation and maintenance under fault conditions.

[0010] Optionally, the above method also includes multi-unit collaborative control, specifically including: real-time calculation of power generation operation data based on the operating electrical parameters of the unit itself; interaction of equivalent incoming wind speed, rotor observed speed, and power generation operation data among units in the field; reading the operation data transmitted by the upstream unit, calculating the wake interference level based on the upstream unit operation data, and correcting the optimal speed command of the unit; monitoring the operating status of other units in the field, identifying and raising the comprehensive torque command of the unit when a neighboring unit fails and shuts down; and regenerating the inverter drive signal based on the corrected optimal speed command and the raised comprehensive torque command to obtain the cluster equalization drive signal. By real-time conversion of power generation data based on the operating parameters of the turbine units, and by exchanging equivalent incoming wind speed, rotor speed, and power generation data among the turbine units in the wind farm, and by combining upstream turbine operating data to invert wake interference and correct the optimal speed command of the turbine, the overall torque command of the turbine is increased when a neighboring turbine fails and shuts down. Based on the corrected speed and torque commands, a cluster balancing drive signal is generated, enabling data exchange on the operating status of multiple turbine units within the wind farm. By accurately quantifying the wake attenuation interference of the airflow based on upstream turbine parameters, the optimal tip speed ratio operating point of a single turbine is adjusted in a targeted manner to reduce the wind energy capture loss across the entire wind farm caused by the wake effect. When a turbine in the wind farm fails and shuts down, the output of the normal turbines is proactively increased to compensate for the cluster power generation gap, balancing the power output across the entire wind farm and preventing a significant drop in the overall power generation efficiency of the wind farm. By relying on unified and interactive wind speed, speed, and power data, dynamic collaborative correction of single-unit control parameters is achieved, allowing the control logic of each turbine to adapt to the real-time distribution of the entire wind farm and optimizing the overall wind energy utilization efficiency of the wind farm.

[0011] In the above implementation process, after determining that the unit has entered a fault shutdown state, the process also includes: blocking the currently output inverter drive signal after identifying the electrical abnormality; after completing the inverter drive signal blocking operation, outputting a mechanical braking control command to lock the generator shaft; continuously performing flux linkage calculation during mechanical braking operation and synchronously recording the rotor observation angle until the unit is completely stationary, and obtaining the shutdown braking angle recording data. After identifying electrical anomalies, the inverter drive signal is first blocked. After the signal blocking is completed, a mechanical braking command is issued to lock the generator shaft. The mechanical braking continuously operates, calculating flux linkage and synchronously collecting and storing shutdown braking angle data. This achieves graded and sequential linkage between software electrical protection and hardware mechanical braking. The inverter power output is first cut off to eliminate the risk of continuous amplification of electrical faults, and then the mechanical locking mechanism is engaged to avoid current surges and device damage caused by synchronous action. The flux linkage observation and calculation are continuously maintained throughout the braking and deceleration process, and the rotor angle change data of the unit from deceleration to standstill is completely recorded. The angle record of the braking stage is stored separately, which complements the angle trajectory data of the entire fault process. This further ensures that the accurate rotor phase can be directly retrieved when restarting after the fault is cleared, without the need for re-zero speed positioning. This effectively reduces the risk of runaway and instability during the braking and shutdown stage, improves the safety of graded fault protection, and enriches the rotor angle data reserve, providing complete and continuous angle data support for a smooth and shock-free restart after a wind turbine fault shutdown.

[0012] Secondly, this invention also provides a sensorless collaborative control system for a permanent magnet wind turbine. This system includes: an environmental and electrical acquisition module for acquiring multi-point wind speed data and interpolating and fusing it to obtain an equivalent incoming wind speed; synchronously acquiring stator current and bus voltage to form unit operating electrical parameters; a speed command and feedforward generation module for determining the optimal speed command based on the equivalent incoming wind speed and generating torque feedforward compensation based on changes in the equivalent incoming wind speed; an adaptive flux linkage observation module for performing flux linkage calculation using an adaptive observation strategy combined with the unit's operating conditions, obtaining the rotor observation angle and observation speed based on the equivalent incoming wind speed and the unit's operating electrical parameters; and a torque closed-loop modulation drive module for obtaining a basic torque command by combining the optimal speed command and the observed speed, superimposing the torque feedforward compensation to generate an inverter drive signal to drive the generator to match real-time incoming wind conditions.

[0013] Thirdly, embodiments of the present invention also provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the steps in any of the above implementations.

