CN111502913B - Wind generating set, variable pitch control method and device - Google Patents

Wind generating set, variable pitch control method and device Download PDF

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Publication number
CN111502913B
CN111502913B CN201910090779.3A CN201910090779A CN111502913B CN 111502913 B CN111502913 B CN 111502913B CN 201910090779 A CN201910090779 A CN 201910090779A CN 111502913 B CN111502913 B CN 111502913B
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load
blade
pitch
impeller
angle
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CN111502913A (en
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陈博宇
赵树椿
张虎
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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
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/304—Spool rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/331—Mechanical loads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/70—Type of control algorithm
    • F05B2270/705—Type of control algorithm proportional-integral
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

The disclosure provides a wind generating set, a variable pitch control method and a variable pitch control device. The pitch control method comprises the following steps: acquiring the rotating speed of an impeller of the wind generating set and the load of the 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; estimating an impeller azimuth angle based on the obtained impeller rotating speed; calculating an additional pitch angle for each of the blades based on the estimated wheel azimuth and the load of the blade root of each of the blades in the particular direction, respectively; performing independent pitch control according to the calculated additional pitch angle of each blade. According to the wind generating set, the pitch control method and the device, a traditional azimuth angle sensor can be omitted, the phase compensation value is obtained based on the rotation speed calculation of the impeller, so that independent pitch control is performed, the hardware cost is saved, and the risk that the independent pitch control cannot normally operate due to the fault of the azimuth angle sensor is avoided.

Description

Wind generating set, variable pitch control method and device
Technical Field
The present invention generally relates to the field of wind power generation technologies, and in particular, to a wind turbine generator system, a pitch control method of the wind turbine generator system, and a pitch control apparatus.
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 inputs of the existing independent pitch control technology are both a blade root load sensor and an azimuth angle sensor, but the use of the azimuth angle sensor not only has certain hardware cost, but also has certain fault risk. If the azimuth angle sensor fails, the independent pitch control will not be operational.
Disclosure of Invention
Exemplary embodiments of the present invention provide a wind turbine generator system, a pitch control method of a wind turbine generator system, and an apparatus, which solve at least the above technical problems and other technical problems not mentioned above and provide the following advantageous effects.
According to an exemplary embodiment of the present invention, there is provided a pitch control method of a wind turbine generator system, which may include: acquiring the rotating speed of an impeller of the wind generating set and the load of the 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; estimating an impeller azimuth angle based on the obtained impeller rotating speed; calculating an additional pitch angle for each of the blades based on the estimated wheel azimuth and the load of the blade root of each of the blades in the particular direction, respectively; performing independent pitch control according to the calculated additional pitch angle of each blade.
The step of calculating the additional pitch angle of each of the blades may include transforming a load of a blade root of each of the blades in the specific direction into a load in a d-axis direction and a load in a q-axis direction by d-q transformation based on the estimated wheel 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.
The step of separately calculating the additional moment angle for each blade may further comprise filtering the pitch load and the yaw load using a filter and performing a proportional integral operation on the filtered pitch load and yaw load to determine a moment angle in the d-axis direction and a moment angle in the q-axis direction.
The step of separately calculating the additional moment angle for each of the blades may further include calculating the additional moment angle for each of the blades based on the estimated azimuth angle, the moment angle in the d-axis direction, and the moment angle in the q-axis direction, and the phase compensation value.
The step of performing independent pitch control according to the calculated additional pitch angle of each blade may comprise: calculating a unified variable pitch angle for all the blades according to the acquired impeller rotating speed, respectively superposing an additional variable pitch angle of each blade on the basis of the unified variable pitch angle for each blade to obtain a target pitch angle of each blade, and performing independent variable pitch control by changing the pitch of each blade to the target pitch angle.
