CN-121993344-A - Floating wind turbine control method, device, computer equipment and medium based on collective and independent variable pitch

CN121993344ACN 121993344 ACN121993344 ACN 121993344ACN-121993344-A

Abstract

The embodiment of the invention provides a control method, a device, computer equipment and a medium of a floating wind turbine based on collective and independent pitching, wherein the method comprises the following steps of acquiring an actual pitch angle and an actual incoming wind speed from a sensor, calculating proportional gain and integral factors of a proportional-integral controller in real time according to the set high-sensitivity position pitch angle, the actual pitch angle and the actual incoming wind speed, inputting the proportional gain and the integral factors into the proportional-integral controller, performing collective pitching control on all blades of the floating wind turbine based on a pitch angle adjustment amount, constructing a fixed proportional-integral controller based on the proportional-integral controller, and performing independent pitching control on single blades of the floating wind turbine by utilizing the fixed proportional-integral controller through an actual moment value of a blade root of the floating wind turbine and the actual incoming wind speed. The control effect of the floating wind turbine control system of the wave wind-solar energy storage power generation system is effectively improved.

Inventors

LIU QIAN
ZHONG XIAOHUI
BAI JINGYAN
SUN XIANGYU
SONG JUANJUAN
LI QINGAN

Assignees

中国科学院工程热物理研究所

Dates

Publication Date: 20260508
Application Date: 20251211

Claims (10)