[0014] Fourthly, embodiments of the present invention also provide a computer program product, the computer program product including a computer program / instruction, which, when executed by a processor, implements the steps in any of the above implementation methods.

[0015] According to the technical solution of this invention, an equivalent incoming wind speed is obtained by interpolating and fusing multi-point wind speed data, and electrical quantities are simultaneously collected to form unit operating electrical parameters. Based on the equivalent incoming wind speed, the optimal speed command is calculated, and a torque feedforward compensation is generated by combining wind speed changes. By combining the equivalent incoming wind speed and unit operating electrical parameters with a condition-specific adaptive observation strategy, flux linkage calculation is completed to obtain the rotor observation angle and observation speed. The torque feedforward compensation is superimposed to synthesize a comprehensive torque command and generate an inverter drive signal to achieve motor vector drive control. This helps to eliminate the speed regulation lag problem caused by the mechanical inertia of the wind turbine and adapts to low wind speed start-up. It addresses the industry pain points of traditional fixed-parameter sensorless observation algorithms, such as easy angle loss and lag in wind energy capture response, under all operating conditions including dynamic, rated stability, high wind speed load limitation, and sudden gusts. It achieves stable and accurate observation of rotor position across the entire wind speed range, significantly improving the robustness of permanent magnet wind turbine operation and wind energy capture efficiency under varying operating conditions. At the same time, it is equipped with fault angle memory restart and wind farm unit wake collaborative equalization control mechanism to reduce mechanical impact of fault restart and cluster power generation loss. It provides stable and reliable technical support for high-precision sensorless speed regulation of single distributed permanent magnet wind turbine units and collaborative optimization of power generation of multiple units in wind farms. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of the sensorless collaborative control method for a permanent magnet wind turbine provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the sensorless collaborative control system for a permanent magnet wind turbine provided in an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will now be described with reference to the accompanying drawings. For example, the flowcharts and block diagrams in the drawings illustrate the architecture, functions, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0019] In one implementation, please refer to Figure 1 , Figure 1 The flowchart shows the sensorless collaborative control method for a permanent magnet wind turbine provided in the embodiments of the present invention. The method includes the following steps: S10~S40.

[0020] S10: Collects multi-point wind speed data and interpolates and fuses it to obtain the equivalent incoming wind speed; simultaneously collects stator current and bus voltage to form the unit's operating electrical parameters.

[0021] S20: Determine the optimal speed command based on the equivalent incoming air velocity, and generate torque feedforward compensation based on the change in the equivalent incoming air velocity.

[0022] S30: Adaptive observation strategies are adopted to perform flux linkage calculations based on the unit's operating conditions, and the rotor observation angle and observation speed are obtained by relying on the equivalent incoming air velocity and the unit's operating electrical parameters.

[0023] S40: Combines the optimal speed command and the observed speed to obtain the basic torque command, and generates the inverter drive signal after superimposing the torque feedforward compensation to drive the generator to match the real-time incoming flow conditions.

[0024] In step S10, please refer to Figure 1 In step S10, multi-point wind speed data are collected and interpolated to obtain the equivalent incoming wind speed; stator current and bus voltage are collected simultaneously to form the unit's operating electrical parameters.

[0025] As an example, wind speed values ​​are collected simultaneously at multiple spatial locations around the unit and aggregated to form multi-point wind speed data. Spatial interpolation is performed on all multi-point wind speed data to calculate the equivalent incoming wind speed; Synchronously collect the stator current of the generator stator circuit and the bus voltage on the DC bus side; The collected stator current and bus voltage are aggregated and integrated to form the unit's operating electrical parameters.

[0026] Specifically, the system first completes ADC zero-point and peripheral calibration upon power-up, and then initiates a 20kHz (50μs) core control interrupt on the STM32 main control TIM1CH4 channel. Next, it deploys an array of four miniature ultrasonic anemometers at a height of 2 meters upstream of the wind turbine, arranged in multiple directions. This multi-point anemometer array simultaneously collects wind speeds V1, V2, V3, and V4 (V1, V2, V3, and V4 are the single-point wind speeds collected by the four sensors) and aggregates them into multi-point wind speed data. The main control unit then uses a distance-weighted spatial interpolation algorithm to calculate the equivalent incoming wind speed V. eq Simultaneously, within the same 50μs control cycle, relying on the upper and lower electrical parameter instruments of the main power link, the stator two-phase current I is synchronously acquired using the main power link electrical parameter instrument. a I b The original sampling voltage V of the inverter DC bus bus The smoothed bus voltage V can be obtained by using a VbusFilter low-pass filter. f (Stable bus voltage after filtering and noise reduction), then according to the formula Reconstruct the third-phase stator current, where I a Let I be the stator current of phase A. b For phase B stator current, I c To reconstruct the C-phase stator current, the negative sign represents the physical constraint that the algebraic sum of the three-phase stator currents is zero. The three-phase stator current and the filter bus voltage are integrated to form the unit's operating electrical parameters. The equivalent incoming wind speed and the unit's operating electrical parameters are synchronously stored in the memory cache. In each 20kHz interrupt loop, the wind speed acquisition interpolation, electrical quantity sampling filtering, and current reconstruction process are repeatedly executed to continuously and synchronously update the two types of basic data. All wind speed and electrical sampling logic is uniformly integrated into the underlying high-frequency drive architecture to eliminate the phase lag caused by multi-rate sampling.

