CN111379665B - 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
CN111379665B
CN111379665B CN201811608497.XA CN201811608497A CN111379665B CN 111379665 B CN111379665 B CN 111379665B CN 201811608497 A CN201811608497 A CN 201811608497A CN 111379665 B CN111379665 B CN 111379665B
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pitch
load
blade
pitch control
axis direction
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CN111379665A (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 pitch control method and system for a wind turbine generator 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 perform independent pitch control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction; when it is determined to perform independent pitch control, the independent pitch control is performed based on the acquired impeller azimuth angle and the load of the blade root in the specific direction. According to the pitch control method and the pitch control system, pitch control can be effectively performed, the load of a wind generating set can be reduced, damage to a pitch bearing can be greatly reduced, and the service life of the pitch bearing can be prolonged.

Description

Variable pitch control method and system of wind generating set
Technical Field
The invention relates to the technical field of wind power generation, in particular to a pitch control method and a pitch control system of a wind generating set.
Background
The development of wind generating set products is continuously developed towards the large-scale, large-capacity and offshore directions. The increase of the unit load is caused by the increase of the impeller diameter and the unit weight; the existence of wind shear, tower shadow effect, turbulence and other reasons can lead to unbalanced aerodynamic moment in the impeller surface and increase of fatigue and limit load of parts such as blades, a drive train, a tower and the like, so that how to reduce the load by a control method has become an important point and a difficult point for limiting the development of a large impeller diameter unit, and an effective method and a path are provided for solving the problem by an independent pitch control technology. However, the existing independent pitch control technology has serious damage to the pitch bearing, and the service life of the pitch bearing is greatly reduced.
Disclosure of Invention
The invention provides a pitch control method and a pitch control system of a wind generating set, which aim to solve the problem that a pitch bearing is seriously damaged in the prior art.
According to an exemplary embodiment of the present invention, there is provided a pitch control method of a wind turbine, the pitch control method including: 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 perform independent pitch control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction; when it is determined to perform independent pitch control, the independent pitch control is performed based on the acquired impeller azimuth angle and the load of the blade root in the specific direction.
Optionally, the step of determining whether to perform independent pitch control comprises: transforming the loads of the blade roots of all the blades in the specific direction into a load in the d-axis direction and a load in the q-axis direction through d-q transformation based on the acquired impeller azimuth angle; and determining whether to perform independent pitch control based on the transformed 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 (when)When the opening threshold value is greater than or equal to the opening threshold value, determining to perform independent pitch control, wherein M d And M q Indicating the transformed pitch and yaw loads, respectively.
Optionally, the step of performing independent pitch control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction comprises: acquiring unified pitch angles for all blades; acquiring additional pitch angles for each blade respectively; respectively aiming at each blade, and superposing the additional pitch angle of each blade on the basis of the uniform pitch angle to obtain the target pitch angle of each blade; pitching each blade to a target pitch angle, wherein the step of obtaining additional pitch angles for each blade respectively comprises: determining an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction for reducing the converted pitch load to a pitch load desired value and reducing the converted yaw load to a yaw load desired value; based on the phase compensation value, the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction are subjected to d-q inverse transformation to obtain additional pitch angles for each blade, respectively.
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 load and yaw load, wherein the filtered pitch load and yaw load are used for determining the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction.
Optionally, the opening threshold value corresponds to a current ambient wind speed value of the wind generating set; or, during operation of the wind generating set, the opening threshold value is kept unchanged all the time.
Optionally, the opening threshold is set based on a dominant operating condition of the wind turbine, wherein the opening threshold is greater when the dominant operating condition is a limit operating condition than when the dominant operating condition is a fatigue operating condition.
Optionally, the pitch control method further includes: and when the independent pitch control is not performed but the pitch is required, performing unified pitch control.
According to another exemplary embodiment of the present invention, there is provided a pitch control system of a wind turbine, the pitch control system comprising: the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit acquires the azimuth angle of an impeller of the wind generating set and the load of the root of each blade in a specific direction, and the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blade; a determining unit for determining whether to perform independent pitch control based on the obtained impeller azimuth angle and the load of the blade root in the specific direction; and the independent pitch control unit is used for performing independent pitch control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction when the independent pitch control is determined.
Alternatively, the determining unit converts the loads of the blade roots of all the blades in the specific direction into the loads in the d-axis direction and the loads in the q-axis direction by d-q conversion based on the obtained impeller azimuth angle; and determining whether to perform independent pitch control based on the transformed 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.
