CN102536670B - The method of the vibration of wind turbine and minimizing wind turbine and control system - Google Patents

Abstract

The present invention relates to reduce the method for the vibration of wind turbine and reduce the control system of vibration.A kind of method providing vibration for reducing the wind turbine with multiple set-point, the plurality of set-point characterize described wind turbine operating parameter value is set, wherein, described method includes: measure the acceleration force value corresponding with the acceleration acting on turbine；And determine whether the acceleration force value that measurement is arrived is higher than predetermined threshold.Additionally, determining described acceleration force value higher than in the case of described predetermined threshold, the point value that arranges of at least one set-point in the plurality of set-point is modified, in order to not reduce this mode that the power of described wind turbine exports to reduce vibration.

Description

The method of the vibration of wind turbine and minimizing wind turbine and control system

Technical field

The present invention relates to the field for the wind turbine generated electricity.In particular it relates to the method for the vibration of a kind of blade for reducing wind turbine or turbine self and control system.Additionally, the present invention relates to a kind of wind turbine and a kind of for the above-mentioned computer program being controlled for the method for the vibration of the blade reducing wind turbine.

Background technology

Wind energy is considered the feasible option for supplementing and even substitute the other types energy (the most such as, Fossil fuel) more and more.In the early development to wind energy, most of wind turbines are configured to operate with constant speed.But, recently, trend preferably captures available wind-force toward use variable speed wind turbine.In most of the cases, wind turbine blade pitch angle can be adjusted, to control the operation of variable speed wind turbine.But, during some wind condition of ice, vestige, wind shear or high turbulent flow on such as blade etc, higher vibration can be caused on turbine or blade.Level of vibration can be monitored by G sensor, and, when reaching higher vibration, turbine will be affected by bigger power and will be the most faster.

Accordingly, there exist the needs of the method for the mode of the vibration that a kind of reply of offer is weakened blade and/or turbine, to avoid damaging turbine.

Summary of the invention

These needs can be met by according to the theme described in independent claims.Preferred embodiment is described by dependent claims.

According to an illustrative aspects, a kind of method providing vibration for reducing the wind turbine with multiple set-point, the plurality of set-point characterize described wind turbine operating parameter value is set, wherein, described method includes: measure the acceleration force value corresponding with the acceleration acting on wind turbine；And determine whether the acceleration force value that measurement is arrived is higher than predetermined threshold.Additionally, determining described acceleration force value higher than in the case of described predetermined threshold, the point value that arranges of at least one set-point in the plurality of set-point is modified, while exporting at the power not reducing wind turbine, reduces vibration.Specifically, the power output of wind turbine, such as electric power output can be increased.Additionally, the vibration reduced can be the blade vibration of edgewise.The analog value of acceleration can be measured by sensor (such as G force transducer), blade that described sensor can be adhered or secured to wind turbine or the rotating shaft (shaft) (for instance in enging cabin) of turbine driven by blade.The appropriate threshold boundary of acceleration can at such as 1 g(i.e., and 1 is multiplied by gravity) and 3 g between interval in.Specifically, appropriate threshold boundary can be between 1.2 g and 2.5 g in the interval of (more specifically, between 1.2 g and 2 g) (such as 1.5 g, 1.75 g or 2 g).Such as, corresponding g power directly can be measured by the deformeter being fixed to blade, or can be by being fixed to the g sensor of turbine (such as, described g sensor is fixed to the pylon of wind turbine or layout or is fixed in enging cabin) measured value and determine, calculate or estimate, according to described measured value, the Oscillation Amplitude of the edgewise corresponding with the specific g power acting on blade can be derived.

According to an illustrative aspects, it is provided that the control system of a kind of vibration for reducing wind turbine, wherein, described control system includes: measuring unit, and it is suitable to measure the acceleration force value corresponding with the acceleration acting on turbine；And determining unit, whether it is adapted to determine that measures the acceleration force value arrived higher than predetermined threshold.In addition, described control system includes: control unit, it is suitable to determining described acceleration force value higher than in the case of described predetermined threshold, the point value that arranges of at least one set-point in multiple set-points is modified, wherein, while exporting at the power not reducing wind turbine, this mode of vibration is reduced to perform described amendment.

