CN103629048A - Intelligent pitch control system of wind turbine generator and pitch control method thereof - Google Patents
Intelligent pitch control system of wind turbine generator and pitch control method thereof Download PDFInfo
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- CN103629048A CN103629048A CN201310707146.5A CN201310707146A CN103629048A CN 103629048 A CN103629048 A CN 103629048A CN 201310707146 A CN201310707146 A CN 201310707146A CN 103629048 A CN103629048 A CN 103629048A
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- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses an intelligent pitch control system of a wind turbine generator and a pitch control method of the intelligent pitch control system. The system comprises a backup energy resource, a hub rotation speed sensor and a plurality of sets of pitch control devices for respectively controlling a plurality of blades of the wind turbine generator to change pitch angles, wherein the number of the sets of the pitch control devices is consistent with the number of the blades, and the pitch control devices are in one-to-one correspondence with the blades; each set of the pitch control devices comprises a pitch control drive control unit, a pitch control actuator and a pitch control angle sensor connected with the pitch control drive control unit; and the hub rotation seed sensor and the pitch control drive control units are arranged in a hub. According to the method disclosed by the invention, a rotation speed control algorithm of the wind turbine generator is transferred to the pitch control drive control units in the pitch control system from a main controller, a real-time control signal in a pitch control PLC (Programmable Logic Controller) and a pitch control slide ring in the conventional pitch control system is cancelled, a fault rate of the pitch control slide ring communication is lowered, response time of the pitch control controller for rotation speed control is reduced, and cost of the pitch control slide ring is reduced.
Description
Technical field
The present invention relates to technical field of wind power generation, relate in particular to a kind of wind-powered electricity generation unit intelligence pitch-controlled system and become oar method.
Background technique
THE WIND ENERGY RESOURCES IN CHINA is abundant, and Wind Power Development is rapid, and wind-powered electricity generation equipment manufacture has ranked among prostatitis, the world at present.Pitch-controlled system is the important component part of wind-powered electricity generation unit, is the critical piece of realizing the stable and safe operation of the power of the assembling unit.Mainly action when rated wind speed is above of pitch-controlled system, master controller can change and drive pitch-controlled system according to wind speed, changes dynamically the pitch angle of three blades, and the air torque of control action on wind wheel, makes wind speed round maintain rating value.Pitch-controlled system is also the main actuator of compressor emergency shutdown brake simultaneously, and during fan parking, pitch-controlled system drives three blades according to the speed feathering presetting, until propeller pitch angle arrives 90 °.
In traditional design, rotating speed control algorithm realizes in the master controller of unit, speed control strategy in master controller is calculated the change propeller angle desired value of blade according to current tachometer, and by communication modes, be handed down to the controller of pitch-controlled system, pitch-controlled system rotates corresponding angle according to becoming propeller angle desired value drive vane, change the air torque on whole wind wheel, complete the closed loop control to rotating speed.
There is the drawbacks such as low-response, faults frequent, poor reliability in traditional pitch-controlled system, this is to be arranged in wheel hub due to pitch-controlled system, belongs to rotary component, and the communication between master controller and pitch-controlled system need to realize by slip ring.Slip ring is one of major failure point of unit, its working state on and master control system and the communication impact that becomes between oar very large, and by slip ring transmission, become oar instruction meeting and cause larger communication delay.The communication delay of pitch-controlled system control signal is excessive; propeller angle can be caused becoming and wind speed variation can not be responded in time; thereby make load and the power swing aggravation of unit; unit durability and the quality of power supply are impacted; especially when LVRT Capability of Wind Turbine Generator; because the response of pitch-controlled system is slower, may cause unit hypervelocity to be shut down, electrical network is caused damage.Simultaneously; pitch-controlled system is the main actuator of the shutdown brake of unit; it is the important component part of safety system; its whether reliable safety that directly affects system; system overspeed alarming signal is introduced and is become oar by outside slip ring at present; the situation that likely breaks down and can not respond in time, causes system to have potential safety hazard.
