阅读说明：本技术 一种基于机载雷达在线偏航系统的偏航优化控制方法 (Yaw optimization control method based on airborne radar online yaw system ) 是由 卢坤鹏 刘鑫 闫姝 张波 尹铁男 许世森 樊启祥 李来龙 曹庆伟 陈晓路 杭兆峰 于 2021-10-27 设计创作，主要内容包括：本发明公开了一种基于机载雷达在线偏航系统的偏航优化控制方法,包括以下过程,采用机载式激光雷达测量风资源的风况参数；根据机载式激光雷达测量的风况参数计算得到偏航误差数值,机组偏航控制PLC根据偏航误差数值发出偏航指令,进行偏航优化控制。通过设置机载式激光雷达,依据激光雷达产生的激光来测量风轮前的风况参数,能够提前获知风机即将到来的实际风况情况而提前做出是否进行偏航的判断,并依据风况参数使风电机组提前进行相应偏航策略或其他控制策略的应对,最终达到延长机组运行寿命、提高机组安全运行系数并提高机组发电量的作用。(The invention discloses a yaw optimization control method based on an on-line yaw system of an airborne radar, which comprises the following processes of measuring wind condition parameters of wind resources by adopting the airborne laser radar; and calculating according to the wind condition parameters measured by the airborne laser radar to obtain a yaw error value, and sending a yaw instruction by the unit yaw control PLC according to the yaw error value to carry out yaw optimization control. By arranging the airborne laser radar, the wind condition parameters in front of the wind wheel are measured according to laser generated by the laser radar, the upcoming actual wind condition of the wind turbine can be known in advance, whether yaw is carried out or not can be judged in advance, the wind turbine generator can be enabled to carry out corresponding yaw strategies or other control strategies in advance according to the wind condition parameters, and finally the effects of prolonging the service life of the wind turbine generator, improving the safe operation coefficient of the wind turbine generator and improving the generated energy of the wind turbine generator are achieved.)

1. A yaw optimization control method based on an on-line yaw system of an airborne radar is characterized by comprising the following processes,

measuring wind condition parameters of wind resources by adopting a machine-mounted laser radar;

and calculating according to the wind condition parameters measured by the airborne laser radar to obtain a yaw error value, and sending a yaw instruction by the unit yaw control PLC according to the yaw error value to carry out yaw optimization control.

2. The yaw optimization control method based on the on-line yaw system of the airborne radar as claimed in claim 1, is characterized by comprising the following steps,

step 1, mounting an onboard laser radar, stopping a wind generating set according to the difference of the wind direction of the actual environment after the onboard laser radar is mounted, calculating the transfer functions of the meteorological data of the cabin laser radar and the wind speed and the wind direction of the cabin at different wind directions, and correcting the wind condition parameters measured by the onboard laser radar according to the transfer functions;

step 2, measuring by the airborne laser radar to obtain wind condition parameters, and screening data of the wind condition parameters;

step 3, filtering the screened wind condition parameters;

and 4, establishing a transfer function of the wind speed and the wind direction at the position and the wind speed and the wind direction at the unit according to the distance measured by the selected airborne radar, and analyzing and selecting corresponding parameters to perform yaw control on the unit.

3. The yaw optimization control method based on the on-line yaw system of the airborne radar as claimed in claim 2, wherein in the step 4, the wind direction included angle of the wind turbine generator is divided into a plurality of sections, section power curves in each section are formed, the section with the optimal power curve is found by comparing the power curves in each section, and the yaw control strategy algorithm in the step 4 is updated.

4. The yaw optimization control method based on the on-line yaw system of the airborne radar as claimed in claim 1, wherein in step 1, the transfer function formula is

Y_i＝K_i·X_i+B_i

Wherein: y is_iThe wind direction or the wind speed of the wind wheel corrected in the ith wind direction interval is obtained;

X_ithe wind direction or wind speed measured by the airborne radar in the ith wind direction interval;

K_ifitting the measured wind direction and wind speed of the airborne radar in the ith wind direction interval with the wind direction and wind speed of the engine room to obtain a slope;

B_iand fitting the wind direction and the wind speed measured by the airborne radar in the ith wind direction interval with the wind direction and the wind speed of the engine room to obtain an intercept.

