CN110966143B - Variable pitch control method and equipment of wind generating set - Google Patents

Variable pitch control method and equipment of wind generating set Download PDF

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Publication number
CN110966143B
CN110966143B CN201811149475.1A CN201811149475A CN110966143B CN 110966143 B CN110966143 B CN 110966143B CN 201811149475 A CN201811149475 A CN 201811149475A CN 110966143 B CN110966143 B CN 110966143B
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clearance
blade
pitch
angle
next adjacent
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CN110966143A (en
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杨娟霞
田萌
杨微
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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    • 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 
    • 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
    • F05B2270/329—Azimuth or yaw angle
    • 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

Abstract

The invention provides a variable pitch control method and equipment of a wind generating set, wherein the variable pitch control method comprises the following steps: determining whether a blade is currently within an angular range of an effective measurement headroom; when a blade is within the angular range of the effective measurement clearance, measuring the clearance of the blade currently within the angular range of the effective measurement clearance, and determining whether the measured clearance is less than a clearance threshold; when the angle is smaller than the preset additional pitch angle set value, gradually increasing the additional pitch angle set value of the next adjacent blade to the preset additional pitch angle set value in the process that the next adjacent blade is shifted to the angle range of the effective measurement clearance from the current position, and obtaining the pitch angle set value of the next adjacent blade; and controlling the next adjacent blade to pitch based on the pitch angle set value of the next adjacent blade. The invention can be realized with lower cost, increases the clearance, reduces the risk of the blade sweeping of the wind generating set under the extreme wind condition, and does not influence the generating capacity of the wind generating set.

Description

Variable pitch control method and equipment of wind generating set
Technical Field
The invention relates to the field of wind power generation control. And more particularly, to a pitch control method and apparatus for a wind turbine generator set.
Background
The blade is an important part of the wind generating set, occupies a great proportion of the cost of the wind generating set, and the weight of the blade is positively correlated with the cost, so the lightweight design of the blade is one of important ways for controlling the cost of the current wind generating set. However, since the blade is reduced in rigidity and increased in deformation after being lightened, and the risk of the blade sweeping tower is increased, the control of the clearance becomes a key constraint factor for the lightweight blade design, wherein the clearance refers to the distance between the blade tip and the surface of the tower barrel during the rotation of the impeller. At present, the main scheme for solving the clearance is to implement independent pitch control on three blades based on the load of a blade root so as to improve the clearance. The current headroom solution mainly has the following disadvantages: the blade root needs to be provided with the strain gauge for measuring the blade root bending moment, so that higher equipment cost is brought, the debugging period is long, and higher time cost is brought. Other clearance lifting schemes mainly change the pitch in advance, reduce the deformation of the blade in an extreme stress state, but seriously influence the generating capacity of the wind turbine generator.
Disclosure of Invention
The invention aims to provide a variable pitch control method and equipment of a wind generating set, and the method and equipment are used for solving the technical problems that the existing clearance lifting scheme is high in cost or influences the generating capacity.
One aspect of the present invention provides a pitch control method for a wind turbine generator system, including: determining whether a blade is currently within an angular range of an effective measurement headroom; measuring a clearance of a blade currently located within the angular range of the effective measured clearance when the blade is located within the angular range of the effective measured clearance, and determining whether the measured clearance is less than a clearance threshold; when the measured clearance is smaller than a clearance threshold value, in the process that the next adjacent blade is shifted into an angle range of effective clearance measurement from the current position, increasing the given value of the additional pitch angle of the next adjacent blade to a preset given value of the additional pitch angle, and adding the given value of the uniform pitch angle and the given value of the additional pitch angle of the next adjacent blade to obtain the given value of the pitch angle of the next adjacent blade, wherein the given value of the uniform pitch angle is the given value of the uniform pitch angle determined for all the blades according to the current pitch angle of each blade and the current rotating speed of the impeller; and controlling the next adjacent blade to pitch based on the given pitch angle value of the next adjacent blade.
Optionally, the method further comprises: determining whether a blade currently within an angular range of an effective measurement clearance has an additional pitch angle setpoint; when the blade currently located in the angle range of the effective measurement clearance has the given value of the additional pitch angle, gradually reducing the given value of the additional pitch angle of the blade currently located in the angle range of the effective measurement clearance to zero.
