大型风机异步变桨技术的研究
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摘要
统一变桨距风力机设计的假定前提是整个风轮扫掠面内风速分布是均匀的。在实际风场中，由于风剪切、塔影效应和湍流的影响，桨叶在不同位置的风速各不相同，在风轮扫掠面内的不同位置所受的升力不同，即风轮在旋转过程中存在额外阻力，产生的风轮转矩持续变化，影响风力机的输出功率以及电能质量，还造成桨叶和风轮上的载荷不平衡，引起桨叶的拍打振动和扭矩波动。桨叶上的扭矩波动将导致风轮主轴、传动链、轮毂和塔架上的负载波动，给风机的机械强度、振动、疲劳寿命和电能质量等方面带来一系列问题。本论文着重针对风剪切、塔影效应和湍流影响下的统一桨距角给定、风速的建模、大型风机的气动建模、风轮转矩模拟、异步变桨控制策略及异步变桨系统的设计等方面进行研究。
首先，针对风力发电机组输出功率受风速随机性影响的问题，提出了一种基于模糊切换的前馈模糊与Fuzzy-PID相结合的统一桨距角给定的变桨控制策略，并在直驱永磁风力发电机组的统一变桨控制系统中进行了仿真验证。结果表明采用该控制策略的统一变桨控制器比常规PID变桨控制器和Fuzzy-PID变桨控制器具有更好抗扰动能力，动、静态性能有很大的提高，具有较强的实用性。同时，基于模糊切换的前馈模糊与Fuzzy-PID相结合的统一桨距角给定，为异步变桨控制系统的优越性比较提供了参照。
常规风轮模型中的统一桨距角与风机气动载荷的影响相互耦合，不能分离出风剪切、塔影效应和湍流对单个桨叶上的气动载荷、风轮转矩、风力发电机组输出功率及其并网点电压的波动影响。本文针对忽略叶尖损失和轮毂损失、桨叶数无穷大的假设以及桨叶根部和叶尖部的叶素所受力矩差别巨大，提出一种新型的大型风机的气动建模方法，基于该方法计算风机在风剪切、塔影效应和湍流等气动不平衡因素下所受气动载荷，推导出风轮气动载荷的影响规律，为基于异步变桨的风力机数学模型提供基础以及给异步变桨控制策略提供理论指导，解决了统一桨距角与风机气动载荷的耦合问题。建立了虚拟风场和风轮转矩模拟的实验平台，验证了风轮模型的准确性和优越性，为进一步研究异步变桨技术奠定了基础。
针对风轮转矩波动，本文通过对单个桨叶和风轮的载荷进行分析，首次提出一种新型的基于摆振力矩的异步变桨控制策略，直接减少桨叶上的力矩波动以及风轮转矩波动等。在建立风力发电机组的数学模型的基础上，对多段动态权系数分配和单神经元自适应PID两种异步变桨控制策略进行比较，仿真证明了基于单神经元自适应PID的异步变桨控制策略对于摆振力矩的波动和风轮转矩波动的减少具有更好的控制效果。另外，为了同时减少风轮转矩波动和风轮上不平衡载荷，本文在基于挥舞力矩的异步变桨控制上，提出了一种基于摆振力矩和挥舞力矩反馈的异步变桨控制策略，即在统一桨距角给定的基础上，通过权系数优化摆振的桨距角偏差和挥舞的桨距角偏差，将其之和作为每个桨叶的桨距角给定，并在直驱永磁风力发电机组的异步变桨控制系统对该异步变桨控制策略进行仿真验证，结果表明基于摆振力矩和挥舞力矩的异步变桨控制系统不仅对风轮转矩波动的控制效果较好，而且对风轮上的不平衡载荷也具有很好的抑制作用。
针对风轮转矩和传动轴扭矩的难以检测的问题，提出了一种基于电功率的传动链扭矩逆向估算方法。首先通过实际测量风轮转速、发电机转速以及定子电流电压求得发电机电磁转矩，然后根据建立的传动链扭矩计算的逆模型，逆向推算出风轮转矩和传动轴的扭矩，最后通过仿真验证风轮转矩和传动轴扭矩的观测技术的正确性。
最后对异步变桨系统进行了设计与实现。详细设计了异步变桨系统的结构，具体计算了桨叶的变桨载荷，设计了电伺服驱动控制器，建立了电伺服变桨距的硬件和软件系统，其中位置控制器采用模糊自适应PID控制器。仿真结果验证了模糊自适应PID位置控制器的正确性和可行性，其能够满足高性能伺服系统的精确定位和快速动态响应等性能要求。实验结果表明电伺服独立变桨系统能够对桨叶进行单独变桨控制，为异步变桨系统的应用奠定了技术基础。
The presupposition of the wind turbine design with collective pitchcontrol (CPC) is that wind distribution of the whole swept surface is uniform.However, the wind speeds at the blade different position are differentbecause of wind shear, tower shadow, turbulence and so on, and the lifts aredifferent from the position of the whole swept surface. These different liftsmake the wind turbine torque fluctuation which affects the output power ofthe wind turbine and the power quality, and cause imbalance loads on thewind turbine and the blade imbalance. The imbalance loads lead to the bladeedgewise vibration and blade torque fluctuation. Furthermore, the bladetorque s fluctuations also cause the torque fluctuation of the wind rotor shaft,the drive train, the hub and the tower. Moreover, the unbalanced loads willbring many problems to the wind turbine mechanical strength, the vibration,the fatigue life and the power grid quality. The collective pitch angle givenaffected by wind shear, tower shadow, turbulence, wind speed modeling,wind turbine aerodynamic modeling, wind turbine torque emulation,individual pitch control (IPC) strategy, individual pitch system design andother aspects are studied in this paper.
