CN105756854A - Variable-pitch control method, device and system of wind turbine generator set - Google Patents

Variable-pitch control method, device and system of wind turbine generator set Download PDF

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Publication number
CN105756854A
CN105756854A CN201610121366.3A CN201610121366A CN105756854A CN 105756854 A CN105756854 A CN 105756854A CN 201610121366 A CN201610121366 A CN 201610121366A CN 105756854 A CN105756854 A CN 105756854A
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CN
China
Prior art keywords
pitch
rate
change
angle
propeller
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Pending
Application number
CN201610121366.3A
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Chinese (zh)
Inventor
赵树椿
周桂林
李强
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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Application filed by Beijing Goldwind Science and Creation Windpower Equipment Co Ltd filed Critical Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Priority to CN201610121366.3A priority Critical patent/CN105756854A/en
Publication of CN105756854A publication Critical patent/CN105756854A/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D7/00Controlling wind motors
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00Control
    • F05B2270/30Control parameters, e.g. input parameters
    • F05B2270/328Blade pitch angle
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/72Wind turbines with rotation axis in wind direction

Abstract

The embodiment of the invention provides variable-pitch control method, device and system of a wind turbine generator set. The variable-pitch control method of the wind turbine generator set comprises the following steps: detecting an actual value of an operation parameter of the wind turbine generator set; acquiring a pre-set value of the operation parameter; determining whether an extra variable-pitch speed and/or a variable-pitch angle needs to be increased according to the difference between the actual value and the pre-set value; and when determining that the extra variable-pitch speed and/or variable-pitch angle needs to be increased, transmitting a pre-set variable-pitch speed required value and/or variable-pitch angle required value to a variable-pitch controller. According to the variable-pitch control method, device and system of the wind turbine generator set, whether extra variable-pitch output needs to be increased on the basis of conventional variable-pitch output or not is determined according to the change of the operation parameter of the set, so that the gust of wind can penetrate through the set, and the load is reduced; and meanwhile, the safety and the economical efficiency of the set are improved.

