CN108443065A - A kind of Large-scale Wind Turbines independent feathering control optimization method - Google Patents

A kind of Large-scale Wind Turbines independent feathering control optimization method Download PDF

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Publication number
CN108443065A
CN108443065A CN201810181725.3A CN201810181725A CN108443065A CN 108443065 A CN108443065 A CN 108443065A CN 201810181725 A CN201810181725 A CN 201810181725A CN 108443065 A CN108443065 A CN 108443065A
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China
Prior art keywords
pitch
control
blades
deviation
pitch angle
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CN201810181725.3A
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Inventor
应有
叶杭冶
孙勇
杨靖
李照霞
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Zhejiang Windey Co Ltd
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Zhejiang Windey Co Ltd
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Priority to CN201810181725.3A priority Critical patent/CN108443065A/en
Publication of CN108443065A publication Critical patent/CN108443065A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0264—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
    • F03D7/0268—Parking or storm protection
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind 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

A kind of Large-scale Wind Turbines independent feathering control optimization method, includes the following steps：1) judge whether unit machine halt trouble occurs；If 2) wind is smaller, large-scale wind electricity unit independent feathering control function is not opened, and using collaboration pitch control method, three blades are with fixed rate feathering to 90 °；If 3) wind is larger, Wind turbines are in independent feathering control pattern, and when being connected to halt command, propeller pitch angle β it is expected in collaboration pitch control ring outputc；4) deviation control ring judges control model according to Wind turbines generator speed；5) as generator speed is more than grid-connected rotating speed, the normal output of deviation pitch control ring holding；6) otherwise deviation pitch control ring is gradually backed out, and is realized by amplitude limit ring；7) pitch control and deviation pitch control is cooperateed with to be switched on simultaneously；8) if three blades are all pitched to 90 °, shutdown terminates.Entire stopping process, which may be implemented, in the present invention reduces the unbalanced load of unit.