According to another exemplary embodiment of the present invention, there is provided a pitch control apparatus of a wind turbine generator system, the pitch control apparatus may include: the data acquisition module is used for acquiring the rotating speed of an impeller of the wind generating set and the load of the 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 data calculation module is used for predicting an impeller azimuth angle based on the acquired impeller rotating speed and respectively calculating an additional pitch angle of each blade based on the predicted impeller azimuth angle and the load of the blade root of each blade in the specific direction; and the control module is used for executing independent pitch control according to the calculated additional pitch angle of each blade.
The data calculation module may convert a load of a blade root of each of the blades in the specific direction into a load in a d-axis direction and a load in a q-axis direction by d-q conversion based on the estimated wheel 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.
The data calculation module may also filter the pitch load and the yaw load using a filter and perform a proportional integral operation on the filtered pitch load and yaw load to determine a moment angle in the d-axis direction and a moment angle in the q-axis direction.
The data calculation module may also calculate an additional pitch angle for each of the blades based on the estimated azimuth angle, the pitch angle in the d-axis direction, and the pitch angle in the q-axis direction, and the phase compensation value.
The data calculation module can also determine a phase compensation value based on the lag time of the pitch actuator for performing pitch, the lag time of the filter and the acquired impeller rotating speed.
The data calculation module can also calculate a unified variable pitch angle for all the blades according to the acquired impeller rotating speed, and for each blade, the additional variable pitch angle of each blade is respectively superposed on the basis of the unified variable pitch angle to obtain a target pitch angle of each blade, wherein the control module performs independent variable pitch control by changing the pitch of each blade to the target pitch angle.
According to another exemplary embodiment of the present invention, there is provided a wind turbine generator system, which may include: at least two blades; the impeller rotating speed sensor is used for measuring the rotating speed of an impeller of the wind generating set; a blade root load sensor for measuring a load of a blade root of each of the at least two blades in a specific direction, wherein the specific direction is perpendicular to an axial direction of the impeller and a length direction of the blade; a pitch system; and a controller. Wherein the controller is operable to: acquiring the impeller rotating speed of the wind generating set through an impeller rotating speed sensor, and acquiring the load of the blade root of each blade in a specific direction through a blade root load sensor; estimating an impeller azimuth angle based on the obtained impeller rotation speed, and calculating an additional pitch angle of each blade based on the estimated impeller azimuth angle and the load of the blade root of each blade in the specific direction, respectively; and controlling a pitch system to perform independent pitch operation according to the calculated additional pitch angle of each blade.
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 computer is provided, comprising a readable medium having a computer program stored thereon and a processor, characterized in that the processor, when running the computer program, performs the pitch control method of a wind park as described above.
According to the wind generating set, the pitch control method and the pitch control device, hardware of an azimuth angle sensor can be omitted, the rotating speed of the impeller is used for predicting the azimuth angle and calculating the additional pitch angle of each blade during independent pitch control, the hardware cost of the azimuth angle sensor is saved, the risk that the independent pitch control cannot normally run due to the fault of the azimuth angle sensor is avoided, and the reliability of the system is improved. Meanwhile, the method can accurately execute independent variable pitch control, thereby effectively reducing the load.
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 shows a flow chart of a method of pitch control of a wind park according to another exemplary embodiment of the invention;
FIG. 4 shows a block diagram of a pitch control arrangement of a wind park according to an exemplary embodiment of the invention;
fig. 5 shows a block diagram of a wind park according to an exemplary embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments of the present disclosure, 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. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present application.
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 S101, an impeller rotation speed of a wind turbine generator system and a load of a blade root of each blade in a specific direction, where the specific direction is perpendicular to an axial direction of the impeller and a length direction of the blade, are obtained. 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 corresponds 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 thumb points to the tip of the blade 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 a 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 a particular direction may be detected by a load sensor mounted at each blade root.
As an example, the impeller rotation speed of the wind turbine generator system may be detected by an impeller rotation speed sensor installed at the wind turbine generator system.
