阅读说明：本技术 双叶轮漂浮式风力发电机组的偏航控制方法及装置、机组 (Yaw control method, device and unit of double-impeller floating type wind generating set ) 是由 欧柳利 陈思范 赵晓峻 孙晓旭 马冲 任永 于 2020-05-21 设计创作，主要内容包括：本发明公开了一种双叶轮漂浮式风力发电机组的偏航控制方法及装置、机组,方法首先获取风向信息和两个叶轮的推力信息并进行滤波；由滤波后的风向信息算出偏航误差角度；将偏航误差角度作为第一比例积分微分控制器的输入,计算其输出；根据第一比例积分微分控制器的输出和滤波后的推力信息之间的差值及叶轮变桨角度,计算需分配到发电机组双叶轮中的第一、二叶轮的推力；将第一、二叶轮的推力分别对应输入第二、三比例积分微分控制器,计算第二、三比例积分微分控制器的输出；结合叶轮的变桨信息和对应比例积分微分控制器的输出来更新变桨信息并生成对应叶轮的变桨控制指令。本发明可以控制偏航运动,节约偏航电机和偏航轴承成本,提高响应速度。(The invention discloses a yaw control method, a yaw control device and a yaw control unit of a double-impeller floating type wind generating set, wherein the method comprises the steps of firstly obtaining wind direction information and thrust information of two impellers and filtering; calculating a yaw error angle according to the filtered wind direction information; taking the yaw error angle as the input of a first proportional integral derivative controller, and calculating the output of the yaw error angle; calculating the thrust of a first impeller and a second impeller which are required to be distributed to the double impellers of the generator set according to the difference value between the output of the first proportional integral derivative controller and the thrust information after filtering and the impeller variable pitch angle; the thrust of the first impeller and the thrust of the second impeller are respectively and correspondingly input into a second proportional-integral-derivative controller and a third proportional-integral-derivative controller, and the output of the second proportional-integral-derivative controller and the output of the third proportional-integral-derivative controller are calculated; and updating the variable pitch information and generating a variable pitch control instruction of the corresponding impeller by combining the variable pitch information of the impeller and the output of the corresponding proportional-integral-derivative controller. The invention can control the yaw movement, save the cost of a yaw motor and a yaw bearing and improve the response speed.)

1. A yaw control method of a double-impeller floating type wind generating set is characterized by comprising the following steps:

s1, acquiring wind direction information and thrust information of the two impellers, and filtering the wind direction information and the thrust information;

s2, calculating an included angle between the wind direction and the engine room, namely a yaw error angle, from the filtered wind direction information;

s3, taking the yaw error angle as the first proportional integral derivative controller P_D(t) input, calculating a first proportional integral derivative controller P_D(t) an output;

the expression of the first proportional integral derivative controller is:

wherein, K_PyIs the proportionality coefficient, K_IyIs the integral coefficient, K_DyIs a differential coefficient, e (t) is a yaw error, and K can be omitted according to actual conditions_Iy(t) dt or

S4, if the difference between the output of the first proportional integral derivative controller and the filtered thrust information is smaller than 0 and the pitch angle of the second impeller is not larger than the pitch angle for maintaining the rated rotating speed, or the difference between the output of the first proportional integral derivative controller and the filtered thrust information is larger than 0 and the pitch angle of the first impeller is larger than the pitch angle for maintaining the rated rotating speed, the thrust value distributed by the first impeller is F_1c＝P_D(t)-F_measure(t) the second impeller is assigned a thrust value of F_2c0, wherein F_measure(t) is the filtered thrust information; otherwise, the first impeller is assigned a thrust value of F_1cThe thrust value assigned to the second impeller is F_2c＝P_D(t)-F_measure(t)；