Described control system can be realized by the computer program performed by software respectively.But, described control system can also be realized by the one or more concrete electronic circuit performed by hardware respectively.Additionally, described control system can also realize (that is, with software module and the combination of hardware module) in hybrid form.

According to an illustrative aspects, provide a kind of wind turbine for generating electric power, wherein, described wind turbine includes pylon, rotor, described rotor is disposed at the top of described pylon and includes at least one blade, and wherein, described rotor can rotate around rotary shaft or rotating shaft, further, at least one blade described radially extends relative to described rotary shaft.Additionally, described wind turbine includes the electromotor with described rotor mechanical couplings and the control system according to an illustrative aspects.Specifically, described wind turbine can also include: frequency converter, and it is suitable to be controlled in this mode controlling the power output of (such as increase or reduce) described wind turbine by described control system.

According on the other hand, it is provided that a kind of computer program for reducing vibration, described computer program is suitable to when processed unit performs control the method according to an illustrative aspects.

As used herein, what computer program was quoted the computer-readable medium that is intended to and give an order program element and/or comprise quotes equivalence, and described instruction coordinates the performance of the method for reducing vibration according to an illustrative aspects for controlling computer system.With any suitable programming language (the most such as JAVA, C++), computer program elements can be embodied as computer-readable instruction code, it is possible to computer program elements be stored on computer-readable medium (removable dish, volatibility or nonvolatile memory, in-line memory/processor etc.).Instruction code can be used to computer or any other programming device are programmed to carry out desired function.Described computer program can obtain from network (such as WWW), can download described computer program from described network.

By providing the method according to an illustrative aspects, it is likely to provide and a kind of reduces or weaken the vibration of blade (such as, the blade vibration of edgewise) or the mode of vibration of electromotor or turbine shaft, in order to likely avoid damaging turbine in the case of the most unnecessarily loosening the control that the power to wind turbine produces.Such as, the blade vibration of edgewise can be monitored by one or more G sensor.The vibration of these edgewise can increase over or strengthen, and, when the vibration of these edgewise reaches critical level (such as, corresponding acceleration reaches predetermined threshold), control system or monitoring system can start the value of setting or the reference point changing described turbine.

The main points of illustrative aspects can be to provide the control method for wind turbine, described control method is not minimizing power output, but increases the power output of wind turbine when reducing the vibration of blade or turbine or at least maintain the power of wind turbine to export constant.Described control can be performed by control system or control element, and described control system or control element can be realized by (realizing the most in a computer) processor or processing unit.(such as, point value is set by reduce the rotary speed of electromotor) by increasing power and export, it is possible to reduce or removes vibration (such as, the blade vibration of edgewise), while do not reduce power and export.

Next other embodiments being used for reducing the method for vibration are described.However, it is also possible to individual features is combined with described control unit, described wind turbine or described computer program.

An exemplary embodiment according to described method, the amended point value that arranges is the set-point that described power exports.That is, the set-point of amendment can be set-point that is corresponding with the power output parameter of described wind turbine or that be associated.Specifically, the point value that arranges of described power output can be configured so that the value corresponding with higher-wattage output.Therefore, it might even be possible to while the blade vibration of the vibration or edgewise that reduce described turbine, increase the output of described power.The additional electrical energy corresponding with the output of described power can be generated so that rotary speed and vibration can be reduced according to the rotating energy of storage in the rotation of described blade or described electromotor.The set-point of described power output can control frequency converter or the operation of AC to AC transducer of described wind turbine.

An exemplary embodiment according to described method, amendment arranges point value and includes: that reduces electromotor rotary speed arranges point value.

Specifically, the point value that arranges of described rotary speed can be reduced to lower value from high value, i.e. that can reduce alternator speed parameter arranges point value.For example, it is possible to the rotational speed values of electromotor is reduced 200 rpms (RPM) (such as from 1450 to 1250 RPM) or any other desired value.In principle, each minimizing being suitable to reduce vibration is all possible, the most indefinite minimizing, such as 150 RPM or the minimizing of the most only 100 RPM or less.It is, of course, also possible to use higher minimizing, such as 250 RPM or 300 RPM or the most more reduce.Usually, reduce arranging of electromotor rotary speed set-point to be given than the known method higher effective power output for reducing vibration to turbine while reducing vibration.The point value that arranges slightly reducing rotary electrification motor speed can efficiently reduce or remove vibration, and the power simultaneously increasing wind turbine by the rotating energy of rotary electrification motor speed or blade is transformed to electric power exports.Additionally, reduce rotary electrification motor speed can reduce the risk damaging wind turbine when there is height vibration due to hypervelocity, this is owing to described method depends on minimizing rotary speed rather than increases rotary speed as known in the art.