First of all, the CPC strategy of the collective pitch angle given whichfeed-forward Fuzzy and Fuzzy-PID are combined on the basis of Fuzzyswitching is proposed according to the problem of the stability of the outputpower of the wind turbine generator system (WTGS) affected by the randomwind speed, and the CPC system of the DDPMSG is simulated. The resultsshow the collective pitch controller using the proposed control strategy hasbetter capacity of resisting disturbance, good static and dynamicperformances improved and strong applicability than the conventional PID controller or Fuzzy-PID controller. Meanwhile, the collective pitch anglegiven based on the combination of feed-forward Fuzzy and Fuzzy-PIDprovides a reference for the superiority comparison of the IPC system.
Because the collective pitch angle of the conventional wind turbinemodel and the aerodynamic loads are coupled mutually, the fluctuationinfluences of the aerodynamic loads on the single blade, the wind turbinetorque, the output power of WTGS and the voltage of the Point of CommonCoupling (PCC) can not be separated out of the influence of wind shear,tower shadow and turbulence. A new large-scale wind turbine aerodynamicmodeling considered the lossless of the hub and the blade tip, the assumptionof infinite number of the blades, and the huge torque difference between theblade tip and the blade root is proposed. Therefore the wind turbineaerodynamic loads affected by wind shear, tower shadow, turbulence andother aerodynamic imbalance factors are calculated, and the influence rulesof the load fluctuations are deduced at length. These rules provide the basisto the wind turbine mathematical model based on IPC, provide thetheoretical guidance to the IPC strategies, and solve the collective pitchangles coupled problems. Moreover, the experiment platform of the virtualwind farm and the wind turbine torque is established. It not only verifies theaccuracy and the correctness of the wind turbine torque model but also laysthe foundation for the further IPC study.
In order to smooth the wind turbine torque fluctuation, a new IPCstrategy based on edgewise moment is proposed. That is the present controlstrategy can directly smooth the edgewise moment and the wind turbinetorque fluctuation. The multi-stage dynamic weight coefficient distributionIPC strategy and the single neuron adaptive PID IPC strategy are comparedon the basis of the WTGS mathematical model. Then the control effects ofthe edgewise moment fluctuation and the wind turbine torque fluctuationused by the single neuron adaptive PID IPC strategy are better than thecontrol effects by the multi-stage dynamic weight coefficient distributionIPC strategy according to the results. In addition, in order to reduce the wind turbine torque and the unbalanced aerodynamic loads on the wind turbinesimultaneously, a new IPC strategy based on the feedback of the edgewisemoment and the flapwise moment is proposed. And the research on this IPCstrategy is on the basis on the IPC base on the flapwise moment. That is thesum of the edgewise pith angle deviation optimized and the flapwise pithangle deviation optimized by the weight coefficient is the pitch angle givenof each blade. And the verification of this IPC strategy is simulated in theIPC system of the Direct-driven Permanent Magnet Synchronous Generator(DDPMSG). The performance of this individual pitch controller is illustratedits capability of not only reducing the wind turbine fluctuation, but alsosmoothing the unbalanced loads on the wind turbine.
For the problem of the wind turbine torque and the drive shaft torqueare difficult to detect directly, a method of torque indirect observation basedon the electric power is proposed. First, the generator electromagnetic torqueis calculated by the measurement of the wind turbine speed, the generatorspeed, the stator current and the stator voltage. Then the inverse model of thedrive chain is built, and the wind turbine torque and the drive shaft torqueare calculated by this model. Finally the correctness of the observation of thewind turbine torque and the drive shaft torque is verified by the DDPMSGsimulation.
