CN108035848A - Independent variable pitch control method of wind generating set based on tower top load - Google Patents

Independent variable pitch control method of wind generating set based on tower top load Download PDF

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CN108035848A
CN108035848A CN201711165030.8A CN201711165030A CN108035848A CN 108035848 A CN108035848 A CN 108035848A CN 201711165030 A CN201711165030 A CN 201711165030A CN 108035848 A CN108035848 A CN 108035848A
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axis
load
tower
pitch
coordinate system
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李刚
马冲
黄国燕
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MingYang Smart Energy Group Co Ltd
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    • 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 
    • F03D7/02Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04Automatic control; Regulation
    • F03D7/042Automatic control; Regulation by means of an electrical or electronic controller
    • 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
    • F03D17/00Monitoring or testing of wind motors, e.g. diagnostics
    • 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 
    • F03D7/02Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022Adjusting aerodynamic properties of the blades
    • F03D7/0224Adjusting blade pitch
    • 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
    • F03D80/00Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • 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

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

本发明公开了一种风力发电机组基于塔顶载荷的独立变桨控制方法,该方法是:首先,在塔筒顶端贴装传感器,通过传感器直接采集塔顶弯矩Mx、My、Mz,再通过采集的塔顶载荷推算出D轴载荷和Q轴载荷,即D‑Q轴载荷;其次,D轴载荷和Q轴载荷分别通过滤波器、PI控制器、限幅输出为D‑Q轴的变桨指令;最后,D‑Q轴的变桨指令经过D‑Q轴逆变换,得到每个桨叶上的变桨指令,叠加到统一变桨指令上。本发明方法采用塔顶载荷作为独立变桨控制的反馈量,载荷传感器的数量由三组降为一组,在显著降低成本的同时,也提高了可靠性。

The invention discloses an independent variable pitch control method for a wind turbine generator set based on a tower top load, the method comprising: firstly, mounting a sensor on the top of a tower, directly collecting the tower top bending moments M x , My , and M z through the sensor, and then calculating the D-axis load and the Q-axis load, i.e., the D-Q-axis load, through the collected tower top load; secondly, the D-axis load and the Q-axis load are respectively output as variable pitch instructions of the D-Q-axis through a filter, a PI controller, and a limiting output; finally, the variable pitch instructions of the D-Q-axis are inversely transformed through the D-Q-axis to obtain the variable pitch instructions on each blade, which are superimposed on the unified variable pitch instructions. The method of the invention adopts the tower top load as the feedback amount of the independent variable pitch control, and the number of load sensors is reduced from three groups to one group, which significantly reduces the cost while also improving the reliability.

Description

一种风力发电机组基于塔顶载荷的独立变桨控制方法An independent pitch control method for wind turbines based on tower top loads

技术领域technical field

本发明涉及风力发电机组变桨控制的技术领域,尤其是指一种风力发电机组基于塔顶载荷的独立变桨控制方法。The present invention relates to the technical field of pitch control of wind power generators, in particular to an independent pitch control method for wind power generators based on tower top loads.

背景技术Background technique

业内习知,随着风电技术的发展,风力发电机逐渐趋向于大兆瓦、高塔架、大叶轮、轻量化设计。对于大叶轮机组,叶根疲劳载荷My、轮毂不平衡载荷和偏航的不平衡载荷会显著增大。为实现叶轮和塔架的轻量化设计,机组需要采用独立变桨控制策略,以降低疲劳载荷。It is known in the industry that with the development of wind power technology, wind turbines gradually tend to be designed with large megawatts, high towers, large impellers, and lightweight. For a large turbine unit, the fatigue load My of the blade root, the unbalanced load of the hub and the unbalanced load of the yaw will increase significantly. In order to realize the lightweight design of the impeller and the tower, the unit needs to adopt an independent pitch control strategy to reduce the fatigue load.

传统的独立变桨控制主要是借助在风机叶片根部贴装载荷传感器,通过测量叶片根部挥舞方向和摆振方向的载荷,转换成风机叶轮平面面外载荷,得到叶轮平面上的不平衡载荷。The traditional independent pitch control mainly relies on mounting load sensors at the root of the fan blades, and by measuring the loads in the flapping direction and shimmy direction of the blade roots, it is converted into out-of-plane loads of the fan impeller plane, and the unbalanced load on the impeller plane is obtained.

