风力机动态过程的分析系统及其软件开发
摘要
本论文针对水平轴风力机的各种运行控制方案，分析了风力机的动态过程，建立了较精确的风力机动态过程分析的计算模型。在此基础上，运用Visual C++开发工具，集成开发了基于WIN32平台的风力机动态过程分析的系统软件“PowerTrainDesign for Windows”。论文的研究是国家自然科学基金项目“三维紊流风场作用下的风力机动态特性研究”的一部分。论文包括三部分：传动机构的动态建模、发电机的动态建模、系统软件。
传动机构的动态建模部分首先讨论了风力发电技术、风力机的基本理论、风力机的分类与特性等基本概念。采用了弹簧—质量—阻尼系统结构并按照风力机运行机理，建立了风力机传动系统的刚性轴模型和柔性轴模型，并确立了相应的仿真分析方法。在此基础上以并网型300kW水平轴风力机为分析对象，对其传动系统在紊流风场作用下的动力学性能进行了仿真计算并分析了计算结果。
发电机的动态建模部分通过研究其控制策略和动态特性，建立了适应于风力机控制设计的两种动态模型，即定速发电机模型和变速发电机模型，确定了相应的仿真分析方法。并结合传动机构的柔性轴模型，在MATLAB中建立了动态模型的系统框图，仿真了水平轴风力机在几种气动转矩作用下的动力学过程，并对仿真结果进行了分析和比较。
软件采用了变步长的经典龙格—库塔方法求解一阶微分方程组的数值解。应用面向对象的设计思想，该软件具有良好可维护性和可扩充性好，界面友好，操作简便，符合软件工程标准。最后采用该软件对200kW风力机进行了动态性能计算，经过与GL认证的商用软件Bladed for Windows对该风力机的计算结果对比，取得了良好的一致性，从而验证了本文所建立的动态模型的可靠性。
This paper presents the analysis system and software of the horizontal axis wind turbine (HAWT) dynamic process. To various types of operating control schemes, the dynamic process of HAWT is systematically analyzed and its more accurate prediction model is developed. Based on these, a system software for HAWT dynamic process analysis "PowerTrainDesign for Windows" is integrated with Visual C++. The research work is a part of the National Natural Science Foundation project "Research on the dynamic characteristics of wind turbine in 3-D turbulent wind fields". This paper includes three sections: dynamic model of the drive train, dynamic model of the generator, system software.
In the dynamic model of the drive train, some basic concepts including the generating technology basic theory sorting and characteristics of wind turbine are discussed. The rigid shaft model and flexible shaft model of the drive train based on the spring-mass-damper system are used to analyze the dynamics of the drive train. A sample grid-connected 300kW HAWT is simulated using the analysis method. The result of the comparison between the two models is obtained and their differences are discussed.
In the dynamic model of the generator, through the research of its dynamic characteristics and control strategies, dynamic models adapted for control design of fixed speed and variable speed wind turbines are built and relevant simulation analysis means are established. For the flexible shaft model, a computer program frame for dynamic model is set up in the MATLAB. The dynamic processes of HAWT which support several aerodynamic moments are simulated and the simulation results are analyzed and compared.
The numerical values of the one order differential equations are obtained by Runge-Kutta method with variable step. The software is designed with object oriented programming, which can be maintained and extended conveniently. The user interface has favorable maneuverability, which satisfies the software engineering standard. Finally, the prediction model is used to calculate the dynamic performance of 200kW HAWT. The calculation results are compared with analytical results using a commercial wind turbine analytical software "Bladed for Windows". The good agreement is achieved and the reliability of the dynamic models in this paper is testified.
传动机构的动态建模部分首先讨论了风力发电技术、风力机的基本理论、风力机的分类与特性等基本概念。采用了弹簧—质量—阻尼系统结构并按照风力机运行机理，建立了风力机传动系统的刚性轴模型和柔性轴模型，并确立了相应的仿真分析方法。在此基础上以并网型300kW水平轴风力机为分析对象，对其传动系统在紊流风场作用下的动力学性能进行了仿真计算并分析了计算结果。
发电机的动态建模部分通过研究其控制策略和动态特性，建立了适应于风力机控制设计的两种动态模型，即定速发电机模型和变速发电机模型，确定了相应的仿真分析方法。并结合传动机构的柔性轴模型，在MATLAB中建立了动态模型的系统框图，仿真了水平轴风力机在几种气动转矩作用下的动力学过程，并对仿真结果进行了分析和比较。
软件采用了变步长的经典龙格—库塔方法求解一阶微分方程组的数值解。应用面向对象的设计思想，该软件具有良好可维护性和可扩充性好，界面友好，操作简便，符合软件工程标准。最后采用该软件对200kW风力机进行了动态性能计算，经过与GL认证的商用软件Bladed for Windows对该风力机的计算结果对比，取得了良好的一致性，从而验证了本文所建立的动态模型的可靠性。
This paper presents the analysis system and software of the horizontal axis wind turbine (HAWT) dynamic process. To various types of operating control schemes, the dynamic process of HAWT is systematically analyzed and its more accurate prediction model is developed. Based on these, a system software for HAWT dynamic process analysis "PowerTrainDesign for Windows" is integrated with Visual C++. The research work is a part of the National Natural Science Foundation project "Research on the dynamic characteristics of wind turbine in 3-D turbulent wind fields". This paper includes three sections: dynamic model of the drive train, dynamic model of the generator, system software.