Description

A kind of Large-scale Wind Turbines independent feathering control optimization method
Technical field
The present invention relates to technical field of wind power generation, especially a kind of control method of wind power generating set independent pitch.
Background technology
In wind power generating set operational process, because of the presence of the factors such as wind shear, turbulent flow, tower shadow effect, yaw deviation, The wind speed profile in wind wheel swing flap face can be caused uneven, so that impeller is caused to bear larger unbalanced load, and wind wheel is straight Diameter is bigger, and the unbalanced degree of entire wind wheel swing flap face stress is stronger, and unbalanced load is also more apparent on impeller.On impeller Unbalanced load can cause very big fatigue load to the wind turbines critical component such as pitch variable bearings, wheel hub, main shaft, yaw bearing, pylon. In order to reduce the unbalanced load of impeller, patent document (ZL200910100064.8) proposes that a kind of large-scale wind electricity unit independently becomes Paddle control method increases a deviation for reducing the unbalanced load of impeller on the basis of traditional collaboration pitch control ring Pitch control ring achieves good control effect.
Large-scale wind electricity unit is using collaboration pitch control technology, in the process of running if there is machine halt trouble, wind turbine Three blades of group can be to fix pitch rate feathering to 90 degree of positions, because three blades obtain being that same position control refers to always It enables, therefore the position of three blades of entire stopping process is identical always (as shown in Figure 1).But large-scale wind electricity unit is using only After vertical pitch control technology, in order to reduce the unbalanced load of impeller, three blades obtain position control instruction there are offset component, Therefore, for Wind turbines in operational process, the position of three blades is to differ, most conventional to stop if machine halt trouble occurs in unit Machine control method is exactly as using tradition collaboration pitch control shutdown mode, three blades are with stationary phase same rate feathering to 90 Degree is in different location since the machine halt trouble moment occurs for three blades, and three blade positions are deposited always in stopping process Deviation, as shown in Fig. 2, this shutdown feathering control method can cause larger unbalanced load to Wind turbines.
In order to solve this problem, patent document EP2290232 proposes that a kind of Wind turbines use independent feathering control skill Art shuts down feathering control method, as shown in figure 3, patent document (201380032479.0), shuts down strategy as shown in figure 4, this is several Kind shuts down feathering control method thinking：When large-scale wind electricity unit uses independent feathering control technology, when there is machine halt trouble, three There are the blades of deviation for a position initial position, and three blades are quickly first pitched to some benchmark with a certain control mode Then the position of blade is using collaboration pitch control shutdown mode, with fixed rate feathering to 90 °.This shutdown controlling party Formula can preferably inhibit machine halt trouble to go out the unbalanced load peaks of current moment compared to the shutdown control mode that Fig. 2 is used, but It is entire stopping process, the most of the time is all to shut down control model using collaboration variable pitch, still can be caused more very much not to unit Symmetrical load influences unit durability.
Invention content
The object of the present invention is to provide a kind of large-scale wind electricity compressor emergency shutdown procedure optimization control method using independent pitch, It is always in entire stopping process independent feathering control, entire stopping process, which may be implemented, all reduces the unbalanced load of unit.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of Large-scale Wind Turbines independent feathering control optimization method, includes the following steps：
1) judge whether unit machine halt trouble occurs, if so, entering step 2)；
If 2) current wind speed is less than default wind speed threshold value, large-scale wind electricity unit independent feathering control function is not opened, i.e., The amplitude limit extreme value c=0 of deviation pitch control amplitude limit ring, three blades, to 90 °, cooperate with pitch control outputs with given pace feathering It is expected that propeller pitch angle βcIt calculates as follows：
βc=βc0+at
In formula：βc0To shut down the collaboration variable pitch output expectation propeller pitch angle that the moment occurs；A shuts down pitch rate；T is to shut down to touch Elapsed-time standards after hair；
The propeller pitch angle desired value of three blades is：
β1=β2=β3=βc
In formula, β1、β2、β3The respectively expectation propeller pitch angle 3 of blade 1, blade 2, blade 3) three blades expectation propeller pitch angle it is defeated Go out to pitch-controlled system, variable pitch action is executed by pitch-controlled system, if three blades are all pitched to 90 °, shutdown terminates；
4) if current wind speed is more than or equal to wind speed threshold value, Wind turbines are in independent feathering control pattern, stop when being connected to Propeller pitch angle β it is expected in machine order, collaboration pitch control ring outputcIt calculates as follows；
βc=βc0+at
5) deviation control ring judges control model according to Wind turbines generator speed；
6) such as generator speed is more than grid-connected rotating speed, and deviation pitch control ring keeps normal output, that is, keeps amplitude limit link Amplitude limit limiting value c=C0It is constant, C0For constant；
If 7) generator speed is less than or equal to grid-connected rotating speed, records and first enter this pattern collaboration pitch control ring Export propeller pitch angle βc1With shut down elapsed-time standards t1, and collaboration variable pitch feathering is calculated as follows to 90 ° of required time tII；
8) deviation pitch control ring is gradually backed out, and is realized by amplitude limit ring.It is implemented as, the amplitude limit value c of amplitude limit ring, It is calculated as follows；
9) the propeller pitch angle desired value of three blades is：
β1=βc+β'1, β2=βc+β'2, β3=βc+β'3
In formula, β '1、β'2、β'3Blade 1, blade 2, the blade 3 of respectively deviation pitch control ring output it is expected propeller pitch angle；