[0027] In step S20, please refer to Figure 1 In step S20, the optimal speed command is determined based on the equivalent incoming air velocity, and the torque feedforward compensation is generated according to the change of the equivalent incoming air velocity.

[0028] As an example, the optimal tip speed ratio baseline parameter is retrieved and the optimal rotational speed command is obtained by combining the equivalent incoming airflow speed. The trend information is obtained by solving the equivalent incoming wind speed over a continuous period. The wind turbine mechanical inertia compensation coefficient is used to weight and convert the changing trend information to generate torque feedforward compensation. The optimal speed command and torque feedforward compensation are cached to obtain a cache parameter set.

[0029] Specifically, the system reads the real-time equivalent incoming wind speed V from the output of the 20kHz TIM1 core control interrupt in each cycle. eq (V) eq (The equivalent inflow wind speed after multi-point wind speed interpolation and fusion) retrieves the preset optimal tip speed ratio reference parameter λ from the main control's built-in storage area, and substitutes it into the expression along with the fixed impeller radius R of the fan: The optimal speed command R is obtained through calculation. ref This represents the optimal target rotational speed of the fan to match the current wind speed; subsequently, equivalent incoming wind speed time-series data for multiple consecutive control cycles are collected, and the rate of change of equivalent incoming wind speed is solved through differential operations. As information on wind speed variation trends, the fixed wind turbine mechanical inertia compensation coefficient k is retrieved, and the compensation coefficient and wind speed variation trend information are substituted into the weighted formula. Calculate the generated torque feedforward compensation amount I ff I ff To compensate for the mechanical inertial lag of the wind turbine, a feedforward torque command is used, where k is a fixed compensation coefficient adapted to the inertial characteristics of the wind turbine hub. This torque feedforward bypasses the speed loop integral stage and is directly fed into the current q-axis for regulation. After calculation, the optimal speed command R is... ref With torque feedforward compensation amount I ff Synchronous writing to the memory cache integrates to form a cache parameter set. It can be set to repeat the above parameter conversion and caching operations every 50μs control interrupt, continuously updating the cache parameter set.

[0030] In step S30, please refer to Figure 1 In step S30, an adaptive observation strategy is adopted to perform flux linkage calculation in combination with the unit's operating conditions. The rotor observation angle and observation speed are obtained based on the equivalent incoming air velocity and the unit's operating electrical parameters.

[0031] As an example, based on the equivalent incoming wind speed, the unit operating conditions are divided into four categories: low wind speed start-up condition, rated stable condition, high wind speed load-limiting condition, and gust sudden change condition. For each type of unit operating condition, a suitable observation strategy is matched; for low wind speed start-up, a high observation gain is configured; for rated stable operating conditions, the observation gain is dynamically adjusted; for high wind speed load-limiting operating conditions, phase compensation is superimposed on the phase-locked loop; and for gust sudden change operating conditions, the flux linkage iteration step is shortened. The stator current component and bus voltage component are separated from the unit's operating electrical parameters, and the stator current component, bus voltage component and equivalent incoming wind speed are input into the flux linkage solution model. The magnetic flux calculation is set to be performed in a loop, and the multi-point wind speed data and unit operating electrical parameters are updated in each loop. The appropriate observation strategy for the current unit operating conditions is retrieved, and iterative calculations are performed in conjunction with the updated multi-point wind speed data and unit operating electrical parameters to obtain the rotor observation angle and observation speed.