In the dynamic model of the drive train, some basic concepts including the generating technology basic theory sorting and characteristics of wind turbine are discussed. The rigid shaft model and flexible shaft model of the drive train based on the spring-mass-damper system are used to analyze the dynamics of the drive train. A sample grid-connected 300kW HAWT is simulated using the analysis method. The result of the comparison between the two models is obtained and their differences are discussed.
In the dynamic model of the generator, through the research of its dynamic characteristics and control strategies, dynamic models adapted for control design of fixed speed and variable speed wind turbines are built and relevant simulation analysis means are established. For the flexible shaft model, a computer program frame for dynamic model is set up in the MATLAB. The dynamic processes of HAWT which support several aerodynamic moments are simulated and the simulation results are analyzed and compared.
The numerical values of the one order differential equations are obtained by Runge-Kutta method with variable step. The software is designed with object oriented programming, which can be maintained and extended conveniently. The user interface has favorable maneuverability, which satisfies the software engineering standard. Finally, the prediction model is used to calculate the dynamic performance of 200kW HAWT. The calculation results are compared with analytical results using a commercial wind turbine analytical software "Bladed for Windows". The good agreement is achieved and the reliability of the dynamic models in this paper is testified.
引文
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12. W.E. Leithead, M.C.M. Rogers, Control of Variable Speed Wind Turbine
13. D.E.L. Salle, S.A. Reardon, A Review of Wind Turbine Control, International Journal of Control, Vol. 52, pp1295-1310
14. P. Novak, T. Ekelund, Modeling and Control of Variable-speed Wind Turbine Drive System Dynamics, IEEE Control Systems, August 1995, pp28-38
15. O. Carlon, E. Ulen, Torque Control of Synchronous and Induction Generators for Variable Speed Operation of Wind Turbines, European Union Wind Energy Conference Proceedings, 1996, pp496-499
16. T.G. Engelen, P.M.M. Bongers, Integral Control for Damping of Mechanical Resonance and Protection against Grid Failure: results in a full load operating condition, EUWEC'96, pp545-550
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18. Friendmann PP, Aerolastic Modeling of Large Wind Turbines, J. Amer. Helicoper Soc, Vol. 21, 1976, pp17-27
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24. P. Bongers, W. Sturm, Control Options for Wind Energy Conversion Systems, European Community Wind Energy Conference' 93, pp534-537
25. P. Ledesma, J. Usaola, Comparison Between Control System in a Doubly Fed Induction Generator Connected to an Electric Grid, EWEC' 99, pp869-872
26. P.G. Vicente, Oscillating Turbulent Flow over Different NACA Profile: A Finite Element Approach to Dynamic Stall, Proceedings of EWEC'99, pp113-117
27. P.M.M. Bongers, DUWECS: A Wind Turbine Design Tool, Wind Engineering, Vol.17, pp247257
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2. D.C. Quartan, The Evolution of Wind Turbine Design Analysis—A Twenty Year Progress Review, Wind Energy 1, 1998, pp5-24
3. W.E. Leithead, M.C.M. Rogers, Drive-train Characteristics of Constant Speed HAWT's: Part 1-Representation by Simple Dynamic Models, Wind Engineering, Vol. 20, pp149-174
4. W.E. Leithead, M.C.M. Rogers, Drive-train Characteristics of Constant Speed HAWT's: Part 2-Simple Characterisation of Dynamics, Wind Engineering, Vol. 20, pp175-201
5. W.E. Leithead, M.C.M. Rogers, Options for Drive-train Design: A Dynamic Perspective, Proceedings of European Wind Energy Conference, 1996, pp882-885
6. W.E. Leithead, B. Connor, Control of Variable Speed Wind Turbines: Dynamic Models, International Journal of Control 2000, Vol. 73, pp1173-1188
7. W.E. Leithead, B. Connor, Control of Variable Speed Wind Turbines" Design Task, International Journal of Control 2000, Vol. 73, pp1189-1212
