风力发电机组的控制器设计分解

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[kNm]电机转速[rpm]0510152025307008009001000110012001300Cp[.]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/s]05001000150020002500300035002468101214161820222426桨矩角[deg]风速[m/s]0510152025302468101214161820222426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10121416180123456789Rotorspeed(rpm)Frequency(Hz)CampbellDiagram1P2P3P4P5P6P9P12P15PTowerside-sidemode1Towerfore-aftmode1Rotoroutofplanemode1Rotoroutofplanemode3Rotoroutofplanemode2Rotorinplanemode1GeneratorrotationRotorinplanemode2Rotoroutofplanemode6Rotoroutofplanemode4Rotoroutofplanemode5Towerside-sidemode2Towerfore-aftmode2Rotorinplanemode3Rotorinplanemode4Rotorinplanemode5Towerside-sidemode3Towerfore-aftmode3PI或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(LinearParameter-varying)控制器HB∫CDA++++xxyuu:输入。(windspeed,Pitchdemand,Torquedemand)x:状态。(风机动态:Towermodes,Rotormodes,Bladeactuatormodes…)y:输出。(Genspeed,Gearboxtorque,Nacellemotion…)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)。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:InputTo:OutputMagnitude(dB)10-1510-1010-5100-1440-1080-720-3600360Phase(deg)BodeDiagramGm=3.42dB(at10.2rad/sec),Pm=25deg(at10.1rad/sec)Frequency(rad/sec)-300-200-1000100200From:CollectivepitchangledemandTo:CollectivepitchratedemandMagnitude(dB)10-1510-1010-5100-720072014402160Phase(deg)BodeDiagramGm=7.36dB(at1.13rad/sec),Pm=29.8deg(at0.51rad/sec)Frequency(rad/sec)051015202530-0.0200.020.040.060.080.10.120.14From:CollectivewindspeedTo:Blade1pitchangleStepResponseTime(sec)Amplitude-500-400-300-200-1000100From:CollectivepitchangledemandTo:CollectivepitchratedemandMagnitude(dB)10-1010-810-610-410-2100102-2880-2160-1440-7200720Phase(deg)BodeDiagramGm=7.29dB(at1.13rad/sec),Pm=29.7deg(at0.51rad/sec)Frequency(rad/sec)051015202530-0.15-0.1-0.0500.050.1From:CollectivewindspeedTo:Nacellex-deflectionStepResponseTime(sec)Amplitude051015202530020406080100120140From:generatortorquedemandTo:GearboxtorqueStepresponse:GeneratortorquedemandtoGearboxtorqueTime(sec)Amplitude-40-20020406080From:generatortorquedemandTo:GearboxtorqueMagnitude(dB)10-410-310-210-1100101102103-270-180-90090180Phase(deg)BodeDiagramFrequency(rad/sec)f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod051.5mwszz'Run'powprod051.5mworg'Electricalpower[kW]Time[s]0501001502002503003500102030405060708090100f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod051.5mwszz'Run'powprod051.5mworg'Gearboxtorque[MNm]Time[s]0.000.050.100.150.200.250.300.3501020304050607080901005m/s正常湍流的计算结果f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod051.5mwszz'Run'powprod051.5mworg'Blade1pitchangle[deg]Time[s]-0.2-0.4-0.6-0.8-1.00.00.20.40.60.81.00100200300400500600f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod121.5mwszz'Run'powprod121.5mworg'Electricalpower[kW]Time[s]600800100012001400160018000100200300400500600f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod121.5mwszz'Run'powprod121.5mworg'Blade1pitchangle[deg]Time[s]02468101214160100200300400500600f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod121.5mwszz'Run'powprod121.5mworg'Gearboxtorque[MNm]Time[s]0.30.40.50.60.70.80.91.01.11.205010015020025030012m/s正常湍流的计算结果f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod201.5mwszz'Run'powprod201.5mworg'Electricalpower[kW]Time[s]11001200130014001500160017000100200300400500600f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod201.5mwszz'Run'powprod201.5mworg'Blade1pitchangle[deg]Time[s]0510152025300100200300400500600f:\workshaozz\externcontrollerforproject\runs\turbulenceRun'powprod201.5mwszz'Run'powprod201.5mworg'Gearboxtorque[MNm]Time[s]0.60.70.80.91.01.11.21.31.405010015020025030020m/s正常湍流的计算结果谢谢！