CN103742357B - A kind of wind-driven generator group wind-wheel non-symmetrical load control method - Google Patents
A kind of wind-driven generator group wind-wheel non-symmetrical load control method Download PDFInfo
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- CN103742357B CN103742357B CN201310581637.XA CN201310581637A CN103742357B CN 103742357 B CN103742357 B CN 103742357B CN 201310581637 A CN201310581637 A CN 201310581637A CN 103742357 B CN103742357 B CN 103742357B
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- 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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
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Abstract
The present invention provides a kind of Wind turbines wind wheel non-symmetrical load control method, it can apply to the pitch control of high-power wind turbine unit, the asymmetric dynamic load of wind wheel especially under fitful wind and high wind speed operating mode, is reduced during the generator operation of unit by variable pitch control.So as to improve unit reliability, extend unit durability, it is possible to set structure, weight and size are optimized based on this, reaching reduces the purpose of cost.
Description
Technical field
The present invention relates to a kind of Wind turbines wind wheel non-symmetrical load control method, the change applied to high-power wind turbine unit
Oar is controlled, and especially under fitful wind and high wind speed operating mode, can be reduced during the generator operation of unit by variable pitch control
The non-symmetrical load of wind wheel.
Background technology
With rapidly increasing and increasingly serious weather, environmental problem, wind-power electricity generation conduct for human society energy demand
One of regenerative resource that can be large-scale developed and utilized, technical research, equipment manufacturing and it is kitting in terms of all obtain
Rapid development.Under the pressure of market and pressure of competition, wind power plant operator must reduce cost of electricity-generating as much as possible.Improve wind
Group of motors single-machine capacity is one of reduction maximally effective approach of cost of electricity-generating, and the continuous increase of single-machine capacity, the increase of load makes
The intensity requirement of each part must be increased, while the rigidity increase of part, intrinsic frequency decline.The waving of blade, the rotation of wind wheel
Turn, the non-symmetrical load of tower shadow effect, wind wheel and the change of external wind and the vibration coupling probability of each parts all increase, this
Require control system to suppress wind wheel, tower and driveline vibrations, reduce the dynamic load of shuttle belt.Single-machine capacity
Increase, the load that rotor diameter and swept area increase bear unit is bigger, more complicated；The increase of rotor diameter causes in wind
The wind shear taken turns in the range of scanning is more notable, and turbulent flow is more complicated, and the weight and Mass Distribution difference of blade are also more obvious.Wind wheel
Three blades, along with the mechanical imbalance due to wind wheel caused by manufacture, mounting process, can be formed by the difference of aerodynamic force
Very big wind wheel non-symmetrical load, most representative is the moment of flexure suffered by wheel hub.The moment of flexure can cause the dish-shaped torque of wheel hub
With the bending moment of power transmission shaft, and then wheel hub, the life-span of main shaft or even transmission system are influenceed.If passing through certain control device
Reduce the non-symmetrical load of wind wheel, it will mitigate intensity requirement of the unit to structural member, reduce unit component failure rate, extension
Unit service life.
The content of the invention
Goal of the invention：Reduce the asymmetric dynamic load of wind wheel by variable pitch control, so as to improve unit reliability, prolong
Long unit durability, it is possible to optimized based on this to set structure, weight and size.
Technical scheme：The present invention is achieved by the following technical solutions
A kind of wind wheel non-symmetrical load control method, it is characterised in that：The control method is mainly subtracted by pitch control
It is small due to wind switching and large-scale wind electricity unit wind wheel non-symmetrical load caused by turbulent flow, controller is with wind speed round and wind wheel center
Real-time load is input, using propeller pitch angle as output, controls the accurate mathematical modeling independent of Wind turbines；Load is controlled by reality
When load measurement with calculating, closed loop controller, wind wheel non-symmetrical load pitch control ring independent of accurate familiar models, turn
Link and the elements such as fast pitch control ring；It is propeller pitch angle to control variable, and controller is output as pitch angle increment, the output of controller
Together decided on by rotating speed pitch control ring and wind wheel non-symmetrical load control ring；The non-symmetrical load of wind wheel is decomposed into two phases
The mutual moment of flexure in vertical direction, is interacted negligible feature based on two mutually perpendicular direction moments of flexure, passes through two controls
Device processed carries out separate control, and each controller is using the load that measures in real time for input, and pitch angle increment is exports.
