CN111379665A - Variable pitch control method and system of wind generating set - Google Patents

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

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Publication number
CN111379665A
CN111379665A CN201811608497.XA CN201811608497A CN111379665A CN 111379665 A CN111379665 A CN 111379665A CN 201811608497 A CN201811608497 A CN 201811608497A CN 111379665 A CN111379665 A CN 111379665A
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pitch
load
blade
pitch control
angle
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CN111379665B (en
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陈博宇
赵树椿
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 
    • 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
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • 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
    • 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 variable pitch control method and system of a wind generating set are provided. The pitch control method comprises the following steps: acquiring an impeller azimuth angle of a wind generating set and a load of a blade root of each blade in a specific direction, wherein the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blade; determining whether to carry out independent variable pitch control or not based on the obtained impeller azimuth angle and the load of the blade root in the specific direction; and when determining to perform independent pitch control, performing independent pitch control based on the acquired azimuth angle of the impeller and the load of the blade root in the specific direction. According to the variable pitch control method and the variable pitch control system, variable pitch control can be effectively carried out, the load of the wind generating set can be reduced, the damage to a variable pitch bearing can be greatly reduced, and the service life of the variable pitch bearing is prolonged.

Description

Variable pitch control method and system of wind generating set
Technical Field
The present invention relates generally to the field of wind power generation technologies, and in particular, to a method and a system for controlling a pitch of a wind turbine generator system.
Background
The development of wind generating set products is continuously developing towards large-scale, large-capacity and offshore directions. The increase of the unit load is brought by the increase of the diameter of the impeller and the weight of the unit; the aerodynamic moment in the impeller surface is unbalanced due to wind shear, tower shadow effect, turbulence and the like, so that the fatigue of components such as blades, a transmission system, a tower and the like and the increase of limit load are caused, therefore, how to reduce the load through a control method becomes a key point and a difficulty point for limiting the development of a large-impeller-diameter unit, and the independent variable pitch control technology provides an effective method and a way for solving the problem. However, the existing independent pitch control technology seriously damages the pitch bearing, and the service life of the pitch bearing is greatly reduced.
Disclosure of Invention
An exemplary embodiment of the invention provides a variable pitch control method and system for a wind generating set, so as to solve the problem that in the prior art, a variable pitch bearing is seriously damaged.
According to an exemplary embodiment of the invention, a pitch control method of a wind turbine generator system is provided, the pitch control method comprising: acquiring an impeller azimuth angle of a wind generating set and a load of a blade root of each blade in a specific direction, wherein the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blade; determining whether to carry out independent variable pitch control or not based on the obtained impeller azimuth angle and the load of the blade root in the specific direction; and when determining to perform independent pitch control, performing independent pitch control based on the acquired azimuth angle of the impeller and the load of the blade root in the specific direction.
Optionally, the step of determining whether to perform independent pitch control comprises: converting loads in the specific direction of the blade roots of all the blades into a load in the d-axis direction and a load in the q-axis direction by d-q conversion based on the acquired impeller azimuth angle; and determining whether to carry out independent pitch control or not based on the converted pitch load and yaw load, wherein the load in the d-axis direction is the pitch load, and the load in the q-axis direction is the yaw load.
Optionally, the step of determining whether to perform independent pitch control based on the transformed pitch load and yaw load comprises: when in use
Figure BDA0001924150600000021
When the value is larger than or equal to the opening threshold value, determining to perform independent variable pitch control, wherein MdAnd MqThe transformed pitch and yaw loads are indicated separately.
Optionally, the step of performing independent pitch control based on the obtained azimuth angle of the impeller and the load of the blade root in the specific direction comprises: acquiring a uniform pitch angle for all blades; acquiring an additional variable pitch angle for each blade; respectively superposing the additional variable pitch angle of each blade on the basis of the unified variable pitch angle to obtain a target pitch angle of each blade; pitching each blade to a target pitch angle, wherein the step of obtaining an additional pitch angle for each blade comprises: determining an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction in order to reduce the converted pitch load to a pitch load expected value and the converted yaw load to a yaw load expected value; and performing d-q inverse transformation on the additional variable pitch angle in the d-axis direction and the additional variable pitch angle in the q-axis direction based on the phase compensation value to obtain the additional variable pitch angle for each blade.