In step S102, the impeller azimuth angle is estimated based on the acquired impeller rotation speed. In the present disclosure, the azimuth angle of the impeller can be estimated according to the acquired rotation speed of the impeller without using the hardware of an azimuth sensor to measure the azimuth angle. Specifically, the impeller azimuth angle may be calculated from the impeller rotational speed using equation (1):
Figure BDA0001963183640000051
wherein the content of the first and second substances,
Figure BDA0001963183640000052
is the impeller azimuth angle, omega is the impeller rotation speed,% is the modulo division sign (i.e. the remainder is found)To prevent spillage).
It should be noted that the estimated relative impeller azimuth angle can be obtained by integrating the impeller rotation speed according to the principle that the integral of the speed is displacement. However, since the actual azimuth angle of the impeller is in the range of 0-360 degrees, and the calculated value of the relative azimuth angle of the impeller exceeds 360 degrees as the rotating speeds of the impeller are continuously accumulated, in order to prevent the overflow phenomenon in the process of storing data, when the estimated calculated value of the relative azimuth angle of the impeller is greater than 360 degrees, the calculated value is subtracted by 360 degrees.
In addition, since the calculation is performed with the initial value of the relative impeller azimuth as zero in the process of estimating the impeller azimuth, but the initial value of the actual impeller azimuth is not necessarily zero, there is a net difference between the calculated value of the relative impeller azimuth and the actual impeller azimuth. According to embodiments of the present disclosure, although there is a net difference in the estimated impeller azimuth angle, the net difference does not affect the effect of the final independent pitch control, as will be explained below.
In step S103, an additional pitch angle of each blade is calculated based on the estimated wheel azimuth and the load of the blade root of each blade in a specific direction, respectively.
As an example, based on the estimated wheel azimuth angle, the loads in a specific direction of the blade roots of all the blades are converted into a load in the d-axis direction, which is a pitch load, and a load in the q-axis direction, which is a yaw load, by d-q conversion.
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.
The converted pitch load and yaw load are filtered by using a filter, and then proportional integral operation is performed on the filtered pitch load and yaw load so that the pitch load and yaw load reach a desired pitch load value and a desired yaw load value, thereby determining a moment angle in the d-axis direction and a moment angle in the q-axis direction in order to reduce the converted pitch load to a desired pitch load value and the converted yaw load to a desired yaw load value.
After obtaining the impeller azimuth angle, an additional pitch angle for each blade may be calculated based on the estimated azimuth angle, the pitch angle in the d-axis direction and the pitch angle in the q-axis direction, and the phase compensation value. Wherein the phase compensation value may be calculated from "(lag time of pitch actuator performing pitch + lag time of filter) × rotational speed of impeller". How to calculate the additional moment angle for each blade will be described in more detail below with reference to fig. 3.
In step S104, independent pitch control is performed according to the calculated additional pitch angle of each blade. Specifically, the acquired impeller rotational speed is used to calculate a uniform pitch angle for all blades. And for each blade, respectively 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, and performing independent pitch control by pitching each blade to the target pitch angle.
In the prior art, the additional moment angle of each blade is typically calculated by the impeller azimuth angle measured by the azimuth sensor and the load of each blade root in a particular direction. However, the present disclosure may use the estimated impeller azimuth angle to obtain the additional moment angle for each blade, eliminating the need for an azimuth angle sensor, which, even though there is a net difference between the estimated impeller azimuth angle and the actual measured impeller azimuth angle, does not affect the effect of the final independent pitch control, as will be explained below.
First, the impeller azimuth angle can be estimated from the impeller rotational speed using equation (1):
Figure BDA0001963183640000061
wherein the content of the first and second substances,
Figure BDA0001963183640000062
is the azimuth angle of the impeller, omega is the rotation speed, and% is the modulo division sign (i.e. remainder is found, overflow is prevented)。
After the azimuth angle of the impeller is estimated, the operation can be carried out according to the existing independent variable pitch control method. As an example, assuming that a wind turbine generator set is installed with three blades, a load component M in the direction of the d-axis may be calculated by d-q converting the load of the three blade roots in the y-direction based on the estimated azimuth angle of the impeller using equations (2) and (3)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 BDA0001963183640000063
is the impeller azimuth angle.