The IPC system is designed and implemented in this paper. Thedetailed design of the IPC system structure, the blade pitch load is calculatedspecifically, the electric servo controller which the Fuzzy adaptive PIDcontrol strategy is used in the position controller is designed, and thehardware and the software of electric servo pitch are established.Simulation results verify the correctness and the feasibility of the Fuzzyadaptive PID position controller. And the performance of the controller isillustrated its capability of meeting the accurate positioning, the fast dynamicresponses and others performance requirements of high-performance servosystems. In addition, the experimental results show the electric servo pitch system can pith control independently, and establish the technical base forthe application of the IPC system.
首先，针对风力发电机组输出功率受风速随机性影响的问题，提出了一种基于模糊切换的前馈模糊与Fuzzy-PID相结合的统一桨距角给定的变桨控制策略，并在直驱永磁风力发电机组的统一变桨控制系统中进行了仿真验证。结果表明采用该控制策略的统一变桨控制器比常规PID变桨控制器和Fuzzy-PID变桨控制器具有更好抗扰动能力，动、静态性能有很大的提高，具有较强的实用性。同时，基于模糊切换的前馈模糊与Fuzzy-PID相结合的统一桨距角给定，为异步变桨控制系统的优越性比较提供了参照。
常规风轮模型中的统一桨距角与风机气动载荷的影响相互耦合，不能分离出风剪切、塔影效应和湍流对单个桨叶上的气动载荷、风轮转矩、风力发电机组输出功率及其并网点电压的波动影响。本文针对忽略叶尖损失和轮毂损失、桨叶数无穷大的假设以及桨叶根部和叶尖部的叶素所受力矩差别巨大，提出一种新型的大型风机的气动建模方法，基于该方法计算风机在风剪切、塔影效应和湍流等气动不平衡因素下所受气动载荷，推导出风轮气动载荷的影响规律，为基于异步变桨的风力机数学模型提供基础以及给异步变桨控制策略提供理论指导，解决了统一桨距角与风机气动载荷的耦合问题。建立了虚拟风场和风轮转矩模拟的实验平台，验证了风轮模型的准确性和优越性，为进一步研究异步变桨技术奠定了基础。
针对风轮转矩波动，本文通过对单个桨叶和风轮的载荷进行分析，首次提出一种新型的基于摆振力矩的异步变桨控制策略，直接减少桨叶上的力矩波动以及风轮转矩波动等。在建立风力发电机组的数学模型的基础上，对多段动态权系数分配和单神经元自适应PID两种异步变桨控制策略进行比较，仿真证明了基于单神经元自适应PID的异步变桨控制策略对于摆振力矩的波动和风轮转矩波动的减少具有更好的控制效果。另外，为了同时减少风轮转矩波动和风轮上不平衡载荷，本文在基于挥舞力矩的异步变桨控制上，提出了一种基于摆振力矩和挥舞力矩反馈的异步变桨控制策略，即在统一桨距角给定的基础上，通过权系数优化摆振的桨距角偏差和挥舞的桨距角偏差，将其之和作为每个桨叶的桨距角给定，并在直驱永磁风力发电机组的异步变桨控制系统对该异步变桨控制策略进行仿真验证，结果表明基于摆振力矩和挥舞力矩的异步变桨控制系统不仅对风轮转矩波动的控制效果较好，而且对风轮上的不平衡载荷也具有很好的抑制作用。
针对风轮转矩和传动轴扭矩的难以检测的问题，提出了一种基于电功率的传动链扭矩逆向估算方法。首先通过实际测量风轮转速、发电机转速以及定子电流电压求得发电机电磁转矩，然后根据建立的传动链扭矩计算的逆模型，逆向推算出风轮转矩和传动轴的扭矩，最后通过仿真验证风轮转矩和传动轴扭矩的观测技术的正确性。
最后对异步变桨系统进行了设计与实现。详细设计了异步变桨系统的结构，具体计算了桨叶的变桨载荷，设计了电伺服驱动控制器，建立了电伺服变桨距的硬件和软件系统，其中位置控制器采用模糊自适应PID控制器。仿真结果验证了模糊自适应PID位置控制器的正确性和可行性，其能够满足高性能伺服系统的精确定位和快速动态响应等性能要求。实验结果表明电伺服独立变桨系统能够对桨叶进行单独变桨控制，为异步变桨系统的应用奠定了技术基础。
The presupposition of the wind turbine design with collective pitchcontrol (CPC) is that wind distribution of the whole swept surface is uniform.However, the wind speeds at the blade different position are differentbecause of wind shear, tower shadow, turbulence and so on, and the lifts aredifferent from the position of the whole swept surface. These different liftsmake the wind turbine torque fluctuation which affects the output power ofthe wind turbine and the power quality, and cause imbalance loads on thewind turbine and the blade imbalance. The imbalance loads lead to the bladeedgewise vibration and blade torque fluctuation. Furthermore, the bladetorque s fluctuations also cause the torque fluctuation of the wind rotor shaft,the drive train, the hub and the tower. Moreover, the unbalanced loads willbring many problems to the wind turbine mechanical strength, the vibration,the fatigue life and the power grid quality. The collective pitch angle givenaffected by wind shear, tower shadow, turbulence, wind speed modeling,wind turbine aerodynamic modeling, wind turbine torque emulation,individual pitch control (IPC) strategy, individual pitch system design andother aspects are studied in this paper.