Optionally, the step of controlling the pitch of the next adjacent blade based on the given pitch angle value of the next adjacent blade comprises: and determining the given value of the pitch rate of the next adjacent blade according to the given value of the pitch angle of the next adjacent blade and the current pitch angle of the next adjacent blade, and controlling the next adjacent blade to pitch according to the given value of the pitch rate of the next adjacent blade.
Optionally, the method further comprises: and when the measured clearance is larger than or equal to the clearance threshold value, taking the uniform pitch angle given value as the pitch angle given value of the next adjacent blade in the process of turning the next adjacent blade from the current position into the angle range for effectively measuring the clearance.
Alternatively, the angular range over which clearance is effectively measured refers to a predetermined angular range around the azimuth of the impeller at which the blades are perpendicular to the ground.
Optionally, the step of determining whether there are currently blades within the angular range of the effective measurement headroom comprises: acquiring an azimuth angle of an impeller measured by an azimuth angle sensor installed on a hub; determining whether any of the blades are within an angular range of effective measurement headroom based on the azimuth angle.
Optionally, the step of determining whether any of the blades are within an angular range of an effective measurement headroom from the azimuth angle comprises: determining whether the azimuth angle is located in any one of the following angle intervals: (60 ° -,60 ° +), (180 ° -,180 ° +) and (300 ° -,300 ° +), wherein, one half of the predetermined angle, the azimuth angle of the impeller 12 o 'clock direction is 0 degree, and the clockwise rotation to 6 o' clock direction is 180 degrees.
Another aspect of the present invention provides a pitch control apparatus of a wind turbine generator system, the pitch control apparatus including: a first determination unit that determines whether or not there is currently a blade within an angle range of an effective measurement headroom; a second determining unit that measures a clearance of the blade currently located within the angular range of the effective measurement clearance when the blade is located within the angular range of the effective measurement clearance, and determines whether the measured clearance is smaller than a clearance threshold; a given value determining unit of pitch angle, when the measured clearance is smaller than the clearance threshold value, in the process that the next adjacent blade is shifted from the current position to the angle range of the effective measurement clearance, increasing the given value of the additional pitch angle of the next adjacent blade to a preset given value of the additional pitch angle, and adding the given value of the uniform pitch angle and the given value of the additional pitch angle of the next adjacent blade to obtain the given value of the pitch angle of the next adjacent blade, wherein the given value of the uniform pitch angle refers to the given value of the uniform pitch angle determined for all the blades according to the current pitch angle of each blade and the current rotating speed of the impeller; and the variable pitch control unit is used for controlling the next adjacent blade to change the pitch based on the given pitch angle value of the next adjacent blade.
Optionally, the method further comprises: a third determination unit determining whether a blade currently located within the angular range of the effective measurement clearance has an additional pitch angle setpoint; when a blade currently within the angular range of the effective measurement clearance has an additional pitch angle setpoint, gradually reducing the additional pitch angle setpoint of the blade currently within the angular range of the effective measurement clearance to zero.
Optionally, the pitch control unit determines the given pitch rate value of the next adjacent blade according to the given pitch angle value of the next adjacent blade and the current pitch angle of the next adjacent blade, and controls the next adjacent blade to pitch according to the given pitch rate value of the next adjacent blade.
Optionally, when the measured clearance is greater than or equal to the clearance threshold, the pitch angle given value determining unit takes the uniform pitch angle given value as the pitch angle given value of the next adjacent blade during the process that the next adjacent blade shifts from the current position to the angle range where the clearance is effectively measured.
Alternatively, the angular range over which clearance is effectively measured refers to a predetermined angular range around the azimuth of the impeller at which the blades are perpendicular to the ground.
Alternatively, the first determination unit acquires an azimuth angle of the impeller measured by an azimuth angle sensor mounted on the hub, and determines whether any of the blades is within an angular range effective to measure the clearance, based on the azimuth angle.
