大型变桨距直驱式风电机组系统建模与控制策略研究
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摘要
直驱式风电机组由于在运转过程中没有高速旋转部件,省去了主轴上增速齿轮箱等高故障部件,可靠性大大增加,因而成为风电技术领域的重要研究方向和热点,近年来得到快速发展。但是,作为世界上的风能大国,我国尚不完全具备独立开发大型直驱式风电机组的能力,设计、控制部分关键技术仍然依赖国外,因而需要开展系统深入的理论和应用研究。本文围绕大型变桨距直驱式风电机组展开系统建模与变桨距控制等技术研究,旨在掌握关键理论、方法和技术,为风电机组设计与控制提供理论依据。
本文主要研究内容和成果包括：
进行了大型风电机组气动分析理论与方法研究,构建了基于BEM修正理论和动态失速模型的气动分析模型。该模型以叶素—动量理论作为大型风电机组气动分析理论,采用Prandtl和Buhl等方式进行了修正；考虑到动态失速对翼型气动性能的影响,提出了一种基于B-L模型的动态失速半经验模型。通过联合BEM修正理论与动态失速半经验模型,得到了一种大型风电机组气动分析模型与算法。
进行了大型风电机组载荷计算与分析研究,构建了载荷计算模型,主要包括气动载荷、离心力载荷和重力载荷计算模型等。对大型风电机组坐标系进行了定义,推导了不同坐标系之间的变换矩阵；基于前述气动分析理论,建立了大型风电机组气动载荷计算模型；提出了风电机组离心力载荷和重力载荷计算模型,详细推导了气动力、离心力和重力引起的摆振、挥舞和变桨距载荷等计算方法。
进行了大型变桨距直驱式风电机组能量流系统建模与分析研究,提出了一种能量传递主系统建模方法。该方法采用4层BP神经网络建立风轮气动特性快速计算模型,在此基础上,将风轮模型与风轮—发电机动力学耦合模型、永磁同步发电机模型、AC-DC-AC变流器电气模型和控制模型进行集成,从而构建出大型直驱式风电机组能量传递主系统“风轮—发电机—变流器—电网”的完整模型。基于构建的集成模型,进行了直驱式风电机组动态运行特性研究。
进行了大型风电机组电动独立变桨距机构动力学建模与控制分析。建立了包括驱动电机电磁转矩方程、机电运动方程、传动轴和三级行星轮运动方程在内的变桨距系统非线性动力学方程。变桨距机构伺服控制以感应电机转子磁场定向矢量控制为基础,采取定子电流、转速和位置反馈三闭环结构。然后,对减速器—叶片子系统以及驱动电机—减速器—叶片系统动力特性和伺服控制特性等进行了分析。
进行了大型直驱式风电机组系统变桨距控制研究。通过对风电机组变桨距系统进行分析,选取功率、疲劳载荷为目标,推导了相应表达式。分析了基于统一变桨距的大型直驱式风电机组功率控制策略和基于独立变桨距的功率、载荷联合控制策略,建立了系统数值仿真模型,模型包含了前述气动、载荷、能量流和变桨距机构等模块。最后,通过建立的数值仿真模型,对大型直驱式风电机组变桨距控制动态特性进行了分析。
Direct-driven permanent-magnet synchronous generator (PMSG) wind turbines have higher reliability since the high speed rotating parts have been removed. Thus the research of direct-driven PMSG wind turbines has become a hotspot and has obtained fast development for the past few years. However, as the top wind power producing country in the world, China has not complete ability to research, design and develop large scale direct-driven PMSG wind turbines; some design and operation key technologies still depend on import. It is necessary to carry out systematic and deep study on direct-driven PMSG wind turbines. In this thesis, some key theories and technologies about direct-driven PMSG wind turbines, such as system model and pitch control, are studied, which is helpful for optimization design and control for large scale direct-direct PMSG wind turbines. The main research contents and achievements are as follows.
