风力发电机组的控制器设计

1、邵志政2012.12.18双馈风力机组稳态曲线双馈风力机组模态分析模型的线性化控制闭环(loop)仿真计算电机转矩 kN m 电机转速 rpm 0510152025307008009001000110012001300C p . 尖速比 . 0. 000. 050. 100. 150. 200. 250. 300. 350. 400. 450. 50246810121416电机转矩-电机转速曲线：最优尖速比曲线功率系数-尖速比曲线：通常在零度桨距角附近选择2goptoptKQ电功率 kW 风速 m / s050010001500200025003000350024681012141618202

2、22426桨矩角 deg风速 m / s0510152025302468101214161820222426高于额定风速时，通过桨距角的控制提高功率输出的稳定性 桨距角对于功率的调节是非线性的，可以使用变增益实现控制10121416180123456789Rotor speed (rpm)Frequency (Hz)Campbell Diagram1P2P3P4P5P6P9P12P15PTower side-side mode 1Tower fore-aft mode 1Rotor out of plane mode 1Rotor out of plane mode 3Rotor out of

3、 plane mode 2Rotor in plane mode 1Generator rotationRotor in plane mode 2Rotor out of plane mode 6Rotor out of plane mode 4Rotor out of plane mode 5Tower side-side mode 2Tower fore-aft mode 2Rotor in plane mode 3Rotor in plane mode 4Rotor in plane mode 5Tower side-side mode 3Tower fore-aft mode 3PI或

4、PID控制算法，结合各种串联或并联的滤波器，设计复杂的高阶控制器自校正控制器LQG最优化反馈和 控制方法模糊逻辑控制器神经网络方法LPV(Linear Parameter-varying)控制器Hx xyuu: 输入。(wind speed, Pitch demand, Torque demand)x: 状态。(风机动态: Tower modes, Rotor modes, Blade actuator modes)y: 输出。(Gen speed, Gearbox torque, Nacelle motion)A,B,C,D: 传递矩阵。开环频率响应：增益裕度(几分贝)和相角裕度(45度)。

5、穿越频率：控制器响应。闭环系统的极点位置：调整各种谐振的阻尼。闭环阶跃响应：超调和振荡。闭环系统的频率特性。-400-300-200-1000100From: Input To: OutputMagnitude (dB)10-1510-1010-5100-1440-1080-720-3600360Phase (deg)Bode DiagramGm = 3.42 dB (at 10.2 rad/sec) , Pm = 25 deg (at 10.1 rad/sec)Frequency (rad/sec)-300-200-1000100200From: Collective pitch angle

6、 demand To: Collective pitch rate demandMagnitude (dB)10-1510-1010-5100-720072014402160Phase (deg)Bode DiagramGm = 7.36 dB (at 1.13 rad/sec) , Pm = 29.8 deg (at 0.51 rad/sec)Frequency (rad/sec)051015202530-0.0200.020.040.060.080.10.120.14From: Collective wind speed To: Blade 1 pitch angleStep Respon

7、seTime (sec)Amplitude-500-400-300-200-1000100From: Collective pitch angle demand To: Collective pitch rate demandMagnitude (dB)10-1010-810-610-410-2100102-2880-2160-1440-7200720Phase (deg)Bode DiagramGm = 7.29 dB (at 1.13 rad/sec) , Pm = 29.7 deg (at 0.51 rad/sec)Frequency (rad/sec)051015202530-0.15

8、-0.1-0.0500.050.1From: Collective wind speed To: Nacelle x-deflectionStep ResponseTime (sec)Amplitude051015202530020406080100120140From: generator torque demand To: Gearbox torqueStep response: Generator torque demand to Gearbox torqueTime (sec)Amplitude-40-20020406080From: generator torque demand T

9、o: Gearbox torqueMagnitude (dB)10-410-310-210-1100101102103-270-180-90090180Phase (deg)Bode DiagramFrequency (rad/sec)f : w ork shaozz ext ern cont rol l er f or proj ect runs t urbul enceR un pow prod 05 1. 5m wszzR un pow prod 05 1. 5m worgEl ect ri cal pow er kW Ti m e s05010015020025030035001020

10、30405060708090100f : w ork shaozz ext ern cont rol l er f or proj ect runs t urbul enceR un pow prod 05 1. 5m wszzR un pow prod 05 1. 5m worgG earbox t orque M N m Ti m e s0. 000. 050. 100. 150. 200. 250. 300. 3501020304050607080901005m/s正常湍流的计算结果f : w ork shaozz ext ern cont rol l er f or proj ect

11、runs t urbul enceR un pow prod 05 1. 5m wszzR un pow prod 05 1. 5m worgBl ade 1 pi t ch angl e degTi m e s-0. 2-0. 4-0. 6-0. 8-1. 00. 00. 20. 40. 60. 81. 00100200300400500600f : w ork shaozz ext ern cont rol l er f or proj ect runs t urbul enceR un pow prod 12 1. 5m wszzR un pow prod 12 1. 5m worgEl

12、 ect ri cal pow er kW Ti m e s600800100012001400160018000100200300400500600f : w ork shaozz ext ern cont rol l er f or proj ect runs t urbul enceR un pow prod 12 1. 5m wszzR un pow prod 12 1. 5m worgBl ade 1 pi t ch angl e degTi m e s02468101214160100200300400500600f : w ork shaozz ext ern cont rol

13、l er f or proj ect runs t urbul enceR un pow prod 12 1. 5m wszzR un pow prod 12 1. 5m worgG earbox t orque M N m Ti m e s0. 30. 40. 50. 60. 70. 80. 91. 01. 11. 205010015020025030012m/s正常湍流的计算结果f : w ork shaozz ext ern cont rol l er f or proj ect runs t urbul enceR un pow prod 20 1. 5m wszzR un pow prod 20 1. 5m worgEl ect ri cal pow er kW Ti m e s11001200130014001500160017000100200300400500600f : w ork shaozz ext ern cont rol l er f or proj ect runs t urbul enceR un pow prod 20 1. 5m wszzR un pow prod 20 1. 5m worgBl ade 1 pi t ch angl e degTi m e s0510152025300100200300400500600f : w