CN113958464B - Blade clearance safety control method based on millimeter radar wave measurement - Google Patents

Blade clearance safety control method based on millimeter radar wave measurement Download PDF

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Publication number
CN113958464B
CN113958464B CN202111269506.9A CN202111269506A CN113958464B CN 113958464 B CN113958464 B CN 113958464B CN 202111269506 A CN202111269506 A CN 202111269506A CN 113958464 B CN113958464 B CN 113958464B
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China
Prior art keywords
clearance
blade
value
rotation speed
rotating speed
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CN202111269506.9A
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CN113958464A (en
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廖雪松
邓雨
何其峰
陈寒露
孙军
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CSIC Haizhuang Windpower Co Ltd
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CSIC Haizhuang Windpower Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0264—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0276—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/84—Modelling or simulation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/33—Proximity of blade to tower
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/40—Type of control system
    • F05B2270/404—Type of control system active, predictive, or anticipative
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/805—Radars
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Wind Motors (AREA)

Abstract

The invention provides a blade clearance safety control method based on millimeter radar wave measurement, which comprises the steps of establishing a device based on millimeter radar wave clearance monitoring, and acquiring a radar reflection wave frequency spectrogram in a region according to a signal acquired by a radar; finding a radar reflection point closest to the tower barrel based on a radar reflection wave frequency spectrogram; and measuring according to the tower information to obtain the actual distance value between the radar reflection point and the tower. The control method comprises the steps of monitoring the clearance values of all the blades, and entering a clearance load-reducing mode when the clearance values of the blades are lower than the clearance safety values; calculating a second reference rotating speed in the current clearance state; when the blade clearance value is updated, recalculating the rotation speed to obtain a third reference rotation speed, and keeping the second reference rotation speed when the third reference rotation speed is larger than the second reference rotation speed and keeping the third reference rotation speed when the third reference rotation speed is smaller than the second reference rotation speed; by measuring the advanced prejudgment, the influence on the operation of the unit can be reduced on the premise of protecting the safety of the unit to the maximum extent.