Figure BDA0001963183640000064
Figure BDA0001963183640000065
Using equation (4) to the load component M in the d-axis directiond(i.e., pitch load) and a load component M in the q-axis directionq(i.e., yaw load) is subjected to proportional-integral operation so that the converted pitch load and yaw load are reduced to desired values. For example, the converted pitch load may be targeted to a pitch load desired value by a PI controller, and the converted yaw load may be targeted to a yaw load desired value by another PI controller.
Figure BDA0001963183640000071
Where Kp is the proportional gain, TIIs time integrated.
A moment angle in the d-axis direction and a moment angle in the q-axis direction are determined in order to reduce the converted pitch load to a pitch load desired value and the converted yaw load to a yaw load desired value. 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. However, the present disclosure is not limited thereto.
Wherein the moment angles in the d-axis direction and the q-axis direction can be written in the form of the following equations (5) and (6):
θtilt＝G(s)Md (5)
θyaw＝G(s)Mq (6)
and performing d-q inverse transformation on the moment angle in the d-axis direction and the moment angle in the q-axis direction which satisfy the conditions based on the phase compensation value to obtain additional pitch angles respectively for each blade, wherein the additional moment angles of each blade can be respectively expressed as the following equations (7), (8) and (9).
Figure BDA0001963183640000072
Figure BDA0001963183640000073
Figure BDA0001963183640000074
Wherein, theta1，θ2，θ3The additional pitch angles of the three blades respectively,
Figure BDA0001963183640000075
in order to compensate for the phase, the phase compensation,
Figure BDA0001963183640000076
is the impeller azimuth angle.
Equations (2) and (3) are developed into the form of equations (10) and (11) as follows, respectively:
Figure BDA0001963183640000077
Figure BDA0001963183640000078
after substituting equations (10) and (11) into equations (5) and (6), and substituting the converted equations (5) and (6) into equations (7), (8), and (9), respectively, the following equations (12), (13), and (14) can be obtained:
Figure BDA0001963183640000079
Figure BDA0001963183640000081
Figure BDA0001963183640000082
as can be seen from equations (12), (13) and (14), the additional moment angle of the independent pitch control is independent of the specific value of the impeller azimuth angle, and therefore, even though there is a net difference between the estimated impeller azimuth angle and the actually measured impeller azimuth angle, it does not affect the finally calculated additional moment angle of each blade.
FIG. 3 shows a flow chart of a method of pitch control of a wind park according to another exemplary embodiment of the invention.
In step S301, the impeller rotation speed of the wind turbine generator system and the load of the blade root of each blade in a specific direction are acquired. As an example, the load of each blade root in a specific direction may be detected by a load sensor installed at each blade root, and the impeller rotation speed of the wind turbine generator set may be detected by an impeller rotation speed sensor installed at the wind turbine generator set.
In step S302, an azimuth angle of the impeller and a uniform pitch angle are estimated based on the obtained rotation speed of the impeller. For example, the impeller azimuth angle may be estimated using equation (1). The unified pitch angle may be calculated using a unified pitch algorithm. The present disclosure is not limited to the above-described methods of calculating the azimuth angle of the impeller, the phase compensation value, and the uniform pitch angle.
In step S303, the load of the blade root of each blade in a specific direction is converted into a load in the d-axis direction and a load in the q-axis direction by d-q conversion based on the estimated wheel 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. For example, the load in the y direction of the blade root of each blade may be converted into a load in the d axis direction and a load in the q axis direction according to equations (2) and (3).
In step S304, the pitch load and yaw load are filtered using filters. Any of the filters may be used to perform the filtering operation on the pitch load and the yaw load.