其中,叶轮平面上的一阶、非对称风力场能够被线性化,并通过两个相互垂直的分量描述,叶片载荷与风速紧密相关。因此,叶轮平面的不平衡载荷可以表述为“载荷作用场”,叶片任意瞬时的载荷被视为其在载荷场对应位置的采样值。此外,用于补偿不对称载荷的附加变桨动作也能够表述为覆盖叶轮扫略平面的“桨距作用场”,而桨叶所需的附加变桨动作能够通过其对桨距作用场对应位置采样获得。每一个场能够描述为两个垂直的分量,从载荷作用场生成桨距作用场只需一个双输入双输出的控制器,而且这与叶片的数目及叶轮旋转速度无关。对于三叶片风轮来说,三个测得的叶根载荷能够用来计算瞬时载荷作用场的两个分量,从载荷作用场的双分量又生成桨距作用场,从桨距作用场的双分量能够变换成三个独立的桨距增量,这一过程称为称为经典的独立变桨控制。Among them, the first-order, asymmetric wind field on the impeller plane can be linearized and described by two mutually perpendicular components, and the blade load is closely related to the wind speed. Therefore, the unbalanced load of the impeller plane can be expressed as a "load action field", and any instantaneous load of the blade is regarded as its sampling value at the corresponding position of the load field. In addition, the additional pitch action used to compensate for asymmetric loads can also be expressed as a "pitch action field" covering the sweep plane of the impeller, and the additional pitch action required by the blade can be expressed by its corresponding position of the pitch action field Sampling is obtained. Each field can be described as two perpendicular components. Generating the pitch action field from the load action field requires only a dual-input dual-output controller, and this is independent of the number of blades and the impeller rotational speed. For a three-bladed rotor, the three measured blade root loads can be used to calculate the two components of the instantaneous load field. From the dual components of the load field, the pitch field is generated. From the dual The components can be transformed into three independent pitch increments, a process known as classical independent pitch control.

这种独立变桨控制主要以叶根载荷作为输入量,通过在每个叶片上施加一个附加的变桨角度,来消除叶轮平面的不平衡载荷,达到降载目的。然而如何保证独立变桨控制的可靠性、降低独立变桨控制的成本,这些问题一直困扰技术人员。This independent pitch control mainly takes the blade root load as the input quantity, and eliminates the unbalanced load on the impeller plane by applying an additional pitch angle on each blade to achieve the purpose of load reduction. However, how to ensure the reliability of the independent pitch control and reduce the cost of the independent pitch control has been puzzling technicians.

发明内容Contents of the invention

本发明的目的在于克服现有技术的缺点与不足,提出了一种风力发电机组基于塔顶载荷的独立变桨控制方法,该方法采用塔顶载荷作为独立变桨控制的反馈量,载荷传感器的数量由三个降为一个,在显著降低成本的同时,也提高了可靠性。The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and proposes a method for independent pitch control of wind turbines based on tower top loads. The method uses tower top loads as the feedback of independent pitch control. The number has been reduced from three to one, increasing reliability while significantly reducing costs.

为实现上述目的,本发明所提供的技术方案为:一种风力发电机组基于塔顶载荷的独立变桨控制方法,包括以下步骤:In order to achieve the above object, the technical solution provided by the present invention is: an independent pitch control method for a wind turbine based on a tower top load, comprising the following steps:

1)首先,在塔筒顶端贴装传感器,通过传感器直接采集塔顶弯矩Mx、My、Mz,然后再通过采集的塔顶载荷推算出D轴载荷和Q轴载荷,即D-Q轴载荷,其具体情况如下:1) First, mount the sensor on the top of the tower, and directly collect the tower top bending moments M x , M y , M z through the sensor, and then calculate the D-axis load and Q-axis load from the collected tower top load, that is, the DQ axis The details of the load are as follows:

D轴载荷是反映风轮平面俯仰方向受载的不平衡性,Q轴载荷是反映叶轮平面偏航方向受载的不平衡性,在风机轮毂坐标系中,D轴载荷指轮毂My,而Q轴载荷指轮毂Mz,轮毂坐标系为GL坐标系,X坐标轴沿轮毂中心线从机头指向机尾,Y坐标轴水平且与X轴垂直,Z坐标轴垂直指向上;独立变桨控制目的是为消除叶轮平面的不平衡载荷,因而需要得知反映叶轮平面不平衡性的载荷,即D轴载荷和Q轴载荷,为此,如何通过塔顶载荷得到D-Q轴载荷尤为关键;The D-axis load reflects the unbalance of the wind rotor plane pitch direction, and the Q-axis load reflects the unbalance of the impeller plane yaw direction load. In the wind turbine hub coordinate system, the D-axis load refers to the hub M y , and The Q-axis load refers to the hub M z , the hub coordinate system is the GL coordinate system, the X coordinate axis points from the nose to the tail along the hub centerline, the Y coordinate axis is horizontal and perpendicular to the X axis, and the Z coordinate axis points vertically upward; independent pitch The purpose of control is to eliminate the unbalanced load on the impeller plane, so it is necessary to know the load reflecting the unbalanced impeller plane, that is, the D-axis load and the Q-axis load. Therefore, how to obtain the DQ-axis load through the tower top load is particularly critical;

塔架顶端采集的载荷有:塔顶弯矩Mx、My、Mz,塔架坐标系是固定坐标系,即GL坐标系,X坐标轴指向南,Y坐标轴指向东,Z轴垂直向上,坐标原点在塔筒中轴线上,塔架坐标系与轮毂坐标系不同,因为轮毂坐标系是固定在机舱上,随机舱偏航而旋转,而塔架坐标系则是与地面相对静止的;The loads collected at the top of the tower include: tower top bending moments M x , M y , M z , the tower coordinate system is a fixed coordinate system, that is, the GL coordinate system, the X coordinate axis points south, the Y coordinate axis points east, and the Z axis is vertical Upwards, the coordinate origin is on the central axis of the tower, and the tower coordinate system is different from the hub coordinate system, because the hub coordinate system is fixed on the cabin and rotates with the yaw of the cabin, while the tower coordinate system is relatively stationary with the ground;