5. The yaw optimization control method based on the on-line yaw system of the airborne radar as claimed in claim 1, wherein in the step 2, the wind speed and direction formula of the airborne laser radar is

Wherein: RWS_{0 or 1}To activateA beam direction wind speed component;

U₊is the axial component of the upwind direction;

V₊is the lateral component of the upward wind direction;

HWS₊is according to U₊、V₊The resultant upper horizontal wind speed;

Dir₊is according to U₊、V₊A horizontal wind direction of the synthesized upper horizontal wind speed;

θ₊the zenith angle of the upper beam;

is the azimuth angle of the upper beam;

tau is the average pitch angle of the airborne laser radar.

6. The yaw optimization control method based on the on-line yaw system of the airborne radar as claimed in claim 1, wherein in the step 2, the wind wheel height formula is

Wherein: h_hubIs the wind wheel height; h_LidarThe distance from the center of the airborne laser radar to the height of the center of the wind wheel; d is the measured distance.

7. The yaw optimization control method based on the on-line yaw system of the airborne radar as claimed in claim 1, wherein in the step 3, the filtered wind condition parameters are filtered through first-order low-pass filtering.

8. The yaw optimization control method based on the on-line yaw system of the airborne radar as claimed in claim 1, wherein in step 4, when the data of the airborne radar is distorted, the wind speed of the nacelle is used as the alternative yaw control.

Technical Field

The invention belongs to the field of wind turbine generator control, and particularly belongs to a yaw optimization control method based on an on-line yaw system of an airborne radar.

Background

With the increasing number of wind turbines for grid-connected power generation, performance testing of the wind turbines becomes more and more important. The yaw system is an important component of a control system of the wind turbine generator, and the yaw error is also an important performance index of the wind turbine generator, namely, the difference between the wind direction and the yaw angle of the wind turbine generator is measured, so that the generated energy is greatly influenced, the yaw error is large, the wind energy utilization rate is reduced, the generated energy is reduced, the fatigue load of the wind turbine generator is increased, and the service life of the wind turbine generator is shortened.

At present, the wind turbine generator system acquires wind energy through controlling yaw errors to the greatest extent, wherein the measurement of wind direction in the control system is mainly completed through a wind vane, and because the wind turbine generator system operates in a complex external environment, such as low temperature and icing, the wind vane is often influenced by external complex environmental conditions and cannot accurately measure the wind direction, and the accuracy is reduced to cause the wind turbine generator system to be incapable of obtaining accurate yaw errors, so that yaw control is influenced.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a yaw optimization control method based on an on-line yaw system of an airborne radar.

In order to achieve the purpose, the invention provides the following technical scheme:

a yaw optimization control method based on an on-line yaw system of an airborne radar comprises the following processes,

measuring wind condition parameters of wind resources by adopting a machine-mounted laser radar;

and calculating according to the wind condition parameters measured by the airborne laser radar to obtain a yaw error value, and sending a yaw instruction by the unit yaw control PLC according to the yaw error value to carry out yaw optimization control.

Preferably, the method specifically comprises the following steps,

step 1, mounting an onboard laser radar, stopping a wind generating set according to the difference of the wind direction of the actual environment after the onboard laser radar is mounted, calculating the transfer functions of the meteorological data of the cabin laser radar and the wind speed and the wind direction of the cabin at different wind directions, and correcting the wind condition parameters measured by the onboard laser radar according to the transfer functions;

step 2, measuring by the airborne laser radar to obtain wind condition parameters, and screening data of the wind condition parameters;

step 3, filtering the screened wind condition parameters;

and 4, establishing a transfer function of the wind speed and the wind direction at the position and the wind speed and the wind direction at the unit according to the distance measured by the selected airborne radar, and analyzing and selecting corresponding parameters to perform yaw control on the unit.

Further, in step 4, the wind direction included angle of the wind turbine generator is divided into a plurality of intervals, an interval power curve in each interval is formed, the power curve of each interval is compared to find out the interval with the optimal power curve, and the yaw control strategy algorithm in step 4 is updated.