Description

The pitch control method of wind power generating set, Apparatus and system
Technical field
The present invention relates to technical field of wind power, particularly relate to the pitch control method of a kind of wind power generating set, Apparatus and system.
Background technology
In recent years, the direction that wind power generating set (hereinafter referred to as unit) is just maximizing towards MW class is developed.Along with wind-powered electricity generation industry competition is day by day fierce, the increase of capacity of power unit and impeller diameter, rack load is also increasing, and the requirement for reducing blower fan cost is also more and more stronger.
At present, time below rated wind speed, wheel speed is rapid-result proportion adjustment with the wind, constant to maintain best tip-speed ratio, thus obtaining more wind energy;Time more than rated wind speed, pitch control mode is adopted to regulate wheel speed.But when unit meets with strong gusts of wind suddenly more than rated wind speed, traditional control mode can be slower because becoming oar response speed, it is impossible to quickly responds wind speed change and causes that unit ultimate load is excessive.For this problem, the optimum propeller pitch angle based on power is generally adopted dynamically to adjust mode.
But, prior art has following weak point: one be only solve unit near rated wind speed time meet with the load problems of too that causes of fitful wind, and load cannot be reduced when meeting with strong gusts of wind more than rated wind speed;Two is that the power curve near rated wind speed is had bigger loss by the change of the optimum propeller pitch angle of unit, thus affecting the economy of unit.
Summary of the invention
The purpose of the embodiment of the present invention is in that, the pitch control method of a kind of wind power generating set, Apparatus and system are provided, to realize determining whether according to the change of unit operation parameter, in conventional becoming, oar output basis increases extra change oar output, so that unit passes through fitful wind and reduces load, improve safety and the economy of unit simultaneously.
For achieving the above object, The embodiment provides the pitch control method of a kind of wind power generating set, described method includes: the actual value of the operational factor of detection wind power generating set;Obtain the set-point of described operational factor;Determine the need for increasing extra pitch rate and/or becoming propeller angle according to the gap between described actual value and described set-point;Determine need increase time, by default pitch rate requirements and/or become propeller angle requirements be sent to pitch control device.
Embodiments of the invention additionally provide the pitch control device of a kind of wind power generating set, and described device includes: parameter detection module, for detecting the actual value of the operational factor of wind power generating set;Parameter acquisition module, for obtaining the set-point of described operational factor;Module is determined in data increase, for determining the need for increasing extra pitch rate and/or becoming propeller angle according to the gap between described actual value and described set-point;Data transmission blocks, for determine need increase time, by default pitch rate requirements and/or become propeller angle requirements be sent to pitch control device.
Embodiments of the invention also provide for the variable blade control system of a kind of wind power generating set, and described system includes the pitch control device of pitch control device and wind power generating set as in the foregoing embodiment.
The pitch control method of the wind power generating set that the embodiment of the present invention provides, Apparatus and system, by detecting the actual value of the operational factor of wind power generating set, and obtain the set-point of operational factor, further using the change between the actual value of unit operation parameter and set-point as whether the conventional oar output that becomes being increased the basis for estimation of extra output, determine need increase time, extra change oar demand is sent to pitch control device by triggering makes it perform corresponding pitch control, so that unit can pass through fitful wind and reduce load, improve safety and the economy of unit simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the pitch control method of the wind power generating set of the embodiment of the present invention one;
Fig. 2 be the wind power generating set of the embodiment of the present invention one pitch control method in the illustrative diagram of method flow of the first predetermined threshold value is set;
Fig. 3 is the application Contrast on effect schematic diagram of the pitch control method using and not using wind power generating set of the embodiment of the present invention one;
Fig. 4 is the structural representation of the pitch control device of the wind power generating set of the embodiment of the present invention two.
Detailed description of the invention
Below in conjunction with accompanying drawing, the pitch control method of embodiment of the present invention wind power generating set, Apparatus and system are described in detail.
Embodiment one
Fig. 1 is the schematic flow sheet of the pitch control method of the wind power generating set of the embodiment of the present invention one, method as described in can performing in the pitch control device of the wind power generating set as described in embodiment two.As it is shown in figure 1, the pitch control method of wind power generating set includes:
Step 110: the actual value of the operational factor of detection wind power generating set.
Step 120: obtain the set-point of operational factor.
Here, operational factor can be specially rotating speed or output.Alternatively, this pitch control method also includes: the actual value of operational factor is filtered.For operational factor for rotating speed, in concrete implementation mode, it is ω that detection obtains the rotating speed of wind-driven generator, measuring rotating speed ω is filtered, obtains filtered rotational speed omegam.Obtain the set-point ω of rotating speedset