Optionally, the second determination unit determines whether the azimuth angle is located in any one of the following angle intervals: (60 ° -,60 ° +), (180 ° -,180 ° +) and (300 ° -,300 ° +), wherein, one half of the predetermined angle, the azimuth angle of the impeller 12 o 'clock direction is 0 degree, and the clockwise rotation to 6 o' clock direction is 180 degrees.
Another aspect of the present invention provides a pitch control system of a wind turbine generator system, the system comprising: a processor; a memory storing a computer program which, when executed by the processor, performs the method as described above.
Another aspect of the invention provides a computer readable storage medium having stored therein a computer program which, when executed, implements a method as described above.
According to the pitch control method and the pitch control equipment of the wind generating set, on the basis of unified pitch control, independent pitch control is carried out on each blade according to the clearance, the impeller thrust can be reduced, the clearance is increased, the risk of the blade sweeping of the wind generating set under an extreme wind condition is reduced, the generated energy of the wind generating set cannot be influenced, and therefore conditions are provided for weight reduction design of the blades and the wind generating set.
Additional aspects and/or advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart illustrating a method of pitch control of a wind park according to an embodiment of the invention;
fig. 2 is a view showing an example of a mounting position of an azimuth angle sensor according to an embodiment of the present invention;
FIGS. 3-5 respectively illustrate examples of applications where three blades according to the present invention are each located within an angular range of effective measured clearance;
6-9 respectively show an example of an application simulation effect graph of the pitch control method of the wind generating set according to the invention;
FIG. 10 is a block diagram illustrating a pitch control apparatus of a wind park according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
FIG. 1 is a flow chart illustrating a method of pitch control of a wind park according to an embodiment of the invention.
Referring to fig. 1, in step S10, it is determined whether any blades are currently within the angular range of the effective measurement headroom.
As an example, the angular range of the effective measurement headroom may be a predetermined angular range. For example, the angular range of the effective measurement clearance refers to a predetermined angular range around the azimuth of the impeller where the blades are perpendicular to the ground, in other words, a sector with the tower as a symmetry line and a radius and the central angle as a predetermined angle.
As an example, an azimuth angle sensor mounted on the hub may be utilized to determine whether a blade is currently within an angular range effective to measure clearance. Fig. 2 is a view showing an example of the installation position of an azimuth angle sensor according to an embodiment of the present invention. As shown in fig. 2, the azimuth angle sensor 201 is provided on the hub 202.
As an example, in step S10, the azimuth angle of the impeller measured by the azimuth angle sensor mounted on the hub is acquired; it is determined from the measured azimuth angle whether any of the blades are within an angular range of effective measurement headroom.
By way of example, it may be defined that the azimuth angle of the impeller at 12 o 'clock is 0 degrees, and the clockwise rotation to the 6 o' clock is 180 degrees, and whether any of the blades are within the angular range of the effective measurement clearance is determined by determining whether the azimuth angle of the impeller is within any of the following angular intervals: (60 ° -,60 ° +), (180 ° -,180 ° +) and (300 ° -,300 ° +), wherein, is one-half of the predetermined angle. By way of example, the range of values may be 0 ° to 10 °.
When no blade is within the angular range of the effective measurement clearance, the process continues to step S10 to determine whether any blade is currently within the angular range of the effective measurement clearance.
When the blade is located within the angle range of the effective measurement clearance, step S20 is executed to measure the clearance of the blade currently located within the angle range of the effective measurement clearance and determine whether the measured clearance is less than the clearance threshold.
Here, the clearance may be measured using various methods that may measure the clearance of the blade currently within the angular range for which clearance is effectively measured. For example, a laser rangefinder, an infrared rangefinder, or the like may be employed.
The headroom threshold may be predetermined. For example, the set headroom threshold may be predetermined according to the following equation (1).
(LS-PCT)*γM*γf＜LS (1)
Wherein, PCTIs the headroom threshold, LSIs static headroom, γMIs the material safety factor, gammafAnd load safety factor, wherein the static clearance refers to the distance from the tip of the blade to the surface of the tower within the angle range of the effective measurement clearance when the impeller does not rotate.