The computational methods of wind wheel non-symmetrical load are by the following two kinds：
（1）, wind wheel non-symmetrical load be embodied in the moment of flexure of both direction, the two direction moments of flexure can be by wind wheel
Three blade root moment of flexure conversion are calculated by coordinate transform, and measuring method is as shown by the equation:
Wherein θ is the azimuth of wind wheel, by being measured installed in the absolute value encoder of gear-box afterbody, MYB1、MYB2、
MYB3For three blade root moment MsYNAnd MZNTo represent the both direction moment of flexure of wind wheel non-symmetrical load；
（2）, because wheel hub is rigidly connected by flange and slow-speed shaft, the moment of flexure of hub centre can be directly delivered to low speed
Axle, shows as the radial direction moment of flexure of slow-speed shaft, and the mutually perpendicular moment of flexure of both direction is curved by the radial direction of low speed shaft of wind generating set
Square is calculated by coordinate transform；Computational methods are as shown by the equation：
Wherein, MZ and MY is radial direction both direction moment of flexure under slow-speed shaft rotating coordinate system, and MYN and MZN are non-to represent wind wheel
The both direction moment of flexure of symmetrical loading.
In wind wheel non-symmetrical load control ring, the pitch angle increment of three blades is carried by the moment of flexure of two mutually perpendicular directions
The output of lotus controller is obtained through coordinate inverse transformation, and two controller outputs and the conversion of three blade pitch angle demand increments are such as
Shown in formula：
Wherein θ be wind wheel azimuth, P1, P2, P3 is respectively the propeller pitch angle demand of three blades, and PZ, PY is respectively two
The output of individual controller.
Wind wheel non-symmetrical load closed loop controller can be independent of the accurate mathematical modeling of Wind turbines, controller
The information about Wind turbines is constantly extracted in the running of system, system character is estimated, while reaching control
Target, in order to not influence the power output of unit, the pitch angular difference of each blade is limited in a relatively small scope, control
The control law of device processed such as formula（1）It is shown:
Wherein, p (k) is pitch angle increment,For system character, constantly updated by On-line Estimation, MYNTo pass through
Moment of flexure obtained by coordinate transform calculating.
System characterUsing parameter Estimation criterion function as shown below：
According to above-mentioned parameter estimation criterion function,On-line Estimation is carried out by the following method：
Or | Δ p (k-1) |≤ε
Wherein, η k are Learning Step, in order to what is considered algorithm versatility and add；μ is weight factor, is Parameters variation amount
Penalty factor, the scope that nonlinear system broken lineization is linearly substituted can be limited by choosing μ value, and μ addition causes algorithm to individual
Other singular data has robustness；ε is an abundant small positive number.
Advantage and effect：
The present invention provides a kind of Wind turbines wind wheel non-symmetrical load control method, can apply to high-power wind turbine unit
Pitch control, especially under fitful wind and high wind speed operating mode, reduced during the generator operation of unit by variable pitch control
The asymmetric dynamic load of wind wheel.So as to improve unit reliability, extend unit durability, it is possible to based on this to machine
Group structure, weight and size are optimized, and reaching reduces the purpose of cost.
Brief description of the drawings：
Fig. 1 is to represent the hub centre moment of flexure of wind wheel non-symmetrical load under fixed coordinate system
Fig. 2 is rotating coordinate system lower blade root bending moment
Fig. 3 is Leaf root bending moment measurement sensor scheme of installation of the present invention
Fig. 4 is low speed Axial and radial moment of flexure measurement sensor scheme of installation in the present invention
Fig. 5 is wind wheel non-symmetrical load controller block diagram of the invention
Embodiment：The present invention is described further below in conjunction with the accompanying drawings：
In order to reduce wind shear, wind wheel non-symmetrical load caused by turbulent flow, pass through propeller pitch angle of the pitch-variable system to blade
Be adjusted, so as to change to flow angle, by influence the lift and resistance coefficient of blade and change the normal direction suffered by blade and
Tangential force, the moment of flexure suffered by final regulation blade root.The specific method of the wind wheel non-symmetrical load control of wind power generating set is as follows：
（1）The real-time measurement of wind wheel non-symmetrical load is with calculating
Stress of the wind wheel in natural wind regime is very complicated, and all aerodynamic loading, gravitational load, inertial load etc. all pass through
Blade root is applied on wheel hub.As shown in Figure 1, in wheel hub fixed coordinate system, the non-symmetrical load suffered by wind wheel is mainly wrapped
Include power both horizontally and vertically（FYNAnd FZN）And moment of flexure（MYNAnd MZN）, unit is produced in the mainly wind wheel plane of influence
Around trunnion axis（Y-axis）MYNAnd vertical axis（Z axis）Moment MZN.Wind wheel non-symmetrical load is delivered on wheel hub by blade, performance
For hub centre moment of flexure.The moment of flexure that wheel hub is born can cause the dish-shaped torque of wheel hub and the bending moment of power transmission shaft, and then influence
The intensity requirement of wheel hub, main shaft or even transmission system.The target of wind wheel non-symmetrical load control is exactly reduce hub centre curved
Square（MYNAnd MZN）.