Step 130: determine the need for increasing extra pitch rate and/or becoming propeller angle according to the gap between actual value and set-point.
Specifically, according to exemplary embodiments of the present invention, step 130 comprises the steps that the rate of change of the difference calculated between actual value and set-point;When the rate of change of difference is be more than or equal to the first predetermined threshold value, it is determined that need increase extra pitch rate and/or become propeller angle.
In order to more precisely increase change oar output, the rate of change of difference between filtered rotating speed and rotary speed setting value can also be calculated here.Therefore, still for aforementioned rotating speed, in known filtered rotational speed omegamSet-point ω with rotating speedsetAfterwards, following formula (1) and formula (2) is utilized to calculate the rate of change of difference:
ωerrmset... ... ... ... ... ... ... ... ... ... ... formula (1)
EEdot=d (ωerr)/dt ... ... ... ... ... ... ... ... ... ... formula (2)
Wherein, ωmFor filtered rotating speed, ωsetFor the set-point of rotating speed, ωerrFor rotating speed difference, EEdot is the rate of change of rotating speed difference, and t is the time.
In actual applications, except the rate of change of above-mentioned use difference characterizes the gap between actual value and set-point, it be also possible to use difference itself, or percentage ratio characterizes the gap between actual value and set-point, is not limited to this.
According to the another exemplary embodiment of the present invention, step 130 comprises the steps that the rate of change of the difference calculated between actual value and set-point;When the rate of change of difference is be more than or equal to the first predetermined threshold value, obtain the demand torque of pitch control device;When demand torque is more than the second predetermined threshold value, it is determined that need increase extra pitch rate and/or become propeller angle.
Step 140: determine need increase time, by default pitch rate requirements and/or become propeller angle requirements be sent to pitch control device.
Here, send the pitch rate requirements preset and/or change propeller angle requirements is in that to the purpose of pitch control device, make pitch control device add extra pitch rate requirements on the basis that routine exports and/or become propeller angle requirements.Generally, in actual applications, aforementioned default pitch rate requirements and the change propeller angle requirements steady state value into empirically obtaining, such as become propeller angle requirements and generally take about 2-4deg, and be necessary to ensure that the pitch rate after increase or become the pitch rate range of needs that propeller angle is maximum allowable less than hardware.
For example, in the value of rate of change EEdot of rotating speed difference be more than or equal to the first predetermined threshold value EEdotThreshold, and when the demand torque of current time pitch control device is more than the second predetermined threshold value, becomes in routine and oar output increases extra pitch rate requirements and/or becomes propeller angle requirements.Wherein, unit can be made to increase pitch rate when meeting with fitful wind quickly to respond wind speed change by increasing extra pitch rate requirements, increasing extra change propeller angle requirements refers to rotate some angles on original change propeller angle when unit meets with fitful wind more, the extra change oar action of above-mentioned interpolation all can make unit pass through fitful wind and reduce load.
In addition, in the value of rate of change EEdot of rotating speed difference less than the first predetermined threshold value EEdotThreshold, or, when the demand torque of pitch control device is less than or equal to the second predetermined threshold value, unit can be judged in advance and not meet with strong gusts of wind, then oar output increase extra pitch rate requirements without becoming in routine and/or becomes propeller angle requirements, directly conventionally becoming oar output and carry out pitch control.
The first predetermined threshold value mentioned in abovementioned steps has two kinds of methods to set up, and a kind of is be directly disposed as single numerical value;Another kind is first to obtain three blade pitch angle of current time and calculate meansigma methods, and then linearly tabling look-up according to propeller pitch angle meansigma methods obtains.
Thus, the method arranging the first predetermined threshold value comprises the steps that the propeller pitch angle of three blades obtaining wind power generating set respectively;The propeller pitch angle of three blades is filtered;Propeller pitch angle according to filtered three blades calculates average propeller pitch angle;Mapping table according to default average propeller pitch angle and the first predetermined threshold value arranges the first predetermined threshold value.
In concrete implementation mode, Fig. 2 be the wind power generating set of the embodiment of the present invention one pitch control method in the illustrative diagram of method flow of the first predetermined threshold value is set, with reference to Fig. 2.Specifically, step 201, obtain the propeller pitch angle of three blades of unit and be filtered;Step 202, calculates the average propeller pitch angle of three blades by following formula (3):
θm=(FB1PA+FB2PA+FB3PA)/3 ... ... ... ... ... ... formula (3)
Wherein, the propeller pitch angle of FB1PA, FB2PA, FB3PA respectively filtered three blades, θmFor average propeller pitch angle.