An exemplary embodiment according to described method, the parameter that its set-point is modified is at least one in the group including the following: the power output of the angle of pitch, the rotary speed of electromotor, the rotary speed of blade, torque and wind turbine.

Specifically, the torque that its set-point is changed or modified can be the torque applied the rotating shaft of wind turbine by wind turbine blade or the torque applied electromotor by the rotating shaft of wind turbine.In other words, torque can be the torque of main shaft of wind turbine.

According to an exemplary embodiment, described method also comprises determining that whether the rotary speed of the electromotor of described wind turbine is less than the first predetermined threshold；And determining this rotary speed less than in the case of described first predetermined threshold, increase the set-point of the rotary speed of described electromotor.

According to an exemplary embodiment, described method also comprises determining that whether the rotary speed of the electromotor of described wind turbine is higher than the second predetermined threshold；And determining this rotary speed higher than in the case of described second predetermined threshold, reduce the set-point of the rotary speed of described electromotor.Described second predetermined threshold can be corresponding with the nominal reference of electromotor rotary speed, and described nominal reference can be 1000 In the range of RPM to 2000 RPM (more specifically, 1200 In the range of RPM to 1700 RPM, the most about 1400 RPM, 1450 RPM or 1500 RPM).Such as, in the case of rated generator rotary speed is of about 1450 RPM, set-point can be reduced to about 500 RPM to 800 RPM(specifically, about 600 RPM to 700 RPM) value between.

But, in the case of electromotor rotary speed the most relatively low (such as, less than Second Threshold), vibrate (i.e. when there is higher edgewise, exceed vibration or the acceleration of respective threshold) time, the angle of pitch can be altered or modified arranges point value, such that it is able to reduce vibration.In principle, the angle of pitch can be changed any number of degrees, i.e. between-90 ° and+90 °.However typically, the change to the angle of pitch will be limited by effectively reducing the necessary amount of vibration.Usually, angle of pitch change between-15 ° and+15 ° can be sufficient.Suitably interval can also be between-7.5 ° and-2.5 °, between 2.5 ° and 7.5 °, specifically between-6 ° and-4 ° or between 4 ° and 6 °, and such as-5 °, 5 ° or about 5 °.

It should be noted that, in these parameters more than one parameter can be altered or modified arranges value, in order to reduce vibration.Such as, according to an embodiment, when vibration reaches specified level and can reduce the electromotor RPM of turbine, power output can be increased.This can cause the peak value that power produces, and this is to slow down turbine by drawing secondary power owing to generating more torque.When use the method or scheme more quickly slow down electromotor RPM, it is also possible to change the angle of pitch by the angle of pitch being added little skew under vibrating at height.

Alternatively, according to an embodiment, it is provided that a kind of method that multiple set-points in the set-point being relative to each other of turbine are combined.Such as, if alternator speed is higher than respective threshold when there is higher vibration, then can reduce alternator speed with reference to remove vibration.But, if alternator speed is less than respective threshold when there is higher vibration, then increases the angle of pitch or make power drop to remove vibration.

The value of all these parameters can be measured by proper sensors or determine.Specifically, the path acting on wind turbine or the movement of its blade or acceleration can be determined by one or more suitable acceleration transducers, and the one or more suitable acceleration transducer is specifically attached at tower top or blade.In this respect, it is noted that the vibration that described pylon accelerates to be generated by the wind-force of pylon or blade causes.Specifically, if driving wind-force to cause vibration or vibration (its medium frequency is close to enging cabin and the resonant frequency of rotor or the resonant frequency of the blade being arranged on elastic tower top), then these vibrations can have significant amplitude.Owing to suitable sensor is prior art, therefore to concisely, the most do not provide other details relevant with the function of this sensor.