1. A control method of a floating wind turbine based on collective and independent pitch is characterized by comprising the following steps: obtaining actual pitch angle from sensor And the actual incoming wind speed, constructing a variable proportion-integral controller according to the set high-sensitivity position pitch angle Said actual pitch angle And the actual incoming wind speed, calculating the proportional gain of the variable proportional-integral controller in real time And integral factor ; Gain the ratio And the integral factor Inputting the pitch angle adjustment quantity to the variable proportion-integral controller, outputting the pitch angle adjustment quantity through the variable proportion-integral controller, and performing collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment quantity; And constructing a fixed proportional-integral controller based on the variable proportional-integral controller, and independently controlling the pitch of a single blade of the floating wind turbine by utilizing the fixed proportional-integral controller through the actual moment value of the blade root of the floating wind turbine and the actual incoming wind speed.
2. A method of controlling a floating wind turbine based on collective and independent pitch as defined in claim 1, wherein the pitch angle is adjusted according to the set high sensitivity position Said actual pitch angle And the actual incoming wind speed, calculating the proportional gain of the variable proportional-integral controller in real time And integral factor Comprising: Setting a high sensitivity position pitch angle According to the high sensitivity position pitch angle And the actual pitch angle Calculating to obtain dimensionless gain related to pitch angle ; Correcting the actual incoming flow wind speed to generate corrected incoming flow wind speed According to the corrected subsequent wind speed Acquiring real-time pneumatic sensitivity of wind turbine ; By the dimensionless gain Pneumatic sensitivity Calculating to obtain proportional gain And integral factor , wherein, GK, GK, wherein, In order to achieve a proportional gain, As an integral factor of the number of points, Is a gain factor of a proportion of the gain, Is the moment of inertia at the low-speed end, Is the rated rotating speed of the low-speed end, In order to achieve a damping ratio, Is inherent in the frequency of the frequency band is set to be, In order for the speed ratio to be the same, Is an integral factor coefficient.
3. A method of controlling a floating wind turbine based on collective and independent pitching as claimed in claim 2, wherein the actual incoming wind speed is corrected to produce a corrected incoming wind speed According to the corrected subsequent wind speed Acquiring real-time pneumatic sensitivity of wind turbine Comprising: By pitch angular velocity And tower height Calculating to obtain pitching data corrected wind speed of wind turbine in incoming flow wind speed direction Wind speed is corrected through wind turbine pitching data in incoming wind speed direction Wind turbine pitch data correction wind speed For actual incoming flow wind speed Correcting to generate corrected subsequent wind speed , wherein, ; Judging corrected subsequent flow wind speed The method comprises the steps of determining a pneumatic sensitivity zone according to a wind speed zone; Obtaining the minimum wind speed of the wind speed partition Maximum wind speed of the wind speed partition Minimum aerodynamic sensitivity of the aerodynamic sensitivity zone And maximum aerodynamic sensitivity of the aerodynamic sensitivity zone ; Through the minimum wind speed Said maximum wind speed Said minimum pneumatic sensitivity And said maximum aerodynamic sensitivity Calculating to obtain real-time pneumatic sensitivity 。
4. A method of controlling a floating wind turbine based on collective and independent pitching as claimed in claim 3, wherein the minimum wind speed is passed through Said maximum wind speed Said minimum pneumatic sensitivity And said maximum aerodynamic sensitivity Calculating to obtain real-time pneumatic sensitivity Comprising: setting the minimum wind speed To be transmitted to A memory for storing the maximum wind speed To be transmitted to A memory for storing the minimum aerodynamic sensitivity To be transmitted to A memory for storing the maximum aerodynamic sensitivity To be transmitted to A memory; By using the said Memory, the Memory, the Memory and the described The memory calculates to obtain the real-time pneumatic sensitivity , wherein, To correct for the subsequent wind speed.
5. A method of controlling a floating wind turbine based on collective and independent pitching as defined in claim 3, wherein the corrected post-flow wind speed is determined The wind speed partition comprises: based on the sensitivity table of the pneumatic power to the change of the pitch angle, correcting the wind speed of the subsequent flow according to the method Inquiring to obtain the corrected subsequent flow wind speed And the corresponding wind speed partitions, wherein the sensitivity table is used for representing the corresponding relation between the wind speed interval and the pneumatic sensitivity interval.
6. A method of controlling a floating wind turbine based on collective and independent pitching as claimed in claim 1, wherein said proportional gain is adjusted to And the integral factor Input to the variable proportional-integral controller through which a pitch angle adjustment is output, comprising: calculating a wind speed difference value between the set rated wind speed and the actual incoming wind speed; when the wind speed difference value is between the positive amplitude limit and the negative amplitude limit of the fixed proportional-integral controller, starting an integral regulator; when the wind speed difference value is equal to the proportional gain At the same time, starting an enabling adder of the integral regulator, and outputting the accumulated integral quantity of the enabling EN1 as an output value through an MOV1 channel; if the wind speed difference value is equal to the proportional gain When the sign is different, an enabling subtracter of the integral regulator is started, the accumulated integral quantity of the enable EN2 is taken as an output value to be output through an MOV2 channel, and the output value is transmitted to An input end; When the absolute value of the wind speed difference value is smaller than a set first limiting limit, stabilizing the wind speed difference value within the first limiting limit through delay processing, starting an enabling transmitter, and calculating the accumulated integral quantity to enable the output value of the MOV1 channel or the MOV2 channel to be stored to a stored value IMV; When the absolute value of the wind speed difference value is larger than a set second limiting limit, the stored value IMV is transmitted to the input ends of the enabling adder and the enabling subtracter through an MOV channel; Transmitting the accumulated integration amounts output by the MOV1 channel and the MOV2 channel to the input end of the enabling adder or the enabling subtracter through the MOV channel when the absolute value of the wind speed difference value is smaller than a set second limiting limit; the wind speed difference value and the proportional gain And taking the sum of the proportional adjustment quantity and the accumulated integral quantity of the wind speed as a pitch angle adjustment quantity.
7. A method of controlling a floating wind turbine based on collective and independent pitching as claimed in any one of claims 1 to 6, wherein a fixed proportional-integral controller is built based on the variable proportional-integral controller, whereby individual blades of the floating wind turbine are independently pitching controlled by means of the actual moment value of the blade root of the floating wind turbine and the actual incoming wind speed, comprising: Constructing a fixed proportional-integral controller comprising an outer loop controller and an inner loop controller, wherein the outer loop controller is the variable proportional-integral controller; The inner ring controller takes the deviation of the torque average value at each blade root of the floating wind turbine and the actual torque value at the current blade root as an independent variable pitch given value, and independent variable pitch control is carried out on a single blade of the floating wind turbine through the independent variable pitch given value; And the outer ring controller takes the rated wind speed of the wind turbine as a set value of collective pitch, takes the actual incoming wind speed as a actual value of collective pitch, and performs collective pitch control on all blades of the floating wind turbine.
8. A control device for a floating wind turbine based on collective and independent pitching, comprising: a controller parameter determining module for obtaining the actual pitch angle from the sensor And the actual incoming wind speed, constructing a variable proportion-integral controller according to the set high-sensitivity position pitch angle Said actual pitch angle And the actual incoming wind speed, calculating the proportional gain of the variable proportional-integral controller in real time And integral factor ; A collective pitch control module for controlling the proportional gain And the integral factor Inputting the pitch angle adjustment quantity to the variable proportion-integral controller, outputting the pitch angle adjustment quantity through the variable proportion-integral controller, and performing collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment quantity; And the independent pitch control module is used for constructing a fixed proportional-integral controller based on the variable proportional-integral controller, and independently pitch controlling the single blade of the floating wind turbine through the actual moment value of the blade root of the floating wind turbine and the actual incoming wind speed by utilizing the fixed proportional-integral controller.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of controlling a collective and independent pitch based floating wind turbine according to any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium, characterized in that it stores a computer program for executing the control method of a collective and independent pitch-based floating wind turbine according to any of claims 1 to 7.