S5, adjusting the thrust F of the first impeller_1cSecond proportional integral derivative controller theta as first impeller_1c(t) input, calculating a second PID controller θ_1c(t) an output; thrust F of the second impeller_2cThird pid controller θ as a second impeller_2c(t) input, calculating a third ratioExample integral derivative controller theta_2c(t) an output;

the expression of the second pid controller is:

the expression of the third pid controller is:

wherein, K_PθIs the proportionality coefficient, K_IθIs the integral coefficient, K_DθIs a differential coefficient, the second proportional-integral-derivative controller can omit K according to actual conditions_Iθ∫F_1c(t) dt orThe third PID controller may omit K according to actual conditions_Iθ∫F_2c(t) dt or

S6, changing the pitch information of the first impeller and the second proportional integral derivative controller theta_1c(t) combining the outputs to obtain the updated variable pitch information of the first impeller and generate a variable pitch control instruction of the first impeller; the variable pitch information of the second impeller and a third proportional integral derivative controller theta_2cAnd (t) combining the outputs to obtain the updated variable pitch information of the second impeller and generate a variable pitch control instruction of the second impeller, wherein the unit can adjust the variable pitch angle of the first impeller and the second impeller according to the variable pitch control instruction.

2. The yaw control method of the twin-impeller floating wind turbine generator system according to claim 1, wherein the wind direction information is directly detected by a laser radar type wind sensor or an ultrasonic sensor, or converted from a wind speed;

the thrust information is directly detected by a thrust sensor, or is obtained by further calculating the detection data of the sensor.

3. The yaw control method of a twin-bladed floating wind turbine according to claim 1, characterized in that the combination comprises arithmetic addition, taking a larger value, taking a smaller value.

4. The yaw control method of a twin-impeller floating wind turbine generator system according to claim 1, wherein the wind direction information and the thrust information are filtered by using a low pass filter or a combination of a low pass filter and a wave trap.

5. The utility model provides a bilobed wheel floats formula wind generating set's driftage controlling means which characterized in that includes: a wind direction information acquisition module, a thrust information acquisition module, a yaw error angle calculation module, a first calculation module, a thrust distribution calculation module, a second calculation module and a pitch information calculation module, wherein,

the wind direction information acquisition module is used for acquiring wind direction information and filtering the wind direction information;

the thrust information acquisition module is used for acquiring thrust information of the two impellers and filtering the thrust information;

the yaw error angle calculation module is used for calculating an included angle between the wind direction and the engine room, namely a yaw error angle, from the wind direction information filtered by the wind direction information acquisition module;

the first calculation module has a first proportional integral derivative controller for defining the yaw error angle as a first proportional integral derivative controller P_D(t) input, calculating a first proportional integral derivative controller P_D(t) an output; the expression of the first proportional integral derivative controller is:

wherein, K_PyIs P_DProportionality coefficient of (t), K_IyIs P_DIntegral coefficient of (t), K_DyIs P_DA differential coefficient of (t), e (t) is P_D(t) yaw error, K may be omitted according to the actual situation_Iy(t) dt or

The thrust distribution calculation module is used for distributing a first impeller thrust value F under the condition that the difference value between the output of the first proportional integral derivative controller and the filtered thrust information is smaller than 0 and the variable pitch angle of the second impeller is not larger than the variable pitch angle for maintaining the rated rotating speed or the difference value between the output of the first proportional integral derivative controller and the filtered thrust information is larger than 0 and the variable pitch angle of the first impeller is larger than the variable pitch angle for maintaining the rated rotating speed_1c＝P_D(t)-F_measure(t) assigning a second impeller thrust value F_2c0, wherein F_measure(t) is the filtered thrust information; in other cases, a first impeller thrust value F is assigned_1cAssigning a second impeller thrust value F equal to 0_2c＝P_D(t)-F_measure(t)；

