CN110296046B - Variable pitch control method of wind driven generator - Google Patents
Variable pitch control method of wind driven generator Download PDFInfo
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- CN110296046B CN110296046B CN201910577228.XA CN201910577228A CN110296046B CN 110296046 B CN110296046 B CN 110296046B CN 201910577228 A CN201910577228 A CN 201910577228A CN 110296046 B CN110296046 B CN 110296046B
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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
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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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
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
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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
- F03D7/047—Automatic control; Regulation by means of an electrical or electronic controller characterised by the controller architecture, e.g. multiple processors or data communications
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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
- F03D7/06—Controlling wind motors the wind motors having rotation axis substantially perpendicular to the air flow entering the rotor
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- 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
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- 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
- F05B2270/327—Rotor or generator speeds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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
- Y02E10/74—Wind turbines with rotation axis perpendicular to the wind direction
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- 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变桨控制方法，包括以下步骤：1）判断机组是否出现外部差异变桨退出需求，是则进入步骤2），否则进入步骤3）；2）判断风电机组差异变桨控制功能是否开启，是则采用纯协同变桨控制，否则进入步骤3）；3）判断是否发电机转速大于差异变桨切入转速且桨距角小于差异变桨切出桨距角，是则差异变桨控制器保持满幅值输出；否则通过增益调度环来实现差异变桨控制器退出；各个桨叶的目标桨距角输出给变桨系统，执行变桨动作，最后差异变桨使能关闭且差异变桨控制器输出为0。本发明在纯协同变桨与差异变桨策略间进行协同调度控制，在非必要工况和停机过程下平滑关断差异变桨环，实现整个切换过程都不增加不平衡载荷。
The invention discloses a pitch control method for a wind turbine, comprising the following steps: 1) judging whether the wind turbine has an external differential pitch pitch exit requirement, if yes, it goes to step 2), otherwise, it goes to step 3); 2) judging the differential change of the wind turbine Whether the propeller control function is turned on, if yes, use pure cooperative pitch control, otherwise go to step 3); 3) Determine whether the generator speed is greater than the differential pitch cut-in speed and the pitch angle is smaller than the differential pitch cut-out pitch angle, then The differential pitch controller maintains the full amplitude output; otherwise, the differential pitch controller exits through the gain scheduling loop; the target pitch angle of each blade is output to the pitch system, the pitch action is performed, and finally the differential pitch is enabled off and the differential pitch controller output is 0. The present invention performs cooperative scheduling control between pure cooperative pitch and differential pitch strategies, smoothly shuts off the differential pitch ring under non-essential working conditions and shutdown processes, and realizes that the entire switching process does not increase unbalanced loads.
Description
Technical Field
The invention relates to the field of wind power, in particular to a variable pitch control method of a wind driven generator.
Background
With the increase of the single-machine capacity of the wind turbine and the maturity of the wind energy technology, the research of the large wind turbine is mainly to reduce the manufacturing and operating costs. By reducing the load of each key component of the wind turbine generator, the weight of the key components is reduced, the reliability of the equipment is improved, the service life of the equipment is prolonged, unbalanced load can be generated on an impeller of the large wind turbine generator by factors such as wind turbulence, wind shear, tower shadow effect, yaw deviation and the like, the diameter of the wind wheel is larger, the unbalanced degree of stress on the whole wind wheel surface is stronger, and the unbalanced load on the impeller is more obvious. In the running process of a wind generating set of a complex terrain, particularly a mountain wind field, the wind generating set is influenced by external environments such as wind shear, strong turbulence and the like, and the larger the unbalance of the wind generating set of the impeller is, the larger the impeller is.
The design of the differential variable pitch controller is based on a cooperative variable pitch control method, the unbalanced load is converted into pitch angle control through feedback control aiming at the detected unbalanced load, and an independent differential variable pitch control signal mechanism is added on the basis of the cooperative control, so that each pitch angle can be controlled at different angles under the condition that the unbalanced load exists, and the unbalanced load is compensated.
When the wind turbine generator adopts cooperative pitch control, if a shutdown quitting requirement occurs in the operation process, each blade of the wind turbine generator can feather to a shutdown position at a fixed pitch rate, and the position of each blade in the whole shutdown process is always the same as that of each blade because each blade always obtains the same pitch control instruction (as shown in fig. 1).