Due to can not direct measurement hub centre moment of flexure, blade root moment of flexure or low speed Axial and radial moment of flexure can only be passed through and measured, root
Calculated according to the transfer mode and conversion relation of load of wind turbine generator.The computational methods of wind wheel non-symmetrical load are by following two
Kind：
1）Wind wheel non-symmetrical load is calculated by coordinate transform by three blade root moment of flexure conversion of wind wheel.Wind wheel is not stopping
Ground rotates around X-axis, and the moment of flexure that wheel hub is born is given a definition in wheel hub fixed coordinate system, and three blade roots wave direction moment of flexure
(MYB1, MYB2, MYB3) it is to give a definition in rotating vane coordinate system, as shown in Figure 2.Fixed coordinate system is tied to from rotational coordinates
Vector conversion can be calculated using following coordinate transform formula.
Wherein θ is the azimuth of wind wheel, by being measured installed in the absolute value encoder of gear-box afterbody.MYB1、MYB2、
MYB3For the lower three blade root moments of flexure of rotating coordinate system, MYNAnd MZNTwo under fixed coordinate system to represent wind wheel non-symmetrical load
Individual direction moment of flexure.The measurement of blade root moment of flexure needs to install strain transducer in the root of each blade, by measuring root of blade
It is loaded caused by deformation obtain the root bending moment of blade.Three blade root install sensors are as shown in Figure 3.
2）Because wheel hub is rigidly connected by flange and slow-speed shaft, the moment of flexure of hub centre can be directly delivered to slow-speed shaft,
Show as the radial direction moment of flexure of slow-speed shaft.The mutually perpendicular moment of flexure of both direction can also by low speed shaft of wind generating set radial direction
Moment of flexure is calculated by coordinate transform.Computational methods are as shown by the equation.
Wherein, MZAnd MYFor radial direction both direction moment of flexure under slow-speed shaft rotating coordinate system.MYNAnd MZNIt is non-right to represent wind wheel
Claim the both direction moment of flexure of load, moment of flexure measurement sensor is installed as shown in Figure 4 on slow-speed shaft.
（2）The Wind turbines variable pitch control of the control of non-symmetrical load containing wind wheel
The asymmetric dynamic loading control of wind-driven generator group wind-wheel is superimposed by middle on the basis of the control of feather rotating speed
Certain micro-positioning regulators vibrate to eliminate uneven and suppression, a kind of twin nuclei control ring are formed, so as to reach reduction unit
The purpose of load.The structure of controller is as shown in Figure 5.
The control process of non-symmetrical load must premised on the energy capture and transformation efficiency that do not influence Wind turbines,
The target of control is not that load is minimum, but non-symmetrical load is reduced in rational scope, therefore wind wheel non-symmetrical load
The propeller pitch angle change of controller output must be limited in certain scope, be generally defined within 5 °.
（3）The asymmetric dynamic loading control of wind wheel
Wind wheel non-symmetrical load MYNAnd MZNTwo moment of flexure components are mutually perpendicular to, and are interacted and be can be ignored, Ke Yitong
Cross two controllers and carry out separate control.
Due to being complicated non-linear relation between wind speed change, propeller pitch angle and wind wheel moment of flexure, and it can not set up accurate
Mathematical modeling, be the control of this wind wheel non-symmetrical load using symmetrical similar structure adaptive independent of accurate mathematical modeling
Controller is controlled.Wind wheel non-symmetrical load controller is using the Asymmetrical Bending Moment of wind wheel as input, using propeller pitch angle demand p to be defeated
Go out.