Step 203, it is judged that θmWhether less than or equal to xx [0], if it is perform step 204, i.e. EEdotTreshold=yy [0];If it is not, then perform step 205, it is judged that θmWhether more than xx [0] and less than or equal to xx [1], if it is, perform step 206, i.e. EEdotTreshold=(θm-xx[0])/(xx[1]-xx[0])(yy[1]-yy[0])+yy[0];If it is not, then perform step 207, it is judged that θmWhether more than xx [1] and less than or equal to xx [2], if it is, perform step 208, EEdotTreshold=(θm-xx[1])/(xx[2]-xx[1])*(yy[2]-yy[1])+yy[1];If it is not, then perform step 209, it is judged that θmWhether more than xx [2] and less than or equal to xx [3], if it is not, then perform step 211, i.e. EEdotTreshold=yy [3], if it is, perform step 210, i.e. EEdotTreshold=(θm-xx[2])/(xx[3]-xx[2])*(yy[3]-yy[2])+yy[2].Xx [0] in above-mentioned steps, xx [1], xx [2], xx [3], yy [0], yy [1], yy [2], yy [3] are the numerical value obtained based on load shedding purpose and experience by modeling and simulating.
Illustratively use pitch control method of the present invention below in conjunction with accompanying drawing and do not use the load shedding contrast effect of the present invention.Fig. 3 is the application Contrast on effect schematic diagram of the pitch control method using and not using wind power generating set of the embodiment of the present invention one, with reference to Fig. 3, the pitch control method of the visible wind power generating set implementing the present invention, load when unit meets with strong gusts of wind obtains and is effectively reduced, maximum reduce tower top ultimate bending moment about 15%, thus significantly reducing the development cost of unit, and ensure that the operation safety of unit.
The pitch control method of the wind power generating set of the present invention, by detecting the actual value of the operational factor of wind power generating set, and obtain the set-point of operational factor, according further to the change between actual value and the set-point of unit operation parameter, determine whether on conventional change oar output basis, the requirements of extra pitch rate/change propeller angle is sent to pitch control device to carry out pitch control, so that unit can pass through fitful wind, and effectively reduce unit meet with fitful wind time load, reduce the development cost of unit simultaneously, ensure that the safe operation of unit.
Embodiment two
Fig. 4 is the structural representation of the pitch control device of the wind power generating set of the embodiment of the present invention two.Can be used for performing the pitch control method step of the wind power generating set of the embodiment of the present invention one.
With reference to Fig. 4, the pitch control device of this wind power generating set includes parameter detection module 410, module 430 and data transmission blocks 440 are determined in parameter acquisition module 420, data increase.
Parameter detection module 410 is for detecting the actual value of the operational factor of wind power generating set.
Parameter acquisition module 420 is for obtaining the set-point of operational factor.
Data increase determines that module 430 is for determining the need for increasing extra pitch rate and/or becoming propeller angle according to the gap between actual value and set-point.
Data transmission blocks 440 for determine need to increase time, by default pitch rate requirements and/or become propeller angle requirements and be sent to pitch control device.
Preferably, this pitch control device may also include that parametric filtering module (not shown) is for being filtered the actual value of operational factor.
Exemplary embodiment according to the present invention, data increase determines that module 430 may include that
Difference rate of change computing unit (not shown) is for calculating the rate of change of the difference between actual value and set-point.
Determine that unit (not shown) is for when the rate of change of difference is be more than or equal to the first predetermined threshold value, it is determined that need increase extra pitch rate and/or become propeller angle.
In accordance with a further exemplary embodiment of the present invention, data increase determines that module 430 may include that
Difference rate of change computing unit (not shown) is for calculating the rate of change of the difference between actual value and set-point.
Demand torque acquiring unit (not shown) is for when the rate of change of difference is be more than or equal to the first predetermined threshold value, obtaining the demand torque of pitch control device.
Determine that unit (not shown) is for when demand torque is more than the second predetermined threshold value, it is determined that need increase extra pitch rate and/or become propeller angle.
Preferably, operational factor can be specially rotating speed or output.
The pitch control device of the wind power generating set of the present invention, by detecting the actual value of the operational factor of wind power generating set, and obtain the set-point of operational factor, according further to the change between actual value and the set-point of unit operation parameter, determine whether on conventional change oar output basis, the requirements of extra pitch rate/change propeller angle is sent to pitch control device to carry out pitch control, so that unit can pass through fitful wind, and effectively reduce unit meet with fitful wind time load, improve safety and the economy of unit simultaneously.
Embodiment three
The variable blade control system of wind power generating set includes the pitch control device of pitch control device and the wind power generating set as described in previous embodiment two.
The variable blade control system of the wind power generating set of the present invention, by determining whether on conventional change oar output basis according to the change between actual value and the set-point of acquisition of the unit operation parameter of detection, increase extra change oar demand, and need time-varying oar controller to receive extra change oar requirements to carry out pitch control determining, so that unit can pass through fitful wind, and effectively reduce unit meet with fitful wind time load, improve safety and the economy of unit simultaneously.
The above; being only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those familiar with the art is in the technical scope that the invention discloses; change can be readily occurred in or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with described scope of the claims.