When the measured clearance is smaller than the clearance threshold value, indicating that the next adjacent blade (the next blade which is about to turn into the angle range which is effectively used for measuring the clearance) has the risk of tower sweeping, executing steps S30 and S50, and executing independent pitch control on the next adjacent blade so as to improve the clearance of the next adjacent blade and avoid tower sweeping of the next adjacent blade; and when the measured clearance is greater than or equal to the clearance threshold value, indicating that the next adjacent blade has no risk of tower sweeping, executing steps S40 and S50, and executing unified pitch control on the next adjacent blade to avoid unnecessary pitch control of the next adjacent blade, thereby avoiding influencing the power generation amount of the wind generating set.
In step S30, when the measured clearance is smaller than the clearance threshold, gradually increasing the given value of the additional pitch angle of the next adjacent blade to a predetermined given value of the additional pitch angle during the process of the next adjacent blade shifting from the current position to the angle range where the clearance is effectively measured, and adding the given value of the uniform pitch angle to the given value of the additional pitch angle of the next adjacent blade to obtain the given value of the pitch angle of the next adjacent blade, so that the next adjacent blade can be subjected to independent pitch control.
The additional pitch angle setpoint for each blade is a pitch angle setpoint which is added to each blade in addition to the collective pitch angle setpoint for all blades.
The unified pitch angle set value refers to a unified pitch angle set value determined for all the blades according to the current pitch angle of each blade and the current impeller rotating speed, belongs to a pitch angle set value of a unified pitch control part of all the blades, and is the same as each other. As an example, an algorithm in a conventional pitch control method may be employed to determine a uniform pitch angle setpoint as a function of the current pitch angle of each blade and the current impeller rotational speed.
As an example, the predetermined additional pitch angle given value may be a preset value as one parameter of the independent pitch.
As an example, in step S30, the additional pitch angle setpoint of the next adjacent blade is uniformly increased to the predetermined additional pitch angle setpoint during the transition of the next adjacent blade from the current position to within the angular range effective to measure clearance.
In step S40, when the measured clearance is greater than or equal to the clearance threshold, the unified pitch angle given value is used as the pitch angle given value of the next adjacent blade during the process that the next adjacent blade shifts from the current position to the angle range where the clearance is effectively measured, so that the next adjacent blade can be subjected to unified pitch control.
In step S50, the next adjacent blade is controlled to pitch based on the given pitch angle value of the next adjacent blade.
It is clear to a person skilled in the art that a given pitch angle value for each blade refers to a target value for the pitch angle of each blade. In step S50, the pitch angle of the next adjacent blade is controlled to be changed by setting the given pitch angle value of the next adjacent blade as a target pitch angle value of the next adjacent blade.
As an example, in step S50, the pitch rate set value of the next adjacent blade may be determined according to the pitch angle set value of the next adjacent blade and the current pitch angle of the next adjacent blade, and the next adjacent blade may be controlled to pitch based on the pitch rate set value of the next adjacent blade. Here, an existing method may be employed to determine the pitch rate setpoint of the next adjacent blade from the pitch angle setpoint of the next adjacent blade and the current pitch angle of the next adjacent blade.
As an example, the pitch control method of a wind park according to an embodiment of the invention may further comprise the following steps (not shown in the figures): determining whether a blade currently within an angular range of an effective measurement clearance has an additional pitch angle setpoint; when the blade currently located in the angle range of the effective measurement clearance has the given value of the additional pitch angle, gradually reducing the given value of the additional pitch angle of the blade currently located in the angle range of the effective measurement clearance to zero. This is because the blade currently located within the angular range of the effective measurement clearance is already separated from or is about to be separated from a risk region in which the blade may sweep the tower, and therefore, in order to reduce unnecessary pitching of the blade and thereby avoid affecting the power generation amount of the wind turbine generator system, the given value of the additional pitch angle of the blade sweeping the tower in order to avoid being currently located within the angular range of the effective measurement clearance may be gradually reduced to zero.
Application examples and effect examples of the pitch control method of the wind turbine generator set according to the embodiment of the present invention will be described below with reference to fig. 3 to 9. In this application example, the predefined azimuth angle of the impeller being zero indicates that the direction of the blades 1 is vertically upward.
Fig. 3 to 5 show examples of applications of three impellers according to the invention each within an angular range of an effective measurement clearance.