Summary of the invention
For solving above technical deficiency, the invention provides a kind of corresponding speed fast, failure rate is low, reliable wind-powered electricity generation unit intelligence pitch-controlled system and change oar method.
The present invention is achieved by the following measures:
A kind of wind-powered electricity generation unit intelligence pitch-controlled system of the present invention, comprises that the standby energy, hub rotation speed pass
Sensor and control respectively some cover vane change devices that several blades of wind-powered electricity generation unit change propeller pitch angles, vane change device tricks is consistent with blade number and vane change device is corresponding one by one with blade, every cover vane change device comprises change oar actuator and the change propeller angle sensor that becomes oar driving control unit and be connected with change oar driving control unit, described hub rotation speed sensor and change oar driving control unit are arranged in wheel hub, become oar actuator and be connected respectively blade by driving mechanism, change propeller angle sensor respectively correspondence is arranged on blade inner ring.
Above-mentioned change oar driving control unit direct signal is connected with unit master controller.
Above-mentioned change oar driving control unit adopts motion controller or industrial control board, becomes oar actuator and adopts the actuating motor with position feedback unit, and the standby energy adopts storage battery or super capacitor, becomes in oar actuator position transducer is installed.
Above-mentioned change oar actuator adopts valve-controlled cylinder, and the standby energy adopts accumulator.
Above-mentioned axial fan hub ring gear is provided with two limit switches on limit, and described limit switch signal connects change oar controller.
The change oar method of wind-powered electricity generation unit intelligence vane change device of the present invention, comprises the following steps:
Step 1, hub rotation speed sensor detects the rotating speed of blower fan lower velocity shaft in real time, and send rotating speed measured value to all change oar driving control unit, each becomes oar driving control unit rotating speed measured value and rotating speed desired value is compared, and by rotation speed control program, calculates the change propeller angle desired value of each corresponding blade;
Step 2, become oar driving control unit and by becoming propeller angle control program, calculate change oar speed target value according to becoming propeller angle desired value, actuator control program calculates according to becoming oar speed target value the moment that change oar actuator need to be exported, and is handed down to power model; Power model is exported corresponding electric current or voltage, drives and becomes oar actuator output acting;
Step 3, each becomes oar actuator and drives each self-corresponding blade rotation, adjusts the propeller pitch angle of blade to becoming propeller angle desired value.
In step 3; becoming oar driving control unit receives the displacement information of the position transducer detection that becomes oar actuator and converts vane propeller-changing angle measurement I to; becoming propeller angle measured value I compares with the change propeller angle measured value II that becomes propeller angle sensor detection; if inconsistent, report fault and shut down.
The invention has the beneficial effects as follows: the present invention is configured to speed control strategy in the controller of pitch-controlled system self, can reduce the communication burden between pitch-controlled system and master control system, reduce the rate of fault that becomes oar slip ring communication, reduce the response time of controlling for rotating speed that becomes oar controller, reduced the cost that becomes oar slip ring.Meanwhile, because hub rotation speed sensor is arranged in wheel hub, tach signal, without master control and slip ring, is directly inputted in controller, can improve the speed of response that under system overspeed condition, brake starts, and improves the Security of system.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present invention.
Fig. 2 is working principle flow chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing, be described further.
A kind of wind-powered electricity generation unit intelligence pitch-controlled system of the present invention, comprises that the standby energy, hub rotation speed pass
Sensor and control respectively some cover vane change devices that several blades of wind-powered electricity generation unit change propeller pitch angles, vane change device tricks is consistent with blade number and vane change device is corresponding one by one with blade, every cover vane change device comprises change oar actuator and the change propeller angle sensor that becomes oar driving control unit and be connected with change oar driving control unit, hub rotation speed sensor and change oar driving control unit are arranged in wheel hub, become oar actuator and be connected respectively blade by driving mechanism, change propeller angle sensor respectively correspondence is arranged on blade inner ring.