Alternatively, whenWhen the opening threshold value is greater than or equal to the opening threshold value, the determining unit determines to perform independent pitch control, wherein M d And M q Indicating the transformed pitch and yaw loads, respectively.
Optionally, the independent pitch unit comprises: the uniform pitch angle acquisition unit acquires uniform pitch angles for all blades; an additional pitch angle acquisition unit that acquires an additional pitch angle for each blade, respectively; a target pitch angle obtaining unit, for each blade, superposing an additional pitch angle of each blade on the basis of the uniform pitch angle to obtain a target pitch angle of each blade; a pitch unit that pitches each of the blades to a target pitch angle, wherein the additional pitch angle acquisition unit determines an additional pitch angle in a d-axis direction and an additional pitch angle in a q-axis direction for reducing the converted pitch load to a pitch load desired value and reducing the converted yaw load to a yaw load desired value; and performing 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 additional pitch angles for each blade, respectively.
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 load and yaw load, wherein the filtered pitch load and yaw load are used for determining the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction.
Optionally, the opening threshold value corresponds to a current ambient wind speed value of the wind generating set; or, during operation of the wind generating set, the opening threshold value is kept unchanged all the time.
Optionally, the opening threshold is set based on a dominant operating condition of the wind turbine, wherein the opening threshold is greater when the dominant operating condition is a limit operating condition than when the dominant operating condition is a fatigue operating condition.
According to another exemplary embodiment of the invention, a computer readable storage medium storing a computer program is provided, characterized in that the pitch control method of a wind park as described above is implemented when the computer program is executed by a processor.
According to another exemplary embodiment of the present invention, there is provided a pitch control system of a wind turbine, the pitch control system comprising: a processor; and a memory storing a computer program which, when executed by the processor, implements the pitch control method of the wind turbine generator set as described above.
According to the pitch control method and the pitch control system of the wind generating set, which are provided by the embodiment of the invention, the independent pitch control can be automatically and selectively started based on the blade root load when the wind generating set operates, so that the independent pitch control is avoided in the whole operation process of the wind generating set, the load is effectively reduced, the damage to the 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 foregoing and other objects and features of exemplary embodiments of the invention will become more apparent from the following description taken in conjunction with the accompanying drawings which illustrate exemplary embodiments in which:
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 illustrates an example of a blade coordinate system;
FIG. 3 illustrates an example of a correspondence between ambient wind speed values and an on threshold according to an exemplary embodiment of the present invention;
FIG. 4 illustrates a flowchart of a method of performing independent pitch control according to an exemplary embodiment of the invention;
FIG. 5 illustrates a schematic diagram of 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 illustrates a schematic diagram of a control effect of a pitch control method of a wind park according to an exemplary embodiment of the invention;
FIG. 8 illustrates a block diagram of a pitch control system of a wind turbine according to an exemplary embodiment of the invention;
fig. 9 shows a block diagram of a stand-alone pitch unit according to an exemplary embodiment of the invention.
Detailed Description
Reference will now be made in detail to 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 will be described below in order to explain the present invention by referring to the figures.
Fig. 1 shows a flow chart of a pitch control method of a wind park according to an exemplary embodiment of the invention.
Referring to fig. 1, in step S10, an azimuth angle of an impeller of a wind turbine 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 accords with a right-hand coordinate system, that is, the specific direction is the direction in which the right hand holds the blade and the thumb points to the tip of the blade along the length direction of the blade.
FIG. 2 shows an example of a blade coordinate system, as shown in FIG. 2, with XB indicating 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; and YB indicates that the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blades, and accords with 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 the slip ring of the wind turbine.
In step S20, it is determined whether or not to perform independent pitch control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction.
It will be appreciated that whether to perform independent pitch control may be determined in various suitable ways based on the obtained impeller azimuth angle and the load of the blade root in the particular direction. As an example, the loads of the blade roots of all the blades in the specific direction may be converted into loads in the d-axis direction and loads in the q-axis direction through d-q conversion based on the acquired impeller azimuth angle; and then determining whether to perform independent pitch control based on the transformed 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 conversion according to the space position where the blade is located, and the q-axis direction is perpendicular to the d-axis direction.
As an example, the wind turbine is provided with three blades, and the load component M in the d-axis direction can be calculated by d-q transforming the loads of the three blade roots in the y-direction based on the impeller azimuth angle by the formula (1) d (i.e., pitch load) and a load component M in the q-axis direction q (i.e., yaw load), where M 1 、M 2 And M 3 Indicating the root of each blade separatelyThe load of the section in the y direction corresponding thereto,indicating the impeller azimuth angle.