It has to be noticed that the embodiment with reference to different subject descriptions.Specifically, reference method type claims describes some embodiments, and describes other embodiments with reference to device type claim.But, those skilled in the art will infer from described above and below, in addition to any combination belonging to the feature of a type of theme, between the feature relevant to different themes (specifically, between feature and the feature of device type claim of Method type claim) any combination be recognized as disclosing in this application, unless otherwise stated.

From the example of embodiment described below apparent and with reference to embodiment illustrated above-mentioned in terms of with other in terms of.Example hereinafter with reference to embodiment is more fully described the present invention, but the invention is not restricted to described example.

Accompanying drawing explanation

Fig. 1 schematically shows the wind turbine of the control system of the vibration including the blade for reducing wind turbine.

Fig. 2 schematically shows control program based on the power output reducing wind turbine.

Fig. 3 schematically shows the control program according to an exemplary embodiment exported based on the power not reducing wind turbine.

Detailed description of the invention

Diagram in accompanying drawing is schematic.It should be noted that in various figures, similar or identical element is provided with identical reference marker or the reference marker only different on first digit from corresponding reference marker.

Fig. 1 schematically shows wind turbine 100.This wind turbine 100 includes pylon 120, and this pylon 120 is arranged in the basic courses department do not described.On the top of pylon 120, arrange shell 122.In between pylon 120 and shell, it is provided that deflection angle adjusts equipment 121, and it can align around the vertical axis rotational shell 122 do not described, this vertical axis with the longitudinal extension of pylon 120.Adjust equipment 121 by controlling rotor angle by rights, be believed that shell 122 suitably aligns with current wind direction all the time during the operation of wind turbine 100.

Wind turbine 100 also includes the rotor 110 with three blades 114.In perspective view in figure 1, only two blades 114 are visible.Rotor 110 can rotate around rotary shaft 110a.The blade 114 installed at drive shaft ring 112 radially extends relative to rotary shaft 110a.

In between drive shaft ring 112 and blade 114, accordingly provide blade and adjust equipment 116, in order to rotate respective vanes 114 by the axle alignd around the longitudinal extent parallel with blade 114 do not described and adjust the blade pitch angle of each blade 114.Adjusting equipment 116 by controlling blade, can adjust the blade pitch angle of respective vanes 114 in following this mode, according to described mode, current wind condition can obtain maximum wind power from available wind.

It will be noted from fig. 1 that provide gear-box 124 in the enclosure.This gear-box for being converted to the higher revolution of rotating shaft 125 by the revolution of rotor 110, and rotating shaft 125 coupled to electromotor 128 in known manner.Further it is provided that brake 126, in order to (this may infringement wind turbine 100) stops the operation of wind turbine 100 the most in case of emergency and/or under high wind conditions.

Wind turbine 100 also includes: control system 130, and it is for such as operating wind turbine 100 by the set-point of adjustment operating parameter in an efficient way.In addition to such as controlling rotor angle and adjusting equipment 121, the control system 130 described can be also used for adjusting in an optimized fashion the blade pitch angle of rotor blade 114.

Control system 130 can be also used for the effective wind direction estimating to drive the wind of rotor 110.Therefore, control system 130 comprises determining that unit 131, and it is for determining the value of at least two parameter of the operating condition of instruction wind turbine 100.Specifically, it is determined that unit may be adapted to determine that whether the measured value (such as vibration or G power) of parameter is higher or lower than predetermined threshold.Can with such that due to vibration and damage wind turbine or its any portion of risk or danger may be at this mode of acceptable level and selects or determine predetermined threshold.

Several parameters may indicate that the operating condition of used wind turbine 100.Four parameters below will be described in more detail:

First parameter may indicate that the wind-induced movement of pylon 120, blade or alternator shaft.Typically, this Mobile exhibiting oscillating characteristic include that time correlation is accelerated.According to the embodiments described herein, the value of this first parameter is measured by one or more acceleration transducers 144, and these one or more acceleration transducers 144 can be fixed to pylon 120 and/or blade 114(such as measuring or monitor the blade vibration of edgewise).These acceleration transducers may can measure the acceleration component of (a) and the acceleration component of wind direction vertical orientation and (b) and wind direction parallel orientation.