D-Q轴的Q轴载荷与塔架顶端载荷Mz直接相关,Q轴载荷等于Mz,以传感器采集的塔顶载荷作为独立变桨控制的输入信号,根据塔顶坐标系和轮毂坐标系的偏航角度的关系,对塔顶载荷Mx、My作旋转变换,计算得到D-Q轴的D轴载荷,在变换的过程中,考虑机舱重力对塔顶的附加弯矩,因此,在计算D轴载荷过程中,还需减去机舱重力对塔顶施加的附加弯矩;其中,从塔顶载荷变换得到D-Q轴载荷需要进行坐标旋转变换,所作的变换如下式:The Q-axis load of the DQ axis is directly related to the tower top load Mz, and the Q-axis load is equal to Mz . The tower top load collected by the sensor is used as the input signal of the independent pitch control. According to the yaw of the tower top coordinate system and the hub coordinate system, The relationship between the angles, the load M x and M y on the top of the tower are rotated and transformed, and the D-axis load of the DQ axis is calculated. In the process of transformation, the additional bending moment of the gravity of the cabin on the top of the tower is considered. Therefore, when calculating the D-axis load In the process, it is also necessary to subtract the additional bending moment exerted by the gravity of the cabin on the top of the tower; among them, the coordinate rotation transformation is required to obtain the DQ axis load from the transformation of the load on the top of the tower, and the transformation is as follows:

式中,MD代表D轴载荷,MQ代表Q轴载荷;Mx、My、Mz分别代表塔顶三个方向的载荷;φ代表机舱偏航角度;FG代表机舱重力,L代表机舱重心到塔筒中轴线的距离;在此变换式中不仅考虑了机舱偏航导致的旋转变换,也考虑了机舱重力导致的附加弯矩;In the formula, M D represents the D-axis load, M Q represents the Q-axis load; M x , M y , and M z represent the loads in the three directions of the tower top; φ represents the yaw angle of the cabin; F G represents the gravity of the cabin, and L represents The distance from the center of gravity of the nacelle to the central axis of the tower; in this transformation formula, not only the rotation transformation caused by the yaw of the nacelle is considered, but also the additional bending moment caused by the gravity of the nacelle;

2)将D-Q轴的载荷通过低通滤波器、陷频滤波器、PI控制器产生D-Q轴变桨指令并限幅输出,其具体情况如下:2) Pass the load of the D-Q axis through the low-pass filter, notch filter, and PI controller to generate the D-Q axis pitch command and limit the output. The specific conditions are as follows:

知道D-Q轴载荷,即知道叶轮平面的不平衡载荷,要消除叶轮平面的不平衡载荷,需要设计从D-Q轴载荷到D-Q轴变桨指令的控制器,在此采用PI控制器来控制D-Q轴的变桨指令来消除D-Q轴的不平衡载荷,由于载荷信号中包含有高频噪声,这些高频成分对降载没有用处,只会扰乱控制系统,因此控制器中需加入低通滤波器、陷频滤波器,为安全缘故,PI控制器输出的变桨指令还需进行限幅处理,得到限幅后的D-Q轴变桨指令;其中,由于D-Q轴是相互独立、完全解耦的,因此,D轴载荷和Q轴载荷是分开控制的,即D轴载荷经过PI控制器后输出D轴变桨指令θD,Q轴载荷经过PI控制器生成Q轴变桨指令θQKnowing the DQ shaft load, that is, knowing the unbalanced load on the impeller plane, to eliminate the unbalanced load on the impeller plane, it is necessary to design a controller from the DQ shaft load to the DQ shaft pitch command. Here, the PI controller is used to control the DQ shaft. The pitch command is used to eliminate the unbalanced load of the DQ axis. Since the load signal contains high-frequency noise, these high-frequency components are useless for load reduction and will only disturb the control system. Therefore, low-pass filters and traps need to be added to the controller. frequency filter, for the sake of safety, the pitch command output by the PI controller needs to be limited, and the limited DQ axis pitch command is obtained; among them, since the DQ axes are mutually independent and completely decoupled, therefore, The D-axis load and the Q-axis load are controlled separately, that is, the D-axis load outputs the D-axis pitch command θ D after passing through the PI controller, and the Q-axis load generates the Q-axis pitch command θ Q through the PI controller;

3)将D-Q轴的变桨指令逆变换得到每个桨叶上的变桨指令,再叠加到统一变桨指令上,其具体情况如下:3) Invert the pitch command of the D-Q axis to obtain the pitch command on each blade, and then superimpose it on the unified pitch command. The specific conditions are as follows:

从D-Q轴桨距作用场到三个旋转叶片的桨距增量的变换称为D-Q轴旋转逆变换,公式如下:The transformation from the D-Q axis pitch action field to the pitch increment of the three rotating blades is called the D-Q axis rotation inverse transformation, and the formula is as follows:

式中,{θ1 θ2 θ3}为每个桨叶的桨距角增量,为叶轮方位角;考虑时间延迟,D-Q轴旋转逆变换公式的叶轮方位角处还需引入一个方位角偏移量δ,通过在叶轮方位角处增加一个方位角偏移量δ来抵消控制器在控制环路中的各项时间延迟,因此,逆变换公式重写为:where {θ 1 θ 2 θ 3 } is the pitch angle increment of each blade, is the azimuth angle of the impeller; considering the time delay, an azimuth offset δ needs to be introduced at the impeller azimuth angle of the DQ axis rotation inverse transformation formula, and an azimuth offset δ is added to the azimuth angle of the impeller to offset the controller’s The various time delays in the control loop, therefore, the inverse transformation formula is rewritten as:

本发明与现有技术相比,具有如下优点与有益效果:Compared with the prior art, the present invention has the following advantages and beneficial effects:

1、在塔筒顶端贴装传感器,代替在每个叶根处贴装传感器,由于只在塔筒顶部装传感器,相比于在叶根贴装传感器,传感器的数目显著减少,成本也显著降低,工艺也相对容易。1. Mount the sensor on the top of the tower instead of mounting the sensor at the root of each blade. Since the sensor is only installed on the top of the tower, the number of sensors is significantly reduced and the cost is also significantly reduced compared to mounting sensors on the root of the blade. , and the process is relatively easy.

2、在塔筒顶端贴装传感器的独立变桨控制方案可靠性更高,因为只需保证贴装在塔顶的载荷传感器正常工作,若采用叶根载荷的独立变桨方案,需保证每个叶根载荷传感器都正常工作。2. The independent pitch control scheme with sensors mounted on the top of the tower is more reliable, because it is only necessary to ensure that the load sensors mounted on the top of the tower work normally. If the independent pitch control scheme with blade root loads is adopted, each The blade root load sensors are functioning normally.

3、以塔顶载荷作为独立变桨控制的输入,可以更直接的得到D-Q轴载荷,控制环路更简单可靠;而采用叶根载荷作为独立变桨输入,需先将叶根载荷从旋转坐标系变换到固定坐标系,增加了控制的复杂度。3. Using the tower top load as the input of independent pitch control, the D-Q axis load can be obtained more directly, and the control loop is simpler and more reliable; while using the blade root load as the input of independent pitch control, it is necessary to first convert the blade root load from the rotation coordinate The system is transformed into a fixed coordinate system, which increases the complexity of the control.

附图说明Description of drawings

图1为本发明的轮毂载荷参考坐标系示意图。Fig. 1 is a schematic diagram of the hub load reference coordinate system of the present invention.

图2为本发明的塔架载荷参考坐标系示意图。Fig. 2 is a schematic diagram of the tower load reference coordinate system of the present invention.

图3为本发明的独立变桨D-Q轴控制器示意图。Fig. 3 is a schematic diagram of the independent pitch D-Q axis controller of the present invention.

图4为本发明的独立变桨控制整体回路示意图。Fig. 4 is a schematic diagram of the overall loop of the independent pitch control of the present invention.

具体实施方式Detailed ways

下面结合具体实施例对本发明作进一步说明。The present invention will be further described below in conjunction with specific examples.

参见图4所示,本实施例所提供的风力发电机组基于塔顶载荷的独立变桨控制方法,包括以下步骤:Referring to Figure 4, the wind turbine generator set provided in this embodiment is based on the independent pitch control method of the tower top load, including the following steps:

1)首先,在塔筒顶端贴装传感器,通过传感器直接采集塔顶弯矩Mx、My、Mz,然后再通过采集的塔顶载荷推算出D轴载荷和Q轴载荷,即D-Q轴载荷,其具体情况如下:1) First, mount the sensor on the top of the tower, and directly collect the tower top bending moments M x , M y , M z through the sensor, and then calculate the D-axis load and Q-axis load from the collected tower top load, that is, the DQ axis The details of the load are as follows:

D轴载荷是反映风轮平面俯仰方向受载的不平衡性,Q轴载荷是反映叶轮平面偏航方向受载的不平衡性。在风机轮毂坐标系中,D轴载荷指轮毂My,而Q轴载荷指轮毂Mz。轮毂坐标系(GL坐标系)X坐标轴沿轮毂中心线从机头指向机尾,Y坐标轴水平且与X轴垂直,Z坐标轴垂直指向上,轮毂坐标系见图1。独立变桨控制目的是为消除叶轮平面的不平衡载荷,因而需要得知反映叶轮平面不平衡性的载荷,即D轴载荷和Q轴载荷。为此,如何通过测量的塔顶载荷得到D-Q轴载荷尤为关键。The D-axis load reflects the unbalance of the wind rotor plane pitch direction, and the Q-axis load reflects the unbalance of the impeller plane yaw direction load. In the wind turbine hub coordinate system, the D-axis load refers to the hub M y , and the Q-axis load refers to the hub M z . The hub coordinate system (GL coordinate system) X coordinate axis points from the nose to the tail along the hub centerline, the Y coordinate axis is horizontal and perpendicular to the X axis, and the Z coordinate axis points vertically upward. The hub coordinate system is shown in Figure 1. The purpose of independent pitch control is to eliminate the unbalanced load on the impeller plane, so it is necessary to know the loads that reflect the unbalanced impeller plane, namely the D-axis load and Q-axis load. For this reason, how to obtain the DQ shaft load through the measured tower top load is particularly critical.