Claims (10)

1. the pitch control method of a wind power generating set, it is characterised in that described method includes:
The actual value of the operational factor of detection wind power generating set;
Obtain the set-point of described operational factor;
Determine the need for increasing extra pitch rate and/or becoming propeller angle according to the gap between described actual value and described set-point;
Determine need increase time, by default pitch rate requirements and/or become propeller angle requirements be sent to pitch control device.
2. method according to claim 1, it is characterised in that described according to the gap between described actual value and described set-point determine the need for increase extra pitch rate and/or become propeller angle include:
Calculate the rate of change of difference between described actual value and set-point;
When the rate of change of described difference is be more than or equal to the first predetermined threshold value, it is determined that need increase described extra pitch rate and/or become propeller angle.
3. method according to claim 1, it is characterised in that described according to the gap between described actual value and described set-point determine the need for increase extra pitch rate and/or become propeller angle include:
Calculate the rate of change of difference between described actual value and set-point;
When the rate of change of described difference is be more than or equal to the first predetermined threshold value, obtain the demand torque of described pitch control device;
And when described demand torque is more than the second predetermined threshold value, it is determined that need increase described extra pitch rate and/or become propeller angle.
4. the method according to any one of claims 1 to 3, it is characterised in that described operational factor is specially rotating speed or output.
5. method according to claim 4, it is characterised in that the method arranging the first predetermined threshold value includes:
Obtain the propeller pitch angle of three blades of described wind power generating set respectively;
The propeller pitch angle of described three blades is filtered;
Propeller pitch angle according to filtered three blades calculates average propeller pitch angle;
Mapping table according to default average propeller pitch angle and the first predetermined threshold value arranges the first predetermined threshold value.
6. the pitch control device of a wind power generating set, it is characterised in that described device includes:
Parameter detection module, for detecting the actual value of the operational factor of wind power generating set;
Parameter acquisition module, for obtaining the set-point of described operational factor;
Module is determined in data increase, for determining the need for increasing extra pitch rate and/or becoming propeller angle according to the gap between described actual value and described set-point;
Data transmission blocks, for determine need increase time, by default pitch rate requirements and/or become propeller angle requirements be sent to pitch control device.
7. device according to claim 6, it is characterised in that described data increase determines that module includes:
Difference rate of change computing unit, for calculating the rate of change of the difference between described actual value and set-point;
Determine unit, for when the rate of change of described difference is be more than or equal to the first predetermined threshold value, it is determined that need increase described extra pitch rate and/or become propeller angle.
8. device according to claim 6, it is characterised in that described data increase determines that module includes:
Difference rate of change computing unit, for calculating the rate of change of the difference between described actual value and set-point;
Demand torque acquiring unit, for when the rate of change of described difference is be more than or equal to the first predetermined threshold value, obtaining the demand torque of described pitch control device;
Determine unit, for when described demand torque is more than the second predetermined threshold value, it is determined that need increase described extra pitch rate and/or become propeller angle.
9. the device according to any one of claim 6~8, it is characterised in that described operational factor is specially rotating speed or output.
10. the variable blade control system of a wind power generating set, it is characterised in that include the pitch control device of pitch control device and the wind power generating set as according to any one of claim 6~9.
CN201610121366.3A 2016-03-03 2016-03-03 Variable-pitch control method, device and system of wind turbine generator set Pending CN105756854A (en)

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CN107070360A (en) * 2017-05-02 2017-08-18 湖南拓天节能控制技术股份有限公司 Wind-power electricity generation exchange becomes oar servo-driver output torque smooth control method
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CN108105027A (en) * 2016-11-24 2018-06-01 北京金风科创风电设备有限公司 Wind generating set pitch control control method and device
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CN107956637A (en) * 2016-10-14 2018-04-24 北京金风科创风电设备有限公司 Wind-driven generator method for controlling number of revolution, equipment and system
CN108105027A (en) * 2016-11-24 2018-06-01 北京金风科创风电设备有限公司 Wind generating set pitch control control method and device
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CN107070360A (en) * 2017-05-02 2017-08-18 湖南拓天节能控制技术股份有限公司 Wind-power electricity generation exchange becomes oar servo-driver output torque smooth control method
CN107070360B (en) * 2017-05-02 2019-08-13 湖南拓天节能控制技术股份有限公司 Wind-power electricity generation exchanges variable pitch servo-driver output torque smooth control method
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CN108150351A (en) * 2017-12-11 2018-06-12 北京金风科创风电设备有限公司 Startup, grid-connected control method and device, the storage medium of wind power generating set
CN109958576A (en) * 2017-12-26 2019-07-02 新疆金风科技股份有限公司 The method and apparatus for controlling the revolving speed of wind power generating set
WO2019127975A1 (en) * 2017-12-28 2019-07-04 新疆金风科技股份有限公司 Method and apparatus for controlling variable pitch of wind-driven generator set under extreme turbulent wind conditions
CN109973301A (en) * 2017-12-28 2019-07-05 新疆金风科技股份有限公司 The method and apparatus of wind generating set pitch control are controlled under extreme turbulent flow wind regime
CN109973301B (en) * 2017-12-28 2020-07-24 新疆金风科技股份有限公司 Method and device for controlling pitch variation of wind generating set under extreme turbulent wind condition
CN108894918B (en) * 2018-06-21 2019-07-26 北京金风科创风电设备有限公司 Adjust paddle control method and device, computer readable storage medium
CN108894918A (en) * 2018-06-21 2018-11-27 北京金风科创风电设备有限公司 Adjust paddle control method and device, computer readable storage medium
CN108843490A (en) * 2018-07-18 2018-11-20 国电联合动力技术有限公司 A kind of blade pitch angle compensating control method and the anti-hypervelocity control method of Wind turbines

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