风力发电机组建模与变桨距控制研究
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摘要
风力发电机组向着大型化、变速运行、变桨距调节等技术方向发展。控制技术是机组安全高效运行的关键。本文作为国家自然科学基金项目“大型变速风力发电混杂系统全工况优化运行控制策略研究”(50677021)和教育部重点项目“大型风力发电机组先进控制相关技术研究”(105049)的组成部分,展开变速变桨距风力发电机组建模与控制方面的研究。论文研究内容可根据这两个项目分为两部分,即针对教育部项目研究风力发电机组气动部分的建模和变桨距控制,针对国家自然科学基金项目研究混杂系统理论在风力发电机组建模与控制中的应用,主要研究成果如下:
1.针对已有风速建模方法的局限性,利用实测风速样本数据进行了基于高阶统计量时间序列的风速建模与仿真,不但解决了由统计学风速特性无法建立多种风速模型的问题,而且应用高阶统计量理论消除了把自然风等同于理想高斯过程带来的误差,抑制了风速样本数据中的测量噪声。与传统时间序列建模方法的仿真对比充分说明了所建模型的优越性。
2.讨论和比较了两种风轮建模的基本方法:一种是基于叶素理论的建模,另一种是基于桨叶空气动力学的机理建模。针对以上两种方法建模时遇到的问题,在前一种方法中运用权系数来分隔桨叶的叶素,而后一种方法充分考虑了尾涡流效应的影响,更加合理和精确的建立的气动模型。
3.通过分析风力机运行特性和变桨距控制要求,采用将模糊-PI与动态前馈相结合的复合控制方法进行变桨距控制。模糊控制解决了系统模型难以精确建立的困难,与PI控制复合使用提高了控制精度。将主要外扰——风速作为前馈控制量,去除了风速随机变化对系统动态控制品质的影响,也从另一方面提高了变桨距系统的快速性和抗干扰能力。利用考虑尾涡效应的机组动态模型进行仿真验证,结果表明了所提出方法的有效性与实用性。
4.通过分析风力发电系统特性,发现其呈现出混杂系统的典型特征。基于混杂自动机理论建立了风电机组的混杂动态模型,同时根据风力发电机组控制策略设计了全程混杂控制系统。仿真结果表明所建混杂模型可以实现风电机组的全程模拟,混杂控制系统能够满足风电机组全程控制的要求,证明了混杂系统理论是一种研究风力发电建模与控制的有效理论方法。
5.在分析混合逻辑动态(MLD)模型结构的基础上,运用HYSDEL描述语言实现了风力发电机组的MLD模型。引入基于MLD的模型预测控制实现了风力发电机组功率优化控制,不仅克服了工况切换时的抖动,而且付出最小控制代价。
Wind turbines develop toward the trend of large-scale,variable speed and pitch adjustable nowadays.Control is crucial to the efficiency and reliability of wind turbines. As a part of the National Science Foundation of China Project 'Research on optimizing control strategy overall operating condition for variable speed wind turbine hybrid system(50677021)' and Ministry of Education Important Project 'Research on advanced control technique for large-scale wind turbines(105049)',this thesis studies modeling and control of variable speed pitch-adjustable wind turbine generator(WTG).Thus the main contents in this dissertation are divided into two parts according to the two projects. One part researches hybrid system application in modeling and control of WTG based on the first project,the other part devotes modeling of aerodynamic device and pitch control into the second project.Primary original contributions of the thesis can be summarized as follows:
Firstly,in order to solve the problem of traditional modeling method,wind speed model is identified and emulated based on theory of higher-order statistics time series according to the actual wind speed series.Not only the problem of difficult realization of statistic wind speed model and not presenting the model of all kinds of wind is solved, but also eliminates the error caused by recognizing natural wind as Gaussian processes and the effect of measure noise.Simulations in contrast with traditional modeling method illustrate superiority of the model making use of theory of higher-order statistics.
Secondly,two basic methods of modeling wind wheel are analyzed:one is based on blade element theory;the other is based on blade aerodynamicist theory.For the problem in these two methods,the blade element is divided by using weight number in first method and the influence by trailing vortex is considered correspondingly.As a result, the wind wheel model is more reasonable and accurate.
Thirdly,through analyzing characteristics of WTG and requisitions of pitch control, a compound approach was investigated by combining dynamical feed forward and fuzzy-PI to control pitch angle.Fuzzy control can solve the problem of modeling WTG system,and PI control is introduced to promote the precision of compound control system.Wind speed,the main interference,was used as forward feed signal.So it erases the influence on control quality as a result of variable wind speed.On the other hand,it also enhances rapidity and anti-interference capability of pitch system.Utilizing the model considering trailing vortex as example,the simulation shows the effectiveness and practicability of the proposed method.
Fourthly,a fact was discovered that wind turbine system showed the typical feature of hybrid system by analyzing its characteristics.Therefore,the hybrid dynamic model of WTG was built based on theory of hybrid automata,at same time hybrid global control system was designed according to control strategy of WTG.Emulation results present the hybrid automata model can accomplish the global simulation of WTG,and the designed hybrid control system fulfills the demand of WTG global control.Moreover, hybrid system theory is demonstrated as an effective theoretical method applied in the field of the WTG's modeling and control.