As shown in fig. 3, when the azimuth angle of the impeller is within the interval (60 ° -,60 ° +), if it is detected that the clearance of the blade 2 is less than PCTThen, a pitch protection strategy (i.e. independent pitch control) is performed on the blade 1System), gradually increasing the additional pitch angle setpoint of the blade 1 to P during the rotation of the blade 1 to an angular range in which the clearance is effectively measured (i.e. the azimuth angle of the impeller becomes (180 ° -,180 ° +))EP(predetermined additional pitch angle setpoint), it is also possible, in addition, to check simultaneously whether the blade 2 currently has an additional pitch angle setpoint, and if so, to gradually reduce the additional pitch angle setpoint of the blade 2 to zero.
As shown in FIG. 4, when the azimuth angle of the impeller is within the interval (180 DEG-, 180 DEG +), if it is detected that the clearance of the blade 1 is less than PCTThen, a pitch protection strategy (i.e. independent pitch control) is performed on the blade 3, and in the process that the blade 3 is rotated to an angle range where clearance is effectively measured (i.e. the azimuth angle of the impeller is changed to (300 ° -,300 ° +)), the additional pitch angle given value of the blade 3 is gradually increased to PEPFurthermore, it is also possible to check simultaneously whether the blade 1 currently has an additional pitch angle setpoint, and if so, to gradually reduce the additional pitch angle setpoint of the blade 1 to zero.
As shown in fig. 5, when the azimuth angle of the impeller is within the interval (300 ° -,300 ° +) if it is detected that the clearance of the blades 3 is less than PCTThen, a pitch protection strategy (i.e. independent pitch control) is performed on the blade 2, and in the process that the blade 2 is rotated to an angle range where clearance is effectively measured (i.e. the azimuth angle of the impeller is changed to (60 ° -,60 ° +)), the additional pitch angle set value of the blade 2 is gradually increased to PEPFurthermore, it is also possible to check simultaneously whether the blade 3 currently has an additional pitch angle setpoint, and if so, to gradually reduce the additional pitch angle setpoint of the blade 3 to zero.
Fig. 6 to 9 respectively show application simulation effect diagram examples of the pitch control method of the wind generating set according to the invention.
As shown in fig. 6, the simulated wind condition is an extreme wind shear condition based on dlc 1.5.5 in IEC standard, and fig. 7 to 9 respectively show a comparison of a pitch angle, a tower clearance and a blade tip displacement of the pitch control method of the present invention and a conventional pitch control method.
FIG. 10 is a block diagram illustrating a pitch control apparatus of a wind park according to an embodiment of the invention. As shown in fig. 10, the pitch control apparatus of a wind turbine generator set according to an embodiment of the present invention includes a first determination unit 10, a second determination unit 20, a pitch angle given value determination unit 30, and a pitch control unit 40.
The first determination unit 10 determines whether a blade is currently within an angular range of an effective measurement clearance.
As an example, the angular range of the effective measurement headroom may be a predetermined angular range. For example, the angular range of the effective measurement clearance refers to a predetermined angular range around the azimuth of the impeller where the blades are perpendicular to the ground, in other words, a sector with the tower as a symmetry line and a radius and the central angle as a predetermined angle.
As an example, an azimuth angle sensor mounted on the hub may be utilized to determine whether a blade is currently within an angular range effective to measure clearance. As an example, the installation position of the azimuth angle sensor according to an embodiment of the present invention may be as shown in fig. 2.
As an example, the first determination unit 10 acquires an azimuth angle of the impeller measured by an azimuth angle sensor mounted on the hub; it is determined from the measured azimuth angle whether any of the blades are within an angular range of effective measurement headroom.
By way of example, it may be defined that the azimuth angle of the impeller at 12 o 'clock is 0 degrees, and the clockwise rotation to the 6 o' clock is 180 degrees, and whether any of the blades are within the angular range of the effective measurement clearance is determined by determining whether the azimuth angle of the impeller is within any of the following angular intervals: (60 ° -,60 ° +), (180 ° -,180 ° +) and (300 ° -,300 ° +), wherein, is one-half of the predetermined angle. By way of example, the range of values may be 0 ° to 10 °.
When no blade is located within the angular range of the effective measurement clearance, the first determination unit 10 continues to determine whether or not a blade is currently located within the angular range of the effective measurement clearance.