Wherein, become the inner integrated control of oar driving control unit and drive function, control section comprises rotation speed control program, becomes propeller angle control program, becomes oar speed control program etc., and control program can adopt pid algorithm, optimal algorithm, fuzzy algorithmic approach etc.Control algorithm can, according to the tach signal of hub rotation speed sensor input, calculate change propeller angle and the speed of each blade; Drive part comprises some power components, can export corresponding moment according to becoming oar speed command drive ram, promotes the corresponding angle of blade rotation.Calculating, control and the driving of angle that therefore can complete independently blade rotation, reduced communication time, improved the speed of response that becomes oar.Become oar driving control unit and adopt motion controller or industrial control board.Become running speed control algorithm in oar driving control unit, reduncancy check mutually between control signal, cancelled the change oar PLC in traditional pitch-controlled system and become the real-time control signal in oar slip ring, become oar and control calculating, control and the driving function that driver element complete independently becomes propeller angle, the speed probe of Transmitted chains tail end is transferred in wheel hub, measured hub rotation speed as rotating speed control object.
Large-scale wind electricity unit generally adopts the configuration of three blades or two blades, and this patent be take three blade units and described as example.As shown in Figure 1, each blade adopts independently pitch-controlled system to control driving, and each blade adopts respectively an actuator with position feedback unit to regulate separately, and 0 °-90 ° of blade control ranges become in oar actuator position transducer is installed.Become oar actuator and be connected with blade wheel hub inner ring, drive blade rotation, realize the direct control to blade pitch angle.At blade inner ring, install and become propeller angle sensor, the angle that direct-detection inner ring rotates, propeller pitch angle changes, and this sensor is as the redundant reference value of actuator position feedback, if inconsistent with the displacement information of actuator output, system will be reported disorderly closedown.Two limit switches are also housed on wheel hub ring gear limit, play position-limiting action.
Become the root that oar actuator is arranged on blade, by mechanical transmission, be connected with blade root inner ring, be used for promoting blade and change propeller pitch angle, actuator can adopt with the electric motor of position feedback or oil hydraulic cylinder, if employing electric motor, adopt reduction gear as mechanical transmission, if adopt oil hydraulic cylinder, adopt pusher slide block mechanism as transmission device.
Stand-by power source obtains makeup energy under electricity condition in system, the in the situation that of system dead electricity, provides the energy of a feathering.Stand-by power source can adopt storage battery, super capacitor or accumulator, if adopt electric motor as actuator, stand-by power source adopts storage battery or super capacitor, if adopt valve-controlled cylinder as actuator, stand-by power source adopts accumulator.
Hub rotation speed sensor is used for measuring the rotating speed of wheel hub, and its feedback is entered and becomes oar driving control unit, can adopt encoder or gyroscope, if employing encoder, be arranged between lower velocity shaft and wheel hub, if adopt gyroscope, can be directly arranged in wheel hub.
Each becomes oar driving control unit and connects by communication, inner control program redundancy and verification each other, according to the strategy presetting, determine the rotating speed control command of final output, take three blades as example, when three rotary speed instructions are inconsistent, according to the mean value of immediate two instructions, carry out and become oar action, when the control module of one or two drivings goes wrong, pitch-controlled system automatically switches to the driver of normal operation, guarantees the reliability of pitch-controlled system.
The change oar method of wind-powered electricity generation unit intelligence vane change device of the present invention, comprises the following steps:
Step 1, hub rotation speed sensor detects the rotating speed of blower fan lower velocity shaft in real time, and send rotating speed measured value to all change oar driving control unit, each becomes oar driving control unit rotating speed measured value and rotating speed desired value is compared, and by rotation speed control program, calculates the change propeller angle desired value of each corresponding blade;
Step 2, become oar driving control unit and by becoming propeller angle control program, calculate change oar speed target value according to becoming propeller angle desired value, actuator control program calculates according to becoming oar speed target value the moment that actuator need to be exported, and is handed down to the power model of driving; Power model is exported corresponding electric current or voltage, drive ram output acting;
Step 3, each becomes oar actuator and drives respectively each self-corresponding blade rotation, adjusts the propeller pitch angle of blade to becoming propeller angle desired value.After blade pitch angle changes, the air torque of catching on wind wheel changes, and realizes the control to generating unit speed;
In step 3; becoming oar driving control unit receives the displacement information of the position feedback unit feedback that becomes oar actuator and converts vane propeller-changing angle measurement I to; becoming propeller angle measured value I compares with the change propeller angle measured value II that becomes propeller angle sensor detection; if inconsistent, report fault and shut down.