However, after the wind turbine generator adopts the differential pitch control technology and other technologies, the pitch control instructions obtained by the blades have independent components, and in this case, the positions of the blades in the operation process of the wind turbine generator are different from each other.
If the unit has a shutdown requirement in a differential variable-pitch working state, a conventional shutdown control method is that the same shutdown mode as that in cooperative variable-pitch control is adopted, each blade feathers to a shutdown angle at the same fixed phase speed, and because the pitch angle of each blade at the initial moment is in different positions, the position of each blade always has deviation in the shutdown process (as shown in fig. 2), and the traditional control method can cause large unbalanced load to the wind turbine generator.
In addition to the above, the wind turbine generator does not need to adopt control technologies such as differential pitch control at all operating moments. The technology of differential pitch control and the like is used for bringing high load to transmission components such as a pitch control execution system and a pitch control bearing of the wind turbine generator, and the maintenance of the cooperative pitch control state under the unnecessary condition is a necessary balance protection measure for important components of the wind turbine generator.
Therefore, a rapid and reliable cooperative control method is needed to ensure that the wind turbine generator set cannot generate large unbalanced load in the switching process under emergency situations such as shutdown and the like and under the condition of switching of the normal operation state with different variable pitch components, so that the safety of the wind turbine is protected.
Disclosure of Invention
In order to solve the technical problems, the invention provides a wind driven generator pitch control method which is simple in algorithm, safe and reliable.
The technical scheme for solving the problems is as follows: a variable pitch control method of a wind driven generator is realized based on a variable pitch control device, wherein the variable pitch control device comprises a cooperative variable pitch controller, a differential variable pitch controller and a variable pitch scheduling controller, a gain scheduling ring is arranged in the differential variable pitch controller, the wind driven generator set is connected with the cooperative variable pitch controller and the differential variable pitch controller, the cooperative variable pitch controller and the differential variable pitch controller are connected with the variable pitch scheduling controller, and the variable pitch scheduling controller is connected with the wind driven generator set;
the pitch control method comprises the following steps:
1) judging whether the unit has an external difference variable pitch exit requirement, if so, entering the step 2), and if not, entering the step 3);
2) judging whether the current wind speed is smaller than a preset wind speed threshold or the current rotating speed is lower than a preset differential variable pitch starting rotating speed threshold, if so, not starting the differential variable pitch control function of the wind turbine generator, and adopting pure cooperative variable pitch control without any action by the cooperative variable pitch controller; if not, the wind turbine generator difference variable pitch control function is started, and the step 3) is carried out;
3) judging a control mode by the variable pitch scheduling controller according to the rotating speed and the pitch angle of the generator of the wind turbine generator, judging whether the rotating speed of the generator is greater than the differential variable pitch cut-in rotating speed and the pitch angle is smaller than the independent variable pitch cut-out pitch angle by the variable pitch scheduling controller, and entering the step 4 if the rotating speed of the generator is greater than the differential variable pitch cut-in rotating speed and; if not, entering step 5);
4) the difference variable pitch controller keeps full amplitude output, namely the gain value g of the gain scheduling link is kept unchanged as g0, and g0 is a constant;
5) recording an initial moment pitch angle theta c0 output by the cooperative pitch controller, and simultaneously realizing the exit of the differential pitch controller through a gain scheduling link; the variable pitch scheduling controller calculates the independent variable pitch error synchronous rate of each blade, and the target pitch angle of each blade in the differential variable pitch link gradually returns to zero under the action of the gain scheduling ring; and outputting the target pitch angle of each blade to a variable pitch system, executing variable pitch action by the variable pitch system, and finally closing differential variable pitch enable and outputting a differential variable pitch controller as 0.
In the pitch control method of the wind driven generator, in the step 3), the rotating speed of the generator of the wind turbine generator is obtained by calculation and conversion according to the following formula;
wr＝wg/n
in the formula: wr is the hub rotation speed; wg is the generator speed; and n is the transmission chain transformation ratio.