[0032] Specifically, the equivalent incoming wind speed V is read from the output. eq Based on preset wind speed range thresholds, the current operating conditions of the unit are classified into one of the following: low wind speed start-up, rated stable operation, high wind speed load limiting, and sudden gust operation. The calculation relies on the FluxObserver / PLL all-condition adaptive flux observer integrated in the single-machine embedded main control unit. Corresponding adaptive observation strategies are configured in advance for each of the four operating conditions. In the low wind speed start-up condition, in addition to configuring high observation gain, a 1kHz high-frequency high-voltage carrier is injected into the stator winding simultaneously to extract the motor salient pole effect and complete the zero / near-zero speed initial angle convergence. In the rated stable operation condition, the observation gain matrix K is adjusted in real time to balance the observation performance at high and low speeds. In the high wind speed load limiting condition, a compensation phase is superimposed on the phase-locked loop to prevent integral saturation when the voltage limiting is triggered. In the sudden gust operation condition, the speed change rate is calculated in real time. (Ω is the observed speed output in the previous round, and t is the control cycle duration). When the speed fluctuation exceeds the set threshold, the flux linkage iteration step size is automatically shortened to improve the convergence speed, and the rotor angle and speed tracking error are controlled to be less than 1.5°. Subsequently, the three-phase stator current I is extracted from the cached unit operating electrical parameters. a I b I c With the filter bus voltage V f The above electrical components are compared with the equivalent incoming air velocity V. eq The common input flux linkage calculation model is used, and the entire flux linkage calculation process runs continuously in a 50μs core interrupt loop. In each loop, multiple wind speed data and unit operating electrical parameters are refreshed synchronously. The system retrieves the exclusive observation strategy matched to the current operating condition, and performs flux linkage iterative calculation in combination with the updated wind speed and electrical parameters. Finally, it outputs a high-precision rotor observation angle θ (θ is the calculated real-time rotor position) and observation speed Ω. The differentiated observation strategy for different operating conditions can be adapted to dynamic operating scenarios with all wind speeds. It avoids the problems of angle tracking divergence and unit runaway caused by traditional fixed parameter flux linkage observers under conditions of weak back EMF, voltage saturation, and gust disturbances. It provides accurate rotor position and speed basic parameters for subsequent torque closed-loop synthesis and vector modulation drive. The flux linkage observation calculation, speed loop, current loop, and SVPWM generator run synchronously in the same 20kHz interrupt, and there is no multi-rate phase deviation.

[0033] In step S40, please refer to Figure 1 In step S40, the basic torque command is obtained by combining the optimal speed command and the observed speed. After superimposing the torque feedforward compensation, the inverter drive signal is generated to drive the generator to match the real-time incoming flow conditions.

[0034] As an example, the difference between the optimal speed command and the observed rotor speed is calculated, and the difference is input into the closed-loop regulation calculation to obtain the basic torque command. The torque feedforward compensation is superimposed on the base torque command to obtain the comprehensive torque command; Based on the bus voltage constraint upper limit of the output voltage included in the unit's operating electrical parameters, and combined with the comprehensive torque command, the d-axis and q-axis current decoupling regulation is completed to obtain the modulated voltage component. The modulation voltage component is subjected to coordinate transformation and space vector modulation operations to generate the inverter drive signal.

[0035] As an example, after determining that the unit has entered a fault shutdown state, the following steps are also included: After identifying an electrical anomaly, the currently output inverter drive signal is blocked; After completing the inverter drive signal blocking operation, a mechanical braking control command is output to lock the generator shaft; During mechanical braking operation, flux linkage calculation is continuously performed, and the rotor observation angle is recorded synchronously until the unit comes to a complete stop, thus obtaining the shutdown braking angle recording data.

[0036] Specifically, read the optimal speed command R. ref The difference between the observed rotor speed Ω and the actual rotor speed is calculated and fed into the speed loop PI closed-loop control module to obtain the basic torque command I. base Retrieve the torque feedforward compensation amount I stored in the cache parameter set. ff According to the expression The combined torque command I is obtained by superposition. sum I sum This is a total torque control command that simultaneously includes closed-loop feedback and wind speed feedforward compensation; subsequently, the filter bus voltage V in the unit's operating electrical parameters is read. f , with V f To constrain the upper limits of the d-axis and q-axis voltage outputs and prevent over-modulation saturation of the inverter, the output modulation voltage component V is adjusted by decoupling the d-axis and q-axis currents using the integrated torque command. d V q Then V d V qThe system performs a Parker inverse coordinate transformation to a three-phase stationary coordinate system, generates a three-phase PWM inverter drive signal through space vector modulation, writes the generated three-phase comparison values ​​into the TIM1 capture comparison register, drives the power devices of the three-phase inverter in the main power link to switch on and off, and adjusts the generator output electromagnetic torque in real time to match the real-time changes in incoming wind speed. The entire torque closed-loop and decoupling modulation process runs synchronously within a 50μs control cycle. Each interruption synchronously refreshes the wind speed, electrical, and rotor observation parameters, continuously updating the inverter drive signal. The architecture of directly connecting the feedforward torque to the current loop significantly reduces the speed tracking lag caused by the mechanical inertia of the wind turbine, and improves the wind energy capture response speed under variable wind conditions.

