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] Cp [.]
30
25
20
15
10
5
0
700
800
900
1000
1100

1200
1300
电机转速 [rpm]
0.50
0.45
0.40
0.35
0.30
0.25
From: Input To: Output
-10
-5
0
10
10
10
Frequency (rad/sec)
Phase (deg)
Magnitude (dB)
200 100
0 -100 -200 -300 2160
1440
720 0
-720
-15
10
Bode Diagram Gm = 7.36 dB (at 1.13 rad/sec) , Pm = 29.8 deg (at 0.51 rad/sec) From: Collective pitch angle demand To: Collective pitch rate demand
风速 [m/s]
30
25
20
15
10
5
0 2 4 6 8 10 12 14 16 18 20 22 24 26
风速 [m/s]
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
Frequency (Hz)
9 8 7 6 5 4 3 2 1 0
0.20
0.15
0.10
0.05
0.00
2
4
6
8
10
12
14
16
尖速比 [.]
电机转矩-电机转速曲线：最优尖速比曲线 Qopt Kopt g2 功率系数-尖速比曲线：通常在零度桨距角附近选择
电功率 [kW] 桨矩角 [deg]
3500 3000 2500 2000 1500 1000 500
0 2 4 6 8 10 12 14 16 18 20 22 24 26
-8
-6
-4
-2
0
2
10
10
10
10
10
10
Frequency (rad/sec)
Amplitude
0.1 0.05
0 -0.05
-0.1 -0.15
0
Step Response From: Collective w ind speed To: Nacelle x-deflection
5
10
15
20
20
25
30
Time (sec)
Phase (deg)
Magnitude (dB)
100 0
-100 -200 -300 -400 -500 720
0 -720 -1440 -2160 -2880
-10
10
Bode Diagram Gm = 7.29 dB (at 1.13 rad/sec) , Pm = 29.7 deg (at 0.51 rad/sec) From: Collective pitch angle demand To: Collective pitch rate demand
-10
-5
0
10
10
10
Frequency (rad/sec)
Amplitude
0.14 0.12
0.1 0.08 0.06 0.04 0.02
0 -0.02
0
Step Response From: Collective w ind speed To: Blade 1 pitch angle
5
10
15
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H 控制方法 模糊逻辑控制器 神经网络方法 LPV(Linear Parameter-varying)控制器
D
u
x
B+
∫
x
+
C+
y
+
A
u: 输入。(wind speed, Pitch demand, Torque demand)
15
20
25
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)。
25
30
Time (sec)
Amplitude
Step response: Generator torque demand to Gearbox torque
From: generator torque demand To: Gearbox torque 140
120
100
80
60
40
20
0
0
5
10
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。
Phase (deg)
Magnitude (dB)
100
0
-100
-200
-300
-400 360
0 -360 -720 -1080 -1440
-15
10
Bode Diagram Gm = 3.42 dB (at 10.2 rad/sec) , Pm = 25 deg (at 10.1 rad/sec)
10
Campbell Diagram
12
14
16
Rotor speed (rpm)
15P
12P
9P
6P 5P 4P 3P 2P 1P 18
Tower side-side mode 1 Tower fore-aft mode 1 Rotor out of plane mode 1 Rotor out of plane mode 3 Rotor out of plane mode 2 Rotor in plane mode 1 Generator rotation Rotor in plane mode 2 Rotor out of plane mode 6 Rotor out of plane mode 4 Rotor out of plane mode 5 Tower side-side mode 2 Tower fore-aft mode 2 Rotor in plane mode 3 Rotor in plane mode 4 Rotor in plane mode 5 Tower side-side mode 3 Tower fore-aft mode 3