As an example, it may beAnd when the opening threshold value is greater than or equal to the opening threshold value, determining to perform independent pitch control.
It should be appreciated that the appropriate turn-on threshold may be set according to the particular situation, actual needs.
As an example, the turn-on threshold value 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 in which the current ambient wind speed value of the wind park is located. In other words, when the wind generating set is in different environment wind speed values, the set opening threshold value may be different, and in the running process of the wind generating set, the opening threshold value is not constant all the time, so that whether to perform independent pitch control or not can be judged more accurately, the load lifting effect is improved, and damage to the pitch bearing is reduced. As an example, the correspondence between the ambient wind speed value and the turn-on threshold value of the wind turbine may be as shown in fig. 3.
As an example, the current ambient wind speed value of the wind park may be obtained in various suitable ways to set the current turn-on threshold. As an example, the actual wind speed (i.e. the ambient wind speed) experienced by the turbine face may be estimated from a anemometer located at the top of the nacelle, the blade root load, the turbine rotational speed, the turbine rotational frequency, the pitch angle, etc., or the actual ambient wind speed may be measured using a Lidar.
As another example, the turn-on threshold may remain unchanged throughout operation of the wind turbine.
As an example, the turn-on threshold may be set based on a dominant operating condition of the wind turbine, wherein the turn-on threshold is greater when the dominant operating condition is a limit operating condition than when the dominant operating condition is a fatigue operating condition. Specifically, if the dominant working condition of one wind generating set is a limit working condition, the starting threshold is higher so as to effectively reduce the limit load; if the dominant working condition of the wind generating set is a fatigue working condition, the starting threshold is relatively low so as to effectively reduce the fatigue load. Therefore, the damage of the pitch bearing can be reduced and the service life of the pitch bearing can be prolonged while the limit load and 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 to perform the independent pitch control based on the acquired impeller 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 according to an exemplary embodiment of the present invention may further include: when it is determined in step S20 that the independent pitch control is not performed but the pitch is required, the unified pitch control is performed. It will be appreciated that when it is determined at step S20 that no independent pitching is performed, but that it is also necessary to adjust the pitch angle of the wind park, for example, the pitch angle needs to be adjusted to track the maximum ambient wind speed to absorb wind energy as much as possible or the absorption of wind energy needs to be limited when the ambient wind speed is higher than the rated wind speed, a unified pitching control may be performed.
According to the exemplary embodiment of the invention, when the pitching load and the yawing load are higher, independent pitch control is performed, when the pitching load and the yawing load are lower, unified pitch control is performed, and through automatic switching of the independent pitch control and the unified pitch control, the pitch control can be effectively performed, the load of a wind generating set can be reduced, the damage to a 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 performing 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 for each blade are acquired, respectively.
As an example, an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction for the transformed pitch load to be reduced to the pitch load desired value and the transformed yaw load to be reduced to the yaw load desired value may be determined; then, based on the phase compensation value, the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction are subjected to d-q inverse transformation to obtain additional pitch angles for each blade, respectively.
It should be appreciated that the pitch load expected value and the yaw load expected value may be set according to actual conditions and actual demands, for example, the pitch load expected value may be set to 0 and the yaw load expected value may be set to 0.
As an example, one PI controller of the pitch control system may target the converted pitch load to a pitch load desired value to determine an additional pitch angle in the d-axis direction.
As an example, another PI controller of the pitch control system may target the transformed yaw load to a yaw load desired value to determine an additional pitch angle in the q-axis direction.
As an example, the phase compensation value can be based on the equation (2)For additional pitch angle theta in d-axis direction d And an additional pitch angle θ in the q-axis direction q D-q inverse transformation is performed to obtain additional pitch angle +/for each blade respectively>Wherein (1)>
As an example, the phase compensation value may be determined based on at least one of a lag time for the pitch actuator to perform 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 load and yaw load, wherein the filtered pitch load and yaw load are used to determine an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction.
As an example, the phase compensation valueThe method comprises the following steps: (the lag time of the pitch actuator to perform pitch + the lag time of the filter).
In step S303, for each blade, the additional pitch angle of each blade is superimposed on the uniform pitch angle to obtain the target pitch angle of each blade.