[0037] The system collects the unit's operating electrical parameters in real time and continuously monitors current and voltage values. Once an overcurrent or overvoltage electrical anomaly signal is detected, the unit is determined to be in a fault shutdown state. The system then activates the first-level software protection logic, which is limited to execution within a 50μs interrupt. Within the current 50μs core control interrupt, all inverter drive signals output by the timer are directly blocked, and the inverter power output is quickly cut off to curb the spread of the electrical fault. After the blocking is completed, the bus voltage and stator phase current are continuously monitored for 50ms. If the voltage and current still have not fallen back to the preset safety threshold, a mechanical braking control command is output to drive the electromagnetic or hydraulic braking mechanism to lock the generator shaft. During the entire process of mechanical braking from deceleration to complete standstill, the system maintains the flux linkage calculation model for continuous iterative calculation and synchronously collects and records the real-time rotor observation angle cycle by cycle. After the generator has completely stopped, all angle data of this stage are summarized to generate independent shutdown braking angle record data and stored separately in the memory partition. The rotor position change information during the braking stage is completely preserved, providing accurate phase basis for the unit restart after the fault is cleared.

[0038] As an example, this also includes fault shutdown and restart control, specifically: Read the unit's operating electrical parameters, identify electrical anomalies based on the unit's operating electrical parameters, and determine whether the unit has entered a fault shutdown state; During the entire fault shutdown process, the flux linkage calculation process is continuously executed, the rotor observation angles are recorded and stored, and the angle trajectory data is obtained. After the incoming wind speed recovers to the normal operating range, retrieve the rotor observation angle that converges within the angle trajectory data; The inverter drive signal is retrieved, and combined with the retrieved rotor observation angle, the unit restart control logic is obtained.

[0039] Specifically, the system continuously reads the unit's operating electrical parameters, consisting of stator current and bus voltage, and determines the electrical operating status in real time. When an electrical abnormality signal such as overvoltage or overcurrent is detected, the unit is determined to enter a fault shutdown state. During the complete deceleration phase of the fault shutdown, the FluxObserver / PLL observer is maintained running continuously for 500ms, and the flux linkage calculation iteration process is not interrupted throughout. In each 20kHz control cycle, the real-time rotor observation angle is synchronously collected and stored. The data from the complete shutdown deceleration phase are summarized to form angle trajectory data and stored in memory. The main control unit continuously reads the equivalent incoming wind speed monitoring... When the external wind conditions are measured and the incoming wind speed is detected to return to the unit's preset normal operating range, the rotor observation angle that is converged, stable and without fluctuation is extracted from the angle trajectory data. The inverter drive signal generation logic under normal operating conditions is retrieved, and the stable rotor observation angle is substituted into the vector control calculation process to generate the appropriate unit restart control logic. The inverter drive signal is directly output to start the generator, without the need to re-execute the zero-speed high-frequency injection positioning. This enables smooth overrunning and shock-free soft start, eliminating the zero-speed high-frequency injection angle positioning step required for traditional restart, and significantly reducing electromagnetic shock and mechanical vibration at the moment of restart.

[0040] As an example, this also includes multi-unit coordinated control, specifically: Based on the real-time conversion of the unit's operating electrical parameters, the power generation data is obtained, and the equivalent incoming wind speed, rotor observed speed, and power generation data of each unit in the field are exchanged. The machine reads the operating data transmitted from the upstream unit, calculates the degree of wake interference based on the operating data of the upstream unit, and corrects the machine's optimal speed command. Monitor the operating status of other units in the field and identify commands to increase the overall torque of the unit when a neighboring unit fails and stops. Based on the corrected optimal speed command and the raised comprehensive torque command, the inverter drive signal is regenerated to obtain the cluster balanced drive signal.