When a blade is located within the angular range of the effective measurement clearance, the second determination unit 20 measures the clearance of the blade currently located within the angular range of the effective measurement clearance, and determines whether the measured clearance is less than a clearance threshold.
Here, the clearance may be measured using various methods that may measure the clearance of the blade currently within the angular range for which clearance is effectively measured. For example, a laser rangefinder, an infrared rangefinder, or the like may be employed.
The headroom threshold may be predetermined. For example, the set headroom threshold may be predetermined according to the above equation (1).
When the measured clearance is smaller than the clearance threshold value, the next adjacent blade (the next blade which is to be turned into the angle range which is effectively used for measuring the clearance) is indicated to have the risk of tower sweeping, and the next adjacent blade is subjected to independent pitch control to improve the clearance of the next adjacent blade and avoid tower sweeping of the next adjacent blade; when the measured clearance is larger than or equal to the clearance threshold value, the fact that the next adjacent blade has no risk of tower sweeping is indicated, unified pitch control is carried out on the next adjacent blade, unnecessary pitch control of the next adjacent blade is avoided, and therefore the power generation amount of the wind generating set is prevented from being influenced.
When the measured clearance is smaller than the clearance threshold value, the pitch angle given value determining unit 30 gradually increases the additional pitch angle given value of the next adjacent blade to a predetermined additional pitch angle given value in the process that the next adjacent blade is shifted from the current position to the angle range in which the clearance is effectively measured, and adds the uniform pitch angle given value and the additional pitch angle given value of the next adjacent blade to obtain the pitch angle given value of the next adjacent blade, so that the next adjacent blade can be subjected to independent pitch control.
The additional pitch angle setpoint for each blade is a pitch angle setpoint which is added to each blade in addition to the collective pitch angle setpoint for all blades.
The unified pitch angle set value refers to a unified pitch angle set value determined for all the blades according to the current pitch angle of each blade and the current impeller rotating speed, belongs to a pitch angle set value of a unified pitch control part of all the blades, and is the same as each other. As an example, an algorithm in a conventional pitch control method may be employed to determine a uniform pitch angle setpoint as a function of the current pitch angle of each blade and the current impeller rotational speed.
As an example, the predetermined additional pitch angle given value may be a preset value as one parameter of the independent pitch.
As an example, the pitch angle set point determining unit 30 increases the additional pitch angle set point of the next adjacent blade to the predetermined additional pitch angle set point at a constant speed during the transition of the next adjacent blade from the current position to the angle range within which the measurement clearance is valid.
When the measured clearance is greater than or equal to the clearance threshold value, the given value of pitch angle determining unit 30 uses the given value of uniform pitch angle as the given value of pitch angle of the next adjacent blade in the process that the next adjacent blade shifts from the current position to the angle range of the effective measurement clearance, so that the next adjacent blade can be subjected to uniform pitch control.
The pitch control unit 40 controls the next adjacent blade to pitch based on the given pitch angle value of the next adjacent blade.
It is clear to a person skilled in the art that a given pitch angle value for each blade refers to a target value for the pitch angle of each blade. The pitch control unit 40 controls the next adjacent blade to pitch by using the given pitch angle value of the next adjacent blade as a target value of the pitch angle of the next adjacent blade.
As an example, the pitch control unit 40 may determine a given pitch rate value of the next adjacent blade according to the given pitch angle value of the next adjacent blade and the current pitch angle of the next adjacent blade, and control the next adjacent blade to pitch based on the given pitch rate value of the next adjacent blade. Here, an existing method may be employed to determine the pitch rate setpoint of the next adjacent blade from the pitch angle setpoint of the next adjacent blade and the current pitch angle of the next adjacent blade.
As an example, the pitch control apparatus of a wind park according to an embodiment of the invention may further comprise a third determining unit (not shown in the figures): determining whether a blade currently within an angular range of an effective measurement clearance has an additional pitch angle setpoint; when the blade currently located in the angle range of the effective measurement clearance has the given value of the additional pitch angle, gradually reducing the given value of the additional pitch angle of the blade currently located in the angle range of the effective measurement clearance to zero. This is because the blade currently located within the angular range of the effective measurement clearance is already separated from or is about to be separated from a risk region in which the blade may sweep the tower, and therefore, in order to reduce unnecessary pitching of the blade and thereby avoid affecting the power generation amount of the wind turbine generator system, the given value of the additional pitch angle of the blade sweeping the tower in order to avoid being currently located within the angular range of the effective measurement clearance may be gradually reduced to zero.