In step S304, 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 illustrates a schematic diagram of independent pitch control according to an exemplary embodiment of the invention. Can be regarded asWhen the opening threshold is greater than or equal to the opening threshold, the independent pitch control is performed as shown in fig. 5. The unified pitch angle may be determined based on the rotational speed of the generator of the wind turbine, the additional pitch angle for each blade may be determined based on the azimuth angle of the impeller, the transformed pitch load and yaw load, and then for each blade, the additional pitch angle for each blade is superimposed on the basis of the unified pitch angleTo obtain a target pitch angle of the blade.
Fig. 6 illustrates a distribution of an on threshold and a measurement threshold according to an exemplary embodiment of the present invention. Here, the measurement threshold may be calculatedAnd 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 diagram illustrating a control effect of a pitch control method of a wind turbine according to an exemplary embodiment of the present invention, and as shown in fig. 7, smooth switching between independent pitch control and unified pitch control, that is, smooth on and off of independent pitch control can be ensured by the pitch control method of the wind turbine according to the exemplary embodiment of the present invention.
FIG. 8 illustrates a block diagram of a pitch control system of a wind turbine according to an exemplary embodiment of the invention.
As shown in fig. 8, a pitch control system of a wind turbine according to an exemplary embodiment of the present invention includes: an acquisition unit 10, a determination unit 20, an independent pitch unit 30.
Specifically, the acquisition unit 10 is used to acquire the impeller azimuth angle of the wind turbine and the load of the 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 accords with a right-hand coordinate system, that is, the specific direction is the direction in which the right hand holds the blade and the thumb points to the tip of the blade along the length direction of the blade.
As an example, the acquisition unit 10 may detect the load of each blade root in the specific direction by a load sensor mounted on each blade root.
As an example, the acquisition unit 10 may detect the impeller azimuth angle by means of a rotary encoder mounted in the slip ring of the wind park.
The determination unit 20 is configured to determine whether to perform independent pitch control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction.
It will be appreciated that the determination unit 20 may determine whether to perform independent pitch control based on the obtained impeller 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 transform 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 through d-q transformation based on the acquired impeller azimuth angle; and then determining whether to perform independent pitch control based on the transformed 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 conversion according to the space position where the blade is located, and the q-axis direction is perpendicular to the d-axis direction.
As an example, the wind power generation set is mounted with three blades, and the determining unit 20 may calculate the load component M in the d-axis direction by d-q transforming the loads of the three blade roots in the y-direction based on the impeller azimuth angle by the formula (1) d (i.e., pitch load) and a load component M in the q-axis direction q (i.e., yaw load).
As an example, the determination unit 20 may beAnd when the opening threshold value is greater than or equal to the opening threshold value, determining to perform independent pitch control.
It should be appreciated that the appropriate turn-on threshold may be set according to the particular situation, actual needs.
As an example, the turn-on threshold value 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 in which the current ambient wind speed value of the wind park is located. In other words, when the wind generating set is in different environment wind speed values, the set opening threshold value may be different, and in the running process of the wind generating set, the opening threshold value is not constant all the time, so that whether to perform independent pitch control or not can be judged more accurately, the load lifting effect is improved, and 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 park in various suitable ways for setting the current opening threshold value. As an example, the obtaining unit 10 may estimate the actual wind speed (i.e. the ambient wind speed) to which the impeller surface is subjected according to the anemometer located at the nacelle top, the blade root load, the impeller rotation speed, the impeller rotation frequency, the pitch angle, etc., or may measure the actual ambient wind speed using the Lidar.
As another example, the turn-on threshold may remain unchanged throughout operation of the wind turbine.
As an example, the turn-on threshold may be set based on a dominant operating condition of the wind turbine, wherein the turn-on threshold is greater when the dominant operating condition is a limit operating condition than when the dominant operating condition is a fatigue operating condition. Specifically, if the dominant working condition of one wind generating set is a limit working condition, the starting threshold is higher so as to effectively reduce the limit load; if the dominant working condition of the wind generating set is a fatigue working condition, the starting threshold is relatively low so as to effectively reduce the fatigue load. Therefore, the damage of the pitch bearing can be reduced and the service life of the pitch bearing can be prolonged while the limit load and fatigue load of the wind generating set are effectively reduced.
The independent pitching unit 30 is configured to perform independent pitching control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction when it is determined to perform independent pitching control.