[0041] Specifically, the main control unit of the unit uses real-time collected stator current and bus voltage to calculate the unit's power generation data. All permanent magnet wind turbines in the site interact with each other through a distributed CAN / industrial Ethernet communication topology built by a cluster collaborative controller. The unit collects the equivalent incoming wind speed, calculates the rotor observation speed, and calculates the power generation data in real time. The unit continuously receives the complete set of operating data transmitted from the upstream units. There is no need to install additional space wind speed sensors. It only relies on the operating parameters of the upstream and downstream units to infer the degree of airflow wake attenuation interference and corrects the unit's optimal speed command R accordingly. ref Simultaneously, it monitors the fault indicators of other units in the field in real time. Once it detects that an adjacent unit is in a fault shutdown state, it actively raises the integrated torque command I of the unit. sumTo compensate for the overall power generation gap in the wind farm, the corrected optimal speed command and the enhanced comprehensive torque command are then re-entered into the torque closed loop, dq-axis current decoupling, coordinate transformation, and space vector modulation process to recalculate and generate the inverter drive signal. This drive signal, which adapts to the wind conditions and unit fault states of the entire field, is the cluster balancing drive signal. It is sent to the local inverter to adjust the output of the individual unit, and the cluster collaborative controller synchronously links with the distributed energy storage system to complete the dynamic power balancing distribution of the entire field, reduce the wake loss of the wind farm, balance the power generation output of the entire field, and improve the overall wind energy utilization efficiency of the wind farm.

[0042] In another embodiment, please refer to Figure 2 , Figure 2 This is a schematic diagram of the sensorless collaborative control system for a permanent magnet wind turbine provided in an embodiment of the present invention. The system may include: an environmental and electrical acquisition module 10, a speed command and feedforward generation module 20, an adaptive flux linkage observation module 30, and a torque closed-loop modulation drive module 40. The environmental and electrical acquisition module 10 is used to acquire multi-point wind speed data and interpolate and fuse it to obtain the equivalent incoming wind speed; it also synchronously acquires stator current and bus voltage to form the unit's operating electrical parameters. The speed command and feedforward generation module 20 is used to determine the optimal speed command based on the equivalent incoming wind speed and generate torque feedforward compensation based on changes in the equivalent incoming wind speed. The adaptive flux linkage observation module 30 is used to perform flux linkage calculation using an adaptive observation strategy combined with the unit's operating conditions, obtaining the rotor observation angle and observation speed based on the equivalent incoming wind speed and the unit's operating electrical parameters. The torque closed-loop modulation drive module 40 is used to obtain the basic torque command by combining the optimal speed command and the observed speed, and then generate an inverter drive signal by superimposing the torque feedforward compensation to drive the generator to match the real-time incoming wind conditions.

[0043] The environmental and electrical data acquisition module 10 can be constructed from a multi-dimensional wind speed sensing array and main power and electrical parameter measurement link hardware. Four miniature ultrasonic wind speed sensor arrays are arranged at multiple heights and directions upstream of the wind turbine to complete multi-point wind speed acquisition in space. At the same time, it is equipped with a DC power supply, DC circuit breaker, upper and lower electrical parameter instruments, and DC bus input terminal of the control board to form electrical data acquisition hardware. It synchronously acquires two-phase stator current and original bus voltage. All wind speed and electrical sampling logic is uniformly connected to the STM32F407 main control TIM1CH4 channel. Within a 20kHz (50μs) core interrupt cycle, it synchronously completes acquisition, filtering, and three-phase current reconstruction, and integrates and outputs two types of basic data: equivalent incoming wind speed and complete unit operating electrical parameters.

[0044] The entire computational logic of the speed command and feedforward generation module 20 can be integrated into the internal hardware of the STM32F407 single-machine embedded main control unit. It relies on the main control unit's built-in Flash memory to store benchmark parameters such as the optimal tip speed ratio λ, impeller radius R, and mechanical inertia compensation coefficient k. Through the internal floating-point unit, it reads the equivalent incoming airflow velocity output by the environmental and electrical acquisition module 10, sequentially performing the optimal speed formula calculation, wind speed change rate differentiation, and torque feedforward weighted calculation. Finally, it utilizes the main control unit's SRAM memory partition to uniformly cache the optimal speed command R. ref With torque feedforward compensation amount I ff A cached parameter set is formed, and the parameters are refreshed synchronously with a 50μs control interrupt in each round, continuously outputting real-time control parameters to the backend adaptive flux observation module 30 and torque closed-loop modulation drive module 40.