塔架顶端采集的载荷有:塔顶弯矩Mx、My、Mz。塔架坐标系是固定坐标系(GL坐标系),X坐标轴指向南,Y坐标轴指向东,Z轴垂直向上,坐标原点在塔筒中轴线上,见图2。塔架坐标系与轮毂坐标系不同,因为轮毂坐标系是固定在机舱上,随机舱偏航而旋转,而塔架坐标系则是与地面相对静止的。The loads collected at the top of the tower include: tower top bending moments M x , M y , and M z . The tower coordinate system is a fixed coordinate system (GL coordinate system), the X coordinate axis points to the south, the Y coordinate axis points to the east, the Z axis is vertically upward, and the coordinate origin is on the central axis of the tower, as shown in Figure 2. The tower coordinate system is different from the hub coordinate system, because the hub coordinate system is fixed on the nacelle and rotates with the yaw of the cabin, while the tower coordinate system is relatively stationary with the ground.

D-Q轴的Q轴载荷与塔架顶端载荷Mz直接相关,Q轴载荷等于Mz,以传感器采集的塔顶载荷作为独立变桨控制的输入信号,根据塔顶坐标系和轮毂坐标系的偏航角度的关系,对塔顶载荷Mx、My作旋转变换,计算得到D-Q轴的D轴载荷,在变换的过程中,考虑机舱重力对塔顶的附加弯矩,因此,在计算D轴载荷过程中,还需减去机舱重力对塔顶施加的附加弯矩;其中,从塔顶载荷变换得到D-Q轴载荷需要进行坐标旋转变换,所作的变换如下式:The Q-axis load of the DQ axis is directly related to the tower top load Mz , and the Q-axis load is equal to Mz . The tower top load collected by the sensor is used as the input signal of the independent pitch control. According to the deflection of the tower top coordinate system and the hub coordinate system The relationship between the navigation angle, the load M x and M y on the top of the tower are rotated and transformed, and the D-axis load of the DQ axis is calculated. In the process of transformation, the additional bending moment of the gravity of the cabin on the top of the tower is considered. Therefore, when calculating the D-axis During the loading process, the additional bending moment imposed by the gravity of the nacelle on the top of the tower needs to be subtracted; among them, the coordinate rotation transformation is required to obtain the DQ axis load from the transformation of the load on the top of the tower, and the transformation is as follows:

式中,MD代表D轴载荷,MQ代表Q轴载荷;Mx、My、Mz分别代表塔顶三个方向的载荷;φ代表机舱偏航角度;FG代表机舱重力,L代表机舱重心到塔筒中轴线的距离。在此变换式中不仅考虑了机舱偏航导致的旋转变换,也考虑了机舱重力导致的附加弯矩。In the formula, M D represents the D-axis load, M Q represents the Q-axis load; M x , M y , and M z represent the loads in the three directions of the tower top; φ represents the yaw angle of the cabin; F G represents the gravity of the cabin, and L represents The distance from the center of gravity of the nacelle to the central axis of the tower. In this transformation formula, not only the rotation transformation caused by the yaw of the nacelle is considered, but also the additional bending moment caused by the gravity of the nacelle is considered.

2)将D-Q轴的载荷通过低通滤波器、陷频滤波器、PI控制器产生D-Q轴变桨指令并限幅输出,其具体情况如下:2) Pass the load of the D-Q axis through the low-pass filter, notch filter, and PI controller to generate the D-Q axis pitch command and limit the output. The specific conditions are as follows:

知道了D-Q轴载荷,即知道了叶轮平面的不平衡载荷,要消除叶轮平面的不平衡载荷,需要设计从D-Q轴载荷到D-Q轴变桨指令的控制器。在本实施例中,采用经典的PI控制器来控制D-Q轴的变桨指令来消除D-Q轴的不平衡载荷。由于载荷信号中包含有高频的噪声,这些高频成分对降载没有用处,只会扰乱控制系统,因此控制器中需加入低通滤波器(主要作用是消除载荷信号中的高频噪音)、陷频(Notch)滤波器,陷频(Notch)滤波器的主要作用是滤除3P(叶轮转动频率的3倍频),因为3P频率的能量一般较高,经过低通滤波器后的载荷信号中仍然保存了3P频率的相当成分,因此还需陷频滤波器滤除。经过滤波后的D-Q轴载荷送入PI(比例+积分)控制器,PI控制器输出为D-Q轴的变桨指令。此外,为安全缘故,PI控制器输出的变桨指令还需进行限幅处理,得到限幅后的D-Q轴变桨指令。由于D-Q轴是相互独立、完全解耦的,因此D轴载荷和Q轴载荷是分开控制的,即D轴载荷经过PI控制器后输出D轴变桨指令θD,Q轴载荷经过PI控制器生成Q轴变桨指令θQ,具体控制如图3所示。The DQ shaft load is known, that is, the unbalanced load on the impeller plane is known. To eliminate the unbalanced load on the impeller plane, it is necessary to design a controller from the DQ shaft load to the DQ shaft pitch command. In this embodiment, a classical PI controller is used to control the pitch command of the DQ axis to eliminate the unbalanced load of the DQ axis. Since the load signal contains high-frequency noise, these high-frequency components are useless for load reduction and will only disturb the control system, so a low-pass filter needs to be added to the controller (the main function is to eliminate high-frequency noise in the load signal) , Notch filter, the main function of the notch filter is to filter out 3P (three times the frequency of the impeller rotation frequency), because the energy of the 3P frequency is generally higher, and the load after the low-pass filter A considerable component of the 3P frequency is still preserved in the signal, so a notch filter is required to filter it out. The filtered DQ axis load is sent to the PI (proportional + integral) controller, and the output of the PI controller is the pitch command of the DQ axis. In addition, for the sake of safety, the pitch change command output by the PI controller needs to be limited to obtain the limited DQ axis pitch command. Since the D and Q axes are mutually independent and completely decoupled, the D-axis load and the Q-axis load are controlled separately, that is, the D-axis load outputs the D-axis pitch command θ D after passing through the PI controller, and the Q-axis load passes through the PI controller Generate the Q-axis pitch command θ Q , and the specific control is shown in Figure 3.