10) the expectation propeller pitch angle of three blades is exported to pitch-controlled system, variable pitch action is executed by pitch-controlled system, if three blades 90 ° are all pitched to, shutdown terminates.
Beneficial effects of the present invention are mainly manifested in：1, using independent feathering control ring downtime and conventional Collaborative Control , it can be achieved that unit is shut down rapidly as downtime is, ensure unit safety；2, the control method can not only reduce using independent The unbalanced load peaks of pitch control stopping process, while realizing again and significantly reducing entire stopping process Wind turbines unevenness Weigh load, improves unit durability.
Description of the drawings
Fig. 1 is large-scale wind electricity unit using collaboration pitch control, stopping process award setting trajectory diagram
Fig. 2 is that large-scale wind electricity unit uses independent feathering control, normal shutdown process award setting trajectory diagram
Fig. 3 is that large-scale wind electricity unit uses independent feathering control, the stopping process pitch that patent document EP2290232 is proposed Angle controls trajectory diagram
Fig. 4 is that large-scale wind electricity unit uses independent feathering control, the shutdown that patent document (201380032479.0) proposes Process award setting trajectory diagram
Fig. 5 is large-scale wind electricity unit independent feathering control functional block diagram
Fig. 6 is that large-scale wind electricity unit uses independent feathering control, the stopping process award setting flow that this patent proposes Figure
Fig. 7 is that large-scale wind electricity unit uses independent feathering control, the stopping process award setting track that this patent proposes Figure
Fig. 8 large-scale wind electricity units use independent feathering control, the shutdown optimal control design sketch that this patent proposes
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 5, large-scale wind electricity unit independent feathering control ring can decouple for collaboration pitch control control ring and partially Poor pitch control ring：By cooperateing with pitch control ring, realizes traditional Wind turbines speed-changing oar-changing control function, i.e., become by cooperateing with Paddle controls, and when less than rated wind speed, controls each blade and is near best pitch angle always, to realize maximum energy capture； Generated output power is set to keep stablizing by cooperateing with pitch control higher than rated wind speed；By deviation pitch control ring, Reduce unbalanced load on impeller, to reduce the fatigue load of each critical component of Wind turbines.Large-scale wind electricity unit independently becomes Paddle control ring exports three blades and it is expected propeller pitch angle (β1、β2、β3) it is that propeller pitch angle (β it is expected in collaboration pitch control ring outputc) and deviation Propeller pitch angle (β ' it is expected in the output of pitch control ring1、β'2、β'3The sum of).Opening and closing deviation pitch control ring function can pass through The amplitude limit limiting value c of amplitude limit link is realized, if c=0, that is, deviation pitch control ring function is closed, if c=C0(C0It is normal Number), deviation pitch control ring normal work.
As shown in fig. 6, a kind of large-scale wind electricity unit uses independent pitch control method, this patent to propose stopping process control Flow is：
1) judge whether unit machine halt trouble occurs, if so, entering step 2)；
If 2) wind is smaller, i.e., current wind speed is less than default wind speed threshold value, large-scale wind electricity unit independent feathering control function It does not open and (whether judges equal to 0 that, if c=0, deviation pitch control function is not opened by amplitude limit extreme value c), three blades With given pace feathering to 90 °, it is implemented as：Pitch control outputs are cooperateed with it is expected propeller pitch angle βcIt calculates as follows：
βc=βc0+at
In formula：βc0To shut down the collaboration variable pitch output expectation propeller pitch angle that the moment occurs；A shuts down pitch rate；T is to shut down to touch Elapsed-time standards after hair.
Therefore the propeller pitch angle desired value of three blades is：
β1=β2=β3=βc
In formula, β1、β2、β3The respectively expectation propeller pitch angle 3 of blade 1, blade 2, blade 3) three blades expectation propeller pitch angle it is defeated Go out to pitch-controlled system, variable pitch action is executed by pitch-controlled system, if three blades are all pitched to 90 °, shutdown terminates.
If 4) wind is larger, i.e., current wind speed is more than or equal to default wind speed threshold value, and Wind turbines are in independent feathering control Whether pattern is equal to C by amplitude limit extreme value c0Judge, if c=C0, C0For constant, deviation pitch control ring normal work； When being connected to halt command, propeller pitch angle β it is expected in collaboration pitch control ring outputcIt calculates as follows；
βc=βc0+at
5) deviation control ring judges control model according to Wind turbines generator speed；
6) such as generator speed is more than grid-connected rotating speed, and deviation pitch control ring keeps normal output, that is, keeps amplitude limit link Amplitude limit limiting value c=C0It is constant, C0For constant；
If 7) generator speed is less than or equal to grid-connected rotating speed, records and first enter this pattern collaboration pitch control ring Export propeller pitch angle βc1With shut down elapsed-time standards t1, and collaboration variable pitch feathering is calculated as follows to 90 ° of required time tII。
8) deviation pitch control ring is gradually backed out, and is realized by amplitude limit ring.It is implemented as, the amplitude limit value c of amplitude limit ring, It is calculated as follows；
9) therefore the propeller pitch angle desired value of three blades is：
β1=βc+β'1, β2=βc+β'2, β3=βc+β'3
In formula, β '1、β'2、β'3Blade 1, blade 2, the blade 3 of respectively deviation pitch control ring output it is expected propeller pitch angle
10) the expectation propeller pitch angle of three blades is exported to pitch-controlled system, variable pitch action is executed by pitch-controlled system, if three blades 90 ° are all pitched to, shutdown terminates.
As shown in fig. 7, the present invention provides a kind of large-scale wind electricity compressor emergency shutdown process optimization controlling party using independent pitch Method is always in entire stopping process independent feathering control, and realizing entire stopping process all reduces the unbalanced load of unit Lotus (as shown in Figure 8).