Optionally, the phase compensation value is determined based on at least one of a lag time of the pitch actuator performing the pitch, a lag time of a filter, and a rotational speed of the impeller, wherein the filter is a filter for filtering the transformed pitch and yaw loads, wherein the filtered pitch and yaw loads are used to determine an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction.
Optionally, the starting threshold corresponds to a current ambient wind speed value of the wind generating set; or the starting threshold value is always kept unchanged in the running process of the wind generating set.
Optionally, the opening threshold is set based on a dominant condition of the wind turbine generator system, wherein the opening threshold when the dominant condition is a limit condition is larger than the opening threshold when the dominant condition is a fatigue condition.
Optionally, the pitch control method further comprises: and when the condition that the independent pitch control is not carried out but the pitch is required is determined, carrying out unified pitch control.
According to another exemplary embodiment of the invention, a pitch control system of a wind power plant is provided, characterized in that the pitch control system comprises: the acquiring unit is used for acquiring an impeller azimuth angle of the wind generating set and the load of the blade root of each blade in a specific direction, wherein the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blade; the determining unit is used for determining whether to carry out independent variable pitch control or not based on the acquired impeller azimuth angle and the load of the blade root in the specific direction; and the independent variable pitch unit is used for carrying out independent variable pitch control based on the acquired azimuth angle of the impeller and the load of the blade root in the specific direction when determining to carry out independent variable pitch control.
Optionally, the determination unit converts loads in the specific direction of the blade roots of all the blades into a load in the d-axis direction and a load in the q-axis direction by d-q conversion based on the acquired impeller azimuth angle; and determining whether to carry out independent variable pitch control or not based on the converted pitch load and yaw load, wherein the load in the d-axis direction is the pitch load, and the load in the q-axis direction is the yaw load.
Optionally when
Figure BDA0001924150600000031
When the value is larger than or equal to the opening threshold value, the determining unit determines to carry out independent variable pitch control, wherein MdAnd MqThe transformed pitch and yaw loads are indicated separately.
Optionally, the independent pitch unit comprises: a uniform pitch angle acquisition unit which acquires uniform pitch angles for all the blades; an additional pitch angle acquisition unit for acquiring an additional pitch angle for each blade; the target pitch angle acquisition unit is used for respectively superposing the additional variable pitch angle of each blade on the basis of the unified variable pitch angle for each blade to obtain the target pitch angle of each blade; a variable pitch unit which is used for changing the pitch of each blade to a target pitch angle, wherein the additional variable pitch angle acquisition unit is used for determining an additional variable pitch angle in the d-axis direction and an additional variable pitch angle in the q-axis direction in order to reduce the converted pitch load to a pitch load expected value and reduce the converted yaw load to a yaw load expected value; and performing d-q inverse transformation on the additional variable pitch angle in the d-axis direction and the additional variable pitch angle in the q-axis direction based on the phase compensation value to obtain the additional variable pitch angle for each blade.
Optionally, the phase compensation value is determined based on at least one of a lag time of the pitch actuator performing the pitch, a lag time of a filter, and a rotational speed of the impeller, wherein the filter is a filter for filtering the transformed pitch and yaw loads, wherein the filtered pitch and yaw loads are used to determine an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction.
Optionally, the starting threshold corresponds to a current ambient wind speed value of the wind generating set; or the starting threshold value is always kept unchanged in the running process of the wind generating set.
Optionally, the opening threshold is set based on a dominant condition of the wind turbine generator system, wherein the opening threshold when the dominant condition is a limit condition is larger than the opening threshold when the dominant condition is a fatigue condition.
According to another exemplary embodiment of the invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the method for pitch control of a wind park as described above.
According to another exemplary embodiment of the invention, a pitch control system of a wind power plant is provided, characterized in that the pitch control system comprises: a processor; a memory storing a computer program which, when executed by the processor, implements a method of pitch control of a wind park as described above.
According to the pitch control method and system of the wind generating set, disclosed by the exemplary embodiment of the invention, the independent pitch control can be selectively started automatically based on the load of the root of the blade during the operation of the wind generating set, so that the independent pitch control is avoided from being always carried out in the whole operation process of the wind generating set, the load can be effectively reduced, the damage to a pitch bearing is greatly reduced, and the service life of the pitch bearing is prolonged.