In the method for controlling the pitch of the wind driven generator, in the step 5), the pitch angle θ c output by the cooperative pitch controller is determined according to the following formula;
θc＝θc0+a×t1
in the formula: t1 is design synchronization time; and a is the target pitch rate.
In the pitch control method of the wind driven generator, in the step 5), the gain value g of the gain scheduling loop is calculated according to the following formula;
g＝g0-(g0/t1)×t；(t1≥t≥0)
g＝0；(t>t1)
in the formula: t is the accumulated time of entering the exit state this time.
In the method for controlling the pitch of the wind turbine generator, in the step 5), the calculation mode of the target pitch angle output by the pitch scheduling controller is as follows:
θsynci＝bi×t1
in the formula: θ synci is a target pitch angle of a blade i output by the pitch control scheduling controller, bi is a pitch error synchronization rate of the blade i, and bi is determined by the following formula:
bi＝(θc–θci)×Kp
in the formula: theta ci is the actual pitch angle of the current blade i; kp is a proportionality coefficient.
In the above wind turbine generator pitch control method, in step 5), the target value of the pitch angle of the blade is: θ i ═ θ ci + θ di + θ synci
And finally:
θi＝θc
in the formula, thetai is the target pitch angle of the blade i; theta di is the target pitch angle of the blade i output by the difference pitch controller; and theta synci is the target pitch angle of the blade i output by the pitch scheduling controller.
In the above wind turbine pitch control method, in step 5), the target pitch angle value for the three-blade wind turbine is:
θ1＝θc1+θd1+θsync1，θ2＝θc2+θd2+θsync2，θ3＝θc3+θd3+θsync3
and finally:
θ1＝θ2＝θ3＝θc
in the formula, θ 1, θ 2, and θ 3 are target pitch angles of blade 1, blade 2, and blade 3, respectively; θ d1, θ d2, and θ d3 are the target pitch angles of blade 1, blade 2, and blade 3, respectively, output by the differential pitch controller; θ sync1, θ sync2, and θ sync3 are the target pitch angles of blade 1, blade 2, and blade 3, respectively, output by the pitch scheduling controller.
The invention has the beneficial effects that:
1. according to the invention, cooperative scheduling control is carried out between pure cooperative variable pitch and differential variable pitch strategies, differential variable pitch rings are smoothly switched off under unnecessary working conditions and a shutdown process, and unbalanced load is not increased in the whole switching process, so that a fan and important parts of the fan are protected.
2. For the shutdown process, the shutdown time of the differential variable-pitch starting state is the same as the shutdown time of the conventional target control under the mechanism of the invention, and the shutdown speed of the unit is ensured.
3. The control method of the invention can not increase the unbalanced load of the wind turbine generator in the shutdown process, thereby prolonging the service life of the wind turbine generator.
4. Aiming at the switching process of other working conditions, the unbalanced load of the wind turbine generator cannot be increased in the switching process, the service life of a variable-pitch component and a system of the wind turbine generator is prolonged, and the safety of the wind turbine generator is improved.
Drawings
FIG. 1 is a pitch angle control trajectory diagram of a wind turbine generator set adopting pure cooperative pitch control and shutdown.
FIG. 2 is a pitch angle control trajectory diagram of a wind turbine generator set with differential pitch control and a conventional shutdown process.
FIG. 3 is a schematic block diagram of the structure of the pitch control apparatus of the present invention.
FIG. 4 is a flow chart of a pitch control method of the present invention. -
FIG. 5 is a pitch angle control trajectory in a normal power generation process after the pitch control method of the present invention is utilized.
FIG. 6 is a pitch angle control trajectory for a post shutdown process utilizing the pitch control method of the present invention.
FIG. 7 is a schematic view of the load control effect of the shutdown process after the pitch control method of the present invention is utilized.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 3, the pitch control device includes a cooperative pitch controller, a differential pitch controller, and a pitch scheduling controller, a gain scheduling ring is provided in the differential pitch controller, the wind turbine generator system is connected to the cooperative pitch controller and the differential pitch controller, the cooperative pitch controller and the differential pitch controller are connected to the pitch scheduling controller, and the pitch scheduling controller is connected to the wind turbine generator system.