The aerodynamic analysis theory and method are studied and an aerodynamic analysis model is constructed based on the blade element momentum (BEM) theory and dynamic stall (DS) model. In this model, the blade element momentum theory is employed as the aerodynamic analysis theory and some corrections, such as Prandtl and Buhl models, are carried out. Considering the influence of dynamic stall on the aerodynamic performance of airfoils, a new modified DS semiempirical model is proposed based on the B-L semiempirical dynamic stall model. Then, by combing BEM modified theory with DS semiempirical model, an aerodynamic analysis model and method for large scale wind turbines is constructed.
The researches on loads calculation and analysis are carried out and loads calculation models including aerodynamic, centrifugal and gravity loads are established. A set of coordinate systems is established to describe large scale wind turbines and the coordinate transformation matrixes are deduced. Based on the above aerodynamic theories, the calculation model of aerodynamic loads for large scale wind turbines is constructed. Then the centrifugal and gravity loads calculation models for large scale wind turbines are proposed; the expressions on edgewise moment, flapwise moment, pitch moment, edgewise force and flapwise force, etc., are deduced in detail.
The main energy flow system of large scale direct-driven wind turbines is researched; a new modelling method of main energy flow system is presented. The wind-rotor back propagation neural network (BPNN) is proposed which consists of a four-layer network and is used to describe the wind-rotor aerodynamic characteristics. Then, the coupling dynamic model of the wind-rotor and PMSG, AC-DC-AC converter model is established, respectively; the control strategies for the generator-side converter and grid-side converter are constructed, too. The mechanical model, electric model and control model are integrated into the whole simulation model, and the numerical simulation is carried out.
Model and control of the individual pitch drive system of large scale wind turbines are studied. The nonlinear dynamical equations, including electromagnetic torque equation, electromechanical motion equation, drive shaft and planetary gear motion equations are built. A servo control structure is presented, in which rotor flux field-oriented vector control and three close-loop servo control with current, speed and position feedback are employed. Then, the response characteristics and servo control properties of the individual pitch drive system are analyzed.
The pitch control for large scale directly-driven wind turbines with permanent magnet synchronous generator is studied. By analysing the pivotal pitch control targets, power and fatigue loads are selected as the control targets and the corresponding expressions are deduced. In succession, the power control strategy based on the collective pitch control (CPC) is constructed; the power and loads joint control strategy are constructed which is based on the individual pitch control (IPC), too. Then the system simulation model is established in which the aforementioned aerodynamics, loads, energy flow and pitch drive models are included. Based on the simulation model the pitch control simulation is carried out and the pitch control dynamic characteristics of different control strategies are obtained.
本文主要研究内容和成果包括：
进行了大型风电机组气动分析理论与方法研究,构建了基于BEM修正理论和动态失速模型的气动分析模型。该模型以叶素—动量理论作为大型风电机组气动分析理论,采用Prandtl和Buhl等方式进行了修正；考虑到动态失速对翼型气动性能的影响,提出了一种基于B-L模型的动态失速半经验模型。通过联合BEM修正理论与动态失速半经验模型,得到了一种大型风电机组气动分析模型与算法。
进行了大型风电机组载荷计算与分析研究,构建了载荷计算模型,主要包括气动载荷、离心力载荷和重力载荷计算模型等。对大型风电机组坐标系进行了定义,推导了不同坐标系之间的变换矩阵；基于前述气动分析理论,建立了大型风电机组气动载荷计算模型；提出了风电机组离心力载荷和重力载荷计算模型,详细推导了气动力、离心力和重力引起的摆振、挥舞和变桨距载荷等计算方法。
进行了大型变桨距直驱式风电机组能量流系统建模与分析研究,提出了一种能量传递主系统建模方法。该方法采用4层BP神经网络建立风轮气动特性快速计算模型,在此基础上,将风轮模型与风轮—发电机动力学耦合模型、永磁同步发电机模型、AC-DC-AC变流器电气模型和控制模型进行集成,从而构建出大型直驱式风电机组能量传递主系统“风轮—发电机—变流器—电网”的完整模型。基于构建的集成模型,进行了直驱式风电机组动态运行特性研究。
进行了大型风电机组电动独立变桨距机构动力学建模与控制分析。建立了包括驱动电机电磁转矩方程、机电运动方程、传动轴和三级行星轮运动方程在内的变桨距系统非线性动力学方程。变桨距机构伺服控制以感应电机转子磁场定向矢量控制为基础,采取定子电流、转速和位置反馈三闭环结构。然后,对减速器—叶片子系统以及驱动电机—减速器—叶片系统动力特性和伺服控制特性等进行了分析。
进行了大型直驱式风电机组系统变桨距控制研究。通过对风电机组变桨距系统进行分析,选取功率、疲劳载荷为目标,推导了相应表达式。分析了基于统一变桨距的大型直驱式风电机组功率控制策略和基于独立变桨距的功率、载荷联合控制策略,建立了系统数值仿真模型,模型包含了前述气动、载荷、能量流和变桨距机构等模块。最后,通过建立的数值仿真模型,对大型直驱式风电机组变桨距控制动态特性进行了分析。