Additional aspects and/or advantages of the present general inventive concept 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 general inventive concept.
Drawings
The above and other objects and features of exemplary embodiments of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings which illustrate exemplary embodiments, wherein:
FIG. 1 shows a flow chart of a method of pitch control of a wind park according to an exemplary embodiment of the invention;
FIG. 2 shows an example of a blade coordinate system;
FIG. 3 illustrates an example of a correspondence between an ambient wind speed value and an opening threshold value in accordance with an exemplary embodiment of the present invention;
FIG. 4 shows a flow chart of a method of independent pitch control according to an exemplary embodiment of the invention;
FIG. 5 shows a schematic view of an independent pitch control according to an exemplary embodiment of the invention;
FIG. 6 illustrates a distribution of turn-on thresholds and measurement thresholds according to an exemplary embodiment of the present invention;
FIG. 7 shows a schematic view of the control effect of a method of pitch control of a wind park according to an exemplary embodiment of the invention;
FIG. 8 shows a block diagram of a pitch control system of a wind park according to an exemplary embodiment of the invention;
FIG. 9 shows a block diagram of an individual pitch unit according to an exemplary embodiment of the invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments are described below in order to explain the present invention by referring to the figures.
FIG. 1 shows a flow chart of a method of pitch control of a wind park according to an exemplary embodiment of the invention.
Referring to fig. 1, in step S10, an impeller azimuth angle of a wind turbine generator system and a load of a blade root of each blade in a specific direction are acquired. Here, the specific direction (hereinafter, also referred to as y direction) is perpendicular to the axial direction of the impeller and the length direction of the blade, and conforms to a right-hand coordinate system, that is, the specific direction is a direction in which the thumb points when the blade is held by the right hand and the tip of the blade is pointed in the length direction of the blade.
FIG. 2 shows an example of a blade coordinate system, as shown in FIG. 2, XB indicates the axial direction of the impeller, pointing toward the impeller tower for upwind; ZB indicates the length direction of the blade and points to the blade tip; YB indicates the specific direction, perpendicular to the axial direction of the impeller and the length direction of the blade, and conforms to a right-hand coordinate system.
As an example, the load of each blade root in the specific direction may be detected by a load sensor mounted at each blade root.
As an example, the impeller azimuth angle may be detected by a rotary encoder mounted within a slip ring of the wind turbine.
In step S20, it is determined whether to perform independent pitch control based on the acquired wheel azimuth angle and the load of the blade root in the specific direction.
It should be appreciated that the determination of whether to perform independent pitch control may be made in various suitable ways based on the obtained wheel azimuth angle and the load of the blade root in the particular direction. As an example, the loads in the specific direction of the blade roots of all the blades may be converted into the load in the d-axis direction and the load in the q-axis direction by d-q conversion based on the acquired impeller azimuth angle; and then determining whether to carry out independent pitch control or not based on the converted pitch load and yaw load, wherein the load in the d-axis direction is the pitch load, and the load in the q-axis direction is the yaw load.
Here, the d-axis direction and the q-axis direction are space vector directions formed based on d-q transformation according to the spatial position of the blade, and the q-axis direction is perpendicular to the d-axis direction.
As an example, the wind turbine generator system is provided with three blades, and the load component M in the d-axis direction can be calculated by performing d-q conversion on the load of the three blade roots in the y direction based on the impeller azimuth angle by equation (1)d(i.e., pitch load) and a load component M in the q-axis directionq(i.e., yaw load), where M1、M2And M3Indicating the load of the blade root of each blade in its respective y-direction,
Figure BDA0001924150600000051
indicating the impeller azimuth angle.
Figure BDA0001924150600000052
As an example, can be when
Figure BDA0001924150600000053
And when the pitch control is larger than or equal to the opening threshold, determining to perform independent pitch control.
It should be understood that the appropriate activation threshold may be set according to the particular situation, actual requirements.