The second calculation module is provided with a second proportional-integral-derivative controller and a third proportional-integral-derivative controller and is used for distributing the thrust F of the first impeller calculated by the thrust distribution calculation module_1cSecond proportional integral derivative controller theta as first impeller_1c(t) input, calculating a second PID controller θ_1c(t) an output; and the thrust F of the second impeller calculated by the thrust distribution calculation module_2cThird pid controller θ as a second impeller_2c(t) input, calculating a third PID controller θ_2c(t) an output;

the expression of the second pid controller is:

the expression of the third pid controller is:

wherein, K_PθIs the proportionality coefficient, K_IθIs the integral coefficient, K_DθIs a differential coefficient, the second proportional-integral-derivative controller can omit K according to actual conditions_Iθ∫F_1c(t) dt orThe third PID controller may omit K according to actual conditions_Iθ∫F_2c(t) dt or

The variable pitch information calculation module is used for calculating the variable pitch information of the first impeller and the second proportional integral derivative controller theta_1c(t) combining the outputs to obtain the updated variable pitch information of the first impeller and generate a variable pitch control instruction of the first impeller; and a third PID controller θ for comparing the pitch information of the second turbine_2cAnd (t) combining the outputs to obtain the updated variable pitch information of the second impeller and generate a variable pitch control instruction of the second impeller.

6. A bilobed floating wind turbine generator system, characterized in that the bilobed floating wind turbine generator system has the yaw controlling apparatus of claim 5.

7. A storage medium storing a program, wherein the program when executed by a processor implements the yaw control method of a twin-impeller floating wind turbine according to any one of claims 1 to 4.

8. A computing device comprising a processor and a memory for storing processor executable programs, wherein the processor when executing the programs stored in the memory implements the yaw control method of a twin-bladed floating wind turbine set according to any of claims 1 to 4.

Technical Field

The invention relates to the technical field of wind power generation, in particular to a yaw control method, a yaw control device and a yaw control unit of a double-impeller floating type wind generating set.

Background

Wind turbine generators generally absorb energy in an airflow through an impeller, and transmit mechanical energy generated by blades of the impeller to a generator system through a transmission system to convert the mechanical energy into electric energy. The impeller consists of a plurality of blades, the rotating angle of the blades around the blade shaft is called as a variable pitch angle, and the coefficient of the impeller for absorbing wind energy can be changed by adjusting the variable pitch angle.

An impeller of the wind generating set is connected with a main shaft and drives a generator rotor through a gear box, the main shaft is connected with a cabin through a bearing and a base, and a tower is connected with the cabin and a foundation platform. The yaw movement of the wind generating set refers to the movement of the cabin of the wind generating set around the direction vertical to the base platform, and the direction of the impeller of the wind generating set relative to the wind speed can be changed by controlling the yaw movement of the wind generating set. Generally, the smaller the angle of the impeller of the wind generating set relative to the wind speed, the larger the power generation of the wind generating set. The aim of yaw control of a wind generating set is to reduce the angle of an impeller relative to the wind speed as much as possible. The conventional yaw control is to adopt a yaw motor to drive the yaw movement process, and set the start and stop of the yaw motor according to wind direction information measured by a wind direction sensor, so as to adjust the angle of an impeller relative to the wind speed. However, in the yaw driving mode using the yaw motor, the yaw motor and the yaw bearing are additionally arranged, so that the cost of the wind generating set is increased, the yaw motor consumes certain electric quantity during operation, and the response instantaneity is poor due to the fact that certain buffering time exists during starting and stopping of the yaw motor.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the yaw control method of the double-impeller floating type wind generating set, which can control yaw movement, save the cost of a yaw motor and a yaw bearing and improve the response speed.

The second purpose of the invention is to provide a yaw control device of the double-impeller floating type wind generating set.

The third purpose of the invention is to provide a double-impeller floating type wind generating set.

A fourth object of the present invention is to provide a storage medium.

It is a fifth object of the invention to provide a computing device.