3)将D-Q轴的变桨指令逆变换得到每个桨叶上的变桨指令,再叠加到统一变桨指令上,其具体情况如下:3) Invert the pitch command of the D-Q axis to obtain the pitch command on each blade, and then superimpose it on the unified pitch command. The specific conditions are as follows:

从D-Q轴桨距作用场到三个旋转叶片的桨距增量的变换称为D-Q轴旋转逆变换,其中D-Q轴旋转逆变换公式如下:The transformation from the D-Q axis pitch action field to the pitch increment of the three rotating blades is called the D-Q axis rotation inverse transformation, where the D-Q axis rotation inverse transformation formula is as follows:

式中,{θ1 θ2 θ3}为每个桨叶的桨距角增量,为叶轮方位角。考虑时间延迟,D-Q轴旋转逆变换公式的叶轮方位角处还需引入一个方位角偏移量δ。通过在叶轮方位角处增加一个方位角偏移量δ来抵消控制器在控制环路中的各项时间延迟。因此,逆变换公式重写为:where {θ 1 θ 2 θ 3 } is the pitch angle increment of each blade, is the impeller azimuth angle. Considering the time delay, an azimuth offset δ needs to be introduced in the impeller azimuth angle of the DQ axis rotation inverse transformation formula. The various time delays of the controller in the control loop are offset by adding an azimuth offset δ at the impeller azimuth. Therefore, the inverse transformation formula is rewritten as:

独立变桨控制主要用于降低叶片面外载荷的1P频率成分,同样也降低轮毂和主轴的弯矩。经实践验证,在本发明方法中,这些载荷在1P频率的频谱峰值基本上可以被消除,这样使得独立变桨距控制可以显著降低疲劳载荷,因为1P频率载荷在疲劳中占主导成分,一般情况下,叶轮叶根面外弯矩可以降低20%,而轴弯矩可以降低30%~40%。这相比现有技术,采用本发明方法可保证独立变桨控制的可靠性以及有效降低独立变桨控制的成本,具有实际推广价值,值得推广。The independent pitch control is mainly used to reduce the 1P frequency component of the blade out-of-plane load, and also reduce the bending moment of the hub and the main shaft. It has been verified by practice that in the method of the present invention, these loads can be basically eliminated at the peak frequency spectrum of 1P frequency, so that the independent pitch control can significantly reduce the fatigue load, because the 1P frequency load is the dominant component in fatigue, generally Next, the bending moment outside the root of the impeller can be reduced by 20%, while the shaft bending moment can be reduced by 30% to 40%. Compared with the prior art, the method of the present invention can ensure the reliability of the independent pitch control and effectively reduce the cost of the independent pitch control, which has practical promotion value and is worthy of popularization.

以上所述之实施例子只为本发明之较佳实施例,并非以此限制本发明的实施范围,故凡依本发明之形状、原理所作的变化,均应涵盖在本发明的保护范围内。The implementation examples described above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Therefore, all changes made according to the shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims (1)