8. W.E. Leithead, M.C.M. Rogers, Improving Damping by a Simple Modification to the Drive-train, BWEA Conference Proceedings, 1995, pp273-278
9. E.A. Bossanyi, Bladed for Windows Theory Manual, Garrad Hassan and Partners Ltd, 1999
10. E.A. Bossanyi, Bladed for Windows User Guide, Garrad Hassan and Partners Ltd, 1999
11. W.E. Leithead, D. Reardon, Classical Control of Active Pitch Regulation of Constant Speed Horizontal Axis Wind Turbines, International Journal of Control, Vol. 55, pp845-876
12. W.E. Leithead, M.C.M. Rogers, Control of Variable Speed Wind Turbine
13. D.E.L. Salle, S.A. Reardon, A Review of Wind Turbine Control, International Journal of Control, Vol. 52, pp1295-1310
14. P. Novak, T. Ekelund, Modeling and Control of Variable-speed Wind Turbine Drive System Dynamics, IEEE Control Systems, August 1995, pp28-38
15. O. Carlon, E. Ulen, Torque Control of Synchronous and Induction Generators for Variable Speed Operation of Wind Turbines, European Union Wind Energy Conference Proceedings, 1996, pp496-499
16. T.G. Engelen, P.M.M. Bongers, Integral Control for Damping of Mechanical Resonance and Protection against Grid Failure: results in a full load operating condition, EUWEC'96, pp545-550
17. Moshe Idan, Continuous Variable Speed Wind Turbine: Transmission Concept and Robust Control, Wind Engineering, Vol. 24, No. 3, 2000
18. Friendmann PP, Aerolastic Modeling of Large Wind Turbines, J. Amer. Helicoper Soc, Vol. 21, 1976, pp17-27
19. David. A. Speara, Wind Turbine Turchnology, ASME Press, 1994
20. H. Vihriala, Control of a Variable Speed Wind Turbine with Feedforward of Aerodynamic Torque, Proceedings of EWEC' 99, pp881-884
21. Cregor E. van Baars, Peter M.M. Bongers, Flexible Wind Turbine Model Validation, Wind Engineering, Vol.16, pp247-256
22. Cregor E. van Baars, Peter M.M. Bongers, Experimental and theoretical results of the UNIWEX wind turbine, European Community Wind Energy Conference' 93, pp518-521
23. Sj. Dijkstra, P. M. M. Bongers, Control of Wind Turbine Systems to Reduce Vibrations and Fatigue Loading, Wind Engineering, Vol. 24, pp425-429
24. P. Bongers, W. Sturm, Control Options for Wind Energy Conversion Systems, European Community Wind Energy Conference' 93, pp534-537
25. P. Ledesma, J. Usaola, Comparison Between Control System in a Doubly Fed Induction Generator Connected to an Electric Grid, EWEC' 99, pp869-872
26. P.G. Vicente, Oscillating Turbulent Flow over Different NACA Profile: A Finite Element Approach to Dynamic Stall, Proceedings of EWEC'99, pp113-117
27. P.M.M. Bongers, DUWECS: A Wind Turbine Design Tool, Wind Engineering, Vol.17, pp247257
28. Barnsley, Dynamic wind turbine models for design purposes, 3D
aerodynamic behaviour, University of Southampton, Great Britain, 1993
29. Johnson, Smith, Dynamics of wind generators on electric utility networks, I.E.E.E. Transactions on Aerospace and Electronic Systems, 1976, Vol. 12, pp483-492
30. E.N. Hinrichsen, Controls for variable pitch wind turbine generators, I.E.E.E. Transactions on Power Apparatus and Systems, 1984, Vol. 103, pp886-892
31. P.C. Krause, C.H. Thomas, Simulation of symmetrical induction machinery, I.E.E.E. Transactions on Power Apparatus and Systems, 1965, Vol. PAS-84, NO. 11
32. Wind Energy----Technical Information Guide, Solar Energy Research Institute, USA. 1989
33．胡培孝，关于风力机国内市场的分析，风力发电，1998年第1期
34．丹麦风力机发展现状，风力发电，1998年第1期
35．贺德馨，中国风能利用现状和发展战略，中国风能论文集，中国风能专业委员会，北京万国学术出版社，1992，pp．24-30
36．肖功任，戴慧珠，中国风力发电的发展和展望，中国风能论文集，中国风能专业委员会，北京万国学术出版社，1992，pp．31-35
37．肖功任，2000年风力发电目标----1000MW，风力发电，1995，39(4)：pp5-6
38．中国风电，中华人民共和国电力工业部，1998
39．陈宗器，风力发电综述与我国的开发设想，工程建设与设计，1999．5：pp3-5
40．刘家澄，我国风电场装机现状，中国能源，2000．8：pp22～23
41．施鹏飞，产业化发展最快的清洁能源技术——风力发电，太阳能学报，1999年特刊
42．勒古里雷斯．D著，施鹏飞译，风力机的理论和设计，北京机械工业出版社，1987
43．包能胜，水平轴风力机系统辨识与控制，[硕士学位论文]，清华大学，1997
44．刘雄，水平轴风力机气动与结构CAD系统集成研究，[硕士学位论文]，汕头大学，1999
45．马昊旻，水平轴风力机桨叶结构动力学特性研究，[硕士学位论文]，汕头大学，2001
46．陈云程，陈孝辉，朱成名，风力机设计与应用，上海科学技术出版社，1990
47．李本立，宋宪耕，贺德馨，风力机结构动力学，北京航空航天大学出版社，1999
48．叶杭冶，风力发电机组的控制技术，机械工业出版社，2002．5
49．倪振华，振动力学，西安交通大学出版社，1989．5
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