Description

Floating wind turbine control method, device, computer equipment and medium based on collective and independent variable pitch Technical Field The invention relates to the technical field of wave wind-solar energy storage comprehensive energy power generation, in particular to a control method, a control device, computer equipment and a medium of a floating wind turbine based on collective and independent variable pitch. Background Along with the growth of global population, the transformation of energy structures and the increase of requirements for sustainable energy are carried out, and ocean energy is taken as an important component of a renewable energy system, so that the method has the characteristics of wide resource distribution, predictable energy characteristics, flexible load center setting, multiple application scenes and the like. The ocean energy development has strategic significance for relieving the electricity utilization structure of coastal areas and ensuring the energy demands of ocean defense and the like. Offshore wave energy, wind energy and solar energy are main focuses of attention for ocean energy development, current wind energy and wave energy combined power generation is still in a prototype or test operation stage, and is influenced by economy, and large-scale industrialized popularization is difficult to realize at present. In order to realize wind-wave-flow multisource excitation multi-energy complementation in a marine environment, stable operation and efficient power generation are provided, and the development of a wave energy-base-unit-photovoltaic panel coordination control technology aiming at a wave wind-light energy storage source system in a deep sea area is urgent. Wave energy power generation device is designed at the bottom end of the platform, wave energy is absorbed to generate power while vibration of the platform is restrained, and a photovoltaic panel is designed at the top end of the platform, so that solar power generation and energy complementation are realized. The floating type offshore wind turbine of the wave wind and light energy storage source system is different from the operation condition of the traditional floating type offshore wind turbine, so that a need exists for ensuring stable operation of the system and efficient power generation, and an operation optimization control strategy for the wave wind and light energy storage floating type offshore wind turbine needs to be developed. Disclosure of Invention In view of the above, the embodiment of the invention provides a control method of a floating wind turbine based on collective and independent pitch control, which aims to solve the technical problems of unstable floating wind turbine system and low power generation efficiency in the prior art. The method comprises the following steps: obtaining actual pitch angle from sensor And the actual incoming wind speed, constructing a variable proportion-integral controller according to the set high-sensitivity position pitch angleSaid actual pitch angleAnd the actual incoming wind speed, calculating the proportional gain of the variable proportional-integral controller in real timeAnd integral factor; Gain the ratioAnd the integral factorInputting the pitch angle adjustment quantity to the variable proportion-integral controller, outputting the pitch angle adjustment quantity through the variable proportion-integral controller, and performing collective pitch control on all blades of the floating wind turbine based on the pitch angle adjustment quantity; And constructing a fixed proportional-integral controller based on the variable proportional-integral controller, and independently controlling the pitch of a single blade of the floating wind turbine by utilizing the fixed proportional-integral controller through the actual moment value of the blade root of the floating wind turbine and the actual incoming wind speed. The embodiment of the invention also provides a control device of the floating wind turbine based on collective and independent pitch control, which solves the technical problems of unstable floating wind turbine system and low power generation efficiency in the prior art. The device comprises: a controller parameter determining module for obtaining the actual pitch angle from the sensor And the actual incoming wind speed, constructing a variable proportion-integral controller according to the set high-sensitivity position pitch angleSaid actual pitch angleAnd the actual incoming wind speed, calculating the proportional gain of the variable proportional-integral controller in real timeAnd integral factor; A collective pitch control module for controlling the proportional gainAnd the integral factorInputting the pitch angle adjustment quantity to the variable proportion-integral controller, outputting the pitch angle adjustment quantity through the variable proportion-integral controller, and performing collective pitch control on all