Preferably, in step 1, the transfer function is formulated as

Y_i＝K_i·X_i+B_i

Wherein: y is_iThe wind direction or the wind speed of the wind wheel corrected in the ith wind direction interval is obtained;

X_ithe wind direction or wind speed measured by the airborne radar in the ith wind direction interval;

K_ifitting the measured wind direction and wind speed of the airborne radar in the ith wind direction interval with the wind direction and wind speed of the engine room to obtain a slope;

B_iand fitting the wind direction and the wind speed measured by the airborne radar in the ith wind direction interval with the wind direction and the wind speed of the engine room to obtain an intercept.

Preferably, in step 2, the wind speed and direction formula of the airborne lidar is

Wherein: RWS_{0 or 1}Is the wind speed component in the direction of the laser beam;

U₊is the axial component of the upwind direction;

V₊is the lateral component of the upward wind direction;

HWS₊is according to U₊、V₊The resultant upper horizontal wind speed;

Dir₊is according to U₊、V₊A horizontal wind direction of the synthesized upper horizontal wind speed;

θ₊the zenith angle of the upper beam;

is the azimuth angle of the upper beam;

tau is the average pitch angle of the airborne laser radar.

Preferably, in step 2, the wind wheel height formula is

Wherein: h_hubIs the wind wheel height; h_LidarThe distance from the center of the airborne laser radar to the height of the center of the wind wheel; d is the measured distance.

Preferably, in step 3, the filtered wind condition parameters are filtered by first-order low-pass filtering.

Preferably, in step 4, when the onboard radar data is distorted, the nacelle wind speed is taken as the alternative yaw control.

Compared with the prior art, the invention has the following beneficial technical effects:

the invention provides a yaw optimization control method based on an on-line yaw system of an airborne radar.

Furthermore, in order to reduce the difference between the wind condition parameters measured by the airborne laser radar and the fan caused by the influence of the terrain and the obstacles as much as possible, the wind generating set is shut down according to the difference of the wind directions of the actual environment after the airborne radar is installed, and the transfer functions of the meteorological data of the cabin type laser radar and the wind speeds and the wind directions of the cabin are calculated when the wind directions are different.

Further, the airborne radar data is low-pass filtered to avoid erroneous and harmful control actions.

And further, carrying out state screening on the acquired airborne radar data. And when the data of the airborne radar is distorted in a short time, the wind speed of the cabin is used as an alternative yaw control.

Drawings

FIG. 1 is a flow chart of yaw optimization control based on an on-line yaw system of an airborne radar in the invention;

Detailed Description

The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.

The invention aims to provide a yaw optimization control method based on an on-line yaw system of an airborne radar, which comprises the following processes:

due to the influence of the terrain, the wind speed and the wind direction of the airborne laser radar are corrected firstly.

Calculating the wind speed and the wind direction at the height of the hub at the measured position according to the scanning mode of the airborne laser radar;

and performing data screening according to the laser beam state of the airborne radar to obtain effective meteorological data and transmitting the effective meteorological data to the yaw control system.

According to the difference of landforms and fan models, the setting of the distance measured by the airborne laser radar also needs to be adjusted along with the adjustment, the correlation analysis of the wind speed measured by the airborne radar and the wind speed at the fan is carried out, a proper distance is selected by combining the correlation analysis of the distance and the wind speed to be used as a first selection in the yaw control of the unit, wherein the yaw error obtained by the difference between the wind direction measured by the airborne laser radar and the coordinate of the yaw position is transmitted to a yaw control system, and the measured wind speed is simultaneously transmitted to the yaw control system to be used as a judgment condition of the maximum limit value of the yaw error. The invention can judge whether to yaw in advance by acquiring the upcoming actual wind condition of the fan in advance, so that the wind turbine generator can respond to a corresponding yaw strategy or other control strategies in advance, and finally the effects of prolonging the service life of the wind turbine generator, improving the safe operation coefficient of the wind turbine generator and improving the generating capacity of the wind turbine generator are achieved.

The invention provides a yaw optimization control method of an on-line yaw system based on an airborne radar. The calibration method comprises the following steps:

firstly, the wind speed and the wind direction of 10-400 m in front of the wind wheel can be measured according to the wind measuring principle of the laser radar.