As an example, the opening threshold may correspond to a current ambient wind speed value of the wind park. For example, the turn-on threshold may correspond to a wind speed segment at which the wind turbine generator set is currently at an ambient wind speed value. In other words, when the wind generating set is in different environmental wind speed values, the set opening threshold values may be different, and the opening threshold values are not always constant in the operation process of the wind generating set, so that whether independent pitch control is performed or not can be judged more accurately, the load lifting effect is improved, and the damage to the pitch bearing is reduced. As an example, the corresponding relationship between the ambient wind speed value of the wind turbine generator set and the opening threshold value may be as shown in fig. 3.
As an example, the current ambient wind speed value of the wind turbine generator set may be obtained in various suitable ways to set the current turn-on threshold. As an example, the actual wind speed experienced by the blade face (i.e., the ambient wind speed) may be estimated based on a wind meter located at the top of the nacelle, blade root load, blade speed, blade frequency, and pitch angle, etc., or the actual ambient wind speed may be measured using a Lidar.
As another example, the opening threshold may remain constant throughout operation of the wind turbine generator system.
As an example, the opening threshold may be set based on a prevailing operating condition of the wind turbine generator system, wherein the opening threshold is larger when the prevailing operating condition is a limit condition than when the prevailing operating condition is a fatigue condition. Specifically, if the leading working condition of one wind generating set is the limit working condition, the opening threshold value is higher so as to effectively reduce the limit load; if the leading working condition of the wind generating set is a fatigue working condition, the opening threshold value is relatively low, so that the fatigue load is effectively reduced. Therefore, the damage of the variable pitch bearing can be reduced and the service life of the variable pitch bearing can be prolonged while the limit load and the fatigue load of the wind generating set are effectively reduced.
When it is determined in step S20 that the independent pitch control is performed, step S30 is performed, and the independent pitch control is performed based on the acquired wheel azimuth angle and the load of the blade root in the specific direction.
Further, as an example, the pitch control method of a wind turbine generator set according to an exemplary embodiment of the present invention may further include: when it is determined at step S20 that the independent pitch control is not performed but the pitch is required, the unified pitch control is performed. It should be appreciated that when it is determined at step S20 that independent pitching is not to be performed, but that the pitch angle of the wind park needs to be adjusted, for example, to track the maximum ambient wind speed to absorb as much wind energy as possible or when the ambient wind speed is higher than the rated wind speed and absorption of wind energy needs to be limited, unified pitch control may be performed.
According to the embodiment of the invention, when the pitching load and the yawing load are higher, the independent pitch control is carried out, when the pitching load and the yawing load are lower, the unified pitch control is carried out, and the independent pitch control and the unified pitch control are automatically switched, so that the pitch control can be effectively carried out, the load of the wind generating set can be reduced, the damage to the pitch bearing can be greatly reduced, and the service life of the pitch bearing can be prolonged.
FIG. 4 shows a flow chart of a method of independent pitch control according to an exemplary embodiment of the invention.
Referring to fig. 4, in step S301, a uniform pitch angle for all blades is acquired.
In step S302, additional pitch angles are obtained for each blade, respectively.
As an example, an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction may be determined for the purpose of reducing the transformed pitch load to a pitch load desired value and the transformed yaw load to a yaw load desired value; and then carrying out d-q inverse transformation on the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction based on the phase compensation value to obtain the additional pitch angle respectively aiming at each blade.
It should be understood that the pitch load expectation and the yaw load expectation may be set according to actual conditions and actual requirements, for example, the pitch load expectation may be set to 0 and the yaw load expectation may be set to 0.
As an example, one PI controller of the pitch control system may determine the additional pitch angle in the d-axis direction by targeting the transformed pitch load to a desired pitch load value.
As an example, another PI controller of the pitch control system may determine the additional pitch angle in the q-axis direction by targeting the transformed yaw load to a desired yaw load value.
As an example, the phase compensation value may be based on equation (2)
Figure BDA0001924150600000071
For additional pitch angle theta in the direction of the d-axisdAnd an additional pitch angle theta in the direction of the q-axisqPerforming d-q inverse transformation to obtain additional pitch angles for each blade respectively
Figure BDA0001924150600000072
Wherein,
Figure BDA0001924150600000073
Figure BDA0001924150600000074
Figure BDA0001924150600000075
as an example, the phase compensation value may be determined based on at least one of a lag time of the pitch actuator performing the pitch, a lag time of a filter, and a rotational speed of the impeller, wherein the filter is a filter for filtering the transformed pitch and yaw loads, wherein the filtered pitch and yaw loads are used for determining the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction.