Description

Blade clearance safety control method based on millimeter radar wave measurement
Technical Field
The invention relates to the technical field of wind power generation, in particular to a blade clearance safety control method based on millimeter radar wave measurement.
Background
With the arrival of the wind generating set in the price-reducing age, the weight of the blades of the set is lower. The reduction of the weight of the blade increases the flexibility of the blade, so that the deformation of the blade in the running process is aggravated, and the problem of the blade sweeping tower is caused. At present, a plurality of domestic wind farms have all occurred tower sweeping accidents, and potential safety hazards are brought to the operation of the wind generating set.
The root cause of a tower sweeping accident is that the clearance guarantee value during the running of the unit is insufficient, and the clearance is the minimum distance between the blades and the tower barrel. In the case of sufficient blade stiffness, the blade clearance is typically large, so there is enough margin in design to accommodate complex changes. At present, due to the continuous increase of the flexibility of the blades, the clearance design value of the blades is generally lower, and the design allowance is insufficient for coping with the complex running environment of the wind generating set.
Disclosure of Invention
In view of the above, the invention aims to provide a blade clearance monitoring method and a control method based on millimeter radar wave measurement, which can obtain optimal control protection parameters according to blade load simulation of a corresponding machine type, and reduce the influence on the operation of a machine set on the premise of maximally protecting the safety of the machine set by measuring advanced pre-judgment.
The invention solves the technical problems by the following technical means: the invention provides a blade clearance monitoring method based on millimeter radar wave measurement, which comprises the following steps:
s1, establishing a device based on millimeter radar wave clearance monitoring, and installing a radar at the tail part of a wind generating set;
s2, leading the monitoring area of the radar to advance 15-20 degrees at the bottom of the tower barrel, reversing 15-20 degrees in the rotation direction of the blades by taking the tower barrel as 0 degrees, and acquiring a radar reflection wave frequency spectrogram in the area according to signals acquired by the radar;
s3, finding a radar reflection point closest to the tower barrel based on a radar reflection wave frequency spectrogram;
s4, measuring a plurality of actual distance values of the radar reflection points and the tower according to the tower position information, wherein the minimum value in the actual distance values is a clearance measurement value.
Further, the update frequency of the headroom measurement data is 1/n rotational speed frequency, such that the headroom value measured each time is the headroom value of the current blade, once every n headroom value rounds, where n is the number of fan blades.
The invention also provides a blade clearance safety control method, which comprises the following steps:
a1, monitoring the clearance values of all the blades, and when the clearance value of any blade is lower than the clearance safety value, entering a clearance load-reducing mode to reduce the load;
a2, in the headroom load reduction mode, the rotation speed reduction rate is increased to 3-5 times of that in the normal control mode, and then a second reference rotation speed in the current headroom state is calculated;
a3, when the clearance value of the blade is updated, recalculating the rotating speed according to the updated clearance value to obtain a third reference rotating speed, keeping the second reference rotating speed when the third reference rotating speed is larger than the second reference rotating speed, keeping the third reference rotating speed when the third reference rotating speed is smaller than the second reference rotating speed, and continuously reducing the load;
a4, when the clearance measurement values of all the blades are larger than the safety value, the blades exit from the clearance load reduction mode to restore to the normal state, and the rotating speed of the blades is restored to the first reference rotating speed when the rotating speed of the blades is restored to the normal state.
Further, in step A1, it is further determined that the blade is in the current control mode, and when the blade is in the non-clean load-shedding mode, the current clean value is continuously monitored.
Further, in step A2, when the second reference rotation speed is calculated, a linear interpolation mode is adopted to perform simulation, and the rotation speed low-order value and the rotation speed high-order value in the simulation are subjected to linear interpolation to obtain the second reference rotation speed under the current null value.
In step S4, after entering the load-shedding mode, the blade clearance measurement values obtained by continuously measuring three or more times are all greater than the safety value, and the blade clearance measurement values are recovered to the normal state after being delayed by the first time value.
Further, the headroom safety value is set to 5-7 meters.
According to the technical scheme, the beneficial effects of the invention are as follows: (1) The invention provides a control method based on 15-20-degree clearance measurement of a wind generating set, which obtains optimal control protection parameters according to blade load simulation of a corresponding machine type, and can reduce the influence on the running of the set on the premise of protecting the safety of the set to the maximum extent by measuring the advance judgment.
(2) The invention provides a control method for rotating speed load shedding, which does not adopt an abnormal control mode of pitch angle, still uses a basic mode of pitch control, realizes closed-loop control on the load of a unit through rotating speed control and a rotating speed-power curve, ensures that the load shedding control mode is still the same as the closed-loop control of the unit, and realizes closed-loop control on the load only by changing a target parameter pair.
(3) The invention provides a strict unit stability judgment logic, and according to the characteristics of clearance measurement, the direct criterion is carried out by using the clearance value of the blade on the premise of not introducing a wind wheel azimuth angle signal.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of a headroom safety control flow provided by the present invention;
FIG. 2 is a schematic diagram of a clearance measurement device installation;
FIG. 3 is a graph of a rotational speed derating and headroom simulation calculation;
fig. 4 is a map of the headroom safety control rotation speed reduction ratio.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
Referring to fig. 1 to 4, the invention provides a blade clearance monitoring method based on millimeter radar wave measurement, which comprises the following steps:
s1, establishing a device based on millimeter radar wave clearance monitoring, and installing a radar at the tail part of a wind generating set;
s2, leading the monitoring area of the radar to advance 15-20 degrees at the bottom of the tower barrel, reversing 15-20 degrees in the rotation direction of the blades by taking the tower barrel as 0 degrees, and acquiring a radar reflection wave frequency spectrogram in the area according to signals acquired by the radar;
s3, finding a radar reflection point closest to the tower barrel based on a radar reflection wave frequency spectrogram;
s4, measuring a plurality of actual distance values of the radar reflection points and the tower according to the tower position information, wherein the minimum value in the actual distance values is a clearance measurement value. The update frequency of the clearance measurement data is 1/n of the rotational speed frequency, so that the clearance measured each time is the clearance of the current blade, and every n clearance rounds, wherein n is the number of the fan blades.
According to the blade load simulation of the corresponding machine type, the optimal control protection parameters are obtained, and the influence on the operation of the machine set can be reduced on the premise of protecting the safety of the machine set to the maximum extent by measuring the advanced prejudgment.
The invention also provides a blade clearance safety control method, which comprises the following steps:
a1, judging a current control mode of the blade, continuously monitoring a current clearance value when the blade is in a non-clearance load-shedding mode, and entering the clearance load-shedding mode when the clearance value of any blade is lower than a clearance safety value to reduce load; wherein the headroom safety value is set to be 5-7 meters.
A2, in the headroom load reduction mode, the rotation speed reduction rate is increased to 3-5 times of that in the normal control mode, and then a second reference rotation speed in the current headroom state is calculated; and when the second reference rotating speed is calculated, performing simulation in a linear interpolation mode, and performing linear interpolation on a rotating speed low-order value and a rotating speed high-order value in the simulation to obtain the second reference rotating speed under the current empty value. Preferably, the reference rotational speed is locked in the headroom-reduced load mode such that the reference rotational speed can only be reduced but cannot be increased in this state. Specifically, the rotation speed reduction rate is increased to 4 times in the normal control mode. Wherein the normal rotation speed reduction rate of the high-speed long-blade doubly-fed type is limited to 40rpm/s (high-speed shaft) and 4 times thereof is 160rpm/s.
A3, when the clearance value of the blade is updated, recalculating the rotating speed according to the updated clearance value to obtain a third reference rotating speed, and when the third reference rotating speed is larger than the second reference rotating speed, the running state of the unit starts to be restored to the normal state, but the unit has no stability, and the second reference rotating speed is kept to run.
When the third reference rotation speed is smaller than the second reference rotation speed, the running state of the unit still deteriorates after the load is reduced, so that the load is required to be further reduced, and the third reference rotation speed is kept to run.
A4, when the clearance measurement values of all the blades are larger than the safety value, the blades exit from the clearance load reduction mode to restore to the normal state, and the rotating speed of the blades is restored to the first reference rotating speed when the rotating speed of the blades is restored to the normal state. After entering the clearance load-reducing mode, the blade clearance measured values obtained by continuously measuring more than three times are all larger than the safety value, and the blade clearance measured values are recovered to the normal state after being delayed by the first time value. In the idle reduction mode, the reference power is reduced due to the reduction of the actual rotating speed of the unit, and the influence of the unit power is smaller than that of the rotating speed, so that the unit power is normally reduced according to the rotating speed-power curve for times without special control.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.