Whole control procedure is that real-time closed-loop is controlled, and the propeller pitch angle of the continuous adjusting vane of driver, until rotating speed arrives setting value.
The present invention transfers to wind-powered electricity generation generating unit speed control algorithm the change oar driving control unit of pitch-controlled system self from master controller, become calculating, control and driving function that oar driving control unit complete independently becomes propeller angle, cancelled the change oar PLC in traditional pitch-controlled system and become the real-time control signal in oar slip ring, the speed probe of Transmitted chains tail end is transferred in wheel hub, and measured hub rotation speed as rotating speed control object.Therefore do not need through wind-powered electricity generation unit master controller, become oar slip ring, become the links such as oar PLC, the operation efficiency and the speed of response that become oar control improve greatly.And the in the situation that of system hypervelocity or master control inefficacy; safety signal is without master controller, slip ring and change oar controller; but directly by becoming oar driving control unit, trigger execution, and the response time of dead halt significantly reduces, and the safety and reliability of wind-powered electricity generation unit improves greatly.
Based on this pitch-controlled system, the method for work of pitch-controlled system has been proposed, comprise normal operation, orderly closedown, emergency shutdown, service mode.
(1) normal operation
Under normal mode of operation, wind speed is between rated wind speed and excision wind speed, become propeller angle changes between 0 ° and 30 ° of left and right, detect the rotating speed of wheel hub, with speed setting value comparison, calculate angle that blade need to rotate, speed etc., and drive ram output torque, promote vane propeller-changing, thereby realize the control to generated output.Under this pattern, wind speed round is constant, stable output power by the control of blade angle is realized for pitch-controlled system.
(2) orderly closedown
When rotating speed surpasses the upper limit, wind speed is excessive or while receiving the orderly closedown instruction of master controller, pitch-controlled system is carried out halt instruction.Variable pitch driver drive vane angle forwards feather position to, shuts down, or carry out and shut down according to the rotating speed time graph of optimizing according to default change oar speed.
(3) emergency shutdown
When aerogenerator unit safe chain fracture or pitch-controlled system break down, become oar and enter emergency shutdown pattern.Under this pattern, the control section that becomes oar driving control unit does not participate in work, and directly, by the power component output maximum moment instruction driving, actuator becomes oar speed driving blade according to maximum and forwards feather position to.If blade forwards to, feather position does not stop or position ring is controlled fault, can trigger a limit switch, and now mechanical switch meeting Down Drive, quits work pitch motor.
(4) service mode
Service mode is mainly used in attendant to becoming the maintenance of oar.Service mode is controlled by the button of safeguarding that is installed on engine room control cabinet,, before attendant enters wheel hub, maintenance switch must close, and pitch-controlled system enters into service mode.Under service mode, the operation of any pitch-controlled system cannot be carried out in wheel hub outside.Based on security consideration, at each pitch-controlled system, have a hand switch, under service mode, when inner respective terminal by the situation of short circuit under, individual blade can be realized by this hand switch the forward or reverse of blade.The precondition that individual blade manually becomes oar is: other two blades are simultaneously in feathering home.For security consideration, during a pitch-controlled system manually-operable, other two blades can not carry out any operation.
The above is only the preferred implementation of this patent; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the art of this patent principle; can also make some improvement and replacement, these improvement and replacement also should be considered as the protection domain of this patent.
Claims (7)
1. wind-powered electricity generation unit intelligence pitch-controlled system, it is characterized in that: comprise the standby energy, hub rotation speed sensor and control respectively some cover vane change devices that several blades of wind-powered electricity generation unit change propeller pitch angles, vane change device tricks is consistent with blade number and vane change device is corresponding one by one with blade, every cover vane change device comprises change oar actuator and the change propeller angle sensor that becomes oar driving control unit and be connected with change oar driving control unit, described hub rotation speed sensor and change oar driving control unit are arranged in wheel hub, become oar actuator and be connected respectively blade by driving mechanism, change propeller angle sensor respectively correspondence is arranged on blade inner ring.