Second parameter can be rotor 110 and/or turbine or the rotary speed of alternator shaft.Control system 130 can obtain the value of the second parameter from rotation speed sensor 143, and this rotation speed sensor 143 can be connected to gear-box 124.

3rd parameter can be that the actual power of wind turbine 110 produces.Control system 130 can obtain the value of the 3rd parameter from power sensor 141.Power sensor 141 can be connected to electromotor 128.

4th parameter can be the blade pitch angle of blade 114.Control system 130 can obtain the value of the 4th parameter from angular transducer 142, and angular transducer 142 can be connected to respective vanes and adjust equipment 116.

Fig. 2 shows the control program based on the power output reducing wind turbine simply described for illustrative purpose.

During the operation of wind turbine, the vibration of the edgewise that can be monitored by G sensor can occur.These vibrations generally strengthen in time, and, when these vibrations reach critical level, monitoring system changes turbine set-point by starting.By changing turbine set-point, it is possible to the vibration or the turbine that reduce edgewise will stop so that effective power is produced as cost.

It is how many that vibration according to edgewise exceedes threshold value, and this power reference can be changed by reducing power reference in the set-point of existing system.By reducing power reference, alternator speed will be caused to raise, until the angle of pitch increases to be enough to again reduce.The example of known arrangement schematically shows in fig. 2.Specifically, topmost portion Fig. 2 A shows the Oscillation Amplitude 250 of the edgewise exceeding predetermined threshold 251 when about 22:17:30.In the given example, the threshold value of the Oscillation Amplitude of edgewise being chosen as about 300, this is corresponding with about 1.5 g.The value of about 450 is by corresponding with the acceleration of about 2 g that should avoid, and this is owing to this acceleration can be likely to become possibility with the structure of damaged blade and/or integral turbine machine.Replace the absolute threshold using such as 300, the correlation corresponding with given maximum load (such as, 2 g or the analog value to fixed structure) can be selected.Therefore, in the case of given maximum edgewise Oscillation Amplitude is 450, the threshold value of 300 will be corresponding with 66%, and wherein 450 is corresponding with the maximum load of 2 g.Next width curve chart Fig. 2 B shows the effective power output 252 of wind turbine.In order to reduce the vibration shown in Fig. 2 A, regulation effective power output downwards after reaching predetermined threshold.Therefore, the moment (moment) being introduced in wind turbine will make alternator speed increase to wind, as shown in FIG. 2 C, this illustrates with the rotary speed reducing power the most simultaneous, the electromotor 253 of output understand rising.Fig. 2 D arranges 254 with what % additionally illustrated power reference, and its process is the most corresponding with Fig. 2 B.It can be seen that significantly decrease power output from Fig. 2 B and Fig. 2 D.Reaction to the increase of the rotary speed of electromotor, also increases the angle of pitch, in order to reduce the moment being introduced in blade by wind.The process of the angle of pitch 255 is shown in Fig. 2 E.

Fig. 3 shows and increases the control program according to an exemplary embodiment of the power output of wind turbine based on not reducing power output.The different piece of Fig. 3 shows using the different control programs not reducing power output so that the process of corresponding parameter when reducing the vibration of blade of wind turbine as depicted in Figure 2.

Specifically, figure 3 illustrates the schematic example of the control program of the present invention.Specifically, topmost portion Fig. 3 A shows the edgewise Oscillation Amplitude 350 exceeding predetermined threshold 351 when about 12:53:11.Next curve chart Fig. 3 B shows the effective power output 352 of wind turbine.In order to reduce the vibration shown in Fig. 3 A, after reaching predetermined threshold, it is adjusted up effective power output.This can see at this time point the most in figure 3b, but can more clearly see in the curve chart of Fig. 3 D, and Fig. 3 D shows and reduces when about 12:53:12 so that reduces the alternator speed 356 of the vibration that its process illustrates in figure 3 a arranges reference value.Therefore, alternator speed 353 will reduce as shown in Figure 3 C, and the power generated output 352 increase shown in Fig. 3 B simultaneously, this is owing to some rotating energies are converted into electric power output.Additionally, the regulation angle of pitch shown in Fig. 3 E, in order to the new balance between realizing by energy or momentum and the electric power exported by wind turbine in wind input to wind turbine.