The first purpose of the invention is realized by the following technical scheme: a yaw control method of a double-impeller floating type wind generating set comprises the following steps:

s1, acquiring wind direction information and thrust information of the two impellers, and filtering the wind direction information and the thrust information;

s2, calculating an included angle between the wind direction and the engine room, namely a yaw error angle, from the filtered wind direction information;

s3, taking the yaw error angle as the first proportional integral derivative controller P_D(t) input, calculating a first proportional integral derivative controller P_D(t) an output;

the expression of the first proportional integral derivative controller is:

wherein, K_PyIs the proportionality coefficient, K_IyIs the integral coefficient, K_DyIs a differential coefficient, e (t) is a yaw error, and K can be omitted according to actual conditions_Iy(t) dt or

S4, if the difference between the output of the first proportional integral derivative controller and the filtered thrust information is smaller than 0 and the pitch angle of the second impeller is not larger than the pitch angle for maintaining the rated rotating speed, or the difference between the output of the first proportional integral derivative controller and the filtered thrust informationThe value is greater than 0, and the variable pitch angle of the first impeller is greater than the variable pitch angle for maintaining the rated rotating speed, so that the thrust value distributed by the first impeller is F_1c＝P_D(t)-F_measure(t) the second impeller is assigned a thrust value of F_2c0, wherein F_measure(t) is the filtered thrust information; otherwise, the first impeller is assigned a thrust value of F_1cThe thrust value assigned to the second impeller is F_2c＝P_D(t)-F_measure(t)；

S5, adjusting the thrust F of the first impeller_1cSecond proportional integral derivative controller theta as first impeller_1c(t) input, calculating a second PID controller θ_1c(t) an output; thrust F of the second impeller_2cThird pid controller θ as a second impeller_2c(t) input, calculating a third PID controller θ_2c(t) an output;

the expression of the second pid controller is:

the expression of the third pid controller is:

wherein, K_PθIs the proportionality coefficient, K_IθIs the integral coefficient, K_DθIs a differential coefficient, the second proportional-integral-derivative controller can omit K according to actual conditions_Iθ∫F_1c(t) dt orThe third PID controller may omit K according to actual conditions_Iθ∫F_2c(t) dt or

S6, changing the pitch information of the first impeller and the second proportional integral derivative controller theta_1c(t) combining the outputs to obtain the updated variable pitch information of the first impeller and generate a variable pitch control instruction of the first impeller; the variable pitch information of the second impeller and a third proportional integral derivative controller theta_2cAnd (t) combining the outputs to obtain the updated variable pitch information of the second impeller and generate a variable pitch control instruction of the second impeller, wherein the unit can adjust the variable pitch angle of the first impeller and the second impeller according to the variable pitch control instruction.

Preferably, the wind direction information is directly detected by a laser radar type wind measuring sensor or an ultrasonic sensor, or is converted according to the wind speed;

the thrust information is directly detected by a thrust sensor, or is obtained by further calculating the detection data of the sensor.

Preferably, the combination includes arithmetic addition, taking larger values, taking smaller values.

Preferably, the wind direction information and the thrust information are filtered using a low-pass filter or a combination of a low-pass filter and a wave trap.

The second purpose of the invention is realized by the following technical scheme: a yaw control device of a double-impeller floating type wind generating set comprises: a wind direction information acquisition module, a thrust information acquisition module, a yaw error angle calculation module, a first calculation module, a thrust distribution calculation module, a second calculation module and a pitch information calculation module, wherein,

the wind direction information acquisition module is used for acquiring wind direction information and filtering the wind direction information;

the thrust information acquisition module is used for acquiring thrust information of the two impellers and filtering the thrust information;

the yaw error angle calculation module is used for calculating an included angle between the wind direction and the engine room, namely a yaw error angle, from the wind direction information filtered by the wind direction information acquisition module;

the first calculation module has a first proportional integral derivative controller for defining the yaw error angle as a first proportional integral derivative controller P_D(t) input, calculating a first proportional integral derivative controller P_D(t) an output; the expression of the first proportional integral derivative controller is:

wherein, K_PyIs P_DProportionality coefficient of (t), K_IyIs P_DIntegral coefficient of (t), K_DyIs P_DA differential coefficient of (t), e (t) is P_D(t) yaw error, K may be omitted according to the actual situation_Iy(t) dt or