The purpose of the control of wind wheel non-symmetrical load is the Asymmetrical Bending Moment for reducing wind wheel as far as possible, the moment of flexure of controller
Control targe is set to zero.MYNControl law equation below shown in：
Wherein system features variableOn-line Estimation is carried out using equation below：
Or | Δ p (k-1) |≤ε
Wherein, η k are Learning Step, in order to what is considered algorithm versatility and add；μ is weight factor, is Parameters variation amount
Penalty factor.The scope that nonlinear system broken lineization is linearly substituted can be limited by choosing μ value.μ addition causes algorithm to individual
Other singular data has robustness；ε is an abundant small positive number.
Moment MZNControl law form and MYNIt is identical.
The non-symmetrical loads such as change, the rotation of wind wheel due to wind speed control correlative is all low frequency variations, in order to avoid
Feather act and pylon between formed resonance, it is necessary in wind wheel non-symmetrical load controller input channel add wave filter with
Reduce pitch-variable system action.It is the filter that load measurement signal carries out pre-treatment to wind wheel non-symmetrical load controller input channel
Ripple device is in series by a low pass filter and notch filter, and low pass filter is restriction controller to HF noise signal
Response, it is to avoid unnecessary feather action；Wind wheel non-symmetrical load controller is limited by notch filter to imitate tower shadow
Should caused load change response.
The output of both direction load controller obtains three independent blade pitch angle demands, contravariant through coordinate inverse transformation
Change shown in equation below.
Wherein θ is the azimuth of wind wheel, P1, P2, P3The propeller pitch angle demand of respectively three blades, PZ, PYRespectively two
The output of controller.
In invariable power area（Wind speed is more than rated wind speed）The load that unit is subject to is larger, and the Generation Control of unit is to become oar
Based on control, the control of wind wheel non-symmetrical load is main to be considered to carry out in the case where wind speed is more than the operating mode of rated wind speed, due to wind wheel
Non-symmetrical load is mainly caused by wind shear, turbulent flow and coupled vibrations, so wind wheel non-symmetrical load controller is in wind shear
Effect with turbulent flow operating mode can be more obvious.
Claims (1)
1. a kind of wind wheel non-symmetrical load control method, it is characterised in that：The control method is mainly reduced by pitch control
Due to wind switching and large-scale wind electricity unit wind wheel non-symmetrical load caused by turbulent flow, controller is real with wind speed round and wind wheel center
Shi Zaihe is input, using propeller pitch angle as output, controls the accurate mathematical modeling independent of Wind turbines；Load is controlled by real-time
Load measurement is with calculating, closed loop controller, wind wheel non-symmetrical load pitch control ring, rotating speed independent of accurate familiar models
Pitch control ring；It is propeller pitch angle to control variable, and wind wheel non-symmetrical load control ring is output as pitch angle increment, controller it is defeated
Go out and together decided on by rotating speed pitch control ring and wind wheel non-symmetrical load control ring；The non-symmetrical load of wind wheel is decomposed into two
The moment of flexure of mutually orthogonal direction, is interacted negligible feature based on two mutually perpendicular direction moments of flexure, passes through two
Controller carries out separate control, and each controller is using the load that measures in real time for input, and propeller pitch angle is exports；
The computational methods of wind wheel non-symmetrical load are by the following two kinds：
(1), the non-symmetrical load of wind wheel is embodied in the moment of flexure of both direction, and the two direction moments of flexure are by three blades of wind wheel
The conversion of blade root moment of flexure is calculated by coordinate transform, and measuring method is as shown by the equation:
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Three blade root moment MsYNAnd MZNTo represent the both direction moment of flexure of wind wheel non-symmetrical load；
(2), because wheel hub is rigidly connected by flange and slow-speed shaft, the moment of flexure of hub centre can be directly delivered to slow-speed shaft, table
It is now the radial direction moment of flexure of slow-speed shaft, the mutually perpendicular moment of flexure of both direction is passed through by the radial direction moment of flexure of low speed shaft of wind generating set
Coordinate transform is calculated；Computational methods are as shown by the equation：
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Wherein, MZAnd MYFor radial direction both direction moment of flexure, M under slow-speed shaft rotating coordinate systemYNAnd MZNTo represent the asymmetric load of wind wheel
The both direction moment of flexure of lotus；
In wind wheel non-symmetrical load control ring, the pitch angle increments of three blades by two mutually perpendicular directions bending load control
The output of device processed is obtained through coordinate inverse transformation, the conversion such as formula of two controller outputs and three blade pitch angle demand increments
It is shown：
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Wherein θ is the azimuth of wind wheel, p1, p2, p3The propeller pitch angle demand of respectively three blades, pZ, pYRespectively two controls
The output of device.
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