As an example, the phase compensation value
Figure BDA0001924150600000076
Can be as follows: (lag time of pitch actuator executing pitch + lag time of filter) and rotation speed of impeller.
In step S303, for each blade, the additional pitch angle of each blade is superimposed on the basis of the unified pitch angle to obtain the target pitch angle of each blade.
In step S304, the each blade is pitched to a target pitch angle.
As an example, a respective control command for controlling the pitch actuator may be generated based on the obtained target pitch angle of each blade and sent to the pitch actuator to control the pitch actuator to pitch each blade to the corresponding target pitch angle.
FIG. 5 shows a schematic view of an independent pitch control according to an exemplary embodiment of the invention. Can be used as
Figure BDA0001924150600000081
And when the pitch is larger than or equal to the opening threshold, carrying out independent pitch control as shown in FIG. 5. The method comprises the steps of determining a unified pitch angle based on the rotating speed of a generator of the wind generating set, determining an additional pitch angle for each blade based on an impeller azimuth angle, pitch load obtained through conversion and yaw load, and then superposing the additional pitch angle of each blade on the basis of the unified pitch angle to obtain a target pitch angle of each blade.
Fig. 6 shows a distribution of the turn-on threshold and the measurement threshold according to an exemplary embodiment of the present invention. Here, the measurement threshold may be calculated
Figure BDA0001924150600000082
And when the measurement threshold is greater than or equal to the opening threshold, opening the independent pitch control, and when the measurement threshold is less than the opening threshold, closing the independent pitch control.
Fig. 7 is a schematic view illustrating a control effect of the pitch control method of the wind turbine generator system according to the exemplary embodiment of the present invention, and as shown in fig. 7, by the pitch control method of the wind turbine generator system according to the exemplary embodiment of the present invention, smooth switching between the independent pitch control and the unified pitch control can be performed well, that is, smooth performance of opening and closing of the independent pitch control can be ensured.
FIG. 8 shows a block diagram of a pitch control system of a wind park according to an exemplary embodiment of the invention.
As shown in fig. 8, a pitch control system of a wind turbine generator set according to an exemplary embodiment of the present invention includes: the device comprises an acquisition unit 10, a determination unit 20 and an independent pitch control unit 30.
Specifically, the obtaining unit 10 is used for obtaining an impeller azimuth angle of the wind turbine generator system and a load of a blade root of each blade in a specific direction. Here, the specific direction (hereinafter, also referred to as y direction) is perpendicular to the axial direction of the impeller and the length direction of the blade, and conforms to a right-hand coordinate system, that is, the specific direction is a direction in which the thumb points when the blade is held by the right hand and the tip of the blade is pointed in the length direction of the blade.
As an example, the obtaining unit 10 may detect the load of each blade root in the specific direction by a load sensor installed at each blade root.
As an example, the acquisition unit 10 may detect the impeller azimuth angle by means of a rotary encoder mounted in a slip ring of the wind turbine.
The determination unit 20 is configured to determine whether to perform independent pitch control based on the obtained azimuth angle of the impeller and the load of the blade root in the specific direction.
It should be appreciated that the determination unit 20 may determine whether to perform independent pitch control based on the acquired wheel azimuth angle and the load of the blade root in the specific direction in various suitable ways. As an example, the determination unit 20 may convert the loads of the blade roots of all the blades in the specific direction into the load in the d-axis direction and the load in the q-axis direction by d-q conversion based on the acquired impeller azimuth angle; and then determining whether to carry out independent pitch control or not based on the converted pitch load and yaw load, wherein the load in the d-axis direction is the pitch load, and the load in the q-axis direction is the yaw load.
Here, the d-axis direction and the q-axis direction are space vector directions formed based on d-q transformation according to the spatial position of the blade, and the q-axis direction is perpendicular to the d-axis direction.
As an example, the wind turbine generator set is equipped with three blades, and the determination unit 20 may calculate the load component M in the d-axis direction by d-q conversion of the load of the three blade roots in the y-direction based on the impeller azimuth angle by equation (1)d(i.e., pitch load) and a load component M in the q-axis directionq(i.e., yaw load).
By way of example, doThe fixed unit 20 can be used as
Figure BDA0001924150600000091
And when the pitch control is larger than or equal to the opening threshold, determining to perform independent pitch control.