The cooperative variable-pitch controller realizes the variable-speed variable-pitch control function of the traditional wind turbine generator system by receiving the RotorSpeed rotating speed signal, namely, each blade is controlled to be always close to the optimal pitch angle through target variable-pitch control when the target variable-pitch control is lower than the rated wind speed so as to realize maximum energy capture; and when the wind speed is higher than the rated wind speed, the output power of the generator is kept stable through target variable pitch control.
The difference pitch controller receives the required ExtSignals signal group (different signal groups according to the difference controller can contain various signals such as load sensor signals, blade azimuth angles and the like), reduces unbalanced loads on the impeller and other parts of the fan, and accordingly reduces fatigue loads of all key parts of the wind turbine generator.
As shown in fig. 4, a pitch control method of a wind turbine includes the following steps:
1) judging whether the unit has external difference variable pitch exit requirements, if so, entering the step 2), and if not, entering the step 3).
2) Judging whether the current wind speed is smaller than a preset wind speed threshold or the current rotating speed is lower than a preset differential variable pitch starting rotating speed threshold, if so, not starting the differential variable pitch control function of the wind turbine generator, namely, the differential variable pitch enabling state c is 0, and at the moment, the cooperative variable pitch controller does not need to take any action and adopts pure cooperative variable pitch control; if not, the wind turbine generator difference variable pitch control function is started, and the step 3) is carried out.
3) Judging a control mode by the variable pitch scheduling controller according to the rotating speed and the pitch angle of the generator of the wind turbine generator, judging whether the rotating speed of the generator is greater than the differential variable pitch cut-in rotating speed and the pitch angle is less than the differential variable pitch cut-out pitch angle by the variable pitch scheduling controller, and entering the step 4 if the rotating speed of the generator is greater than the differential variable pitch cut-in rotating speed and; if not, entering step 5);
the rotating speed of the generator of the wind turbine generator can be obtained by calculation and conversion according to the following formula;
wr＝wg/n
in the formula: wr is the hub rotation speed; wg is the generator speed; and n is the transmission chain transformation ratio.
4) And the differential pitch controller keeps full-amplitude output, namely the gain value g of the gain scheduling link is kept unchanged as g0, and g0 is constant.
5) Recording an initial moment pitch angle theta c0 output by the cooperative pitch controller, wherein the pitch angle theta c output by the cooperative pitch controller is determined by the following formula;
θc＝θc0+a×t1
in the formula: t1 is design synchronization time; and a is the target pitch rate.
Simultaneously, the exit of the differential variable pitch controller is realized through a gain scheduling ring; the gain value g of the gain scheduling loop is calculated according to the following formula;
g＝g0-(g0/t1)×t；(t1≥t≥0)
g＝0；(t>t1)
in the formula: t is the accumulated time of entering the exit state this time.
The variable pitch scheduling controller calculates 3 independent variable pitch error synchronous rates by using the design synchronous time t1, and the target pitch angles of the blades 1, 2 and 3 in the differential variable pitch link gradually return to zero under the action of the gain scheduling ring; the calculation mode of the target pitch angle output by the variable pitch scheduling controller is as follows:
θsynci＝bi×t1
in the formula: i is 1, 2, 3; θ synci is a target pitch angle of a blade i output by the pitch control scheduling controller, bi is a pitch error synchronization rate of the blade i, and bi is determined by the following formula:
bi＝(θc–θci)×Kp
in the formula: theta ci is the actual pitch angle of the current blade i; kp is a proportionality coefficient.
The target pitch angle of the blade is:
θi＝θci+θdi+θsynci
and finally:
θi＝θc
in the formula, thetai is the target pitch angle of the blade i; theta di is the target pitch angle of the blade i output by the difference pitch controller; and theta synci is the target pitch angle of the blade i output by the pitch scheduling controller.