In order to reduce the difference between the wind condition parameters measured by the airborne laser radar and the wind turbine caused by the influence of the terrain and the obstacles as much as possible, the wind turbine generator system is shut down according to the difference of the wind directions of the actual environment after the airborne radar is installed, and the transfer functions of the meteorological data (wind direction and wind speed) of the cabin type laser radar, the wind speed and the wind direction of the cabin are calculated when the wind directions are different (the wind direction is divided by taking 10 degrees as a unit angle).

Then, linear fitting is carried out on the wind speed and the wind direction measured at different distances and the wind speed and the wind direction at the unit, and a determination coefficient R is found out between the measured distance 100m and 150m as far as possible²The highest distance serves as a reference value for yaw correction. Determining the coefficient R²What percentage of the fluctuation of Y can be described by the fluctuation of X, i.e. what percentage of the variation characterizing the dependent variable Y, can be interpreted by the independent variable X of the control.

And then, screening the collected measured data of the airborne radar and eliminating invalid data. And then, low-pass filtering is carried out on the acquired airborne radar data, so that errors and damage to the control behavior of the unit are avoided.

Different yaw error allowed yaw error critical values are set according to different wind speeds of the airborne radar, and the smaller the wind speed is, the larger the yaw error critical value is; different yaw rotation speed values are set according to different generator powers of the wind turbine generator, and the smaller the generator power is, the larger the yaw rotation speed is; different yaw delay starting time is set according to different wind speeds measured by the airborne radar, and the delay starting time is longer when the wind speed is smaller.

And finally, calculating power curves of all intervals, finding out an optimal interval power curve, and iteratively updating a yaw control strategy, wherein the yaw control strategy is operated in the optimal interval power curve as far as possible. Finally, online yaw correction of the wind turbine generator is achieved, the generating capacity of the wind turbine generator is improved, and the fatigue load of the wind turbine generator is reduced.

Examples

The invention provides a yaw optimization control method based on an on-line yaw system of an airborne radar, which comprises the following steps of eliminating the influence of terrain on wind direction, determining wind speed and wind direction of a second-level airborne laser radar, screening data, determining the distance measured by the airborne laser radar and controlling the yaw of a unit.

Eliminating the influence of the terrain on the wind direction;

1) the airborne laser radar measures wind condition parameters of wind resources by using a Doppler frequency shift principle, in the atmosphere, the moving direction and speed of aerosol and wind are consistent, a fiber laser emits a monochromatic laser beam with good coherence, when the laser beam meets aerosol particles moving in the atmosphere, the laser beam can generate light radiation scattering, the component scattered in the beam direction can generate Doppler effect, and a frequency shift amount is detected on a detector, so that each wind condition parameter is obtained. The measuring range of the laser radar wind meter covers the range of 10-300 m (vertical and horizontal), and a plurality of measuring distances can be set.

Because the wind condition parameters measured by the airborne laser radar are the condition before the wind wheel, in order to reduce the difference between the wind condition parameters measured by the airborne laser radar and the wind wheel caused by the influence of the terrain and the obstacles as much as possible, the wind generating set needs to be shut down after the airborne radar is installed according to the difference of the wind directions of the actual environment, the transfer functions of the meteorological data (wind direction and wind speed) of the cabin type laser radar and the wind speed and the wind direction when different wind directions are calculated (wind direction division is carried out by taking 10 degrees as a unit angle), and the transfer function formula is as follows:

Y_i＝K_i·X_i+B_i

wherein: y is_iThe wind direction or the wind speed of the wind wheel corrected in the ith wind direction interval is obtained;

X_ithe wind direction or wind speed measured by the airborne radar in the ith wind direction interval;

K_ifitting the measured wind direction and wind speed of the airborne radar in the ith wind direction interval with the wind direction and wind speed of the engine room to obtain a slope;

B_iand fitting the wind direction and the wind speed measured by the airborne radar in the ith wind direction interval with the wind direction and the wind speed of the engine room to obtain an intercept.

Second-level airborne laser radar wind speed and direction determination

2) The wind direction and wind speed measured by the airborne laser radar are finally synthesized by four beams of laser. And calculating to obtain upper wind speed and wind direction data according to the wind speeds of the two upper light beams, and obtaining the lower wind speed and wind direction in the same way. The formula is as follows:

wherein: RWS_{0 or 1}Is the wind speed component in the direction of the laser beam;

U₊is the axial component of the upwind direction;

V₊is the lateral component of the upward wind direction;

HWS₊is according to U₊、V₊The resultant upper horizontal wind speed;

Dir₊is according to U₊、V₊Horizontal wind direction of the resultant upper horizontal wind speed.