Claims (1)

1. a kind of Large-scale Wind Turbines independent feathering control optimization method, which is characterized in that the method includes following steps Suddenly：
1) judge whether unit machine halt trouble occurs, if so, entering step 2)；
If 2) current wind speed is less than default wind speed threshold value, large-scale wind electricity unit independent feathering control function is not opened, i.e. deviation The amplitude limit extreme value c=0 of pitch control amplitude limit ring, three blades with given pace feathering to 90 °, it is expected by collaboration pitch control outputs Propeller pitch angle βcIt calculates as follows：
βc=βc0+at
In formula：βc0To shut down the collaboration variable pitch output expectation propeller pitch angle that the moment occurs；A shuts down pitch rate；T is after shutting down triggering Elapsed-time standards；
The propeller pitch angle desired value of three blades is：
β1=β2=β3=βc
In formula, β1、β2、β3The respectively expectation propeller pitch angle of blade 1, blade 2, blade 3
3) the expectation propeller pitch angle of three blades is exported to pitch-controlled system, variable pitch action is executed by pitch-controlled system, if three blades all become To 90 °, shutdown terminates paddle；
4) if current wind speed is more than or equal to wind speed threshold value, Wind turbines are in independent feathering control pattern, and life is shut down when being connected to It enables, propeller pitch angle β it is expected in collaboration pitch control ring outputcIt calculates as follows；
βc=βc0+at
5) deviation control ring judges control model according to Wind turbines generator speed；
6) such as generator speed is more than grid-connected rotating speed, and deviation pitch control ring keeps normal output, the i.e. limit of holding amplitude limit link Width limiting value c=C0It is constant, C0For constant；
If 7) generator speed is less than or equal to grid-connected rotating speed, records and first enter the collaboration pitch control ring output of this pattern Propeller pitch angle βc1With shut down elapsed-time standards t1, and collaboration variable pitch feathering is calculated as follows to 90 ° of required time tII；
8) deviation pitch control ring is gradually backed out, and is realized by amplitude limit ring, and the amplitude limit value c of amplitude limit ring is calculated as follows It obtains；
9) the propeller pitch angle desired value of three blades is：
β1=βc+β′1, β2=βc+β′2, β3=βc+β′3
In formula, β '1、β′2、β′3Blade 1, blade 2, the blade 3 of respectively deviation pitch control ring output it is expected propeller pitch angle；
10) the expectation propeller pitch angle of three blades is exported to pitch-controlled system, variable pitch action is executed by pitch-controlled system, if three blades all become To 90 °, shutdown terminates paddle.
CN201810181725.3A 2018-03-06 2018-03-06 A kind of Large-scale Wind Turbines independent feathering control optimization method Pending CN108443065A (en)

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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN110259637A (en) * 2019-06-25 2019-09-20 中国船舶重工集团海装风电股份有限公司 Blade aerodynamic imbalance antidote, device and the equipment of wind power generating set
CN110296046A (en) * 2019-06-28 2019-10-01 湘电风能有限公司 A kind of wind-driven generator pitching control method
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
CN113833601A (en) * 2020-06-24 2021-12-24 北京金风科创风电设备有限公司 Method, device and equipment for controlling synchronous pitch take-up of wind driven generator
CN113985279A (en) * 2021-11-01 2022-01-28 华北电力大学（保定） Asymmetric fault diagnosis method and system for stator winding of permanent magnet wind driven generator
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
CN115355130A (en) * 2022-08-31 2022-11-18 武汉长江控制设备研究所有限公司 Hydraulic turbine speed regulator blade follow-up optimization method and system
US11939959B2 (en) 2019-11-21 2024-03-26 Vestas Wind Systems A/S Stopping a wind turbine rotor based on stored pitch angle signal

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CN110259637A (en) * 2019-06-25 2019-09-20 中国船舶重工集团海装风电股份有限公司 Blade aerodynamic imbalance antidote, device and the equipment of wind power generating set
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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
CN113833601A (en) * 2020-06-24 2021-12-24 北京金风科创风电设备有限公司 Method, device and equipment for controlling synchronous pitch take-up of wind driven generator
CN113833601B (en) * 2020-06-24 2022-11-08 北京金风科创风电设备有限公司 Method, device and equipment for controlling synchronous pitch take-up of wind driven generator
CN113985279A (en) * 2021-11-01 2022-01-28 华北电力大学（保定） Asymmetric fault diagnosis method and system for stator winding of permanent magnet wind driven generator
CN113985279B (en) * 2021-11-01 2023-06-20 华北电力大学（保定） Asymmetric fault diagnosis method and system for stator winding of permanent magnet wind driven generator
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
CN115355130A (en) * 2022-08-31 2022-11-18 武汉长江控制设备研究所有限公司 Hydraulic turbine speed regulator blade follow-up optimization method and system
CN115355130B (en) * 2022-08-31 2023-08-11 武汉长江控制设备研究所有限公司 Method and system for optimizing follow-up of propeller blades of water turbine speed regulator

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