In a word, providing a kind of method or control program, it relates to changing set-point to remove vibration, but is not related to as in known method reduce power and exports, but increasing power output, this produces than Previous solutions more fully power when can occur in process vibration.Power output is associated with torque and the rotary speed of main shaft.By changing the set-point of turbine, necessarily solve all these impact.This also allows for the multiple options controlling how to increase power output.

A kind of illustrative methods may is that and increases power output when vibration reaches specified level, and reduces the electromotor RPM of turbine.This can cause the peak value (such as, shown in Fig. 3 B) that power produces, and this is owing to generating more torque to slow down turbine by drawing secondary power.The angle of pitch can also be combined with the method, in order to more quickly slow down electromotor RPM by the angle of pitch being added little skew under vibrating at height.

A kind of distinct methods may is that and is combined the more set-points in the set-point being relative to each other of turbine.Such as, if alternator speed is higher than predetermined threshold when there is higher vibration, then can reduce alternator speed with reference to remove vibration.But, if alternator speed is less than predetermined threshold when there is higher vibration, then can increase the angle of pitch and/or power drop can be made.

It should be noted that, term " includes " being not precluded from other elements or step, and "a" or "an" is not precluded from multiple.Furthermore, it is possible to the element described explicitly from different embodiments is combined.Shall also be noted that the reference marker in claim is not necessarily to be construed as limiting the scope of claim.

Claims (8)

1., for reducing the method for vibration for the wind turbine (100) with multiple set-point, what the plurality of set-point characterized the operating parameter of described wind turbine (100) arranges value, and described method includes:

Measure the acceleration force value corresponding with the acceleration acting on described wind turbine (100)；

Determine and whether measure the acceleration force value arrived higher than predetermined threshold；

Determining described acceleration force value higher than in the case of described predetermined threshold, the point value that arranges of at least one set-point in the plurality of set-point is being modified, in order to not reduce this mode that the power of described wind turbine exports to reduce vibration, and

Wherein, to arrange point value modify include reduce electromotor rotary speed point value is set.

Method the most according to claim 1,

Wherein, the amended point value that arranges is the set-point that power exports.

Method the most according to claim 1,

Wherein, the parameter that its set-point is modified is at least one in the group including the following:

The angle of pitch；

The rotary speed of electromotor；

The rotary speed of blade；

Torque；

The power output of wind turbine.

Method the most according to claim 1, also includes:

Determine that whether the rotary speed of electromotor of described wind turbine is less than the first predetermined threshold；

Determine this rotary speed less than in the case of described first predetermined threshold, increase the set-point of the rotary speed of described electromotor.

Method the most according to claim 4, also includes:

Determine that whether the rotary speed of electromotor of described wind turbine is higher than the second predetermined threshold；

Determine described rotary speed higher than in the case of described second predetermined threshold, reduce the set-point of the rotary speed of described electromotor.

6. the control system (130) being used for reducing the vibration of wind turbine, described control system includes:

Measuring unit (144), it is suitable to measure the acceleration force value corresponding with the acceleration acting on described wind turbine (100)；

Determining unit (131), whether it is adapted to determine that measures the acceleration force value arrived higher than predetermined threshold；

Control unit, it is suitable to determining described acceleration force value higher than in the case of described predetermined threshold, the point value that arranges of at least one set-point in multiple set-points is modified, wherein, this mode of vibration is reduced to perform described amendment while exporting at the power not reducing described wind turbine (100), and

Wherein, to arrange point value modify include reduce electromotor rotary speed point value is set.

7., for generating a wind turbine for electric power, described wind turbine includes:

Pylon (120)；

Rotor (110), it is disposed at the top of described pylon (120) and includes at least one blade (114), wherein,

-described rotor (110) can rotate around rotary shaft (110a), and

-described at least one blade (114) radially extends relative to described rotary shaft (110a)；

Electromotor (128) with described rotor (110) mechanical couplings；And

Control system according to claim 6 (130).

Wind turbine the most according to claim 7, also includes:

Frequency converter, it is suitable to be controlled in the way of increasing the power output of described wind turbine by described control system.