θ₊The zenith angle of the upper beam;

is the azimuth angle of the upper beam;

tau is the average pitch angle of the airborne laser radar;

according to the above formula, the horizontal wind speed HWS _ and the horizontal wind direction Dir _ at the lower part can be obtained in the same way.

In addition, the formula of the position height of the upper light beam and the position height of the lower light beam measured by the airborne laser radar is as follows:

wherein: h_hubIs the wind wheel height. H_LidarThe distance from the center of the airborne laser radar to the height of the center of the wind wheel. d is the measured distance.

After the horizontal wind speeds of the upper part and the lower part are solved, the wind speed shearing and the wind direction shearing can be obtained by calculation according to the wind speeds and the wind directions of the two heights, and the formula is as follows:

from the results obtained above, the wind speed and wind direction at the hub height can be calculated as follows:

Direction_hub＝Dir₊+Wveer·(H_hub-H₊)

data screening

3) Some laser beam measured data may be distorted due to fewer obstacles or aerosol, etc., because when the status of any laser beam is 0 (1 represents valid, 0 represents distortion), the group calculation data is rejected as invalid. And when the laser radar data is distorted due to weather reasons and the like in a short period, selecting the wind direction of the engine room as a unit for yaw control.

4) Only low-frequency data can be well captured by the airborne radar, so that filtering processing (first-order low-pass filtering) needs to be carried out on the acquired airborne radar data to avoid error and harmful control actions.

Determining the distance measured by an airborne lidar

5) Setting the wind direction measured by the airborne laser radar as a first selection of yaw strategy control, and simultaneously creating a cabin wind direction transfer function according to the relationship between the corrected laser radar wind direction (correcting the wind direction of the laser radar according to the relationship obtained in the first step) and the cabin wind direction. And correcting the wind direction of the nacelle according to the wind direction transfer function of the nacelle, and controlling the corrected wind direction of the nacelle as a yaw strategy to be selected secondly. And meanwhile, an early warning value is set, and when the difference between the wind direction of the cabin and the wind direction of the airborne radar is large, abnormal conditions are reported to a wind field, and the maintenance is carried out in time. The warning value in this embodiment is set to ± 20 °.

According to the coefficient R of transfer function of wind direction at different distances obtained in the first step²And determining coefficients R2 of the corrected wind direction of the laser radar and the wind direction transfer function of the engine room, finding out a plurality of distances with the best determining coefficients for carrying out selection, and considering that the yaw needs to be carried out in a certain time, so that the yaw optimization effect is reduced when the distances are too close, the embodiment proposes that the main reference distance is best at 100-150m, and the wind direction and the wind speed at the reference distance determined by the airborne laser radar are used as the basis of the yaw control strategy.

Unit yaw control

6) And calculating to obtain a yaw error numerical value according to the corrected wind direction measured by the airborne laser radar and the yaw position of the engine room, and sending a yaw instruction by the unit yaw control PLC according to the yaw error numerical value. Different yaw error allowed yaw error critical values are set according to different wind speeds of the airborne radar, and the smaller the wind speed is, the larger the yaw error critical value is; different yaw rotation speed values are set according to different generator powers of the wind turbine generator, and the smaller the generator power is, the larger the yaw rotation speed is; different yaw delay starting time is set according to different wind speeds measured by the airborne radar, and the delay starting time is longer when the wind speed is smaller.

7) The wind direction included angle (the difference between the wind direction of the airborne radar and the yaw position) -10 degrees of the wind turbine generator is divided into a plurality of sections by taking one degree as a unit. And forming an interval power curve in each interval by referring to a power curve method in the IEC 61400-12-1 standard, finding out an interval with an optimal power curve by comparing the power curves of the intervals, updating a yaw control strategy algorithm in the step six, and enabling the wind turbine generator to operate in the range of the optimal interval power curve as far as possible on the premise of ensuring the safety of the wind turbine generator.