First of all, the CPC strategy of the collective pitch angle given whichfeed-forward Fuzzy and Fuzzy-PID are combined on the basis of Fuzzyswitching is proposed according to the problem of the stability of the outputpower of the wind turbine generator system (WTGS) affected by the randomwind speed, and the CPC system of the DDPMSG is simulated. The resultsshow the collective pitch controller using the proposed control strategy hasbetter capacity of resisting disturbance, good static and dynamicperformances improved and strong applicability than the conventional PID controller or Fuzzy-PID controller. Meanwhile, the collective pitch anglegiven based on the combination of feed-forward Fuzzy and Fuzzy-PIDprovides a reference for the superiority comparison of the IPC system.
Because the collective pitch angle of the conventional wind turbinemodel and the aerodynamic loads are coupled mutually, the fluctuationinfluences of the aerodynamic loads on the single blade, the wind turbinetorque, the output power of WTGS and the voltage of the Point of CommonCoupling (PCC) can not be separated out of the influence of wind shear,tower shadow and turbulence. A new large-scale wind turbine aerodynamicmodeling considered the lossless of the hub and the blade tip, the assumptionof infinite number of the blades, and the huge torque difference between theblade tip and the blade root is proposed. Therefore the wind turbineaerodynamic loads affected by wind shear, tower shadow, turbulence andother aerodynamic imbalance factors are calculated, and the influence rulesof the load fluctuations are deduced at length. These rules provide the basisto the wind turbine mathematical model based on IPC, provide thetheoretical guidance to the IPC strategies, and solve the collective pitchangles coupled problems. Moreover, the experiment platform of the virtualwind farm and the wind turbine torque is established. It not only verifies theaccuracy and the correctness of the wind turbine torque model but also laysthe foundation for the further IPC study.
In order to smooth the wind turbine torque fluctuation, a new IPCstrategy based on edgewise moment is proposed. That is the present controlstrategy can directly smooth the edgewise moment and the wind turbinetorque fluctuation. The multi-stage dynamic weight coefficient distributionIPC strategy and the single neuron adaptive PID IPC strategy are comparedon the basis of the WTGS mathematical model. Then the control effects ofthe edgewise moment fluctuation and the wind turbine torque fluctuationused by the single neuron adaptive PID IPC strategy are better than thecontrol effects by the multi-stage dynamic weight coefficient distributionIPC strategy according to the results. In addition, in order to reduce the wind turbine torque and the unbalanced aerodynamic loads on the wind turbinesimultaneously, a new IPC strategy based on the feedback of the edgewisemoment and the flapwise moment is proposed. And the research on this IPCstrategy is on the basis on the IPC base on the flapwise moment. That is thesum of the edgewise pith angle deviation optimized and the flapwise pithangle deviation optimized by the weight coefficient is the pitch angle givenof each blade. And the verification of this IPC strategy is simulated in theIPC system of the Direct-driven Permanent Magnet Synchronous Generator(DDPMSG). The performance of this individual pitch controller is illustratedits capability of not only reducing the wind turbine fluctuation, but alsosmoothing the unbalanced loads on the wind turbine.
For the problem of the wind turbine torque and the drive shaft torqueare difficult to detect directly, a method of torque indirect observation basedon the electric power is proposed. First, the generator electromagnetic torqueis calculated by the measurement of the wind turbine speed, the generatorspeed, the stator current and the stator voltage. Then the inverse model of thedrive chain is built, and the wind turbine torque and the drive shaft torqueare calculated by this model. Finally the correctness of the observation of thewind turbine torque and the drive shaft torque is verified by the DDPMSGsimulation.
The IPC system is designed and implemented in this paper. Thedetailed design of the IPC system structure, the blade pitch load is calculatedspecifically, the electric servo controller which the Fuzzy adaptive PIDcontrol strategy is used in the position controller is designed, and thehardware and the software of electric servo pitch are established.Simulation results verify the correctness and the feasibility of the Fuzzyadaptive PID position controller. And the performance of the controller isillustrated its capability of meeting the accurate positioning, the fast dynamicresponses and others performance requirements of high-performance servosystems. In addition, the experimental results show the electric servo pitch system can pith control independently, and establish the technical base forthe application of the IPC system.
引文
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