It should be understood that the appropriate activation threshold may be set according to the particular situation, actual requirements.
As an example, the opening threshold may correspond to a current ambient wind speed value of the wind park. For example, the turn-on threshold may correspond to a wind speed segment at which the wind turbine generator set is currently at an ambient wind speed value. In other words, when the wind generating set is in different environmental wind speed values, the set opening threshold values may be different, and the opening threshold values are not always constant in the operation process of the wind generating set, so that whether independent pitch control is performed or not can be judged more accurately, the load lifting effect is improved, and the damage to the pitch bearing is reduced. As an example, the obtaining unit 10 may obtain the current ambient wind speed value of the wind turbine generator set in various suitable ways for setting the current opening threshold. As an example, the obtaining unit 10 may estimate the actual wind speed (i.e. the ambient wind speed) experienced by the blade face according to a wind meter located at the top end of the nacelle, the blade root load, the blade rotation speed, the blade rotation frequency, the pitch angle, etc., or may measure the actual ambient wind speed using a Lidar.
As another example, the opening threshold may remain constant throughout operation of the wind turbine generator system.
As an example, the opening threshold may be set based on a prevailing operating condition of the wind turbine generator system, wherein the opening threshold is larger when the prevailing operating condition is a limit condition than when the prevailing operating condition is a fatigue condition. Specifically, if the leading working condition of one wind generating set is the limit working condition, the opening threshold value is higher so as to effectively reduce the limit load; if the leading working condition of the wind generating set is a fatigue working condition, the opening threshold value is relatively low, so that the fatigue load is effectively reduced. Therefore, the damage of the variable pitch bearing can be reduced and the service life of the variable pitch bearing can be prolonged while the limit load and the fatigue load of the wind generating set are effectively reduced.
The independent pitch control unit 30 is configured to perform independent pitch control based on the acquired azimuth angle of the impeller and the load of the blade root in the specific direction when determining to perform independent pitch control.
As an example, the pitch control system of a wind park according to an exemplary embodiment of the present invention may further include: and the unified variable pitch unit (not shown) is used for carrying out unified variable pitch control when the condition that the independent variable pitch control is not carried out but the variable pitch is required is determined. It should be appreciated that the unified pitch unit may perform unified pitch control when it is determined that independent pitching is not performed but that the pitch angle of the wind park needs to be adjusted, e.g. to track the maximum ambient wind speed to absorb wind energy as much as possible or when the ambient wind speed is higher than the rated wind speed requiring limiting the absorption of wind energy.
According to the embodiment of the invention, when the pitching load and the yawing load are higher, the independent pitch control is carried out, when the pitching load and the yawing load are lower, the unified pitch control is carried out, and the independent pitch control and the unified pitch control are automatically switched, so that the pitch control can be effectively carried out, the load of the wind generating set can be reduced, the damage to the pitch bearing can be greatly reduced, and the service life of the pitch bearing can be prolonged.
FIG. 9 shows a block diagram of an individual pitch unit according to an exemplary embodiment of the invention.
As shown in fig. 9, the individual pitch unit according to an exemplary embodiment of the present invention comprises: a unified pitch angle acquisition unit 301, an additional pitch angle acquisition unit 302, a target pitch angle acquisition unit 303, and a pitch unit 304.
Specifically, the unified pitch angle acquisition unit 301 is configured to acquire a unified pitch angle for all blades.
The additional pitch angle acquisition unit 302 is configured to acquire an additional pitch angle for each blade.
As an example, the additional pitch angle acquisition unit 302 may determine an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction in order to reduce the converted pitch load to the pitch load desired value and the converted yaw load to the yaw load desired value; and then carrying out d-q inverse transformation on the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction based on the phase compensation value to obtain the additional pitch angle respectively aiming at each blade.
It should be understood that the pitch load expectation and the yaw load expectation may be set according to actual conditions and actual requirements, for example, the pitch load expectation may be set to 0 and the yaw load expectation may be set to 0.
As an example, one PI controller of the additional pitch angle obtaining unit 302 may determine the additional pitch angle in the d-axis direction by targeting the converted pitch load to be reduced to the pitch load desired value.