According to the pitch control method and the pitch control equipment of the wind generating set, on the basis of unified pitch control, independent pitch control is carried out on each blade according to the clearance, the impeller thrust can be reduced, the clearance is increased, the risk of the blade sweeping of the wind generating set under an extreme wind condition is reduced, the generated energy of the wind generating set cannot be influenced, and therefore conditions are provided for weight reduction design of the blades and the wind generating set.
The invention also provides, according to an embodiment of the invention, a computer-readable storage medium having stored therein a computer program which, when executed, implements a method as described above.
According to an embodiment of the invention, the invention further provides a variable pitch control system of the wind generating set. The system comprises: a processor and a memory. The memory stores a computer program which, when executed by the processor, performs the method as described above.
Furthermore, it should be understood that the respective units in the device according to the exemplary embodiment of the present invention may be implemented as hardware components and/or software components. The individual units may be implemented, for example, using a field Programmable Logic Controller (PLC), a Field Programmable Gate Array (FPGA), or an Application Specific Integrated Circuit (ASIC), depending on the processing performed by the individual units as defined.
Further, the method according to the exemplary embodiment of the present invention may be implemented as a computer program in a computer-readable recording medium. The computer program may be implemented by a person skilled in the art from the description of the method described above. The above-described method of the present invention is implemented when the computer program is executed in a computer.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.

Claims (16)

1. A variable pitch control method of a wind generating set is characterized by comprising the following steps:
determining whether a blade is currently within an angular range of an effective measurement headroom;
measuring a clearance of a blade currently located within the angular range of the effective measured clearance when the blade is located within the angular range of the effective measured clearance, and determining whether the measured clearance is less than a clearance threshold;
when the measured clearance is smaller than a clearance threshold value, in the process that the next adjacent blade is shifted into an angle range of effective clearance measurement from the current position, increasing the given value of the additional pitch angle of the next adjacent blade to a preset given value of the additional pitch angle, and adding the given value of the uniform pitch angle and the given value of the additional pitch angle of the next adjacent blade to obtain the given value of the pitch angle of the next adjacent blade, wherein the given value of the uniform pitch angle is the given value of the uniform pitch angle determined for all the blades according to the current pitch angle of each blade and the current rotating speed of the impeller;
and controlling the next adjacent blade to pitch based on the given pitch angle value of the next adjacent blade.
2. The pitch control method of claim 1, further comprising:
determining whether a blade currently within an angular range of an effective measurement clearance has an additional pitch angle setpoint;
when the blade currently located in the angle range of the effective measurement clearance has the given value of the additional pitch angle, gradually reducing the given value of the additional pitch angle of the blade currently located in the angle range of the effective measurement clearance to zero.
3. The pitch control method according to claim 1, wherein the step of controlling the next adjacent blade to pitch based on the pitch angle setpoint of the next adjacent blade comprises: and determining the given value of the pitch rate of the next adjacent blade according to the given value of the pitch angle of the next adjacent blade and the current pitch angle of the next adjacent blade, and controlling the next adjacent blade to pitch according to the given value of the pitch rate of the next adjacent blade.
4. The pitch control method of claim 1, further comprising:
and when the measured clearance is larger than or equal to the clearance threshold value, taking the uniform pitch angle given value as the pitch angle given value of the next adjacent blade in the process of turning the next adjacent blade from the current position into the angle range for effectively measuring the clearance.
5. The pitch control method of claim 1 wherein the range of angles over which clearance is effectively measured is a predetermined range of angles about the azimuth of the impeller at which the blades are perpendicular to the ground.
6. The pitch control method of claim 5, wherein the step of determining whether a blade is currently within an angular range of effective measured clearance comprises:
acquiring an azimuth angle of an impeller measured by an azimuth angle sensor installed on a hub;
determining whether any of the blades are within an angular range of effective measurement headroom based on the azimuth angle.