As an example, the pitch control system of a wind turbine according to an exemplary embodiment of the present invention may further include: and a unified pitch unit (not shown) for performing unified pitch control when it is determined that independent pitch control is not performed but pitch control is required. It will be appreciated that the unified pitch unit may perform unified pitch control when it is determined that independent pitch is not performed, but that it is also necessary to adjust the pitch angle of the wind park, for example, 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, which requires a limitation of absorbing wind energy.
According to the exemplary embodiment of the invention, when the pitching load and the yawing load are higher, independent pitch control is performed, when the pitching load and the yawing load are lower, unified pitch control is performed, and through automatic switching of the independent pitch control and the unified pitch control, the pitch control can be effectively performed, the load of a wind generating set can be reduced, the damage to a pitch bearing can be greatly reduced, and the service life of the pitch bearing can be prolonged.
Fig. 9 shows a block diagram of a stand-alone pitch unit according to an exemplary embodiment of the invention.
As shown in fig. 9, the independent pitch unit according to an exemplary embodiment of the present invention includes: 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 unified pitch angles for all blades.
The additional pitch angle acquisition unit 302 is configured to acquire an additional pitch angle for each blade, respectively.
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 transformed pitch load to the pitch load desired value and the transformed yaw load to the yaw load desired value; then, based on the phase compensation value, the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction are subjected to d-q inverse transformation to obtain additional pitch angles for each blade, respectively.
It should be appreciated that the pitch load expected value and the yaw load expected value may be set according to actual conditions and actual demands, for example, the pitch load expected value may be set to 0 and the yaw load expected value may be set to 0.
As an example, one PI controller of the additional pitch angle acquisition unit 302 may target the transformed pitch load to a pitch load expected value to determine the additional pitch angle in the d-axis direction.
As an example, another PI controller of the additional pitch angle acquisition unit 302 may target the transformed yaw load to a yaw load desired value to determine an additional pitch angle in the q-axis direction.
As an example, the phase compensation value can be based on the equation (2)For additional pitch angle theta in d-axis direction d And an additional pitch angle θ in the q-axis direction q D-q inverse transformation is performed to obtain additional pitch angle +/for each blade respectively>
As an example, the phase compensation value may be determined based on at least one of a lag time for the pitch actuator to perform 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 load and yaw load, wherein the filtered pitch load and yaw load are used to determine an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction.
As an example, the phase compensation valueThe method comprises the following steps: (the lag time of the pitch actuator to perform pitch + the lag time of the filter).
The target pitch angle obtaining unit 303 is configured to obtain, for each blade, a target pitch angle of each blade by superimposing, on the basis of the uniform pitch angle, an additional pitch angle of each blade.
The pitch unit 304 is used to pitch each blade to a target pitch angle.
As an example, pitch unit 304 may generate and send respective control commands for controlling the pitch actuators based on the obtained target pitch angle of each blade to the pitch actuators to control the pitch actuators 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 turbine according to an exemplary embodiment of the invention may be implemented as hardware components and/or as software components. The individual units may be implemented, for example, using a Field Programmable Gate Array (FPGA) or an Application Specific Integrated Circuit (ASIC), depending on the processing performed by the individual units as defined.
Exemplary embodiments of the present invention provide a computer readable storage medium storing a computer program, which when executed by a processor, implements a pitch control method of a wind turbine generator set as described in the above 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 the computer readable storage medium include: read-only memory, random access memory, compact disc read-only, magnetic tape, floppy disk, optical data storage device, and carrier waves (such as data transmission through the internet via wired or wireless transmission paths).
A pitch control system of a wind turbine according to an exemplary embodiment of the present invention includes: a processor (not shown) and a memory (not shown), wherein the memory stores a computer program which, when executed by the processor, implements a pitch control method of a wind turbine generator set as described in the above 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 (15)

1. The pitch control method of the wind generating set is characterized by comprising the following steps of:
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 perform independent pitch control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction;
when the independent pitch control is determined, the independent pitch control is performed based on the acquired impeller azimuth angle and the load of the blade root in the specific direction;
wherein the step of determining whether to perform independent pitch control comprises:
based on the obtained impeller azimuth angle, the loads of the blade roots of all the blades in the specific direction are converted into loads in the d-axis direction and loads in the q-axis direction through d-q conversion, wherein the loads in the d-axis direction are pitching loads, and the loads in the q-axis direction are yawing loads;
based on the transformed pitch load and yaw load, it is determined whether to perform independent pitch control.