As an example, the further PI controller of the additional pitch angle acquisition unit 302 may determine the additional pitch angle in the q-axis direction by targeting the transformed yaw load down to a yaw load desired value.
As an example, the phase compensation value may be based on equation (2)
Figure BDA0001924150600000111
For additional pitch angle theta in the direction of the d-axisdAnd an additional pitch angle theta in the direction of the q-axisqPerforming d-q inverse transformation to obtain additional pitch angles for each blade respectively
Figure BDA0001924150600000112
As an example, the phase compensation value may be determined based on at least one of a lag time of the pitch actuator performing the pitch, a lag time of a filter, and a rotational speed of the impeller, wherein the filter is a filter for filtering the transformed pitch and yaw loads, wherein the filtered pitch and yaw loads are used for determining the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction.
As an example, the phase compensation value
Figure BDA0001924150600000113
Can be as follows: (lag time of pitch actuator executing pitch + lag time of filter) and rotation speed of impeller.
The target pitch angle obtaining unit 303 is configured to obtain, for each blade, the target pitch angle of each blade by superimposing the additional pitch angle of each blade on the basis of the unified pitch angle.
The pitch unit 304 is used to pitch said each blade to the target pitch angle.
As an example, the pitch unit 304 may generate a corresponding control command for controlling the pitch actuator based on the obtained target pitch angle of each blade and transmit the control command to the pitch actuator to control the pitch actuator to pitch each blade to the corresponding target pitch angle.
It should be appreciated that the various units in the pitch control system of a wind park according to an exemplary embodiment of the invention may be implemented as hardware components and/or software components. The individual units may be implemented, for example, using Field Programmable Gate Arrays (FPGAs) or Application Specific Integrated Circuits (ASICs), depending on the processing performed by the individual units as defined by the skilled person.
Exemplary embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out a method of pitch control of a wind park as described above in exemplary embodiments. The computer readable storage medium is any data storage device that can store data which can be read by a computer system. Examples of computer-readable storage media include: read-only memory, random access memory, read-only optical disks, magnetic tapes, floppy disks, optical data storage devices, and carrier waves (such as data transmission through the internet via wired or wireless transmission paths).
A pitch control system of a wind park according to an exemplary embodiment of the invention comprises: a processor (not shown) and a memory (not shown), wherein the memory stores a computer program which, when executed by the processor, implements the pitch control method of a wind park as described above with reference to the exemplary embodiments.
Although a few exemplary embodiments of the present invention have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.

Claims (17)

1. A variable pitch control method of a wind generating set is characterized by comprising the following steps:
acquiring an impeller azimuth angle of a wind generating set and a load of a blade root of each blade in a specific direction, wherein the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blade;
determining whether to carry out independent variable pitch control or not based on the obtained impeller azimuth angle and the load of the blade root in the specific direction;
and when determining to perform independent pitch control, performing independent pitch control based on the acquired azimuth angle of the impeller and the load of the blade root in the specific direction.
2. The pitch control method of claim 1, wherein the step of determining whether to perform independent pitch control comprises:
converting loads of blade roots of all the blades in the specific direction into a load in a d-axis direction and a load in a q-axis direction through d-q conversion based on the acquired impeller azimuth angle, wherein the load in the d-axis direction is a pitch load and the load in the q-axis direction is a yaw load;
and determining whether to carry out independent pitch control or not based on the pitch load and the yaw load obtained by conversion.
3. The pitch control method according to claim 2, wherein the step of determining whether to perform independent pitch control based on the transformed pitch load and yaw load comprises:
when in use
Figure FDA0001924150590000011
When the value is larger than or equal to the opening threshold value, the independent variable pitch control is determined,
wherein M isdAnd MqThe transformed pitch and yaw loads are indicated separately.
4. The pitch control method according to claim 2, wherein the step of performing independent pitch control based on the obtained azimuth angle of the impeller and the load of the blade root in the specific direction comprises:
acquiring a uniform pitch angle for all blades;
acquiring an additional variable pitch angle for each blade;
respectively superposing the additional variable pitch angle of each blade on the basis of the unified variable pitch angle to obtain a target pitch angle of each blade;
pitching said each blade to a target pitch angle,
wherein the step of obtaining an additional pitch angle for each blade comprises:
determining an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction in order to reduce the converted pitch load to a pitch load expected value and the converted yaw load to a yaw load expected value;
and performing d-q inverse transformation on the additional variable pitch angle in the d-axis direction and the additional variable pitch angle in the q-axis direction based on the phase compensation value to obtain the additional variable pitch angle for each blade.