7. The pitch control method of claim 6, wherein determining whether any blades are within an angular range of an effective measurement clearance based on the azimuth angle comprises: determining whether the azimuth angle is located in any one of the following angle intervals: (60 ° -,60 ° +), (180 ° -,180 ° +) and (300 ° -,300 ° +), wherein, one half of the predetermined angle, the azimuth angle of the impeller 12 o 'clock direction is 0 degree, and the clockwise rotation to 6 o' clock direction is 180 degrees.
8. A pitch control apparatus of a wind turbine generator system, comprising:
a first determination unit that determines whether or not there is currently a blade within an angle range of an effective measurement headroom;
a second determining unit that measures a clearance of the blade currently located within the angular range of the effective measurement clearance when the blade is located within the angular range of the effective measurement clearance, and determines whether the measured clearance is smaller than a clearance threshold;
a given value determining unit of pitch angle, when the measured clearance is smaller than the clearance threshold value, in the process that the next adjacent blade is shifted from the current position to the angle range of the effective measurement clearance, increasing the given value of the additional pitch angle of the next adjacent blade to a preset given value of the additional pitch angle, and adding the given value of the uniform pitch angle and the given value of the additional pitch angle of the next adjacent blade to obtain the given value of the pitch angle of the next adjacent blade, wherein the given value of the uniform pitch angle refers to the given value of the uniform pitch angle determined for all the blades according to the current pitch angle of each blade and the current rotating speed of the impeller;
and the variable pitch control unit is used for controlling the next adjacent blade to change the pitch based on the given pitch angle value of the next adjacent blade.
9. The pitch control apparatus of claim 8, further comprising:
a third determination unit determining whether a blade currently located within the angular range of the effective measurement clearance has an additional pitch angle setpoint; when a blade currently within the angular range of the effective measurement clearance has an additional pitch angle setpoint, gradually reducing the additional pitch angle setpoint of the blade currently within the angular range of the effective measurement clearance to zero.
10. The pitch control apparatus according to claim 8, wherein the pitch control unit determines the given pitch rate value of the next adjacent blade according to the given pitch angle value of the next adjacent blade and the current pitch angle of the next adjacent blade, and controls the next adjacent blade to pitch according to the given pitch rate value of the next adjacent blade.
11. The pitch control apparatus of claim 8, wherein when the measured clearance is greater than or equal to the clearance threshold, the pitch angle setpoint determination unit takes the uniform pitch angle setpoint as the pitch angle setpoint for the next adjacent blade during the transition of the next adjacent blade from the current position into the angular range for which clearance is effectively measured.
12. The pitch control apparatus of claim 8, wherein the range of angles over which clearance is effectively measured is a predetermined range of angles about the azimuth of the impeller at which the blades are perpendicular to the ground.
13. The pitch control apparatus of claim 12, wherein the first determining unit obtains an azimuth angle of the impeller measured by an azimuth angle sensor mounted on the hub, and determines whether any of the blades is within an angular range of an effective measurement clearance based on the azimuth angle.
14. The pitch control apparatus of claim 13, wherein the second determining unit determines whether the azimuth angle is in any one of the following angle intervals: (60 ° -,60 ° +), (180 ° -,180 ° +) and (300 ° -,300 ° +), wherein, one half of the predetermined angle, the azimuth angle of the impeller 12 o 'clock direction is 0 degree, and the clockwise rotation to 6 o' clock direction is 180 degrees.
15. A pitch control system of a wind generating set, characterized in that the control system comprises:
a processor;
memory storing a computer program which, when executed by the processor, performs the method of any one of claims 1 to 7.
16. A computer-readable storage medium having stored therein a computer program which, when executed, implements the method of any of claims 1 to 7.
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CN114060229A (en) * 2020-08-07 2022-02-18 新疆金风科技股份有限公司 Clearance determination method, control method and clearance determination device of wind generating set
CN112610410B (en) * 2020-12-18 2022-02-25 明阳智慧能源集团股份公司 Wind generating set tower clearance regulation and control method and module
CN112610411B (en) * 2020-12-22 2021-11-23 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
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