Direct-driven permanent-magnet synchronous generator (PMSG) wind turbines have higher reliability since the high speed rotating parts have been removed. Thus the research of direct-driven PMSG wind turbines has become a hotspot and has obtained fast development for the past few years. However, as the top wind power producing country in the world, China has not complete ability to research, design and develop large scale direct-driven PMSG wind turbines; some design and operation key technologies still depend on import. It is necessary to carry out systematic and deep study on direct-driven PMSG wind turbines. In this thesis, some key theories and technologies about direct-driven PMSG wind turbines, such as system model and pitch control, are studied, which is helpful for optimization design and control for large scale direct-direct PMSG wind turbines. The main research contents and achievements are as follows.
The aerodynamic analysis theory and method are studied and an aerodynamic analysis model is constructed based on the blade element momentum (BEM) theory and dynamic stall (DS) model. In this model, the blade element momentum theory is employed as the aerodynamic analysis theory and some corrections, such as Prandtl and Buhl models, are carried out. Considering the influence of dynamic stall on the aerodynamic performance of airfoils, a new modified DS semiempirical model is proposed based on the B-L semiempirical dynamic stall model. Then, by combing BEM modified theory with DS semiempirical model, an aerodynamic analysis model and method for large scale wind turbines is constructed.
The researches on loads calculation and analysis are carried out and loads calculation models including aerodynamic, centrifugal and gravity loads are established. A set of coordinate systems is established to describe large scale wind turbines and the coordinate transformation matrixes are deduced. Based on the above aerodynamic theories, the calculation model of aerodynamic loads for large scale wind turbines is constructed. Then the centrifugal and gravity loads calculation models for large scale wind turbines are proposed; the expressions on edgewise moment, flapwise moment, pitch moment, edgewise force and flapwise force, etc., are deduced in detail.
The main energy flow system of large scale direct-driven wind turbines is researched; a new modelling method of main energy flow system is presented. The wind-rotor back propagation neural network (BPNN) is proposed which consists of a four-layer network and is used to describe the wind-rotor aerodynamic characteristics. Then, the coupling dynamic model of the wind-rotor and PMSG, AC-DC-AC converter model is established, respectively; the control strategies for the generator-side converter and grid-side converter are constructed, too. The mechanical model, electric model and control model are integrated into the whole simulation model, and the numerical simulation is carried out.
Model and control of the individual pitch drive system of large scale wind turbines are studied. The nonlinear dynamical equations, including electromagnetic torque equation, electromechanical motion equation, drive shaft and planetary gear motion equations are built. A servo control structure is presented, in which rotor flux field-oriented vector control and three close-loop servo control with current, speed and position feedback are employed. Then, the response characteristics and servo control properties of the individual pitch drive system are analyzed.
The pitch control for large scale directly-driven wind turbines with permanent magnet synchronous generator is studied. By analysing the pivotal pitch control targets, power and fatigue loads are selected as the control targets and the corresponding expressions are deduced. In succession, the power control strategy based on the collective pitch control (CPC) is constructed; the power and loads joint control strategy are constructed which is based on the individual pitch control (IPC), too. Then the system simulation model is established in which the aforementioned aerodynamics, loads, energy flow and pitch drive models are included. Based on the simulation model the pitch control simulation is carried out and the pitch control dynamic characteristics of different control strategies are obtained.
引文
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