2. wind-powered electricity generation unit intelligence vane change device according to claim 1, is characterized in that: described change oar driving control unit direct signal is connected with unit master controller.
3. wind-powered electricity generation unit intelligence vane change device according to claim 1, it is characterized in that: described change oar driving control unit adopts motion controller or industrial control board, become oar actuator and adopt the actuating motor with position feedback, the standby energy adopts storage battery or super capacitor, becomes in oar actuator position transducer is installed.
4. wind-powered electricity generation unit intelligence vane change device according to claim 1, is characterized in that: described change oar actuator adopts valve-controlled cylinder, and the standby energy adopts accumulator.
5. wind-powered electricity generation unit intelligence vane change device according to claim 1, is characterized in that: described axial fan hub ring gear is provided with two limit switches on limit, and described limit switch signal connects and becomes oar controller.
6. a change oar method for wind-powered electricity generation unit intelligence vane change device according to claim 1, is characterized in that, comprises the following steps:
Step 1, hub rotation speed sensor detects the rotating speed of blower fan lower velocity shaft in real time, and send rotating speed measured value to all change oar driving control unit, each becomes oar driving control unit rotating speed measured value and rotating speed desired value is compared, and by rotation speed control program, calculates the change propeller angle desired value of each corresponding blade;
Step 2, become oar driving control unit and by becoming propeller angle control program, calculate change oar speed target value according to becoming propeller angle desired value, actuator control program calculates according to becoming oar speed target value the moment that change oar actuator need to be exported, and is handed down to power model; Power model is exported corresponding electric current or voltage, drives and becomes oar actuator output acting;
Step 3, each becomes oar actuator and drives each self-corresponding blade rotation, adjusts the propeller pitch angle of blade to becoming propeller angle desired value.
7. the change oar method of wind-powered electricity generation unit intelligence vane change device according to claim 6; it is characterized in that: in step 3; becoming oar driving control unit receives the displacement information of the position transducer detection that becomes oar actuator and converts vane propeller-changing angle measurement I to; becoming propeller angle measured value I compares with the change propeller angle measured value II that becomes propeller angle sensor detection; if inconsistent, report fault and shut down.
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| CN106289720A (en) * | 2016-08-17 | 2017-01-04 | 上海斯达瑞船舶海洋工程服务有限公司 | The ship model experiment method of multiple-screw vessel |
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| CN109150053A (en) * | 2018-08-20 | 2019-01-04 | 明阳智慧能源集团股份公司 | Operation method of the electric variable propeller system of wind generating set without blade position sensor |
| CN111140432B (en) * | 2018-11-05 | 2021-10-15 | 中国船舶重工集团海装风电股份有限公司 | Wind turbine generator system variable pitch system and wind turbine generator system |
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| CN112523946A (en) * | 2019-09-17 | 2021-03-19 | 北京金风科创风电设备有限公司 | Variable pitch control method, device and medium for wind generating set |
| CN113027698A (en) * | 2019-12-25 | 2021-06-25 | 新疆金风科技股份有限公司 | Detection method and device for abnormity of variable pitch control loop of wind generating set |
| CN113027698B (en) * | 2019-12-25 | 2022-07-12 | 新疆金风科技股份有限公司 | Detection method and device for abnormity of variable pitch control loop of wind generating set |
| CN113048009A (en) * | 2019-12-27 | 2021-06-29 | 新疆金风科技股份有限公司 | Variable pitch control method, device and system of wind generating set |
| CN113757040A (en) * | 2020-06-05 | 2021-12-07 | 北京国电思达科技有限公司 | Dormancy method of direct-current variable-pitch control system |
| WO2023241005A1 (en) * | 2022-06-17 | 2023-12-21 | 西安热工研究院有限公司 | Discrimination method and device for azimuth angle of wind wheel based on current signal of variable-pitch motor |
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