Fifthly,MLD model of WTG is realized by making use of HYSDEL based on analyzing the structure of MLD model.The model predictive control based on MLD is applied to optimize power output of WTG.It not only overcomes the fluctuation at time of transition of states,but also makes system pay the minimum cost.
1.针对已有风速建模方法的局限性,利用实测风速样本数据进行了基于高阶统计量时间序列的风速建模与仿真,不但解决了由统计学风速特性无法建立多种风速模型的问题,而且应用高阶统计量理论消除了把自然风等同于理想高斯过程带来的误差,抑制了风速样本数据中的测量噪声。与传统时间序列建模方法的仿真对比充分说明了所建模型的优越性。
2.讨论和比较了两种风轮建模的基本方法:一种是基于叶素理论的建模,另一种是基于桨叶空气动力学的机理建模。针对以上两种方法建模时遇到的问题,在前一种方法中运用权系数来分隔桨叶的叶素,而后一种方法充分考虑了尾涡流效应的影响,更加合理和精确的建立的气动模型。
3.通过分析风力机运行特性和变桨距控制要求,采用将模糊-PI与动态前馈相结合的复合控制方法进行变桨距控制。模糊控制解决了系统模型难以精确建立的困难,与PI控制复合使用提高了控制精度。将主要外扰——风速作为前馈控制量,去除了风速随机变化对系统动态控制品质的影响,也从另一方面提高了变桨距系统的快速性和抗干扰能力。利用考虑尾涡效应的机组动态模型进行仿真验证,结果表明了所提出方法的有效性与实用性。
4.通过分析风力发电系统特性,发现其呈现出混杂系统的典型特征。基于混杂自动机理论建立了风电机组的混杂动态模型,同时根据风力发电机组控制策略设计了全程混杂控制系统。仿真结果表明所建混杂模型可以实现风电机组的全程模拟,混杂控制系统能够满足风电机组全程控制的要求,证明了混杂系统理论是一种研究风力发电建模与控制的有效理论方法。
5.在分析混合逻辑动态(MLD)模型结构的基础上,运用HYSDEL描述语言实现了风力发电机组的MLD模型。引入基于MLD的模型预测控制实现了风力发电机组功率优化控制,不仅克服了工况切换时的抖动,而且付出最小控制代价。
Wind turbines develop toward the trend of large-scale,variable speed and pitch adjustable nowadays.Control is crucial to the efficiency and reliability of wind turbines. As a part of the National Science Foundation of China Project 'Research on optimizing control strategy overall operating condition for variable speed wind turbine hybrid system(50677021)' and Ministry of Education Important Project 'Research on advanced control technique for large-scale wind turbines(105049)',this thesis studies modeling and control of variable speed pitch-adjustable wind turbine generator(WTG).Thus the main contents in this dissertation are divided into two parts according to the two projects. One part researches hybrid system application in modeling and control of WTG based on the first project,the other part devotes modeling of aerodynamic device and pitch control into the second project.Primary original contributions of the thesis can be summarized as follows:
Firstly,in order to solve the problem of traditional modeling method,wind speed model is identified and emulated based on theory of higher-order statistics time series according to the actual wind speed series.Not only the problem of difficult realization of statistic wind speed model and not presenting the model of all kinds of wind is solved, but also eliminates the error caused by recognizing natural wind as Gaussian processes and the effect of measure noise.Simulations in contrast with traditional modeling method illustrate superiority of the model making use of theory of higher-order statistics.
Secondly,two basic methods of modeling wind wheel are analyzed:one is based on blade element theory;the other is based on blade aerodynamicist theory.For the problem in these two methods,the blade element is divided by using weight number in first method and the influence by trailing vortex is considered correspondingly.As a result, the wind wheel model is more reasonable and accurate.
Thirdly,through analyzing characteristics of WTG and requisitions of pitch control, a compound approach was investigated by combining dynamical feed forward and fuzzy-PI to control pitch angle.Fuzzy control can solve the problem of modeling WTG system,and PI control is introduced to promote the precision of compound control system.Wind speed,the main interference,was used as forward feed signal.So it erases the influence on control quality as a result of variable wind speed.On the other hand,it also enhances rapidity and anti-interference capability of pitch system.Utilizing the model considering trailing vortex as example,the simulation shows the effectiveness and practicability of the proposed method.
Fourthly,a fact was discovered that wind turbine system showed the typical feature of hybrid system by analyzing its characteristics.Therefore,the hybrid dynamic model of WTG was built based on theory of hybrid automata,at same time hybrid global control system was designed according to control strategy of WTG.Emulation results present the hybrid automata model can accomplish the global simulation of WTG,and the designed hybrid control system fulfills the demand of WTG global control.Moreover, hybrid system theory is demonstrated as an effective theoretical method applied in the field of the WTG's modeling and control.
Fifthly,MLD model of WTG is realized by making use of HYSDEL based on analyzing the structure of MLD model.The model predictive control based on MLD is applied to optimize power output of WTG.It not only overcomes the fluctuation at time of transition of states,but also makes system pay the minimum cost.
引文
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