1.一种风力发电机组基于塔顶载荷的独立变桨控制方法,其特征在于,包括以下步骤:1. an independent pitch control method based on a tower top load for a wind turbine, characterized in that it may further comprise the steps: 1)首先,在塔筒顶端贴装传感器,通过传感器直接采集塔顶弯矩Mx、My、Mz,然后再通过采集的塔顶载荷推算出D轴载荷和Q轴载荷,即D-Q轴载荷,其具体情况如下:1) First, mount the sensor on the top of the tower, and directly collect the tower top bending moments M x , M y , M z through the sensor, and then calculate the D-axis load and Q-axis load from the collected tower top load, that is, the DQ axis The details of the load are as follows: D轴载荷是反映风轮平面俯仰方向受载的不平衡性,Q轴载荷是反映叶轮平面偏航方向受载的不平衡性,在风机轮毂坐标系中,D轴载荷指轮毂My,而Q轴载荷指轮毂Mz,轮毂坐标系为GL坐标系,X坐标轴沿轮毂中心线从机头指向机尾,Y坐标轴水平且与X轴垂直,Z坐标轴垂直指向上;独立变桨控制目的是为消除叶轮平面的不平衡载荷,因而需要得知反映叶轮平面不平衡性的载荷,即D轴载荷和Q轴载荷,为此,如何通过塔顶载荷得到D-Q轴载荷尤为关键;The D-axis load reflects the unbalance of the wind rotor plane pitch direction, and the Q-axis load reflects the unbalance of the impeller plane yaw direction load. In the wind turbine hub coordinate system, the D-axis load refers to the hub M y , and The Q-axis load refers to the hub M z , the hub coordinate system is the GL coordinate system, the X coordinate axis points from the nose to the tail along the hub centerline, the Y coordinate axis is horizontal and perpendicular to the X axis, and the Z coordinate axis points vertically upward; independent pitch The purpose of control is to eliminate the unbalanced load on the impeller plane, so it is necessary to know the load reflecting the unbalanced impeller plane, that is, the D-axis load and the Q-axis load. Therefore, how to obtain the DQ-axis load through the tower top load is particularly critical; 塔架顶端采集的载荷有:塔顶弯矩Mx、My、Mz,塔架坐标系是固定坐标系,即GL坐标系,X坐标轴指向南,Y坐标轴指向东,Z轴垂直向上,坐标原点在塔筒中轴线上,塔架坐标系与轮毂坐标系不同,因为轮毂坐标系是固定在机舱上,随机舱偏航而旋转,而塔架坐标系则是与地面相对静止的;The loads collected at the top of the tower include: tower top bending moments M x , M y , M z , the tower coordinate system is a fixed coordinate system, that is, the GL coordinate system, the X coordinate axis points south, the Y coordinate axis points east, and the Z axis is vertical Upwards, the coordinate origin is on the central axis of the tower, and the tower coordinate system is different from the hub coordinate system, because the hub coordinate system is fixed on the cabin and rotates with the yaw of the cabin, while the tower coordinate system is relatively stationary with the ground; D-Q轴的Q轴载荷与塔架顶端载荷Mz直接相关,Q轴载荷等于Mz,以传感器采集的塔顶载荷作为独立变桨控制的输入信号,根据塔顶坐标系和轮毂坐标系的偏航角度的关系,对塔顶载荷Mx、My作旋转变换,计算得到D-Q轴的D轴载荷,在变换的过程中,考虑机舱重力对塔顶的附加弯矩,因此,在计算D轴载荷过程中,还需减去机舱重力对塔顶施加的附加弯矩;其中,从塔顶载荷变换得到D-Q轴载荷需要进行坐标旋转变换,所作的变换如下式:The Q-axis load of the DQ axis is directly related to the tower top load Mz , and the Q-axis load is equal to Mz . The tower top load collected by the sensor is used as the input signal of the independent pitch control. According to the deflection of the tower top coordinate system and the hub coordinate system The relationship between the navigation angle, the load M x and M y on the top of the tower are rotated and transformed, and the D-axis load of the DQ axis is calculated. In the process of transformation, the additional bending moment of the gravity of the cabin on the top of the tower is considered. Therefore, when calculating the D-axis During the loading process, the additional bending moment imposed by the gravity of the nacelle on the top of the tower needs to be subtracted; among them, the coordinate rotation transformation is required to obtain the DQ axis load from the transformation of the load on the top of the tower, and the transformation is as follows: <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>M</mi> <mi>D</mi> </msub> <mo>=</mo> <msub> <mi>M</mi> <mi>y</mi> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&amp;phi;</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>M</mi> <mi>x</mi> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>&amp;phi;</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>F</mi> <mi>G</mi> </msub> <mi>L</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>M</mi> <mi>Q</mi> </msub> <mo>=</mo> <msub> <mi>M</mi> <mi>z</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><msub><mi>M</mi><mi>D</mi></msub><mo>=</mo><msub><mi>M</mi><mi>y</mi></msub><mi>c</mi><mi>o</mi><mi>s</mi><mrow><mo>(</mo><mi>&amp;phi;</mi><mo>)</mo></mrow><mo>+</mo><msub><mi>M</mi><mi>x</mi></msub><mi>s</mi><mi>i</mi><mi>n</mi><mrow><mo>(</mo><mi>&amp;phi;</mi><mo>)</mo></mrow><mo>-</mo><msub><mi>F</mi><mi>G</mi></msub><mi>L</mi></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>M</mi><mi>Q</mi></msub><mo>=</mo><msub><mi>M</mi><mi>z</mi></msub></mrow></mtd></mtr></mtable></mfenced> 式中,MD代表D轴载荷,MQ代表Q轴载荷;Mx、My、Mz分别代表塔顶三个方向的载荷;φ代表机舱偏航角度;FG代表机舱重力,L代表机舱重心到塔筒中轴线的距离;在此变换式中不仅考虑了机舱偏航导致的旋转变换,也考虑了机舱重力导致的附加弯矩;In the formula, M D represents the D-axis load, M Q represents the Q-axis load; M x , M y , and M z represent the loads in the three directions of the tower top; φ represents the yaw angle of the cabin; F G represents the gravity of the cabin, and L represents The distance from the center of gravity of the nacelle to the central axis of the tower; in this transformation formula, not only the rotation transformation caused by the yaw of the nacelle is considered, but also the additional bending moment caused by the gravity of the nacelle; 2)将D-Q轴的载荷通过低通滤波器、陷频滤波器、PI控制器产生D-Q轴变桨指令并限幅输出,其具体情况如下:2) Pass the load of the D-Q axis through the low-pass filter, notch filter, and PI controller to generate the D-Q axis pitch command and limit the output. The specific conditions are as follows: 知道D-Q轴载荷,即知道叶轮平面的不平衡载荷,要消除叶轮平面的不平衡载荷,需要设计从D-Q轴载荷到D-Q轴变桨指令的控制器,在此采用PI控制器来控制D-Q轴的变桨指令来消除D-Q轴的不平衡载荷,由于载荷信号中包含有高频噪声,这些高频成分对降载没有用处,只会扰乱控制系统,因此控制器中需加入低通滤波器、陷频滤波器,为安全缘故,PI控制器输出的变桨指令还需进行限幅处理,得到限幅后的D-Q轴变桨指令;其中,由于D-Q轴是相互独立、完全解耦的,因此,D轴载荷和Q轴载荷是分开控制的,即D轴载荷经过PI控制器后输出D轴变桨指令θD,Q轴载荷经过PI控制器生成Q轴变桨指令θQKnowing the DQ shaft load, that is, knowing the unbalanced load on the impeller plane, to eliminate the unbalanced load on the impeller plane, it is necessary to design a controller from the DQ shaft load to the DQ shaft pitch command. Here, the PI controller is used to control the DQ shaft. The pitch command is used to eliminate the unbalanced load of the DQ axis. Since the load signal contains high-frequency noise, these high-frequency components are useless for load reduction and will only disturb the control system. Therefore, low-pass filters and traps need to be added to the controller. frequency filter, for the sake of safety, the pitch command output by the PI controller needs to be limited, and the limited DQ axis pitch command is obtained; among them, since the DQ axes are mutually independent and completely decoupled, therefore, The D-axis load and the Q-axis load are controlled separately, that is, the D-axis load outputs the D-axis pitch command θ D after passing through the PI controller, and the Q-axis load generates the Q-axis pitch command θ Q through the PI controller; 3)将D-Q轴的变桨指令逆变换得到每个桨叶上的变桨指令,再叠加到统一变桨指令上,其具体情况如下:3) Invert the pitch command of the D-Q axis to obtain the pitch command on each blade, and then superimpose it on the unified pitch command. The specific conditions are as follows: 从D-Q轴桨距作用场到三个旋转叶片的桨距增量的变换称为D-Q轴旋转逆变换,公式如下:The transformation from the D-Q axis pitch action field to the pitch increment of the three rotating blades is called the D-Q axis rotation inverse transformation, and the formula is as follows: 式中,{θ1 θ2 θ3}为每个桨叶的桨距角增量,为叶轮方位角;考虑时间延迟,D-Q轴旋转逆变换公式的叶轮方位角处还需引入一个方位角偏移量δ,通过在叶轮方位角处增加一个方位角偏移量δ来抵消控制器在控制环路中的各项时间延迟,因此,逆变换公式重写为:where {θ 1 θ 2 θ 3 } is the pitch angle increment of each blade, is the azimuth angle of the impeller; considering the time delay, an azimuth offset δ needs to be introduced at the impeller azimuth angle of the DQ axis rotation inverse transformation formula, and an azimuth offset δ is added to the azimuth angle of the impeller to offset the controller’s The various time delays in the control loop, therefore, the inverse transformation formula is rewritten as:
CN201711165030.8A 2017-11-21 2017-11-21 Independent variable pitch control method of wind generating set based on tower top load Pending CN108035848A (en)