[0045] The adaptive flux linkage observation module 30 is integrated into the STM32F407 main control unit and adopts FluxObserver / PLL flux linkage observation and calculation hardware. It shares the same 20kHz TIM1 core interrupt timing with the environmental and electrical acquisition module 10 and the speed command and feedforward generation module 20. It has a built-in 1kHz high-frequency voltage carrier output peripheral to adapt to low wind speed and zero-speed start-up conditions. It can divide the operating conditions into four categories according to the equivalent incoming wind speed and automatically switch the corresponding observation strategy. In the rated operating condition, it dynamically adjusts the observation gain matrix K; in the high wind speed limiting operating condition, it superimposes phase-locked loop compensation phase; and in the gust operating condition, it shortens the flux linkage iteration step size. Based on the equivalent incoming wind speed, three-phase stator current, and filter bus voltage output by module 10, it continuously iterates and calculates to stably output high-precision rotor observation angle θ and observation speed Ω. The rotor tracking error is controlled to be less than 1.5° throughout the process, and there is no phase lag problem caused by multi-rate sampling.

[0046] The torque closed-loop modulation drive module 40 can integrate the main control CodeFOC cascaded vector operation unit, TIM1 PWM generator, and the complete power hardware of the external three-phase inverter. It receives the speed command and the buffer parameters output by the feedforward generation module 20 and the rotor observation parameters output by the adaptive flux linkage observation module 30. It first obtains the basic torque command I through speed loop PI calculation. base And the feedforward quantity is superimposed to generate the comprehensive torque I. sum Relying on the ULimitDQ hardware voltage limiting unit combined with the filter bus voltage to constrain the dq axis output amplitude, after coordinate transformation and space vector modulation, a three-phase PWM signal is generated and written into the TIM1 register to drive the MOSFET / IGBT three-phase inverter. At the same time, it is equipped with a main control GPIO port and an electromagnetic / hydraulic brake solenoid valve to form a graded protection hardware. Fault PWM blocking can be completed within 50μs, and a mechanical braking command is output after a 50ms delay. During the braking phase, the magnetic flux observation hardware is still guaranteed to continue to operate and record angle data.

[0047] The system is equipped with extended communication and cluster hardware that can be linked with all single-unit modules 10, 20, 30, and 40. Through the cluster collaborative controller, it connects multiple devices to the STM32 main control unit with a distributed CAN / industrial Ethernet communication bus. It uses J-Link and SEGGER_RTT / SWD debugging interfaces to achieve millisecond-level parameter distribution to the host computer. At the same time, it links with the distributed energy storage system and completes independent TSR matrix distribution, faulty unit output compensation, and dynamic power balance distribution based on the wind speed, rotational speed, and power interaction data output by the four modules of each single unit.

[0048] Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the steps in any of the above implementations.

[0049] Based on the same inventive concept, the present invention also provides a computer program product, which includes a computer program / instruction that, when executed by a processor, implements the steps in any of the above implementation methods.

[0050] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A sensorless collaborative control method for a permanent magnet wind turbine, characterized in that, include: Collect wind speed data from multiple points and interpolate and fuse them to obtain the equivalent incoming wind speed; simultaneously collect stator current and bus voltage to form the unit's operating electrical parameters; The optimal speed command is determined based on the equivalent incoming air velocity, and the torque feedforward compensation is generated according to the change in the equivalent incoming air velocity. Based on the unit's operating conditions, an adaptive observation strategy is adopted to perform flux linkage calculation, and the rotor observation angle and observation speed are obtained based on the equivalent incoming air velocity and the unit's operating electrical parameters. The basic torque command is obtained by combining the optimal speed command and the observed speed. After superimposing the torque feedforward compensation, an inverter drive signal is generated to drive the generator to match the real-time incoming flow conditions.

2. The method according to claim 1, characterized in that, The process of determining the optimal rotational speed command based on the equivalent incoming air velocity and generating torque feedforward compensation based on changes in the equivalent incoming air velocity includes: The optimal blade tip speed ratio reference parameter is retrieved and combined with the equivalent incoming air velocity to obtain the optimal rotational speed command. The trend information is obtained by solving the equivalent incoming wind speed over a continuous period; The change trend information is weighted and converted using the wind turbine mechanical inertia compensation coefficient to generate torque feedforward compensation. The optimal speed command and the torque feedforward compensation amount are cached to obtain a cache parameter set.