In particular for a 3-blade wind generator,
θ1＝θc1+θd1+θsync1，θ2＝θc2+θd2+θsync2，θ3＝θc3+θd3+θsync3
and finally:
θ1＝θ2＝θ3＝θc
in the formula, θ 1, θ 2, and θ 3 are target pitch angles of blade 1, blade 2, and blade 3, respectively; θ d1, θ d2, and θ d3 are the target pitch angles of blade 1, blade 2, and blade 3, respectively, output by the differential pitch controller; θ sync1, θ sync2, and θ sync3 are the target pitch angles of blade 1, blade 2, and blade 3, respectively, output by the pitch scheduling controller. And outputting the target pitch angles of the three blades to a variable pitch system, executing a variable pitch action by the variable pitch system, closing the differential variable pitch enable and outputting the differential variable pitch controller as 0, and resetting the differential variable pitch controller at the same time to finish the scheduling.
As shown in fig. 5, after the pitch control method of the present invention is used, the differential pitch control gradually exits during the state switching process, and simultaneously the pitch scheduling controller rapidly synchronizes each different pitch angle.
As shown in fig. 6, after the pitch control method of the present invention is used, the differential pitch control in the whole shutdown process is gradually exited, and the pitch scheduling controller rapidly synchronizes each different pitch angle to maintain the aerodynamic balance of the impeller, thereby realizing no unbalanced load in the whole shutdown process (as shown in fig. 7).
Claims (7)
1. A variable pitch control method of a wind driven generator is realized based on a variable pitch control device, wherein the variable pitch control device comprises a cooperative variable pitch controller, a differential variable pitch controller and a variable pitch scheduling controller, a gain scheduling ring is arranged in the differential variable pitch controller, the wind driven generator set is connected with the cooperative variable pitch controller and the differential variable pitch controller, the cooperative variable pitch controller and the differential variable pitch controller are connected with the variable pitch scheduling controller, and the variable pitch scheduling controller is connected with the wind driven generator set;
the pitch control method comprises the following steps:
1) judging whether the unit has an external difference variable pitch exit requirement, if so, entering the step 2), and if not, entering the step 3);
2) judging whether the current wind speed is smaller than a preset wind speed threshold or the current rotating speed is lower than a preset differential variable pitch starting rotating speed threshold, if so, not starting the differential variable pitch control function of the wind turbine generator, and adopting pure cooperative variable pitch control without any action by the cooperative variable pitch controller; if not, the wind turbine generator difference variable pitch control function is started, and the step 3) is carried out;
3) judging a control mode by the variable pitch scheduling controller according to the rotating speed and the pitch angle of the generator of the wind turbine generator, judging whether the rotating speed of the generator is greater than the differential variable pitch cut-in rotating speed and the pitch angle is smaller than the independent variable pitch cut-out pitch angle by the variable pitch scheduling controller, and entering the step 4 if the rotating speed of the generator is greater than the differential variable pitch cut-in rotating speed and; if not, entering step 5);
4) the difference variable pitch controller keeps full amplitude output, namely the gain value g of the gain scheduling link is kept unchanged as g0, and g0 is a constant;
5) recording an initial moment pitch angle theta c0 output by the cooperative pitch controller, and simultaneously realizing the exit of the differential pitch controller through a gain scheduling link; the variable pitch scheduling controller calculates the independent variable pitch error synchronous rate of each blade, and the target pitch angle of each blade in the differential variable pitch link gradually returns to zero under the action of the gain scheduling ring; and outputting the target pitch angle of each blade to a variable pitch system, executing variable pitch action by the variable pitch system, and finally closing differential variable pitch enable and outputting a differential variable pitch controller as 0.
2. The wind turbine pitch control method according to claim 1, wherein: in the step 3), the rotating speed of the generator of the wind turbine generator is obtained by calculation and conversion according to the following formula;
wr＝wg/n
in the formula: wr is the hub rotation speed; wg is the generator speed; and n is the transmission chain transformation ratio.
3. The wind turbine pitch control method according to claim 1, wherein: in the step 5), the pitch angle theta c output by the cooperative pitch controller is determined by the following formula;
θc＝θc0+a×t1
in the formula: t1 is design synchronization time; and a is the target pitch rate.
4. The wind turbine pitch control method according to claim 3, wherein: in the step 5), the gain value g of the gain scheduling loop is calculated according to the following formula;
g＝g0-(g0/t1)×t；(t1≥t≥0)
g＝0；(t>t1)
in the formula: t is the accumulated time of entering the exit state this time.