Claims (5)

1. A blade clearance safety control method based on millimeter radar wave measurement is characterized in that: the method comprises the following steps:
a1, monitoring the clearance values of all the blades, and when the clearance value of any blade is lower than the clearance safety value, entering a clearance load-reducing mode to reduce the load;
a2, in the headroom load reduction mode, the rotation speed reduction rate is increased to 3-5 times of that in the normal control mode, and then a second reference rotation speed in the current headroom state is calculated;
a3, when the clearance value of the blade is updated, recalculating the rotating speed according to the updated clearance value to obtain a third reference rotating speed, keeping the second reference rotating speed when the third reference rotating speed is larger than the second reference rotating speed, keeping the third reference rotating speed when the third reference rotating speed is smaller than the second reference rotating speed, and continuously reducing the load;
a4, when the clearance measurement values of all the blades are larger than the safety value, the blades exit from the clearance load reduction mode to restore to the normal state, and the rotating speed of the blades is restored to the first reference rotating speed when the rotating speed of the blades is restored to the normal state.
2. The blade clearance safety control method according to claim 1, characterized in that: in step A1, it further includes determining a current control mode of the blade, and continuously monitoring a current clearance value when the blade is in the non-clearance load-shedding mode.
3. The blade clearance safety control method according to claim 2, characterized in that: in step A2, when calculating the second reference rotation speed, performing simulation by adopting a linear interpolation mode, and performing linear interpolation on the rotation speed low-order value and the rotation speed high-order value in the simulation to obtain the second reference rotation speed under the current null value.
4. A blade clearance safety control method according to claim 3, characterized in that: in step S4, after entering the clearance load-reducing mode, when the blade clearance measurement values obtained by continuously measuring for more than three times are all greater than the safety value, and after delaying for the first time value, the normal state is recovered.
5. The blade clearance safety control method according to claim 4, wherein: the headroom safety value is set to be 5-7 meters.
CN202111269506.9A 2021-10-29 2021-10-29 Blade clearance safety control method based on millimeter radar wave measurement Active CN113958464B (en)

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DE102012210150A1 (en) * 2012-06-15 2013-12-19 Wobben Properties Gmbh Wind turbine and method for controlling a wind turbine or a wind farm
US10330082B2 (en) * 2012-08-17 2019-06-25 Lm Wp Patent Holding A/S Blade deflection monitoring system
CN112648150B (en) * 2020-09-08 2022-05-06 上海鲸目科技有限公司 Detection method for blade clearance value of wind driven generator set based on 77GHz millimeter wave radar
CN112502911B (en) * 2020-11-30 2022-04-01 东方电气风电股份有限公司 Method for predicting tower sweeping risk when blade passes through tower in real time
TWM613116U (en) * 2021-01-20 2021-06-11 健鼎科技股份有限公司 Wind power blade distance measuring radar device based on IoT

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