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CN119778160A (en) * 2024-12-09 2025-04-08 北京金风科创风电设备有限公司 Variable pitch control method and system of wind generating set and wind generating set

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Publication number Priority date Publication date Assignee Title
CN110439747A (en) * 2019-08-02 2019-11-12 明阳智慧能源集团股份公司 IPC control method for reducing vibration and load of wind power tower in left and right directions
CN110439747B (en) * 2019-08-02 2020-08-11 明阳智慧能源集团股份公司 IPC control method for reducing vibration and load of wind power tower in left and right directions
CN111608857A (en) * 2020-05-09 2020-09-01 上海电气风电集团股份有限公司 Wind generating set, control method and system thereof and computer readable storage medium
CN112523948A (en) * 2020-11-20 2021-03-19 明阳智慧能源集团股份公司 Wind turbine generator hub ultimate load reduction control method based on independent pitch control
CN112610411A (en) * 2020-12-22 2021-04-06 明阳智慧能源集团股份公司 Control method and module for solving clearance problem of tower of wind generating set
CN112610412A (en) * 2020-12-23 2021-04-06 山东中车风电有限公司 Wind turbine generator blade clearance control method based on load detection
CN112610412B (en) * 2020-12-23 2022-03-01 山东中车风电有限公司 Wind turbine generator blade clearance control method based on load detection
CN114483448A (en) * 2022-01-18 2022-05-13 浙江大学 Pitch amplitude limiting method for independent pitch control of large wind generating set
CN114517771A (en) * 2022-01-19 2022-05-20 明阳智慧能源集团股份公司 Method for identifying non-uniform wind speed of wind wheel rotating surface of wind turbine generator set through load
CN119778160A (en) * 2024-12-09 2025-04-08 北京金风科创风电设备有限公司 Variable pitch control method and system of wind generating set and wind generating set

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