5. The wind turbine pitch control method according to claim 4, wherein: in the step 5), the calculation mode of the target pitch angle output by the pitch control scheduling controller is as follows:
θsynci＝bi×t1
in the formula: θ synci is a target pitch angle of a blade i output by the pitch control scheduling controller, bi is a pitch error synchronization rate of the blade i, and bi is determined by the following formula:
bi＝(θc–θci)×Kp
in the formula: theta ci is the actual pitch angle of the current blade i; kp is a proportionality coefficient.
6. The wind turbine pitch control method according to claim 4, wherein: in the step 5), the target value of the pitch angle of the blade is as follows:
θi＝θci+θdi+θsynci
and finally:
θi＝θc
in the formula, thetai is the target pitch angle of the blade i; theta di is the target pitch angle of the blade i output by the difference pitch controller; and theta synci is the target pitch angle of the blade i output by the pitch scheduling controller.
7. The wind turbine pitch control method according to claim 6, wherein: in the step 5), the target pitch angle value of the three-blade wind driven generator is as follows:
θ1＝θc1+θd1+θsync1，θ2＝θc2+θd2+θsync2，θ3＝θc3+θd3+θsync3
and finally:
θ1＝θ2＝θ3＝θc
in the formula, θ 1, θ 2, and θ 3 are target pitch angles of blade 1, blade 2, and blade 3, respectively; θ d1, θ d2, and θ d3 are the target pitch angles of blade 1, blade 2, and blade 3, respectively, output by the differential pitch controller; θ sync1, θ sync2, and θ sync3 are the target pitch angles of blade 1, blade 2, and blade 3, respectively, output by the pitch scheduling controller.
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| EP4062054B1 (en) * | 2019-11-21 | 2025-01-01 | Vestas Wind Systems A/S | Stopping a wind turbine rotor based on stored pitch angle signal |
| CN111894800B (en) * | 2020-07-16 | 2021-11-16 | 湘电风能有限公司 | A wind turbine speed control method for improving environmental adaptability |
| CN112196732B (en) * | 2020-08-31 | 2023-04-07 | 中国东方电气集团有限公司 | Fan master control pitch and torque instruction processing system |
| CN116066292A (en) * | 2021-10-29 | 2023-05-05 | 北京金风科创风电设备有限公司 | Wind power generating set and method, device and computing device for controlling propeller retraction |
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| AU2007303956B2 (en) * | 2006-10-02 | 2011-12-22 | Clipper Windpower, Inc. | Wind turbine with blade pitch control to compensate for wind shear and wind misalignment |
| CN101592127B (en) * | 2009-06-22 | 2011-09-14 | 浙江运达风电股份有限公司 | Independent pitch control method for large wind turbine |
| US20110229300A1 (en) * | 2010-03-16 | 2011-09-22 | Stichting Energieonderzoek Centrum Nederland | Apparatus and method for individual pitch control in wind turbines |
| ES2398020B1 (en) * | 2011-03-17 | 2014-09-05 | Gamesa Innovation & Technology, S.L. | METHODS AND SYSTEMS TO RELIEF THE LOADS PRODUCED IN AEROGENERATORS BY THE WIND ASYMETRIES. |
| CN104214044A (en) * | 2013-05-30 | 2014-12-17 | 成都阜特科技股份有限公司 | Independent variable pitch control method of double-fed variable-speed variable-pitch wind generating set |
| CN108443065A (en) * | 2018-03-06 | 2018-08-24 | 浙江运达风电股份有限公司 | A kind of Large-scale Wind Turbines independent feathering control optimization method |
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Address after: 411100 No.68 Ji'an Road, Yuetang District, Xiangtan City, Hunan Province Patentee after: Hunan Xinglan Wind Power Co.,Ltd. Country or region after: China Patentee after: XIANGTAN ELECTRIC MANUFACTURING Co.,Ltd. Address before: No. 68 Ji'an Road, Yuetang District, Xiangtan City, Hunan Province Patentee before: XEMC WINDPOWER Co.,Ltd. Country or region before: China Patentee before: XIANGTAN ELECTRIC MANUFACTURING Co.,Ltd. |