3. The method according to claim 1, characterized in that, The method of combining the unit's operating conditions with an adaptive observation strategy to perform flux linkage calculation, and obtaining the rotor observation angle and observation speed based on the equivalent incoming air velocity and the unit's operating electrical parameters, includes: Based on the equivalent incoming wind speed, the unit operating conditions are divided into four categories: low wind speed start-up condition, rated stable condition, high wind speed load-limiting condition, and gust sudden change condition. For each type of unit operating condition, an appropriate observation strategy is matched; wherein, the low wind speed start-up condition is configured with high observation gain, the rated stable condition is dynamically adjusted with observation gain, the high wind speed load-limiting condition is superimposed with phase-locked loop for phase compensation, and the gust change condition is shortened with flux linkage iteration step size. The stator current component and bus voltage component are separated from the unit's operating electrical parameters, and the stator current component, bus voltage component, and equivalent incoming wind speed are input into the flux linkage solution model. The magnetic flux calculation is set to be performed in a loop, and the multi-point wind speed data and unit operating electrical parameters are updated in each loop. The appropriate observation strategy for the current unit operating conditions is retrieved, and iterative calculations are performed in conjunction with the updated multi-point wind speed data and unit operating electrical parameters to obtain the rotor observation angle and observation speed.

4. The method according to claim 1, characterized in that, The process of combining the optimal speed command and the observed speed to obtain the basic torque command, and then superimposing the torque feedforward compensation to generate an inverter drive signal to drive the generator to match the real-time incoming flow conditions includes: The difference between the optimal speed command and the observed rotor speed is calculated, and the difference is input into the closed-loop regulation calculation to obtain the basic torque command. The torque feedforward compensation is superimposed on the base torque command to obtain the comprehensive torque command; Based on the bus voltage constraint output voltage upper limit included in the unit's operating electrical parameters, and combined with the comprehensive torque command, the d-axis and q-axis current decoupling adjustment is completed to obtain the modulated voltage component. The modulation voltage component is subjected to coordinate transformation and space vector modulation operations to generate the inverter drive signal.

5. The method according to claim 1, characterized in that, The method also includes fault shutdown and restart control, specifically including: Read the unit's operating electrical parameters, identify electrical anomalies based on the unit's operating electrical parameters, and determine that the unit has entered a fault shutdown state; During the entire fault shutdown process, the flux linkage calculation process is continuously executed, the rotor observation angles are recorded and stored, and the angle trajectory data is obtained. After the incoming wind speed recovers to the normal operating range, retrieve the rotor observation angle that converges within the angle trajectory data; The inverter drive signal is retrieved, and combined with the retrieved rotor observation angle, the unit restart control logic is obtained.

6. The method according to claim 1, characterized in that, The method also includes multi-unit coordinated control, specifically including: Based on the real-time conversion of the unit's operating electrical parameters, the power generation operation data is obtained, and the equivalent incoming wind speed, the observed rotor speed, and the power generation operation data of each unit in the field are exchanged. The machine reads the operating data transmitted from the upstream unit, calculates the degree of wake interference based on the operating data of the upstream unit, and corrects the optimal speed command mentioned in the machine. Monitor the operating status of other units in the field, and identify the comprehensive torque command to raise the unit when a neighboring unit fails and stops; Based on the corrected optimal speed command and the raised comprehensive torque command, the inverter drive signal is regenerated to obtain the cluster balanced drive signal.

7. The method according to claim 5, characterized in that, After determining that the unit has entered a fault shutdown state, the method further includes: After identifying an electrical anomaly, the currently output inverter drive signal is blocked; After completing the inverter drive signal blocking operation, a mechanical braking control command is output to lock the generator shaft; During mechanical braking operation, flux linkage calculation is continuously performed, and the rotor observation angle is recorded synchronously until the unit comes to a complete stop, thus obtaining the shutdown braking angle recording data.

8. A sensorless collaborative control system for a permanent magnet wind turbine, characterized in that, include: The environmental and electrical data acquisition module is used to collect multi-point wind speed data and interpolate and fuse them to obtain the equivalent incoming wind speed. Simultaneously collect stator current and bus voltage to form the unit's operating electrical parameters; The speed command and feedforward generation module is used to determine the optimal speed command based on the equivalent incoming wind speed, and generate torque feedforward compensation based on the change of the equivalent incoming wind speed. The adaptive flux monitoring module is used to perform flux calculation by adopting an adaptive monitoring strategy in combination with the unit's operating conditions, and to obtain the rotor observation angle and observation speed based on the equivalent incoming wind speed and the unit's operating electrical parameters. The torque closed-loop modulation drive module is used to combine the optimal speed command and the observed speed to obtain the basic torque command, and then superimpose the torque feedforward compensation to generate an inverter drive signal to drive the generator to match the real-time incoming flow conditions.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, perform the steps of the method according to any one of claims 1-7.

10. A computer program product, characterized in that, The computer program product includes a computer program / instructions that, when executed by a processor, implement the steps of the method according to any one of claims 1-7.

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