5. The pitch control method of claim 4, wherein the phase compensation value is determined based on at least one of a lag time of a pitch actuator performing pitch, a lag time of a filter, and a rotational speed of the impeller,
the filter is used for filtering the converted pitch load and yaw load, wherein the filtered pitch load and yaw load are used for determining an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction.
6. A pitch control method according to claim 3,
the starting threshold value corresponds to the current ambient wind speed value of the wind generating set;
or the starting threshold value is always kept unchanged in the running process of the wind generating set.
7. The pitch control method according to claim 3, wherein an opening threshold is set based on prevailing operating conditions of the wind park,
and the opening threshold value when the leading working condition is the limit working condition is larger than the opening threshold value when the leading working condition is the fatigue working condition.
8. The pitch control method of claim 1, further comprising:
and when the condition that the independent pitch control is not carried out but the pitch is required is determined, carrying out unified pitch control.
9. A pitch control system of a wind generating set, the pitch control system comprising:
the acquiring unit is used for acquiring an impeller azimuth angle of the wind generating set and the load of the blade root of each blade in a specific direction, wherein the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blade;
the determining unit is used for determining whether to carry out independent variable pitch control or not based on the acquired impeller azimuth angle and the load of the blade root in the specific direction;
and the independent variable pitch unit is used for carrying out independent variable pitch control based on the acquired azimuth angle of the impeller and the load of the blade root in the specific direction when determining to carry out independent variable pitch control.
10. The pitch control system according to claim 9, wherein the determining unit converts loads of blade roots of all the blades in the specific direction into loads in a d-axis direction and loads in a q-axis direction by d-q conversion based on the acquired impeller azimuth angle; and determining whether to perform independent pitch control based on the converted pitch load and yaw load,
wherein the load in the d-axis direction is a pitch load, and the load in the q-axis direction is a yaw load.
11. The pitch control system of claim 10,
when in use
Figure FDA0001924150590000031
When the value is larger than or equal to the opening threshold value, the determining unit determines to carry out independent variable pitch control,
wherein M isdAnd MqThe transformed pitch and yaw loads are indicated separately.
12. The pitch control system of claim 10 wherein the independent pitch unit comprises:
a uniform pitch angle acquisition unit which acquires uniform pitch angles for all the blades;
an additional pitch angle acquisition unit for acquiring an additional pitch angle for each blade;
the target pitch angle acquisition unit is used for respectively superposing the additional variable pitch angle of each blade on the basis of the unified variable pitch angle for each blade to obtain the target pitch angle of each blade;
a pitch unit pitching each blade to a target pitch angle,
the additional pitch angle acquisition unit determines an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction in order to reduce the converted pitch load to a pitch load expected value and reduce the converted yaw load to a yaw load expected value; and performing d-q inverse transformation on the additional variable pitch angle in the d-axis direction and the additional variable pitch angle in the q-axis direction based on the phase compensation value to obtain the additional variable pitch angle for each blade.
13. The pitch control system of claim 12 wherein the phase compensation value is determined based on at least one of a lag time for a pitch actuator to perform a pitch, a lag time of a filter, and a rotational speed of the impeller,
the filter is used for filtering the converted pitch load and yaw load, wherein the filtered pitch load and yaw load are used for determining an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction.
14. The pitch control system of claim 11,
the starting threshold value corresponds to the current ambient wind speed value of the wind generating set;
or the starting threshold value is always kept unchanged in the running process of the wind generating set.
15. The pitch control system of claim 11, wherein the turn-on threshold is set based on prevailing operating conditions of the wind park,
and the opening threshold value when the leading working condition is the limit working condition is larger than the opening threshold value when the leading working condition is the fatigue working condition.
16. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method of pitch control of a wind park according to any one of claims 1 to 8.
17. A pitch control system of a wind generating set, the pitch control system comprising:
a processor;
a memory storing a computer program which, when executed by the processor, implements a method of pitch control of a wind park according to any of claims 1 to 8.
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