2. The pitch control method according to claim 1, wherein the step of determining whether to perform the independent pitch control based on the converted pitch load and yaw load comprises:
when (when)When the opening threshold value is greater than or equal to the opening threshold value, the independent pitch control is determined,
wherein M is d And M q Indicating the transformed pitch and yaw loads, respectively.
3. The pitch control method according to claim 1, wherein the step of performing independent pitch control based on the acquired impeller azimuth angle and the load of the blade root in the specific direction comprises:
acquiring unified pitch angles for all blades;
acquiring additional pitch angles for each blade respectively;
respectively aiming at each blade, and superposing the additional pitch angle of each blade on the basis of the uniform pitch angle to obtain the target pitch angle of each blade;
pitching each blade to a target pitch angle,
wherein the step of obtaining additional pitch angles for each blade respectively comprises:
determining an additional pitch angle in the d-axis direction and an additional pitch angle in the q-axis direction for reducing the converted pitch load to a pitch load desired value and reducing the converted yaw load to a yaw load desired value;
based on the phase compensation value, the additional pitch angle in the d-axis direction and the additional pitch angle in the q-axis direction are subjected to d-q inverse transformation to obtain additional pitch angles for each blade, respectively.
4. The pitch control method according to claim 3, wherein the phase compensation value is determined based on at least one of a delay time of the pitch actuator for performing pitch, a delay time of the filter, and a rotation 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.
5. The pitch control method according to claim 2, wherein,
the starting threshold value corresponds to the current ambient wind speed value of the wind generating set;
or, during operation of the wind generating set, the opening threshold value is kept unchanged all the time.
6. The pitch control method according to claim 2, wherein the turn-on threshold is set based on a prevailing operating condition of the wind power plant,
wherein, the opening threshold value is larger than the opening threshold value when the dominant working condition is the fatigue working condition when the dominant working condition is the limit working condition.
7. The pitch control method according to claim 1, characterized in that the pitch control method further comprises:
and when the independent pitch control is not performed but the pitch is required, performing unified pitch control.
8. A pitch control system for a wind turbine, the pitch control system comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit acquires the azimuth angle of an impeller of the wind generating set and the load of the root of each blade in a specific direction, and the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blade;
a determining unit for determining whether to perform independent pitch control based on the obtained impeller azimuth angle and the load of the blade root in the specific direction;
the independent pitch control unit is used for carrying out independent pitch control based on the acquired impeller azimuth angle and the load of the root of the blade in the specific direction when the independent pitch control is determined;
wherein the determining unit converts the loads of the blade roots of all the blades in the specific direction 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 perform independent pitch control based on the transformed 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.
9. The pitch control system of claim 8, wherein,
when (when)When the opening threshold value is larger than or equal to the opening threshold value, the determining unit determines to perform independent pitch control,
wherein,M d and M q Indicating the transformed pitch and yaw loads, respectively.
10. The pitch control system of claim 8, wherein the independent pitch unit comprises:
the uniform pitch angle acquisition unit acquires uniform pitch angles for all blades;
an additional pitch angle acquisition unit that acquires an additional pitch angle for each blade, respectively;
a target pitch angle obtaining unit, for each blade, superposing an additional pitch angle of each blade on the basis of the uniform pitch angle to obtain a target pitch angle of each blade;
a pitch unit for pitching each blade to a target pitch angle,
wherein 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 for reducing the converted pitch load to a pitch load desired value and reducing the converted yaw load to a yaw load desired value; and performing 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 additional pitch angles for each blade, respectively.
11. The pitch control system of claim 10, wherein the phase compensation value is determined based on at least one of a lag time for the pitch actuator to perform pitch, a lag time for the 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.
12. The pitch control system of claim 9, wherein,
the starting threshold value corresponds to the current ambient wind speed value of the wind generating set;
or, during operation of the wind generating set, the opening threshold value is kept unchanged all the time.
13. The pitch control system of claim 9, wherein the turn-on threshold is set based on a prevailing operating condition of the wind turbine,
wherein, the opening threshold value is larger than the opening threshold value when the dominant working condition is the fatigue working condition when the dominant working condition is the limit working condition.
14. A computer readable storage medium storing a computer program, characterized in that the pitch control method of a wind turbine generator set according to any one of claims 1 to 7 is implemented when the computer program is executed by a processor.
15. A pitch control system for a wind turbine, the pitch control system comprising:
a processor;
a memory storing a computer program which, when executed by a processor, implements a pitch control method of a wind turbine generator set according to any one of claims 1 to 7.
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