The thrust distribution calculation module is used for distributing a first impeller thrust value F under the condition that the difference value between the output of the first proportional integral derivative controller and the filtered thrust information is smaller than 0 and the variable pitch angle of the second impeller is not larger than the variable pitch angle for maintaining the rated rotating speed or the difference value between the output of the first proportional integral derivative controller and the filtered thrust information is larger than 0 and the variable pitch angle of the first impeller is larger than the variable pitch angle for maintaining the rated rotating speed_1c＝P_D(t)-F_measure(t) assigning a second impeller thrust value F_2c0, wherein F_measure(t) is the filtered thrust information; in other cases, a first impeller thrust value F is assigned_1cAssigning a second impeller thrust value F equal to 0_2c＝P_D(t)-F_measure(t)；

The second calculation module is provided with a second proportional-integral-derivative controller and a third proportional-integral-derivative controller and is used for distributing the thrust F of the first impeller calculated by the thrust distribution calculation module_1cSecond proportional integral derivative controller theta as first impeller_1c(t) input, calculating a second PID controller θ_1c(t) an output; and the thrust F of the second impeller calculated by the thrust distribution calculation module_2cThird pid controller θ as a second impeller_2c(t) input, meterCalculating third PID controller_2c(t) an output;

the expression of the second pid controller is:

the expression of the third pid controller is:

wherein, K_PθIs the proportionality coefficient, K_IθIs the integral coefficient, K_DθIs a differential coefficient, the second proportional-integral-derivative controller can omit K according to actual conditions_Iθ∫F_1c(t) dt orThe third PID controller may omit K according to actual conditions_Iθ∫F_2c(t) dt or

The variable pitch information calculation module is used for calculating the variable pitch information of the first impeller and the second proportional integral derivative controller theta_1c(t) combining the outputs to obtain the updated variable pitch information of the first impeller and generate a variable pitch control instruction of the first impeller; and a third PID controller θ for comparing the pitch information of the second turbine_2cAnd (t) combining the outputs to obtain the updated variable pitch information of the second impeller and generate a variable pitch control instruction of the second impeller.

The third purpose of the invention is realized by the following technical scheme: a double-impeller floating type wind generating set is provided with the yaw control device of the second object of the invention.

The fourth purpose of the invention is realized by the following technical scheme: a storage medium stores a program that when executed by a processor, implements a yaw control method for a twin-impeller floating wind turbine generator system according to a first object of the present invention.

The fifth purpose of the invention is realized by the following technical scheme: a computing device comprises a processor and a memory for storing a program executable by the processor, wherein when the processor executes the program stored in the memory, the yaw control method of the double-impeller floating type wind generating set, which is provided by the invention, realizes the first purpose.

Compared with the prior art, the invention has the following advantages and effects:

(1) the yaw control method of the double-impeller floating type wind generating set can control the yaw movement of the generating set under the condition of not using a yaw motor and a yaw bearing, so that the cost of the yaw motor and the yaw bearing can be saved. Compared with the traditional yaw motor start-stop control method, the method provided by the invention does not need to consume the start-stop buffering time of the yaw motor, and does not have the electric quantity consumed by the operation of the yaw motor, so that the method has higher response speed and production benefit.

(2) According to the double-impeller floating type wind generating set, the pitch control instructions of the first impeller and the second impeller are obtained through the yaw control device, and the pitch angle of the first impeller and the pitch angle of the second impeller are adjusted according to the pitch control instructions, so that the thrust of the two impellers is changed, the yaw error is reduced, and the yaw motion is controlled timely and effectively.

Drawings

Fig. 1 is a flow chart of a yaw control method of a twin-impeller floating wind turbine generator system according to the present invention.

Fig. 2 is a block diagram of a yaw control device of the twin-impeller floating wind turbine generator system according to the present invention.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.