In step S305, a proportional integral operation is performed on the filtered pitch load and yaw load to determine a moment angle in the d-axis direction and a moment angle in the q-axis direction. For example, the converted pitch load may be reduced to a pitch load desired value using a PI controller to determine the moment angle in the d-axis direction at that time, and the converted yaw load may be reduced to a yaw load desired value using another PI controller to determine the moment angle in the q-axis direction.
In step S306, a phase compensation value is calculated from the acquired impeller rotation speed. For example, the phase compensation value may be calculated from "(lag time of pitch actuator performing pitch + lag time of filter) × rotational speed of the impeller".
In step S307, the additional pitch angle of each blade is calculated based on the phase compensation value, the pitch angle in the d-axis direction and the pitch angle in the q-axis direction, and the estimated impeller azimuth angle, respectively. For example, the d-q inverse transformation may be performed on the moment angle in the d-axis direction and the moment angle in the q-axis direction based on the phase compensation value to obtain an additional pitch angle for each blade, respectively. By inverse d-q transforming the moment angle in the direction of the d-axis and the moment angle in the direction of the q-axis, an additional moment angle for each blade can be obtained as in equations (7), (8), (9).
In step S308, for each blade, the additional pitch angle of each blade is respectively superimposed on the basis of the calculated unified pitch angle to obtain a target moment angle of each blade.
In step S309, each blade is pitched to a corresponding target pitch angle, respectively, to perform independent pitch control. As an example, a corresponding control command for controlling the pitch actuator may be generated based on the obtained target moment angle of each blade and sent to the pitch actuator to control the pitch actuator to pitch each blade to the corresponding target moment angle.
FIG. 4 shows a block diagram of a pitch control arrangement of a wind park according to an exemplary embodiment of the invention.
Referring to FIG. 4, a pitch control apparatus 400 according to the present disclosure may include a data acquisition module 401, a data calculation module 402, and a control module 403.
The data acquisition module 401 may acquire the rotation speed of the impeller of the wind turbine generator system 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. As an example, the data acquisition module 401 may detect a load of each blade root in a specific direction through a load sensor installed at each blade root, and may detect an impeller rotation speed of the wind turbine generator set through an impeller rotation speed sensor installed at the wind turbine generator set.
After obtaining the impeller rotational speed and the load of each blade root in the specific direction, the data calculation module 402 may estimate the impeller azimuth angle based on the obtained impeller rotational speed, and calculate the additional pitch angle of each blade according to the estimated impeller azimuth angle and the load of each blade root in the specific direction.
In particular, the data calculation module 402 may use equation (1) to estimate the impeller azimuth. The data calculation module 402 may convert the load of the blade root of each blade in a 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 estimated wheel 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. For example, the data calculation module 402 may perform the d-q transformation by equations (2) and (3).
The data calculation module 402 may then filter the pitch and yaw loads using filters.
The data calculation module 402 performs a proportional integral operation on the filtered pitch and yaw loads to determine a moment angle in the d-axis direction and a moment angle in the q-axis direction that causes the pitch load to drop to a pitch load desired value and the yaw load to drop to a yaw load desired value. For example, the data calculation module 402 may determine the pitch angle in the d-axis direction and the pitch angle in the q-axis direction by reducing the converted pitch load and yaw load to the pitch load desired value and yaw load desired value, respectively, through the PI controller.
The data calculation module 402 may calculate a phase compensation value based on the acquired impeller speed. Specifically, the data calculation module 402 may determine the phase compensation value based on a lag time of the pitch actuator performing the pitch, a lag time of the filter, and a rotational speed of the impeller, for example, the phase compensation value may be calculated according to "(lag time of the pitch actuator performing the pitch + lag time of the filter) versus rotational speed of the impeller". It should be noted that the lag time of the filter used in calculating the phase compensation value is obtained by a filter that filters the pitch load and the yaw load.
The data calculation module 402 may calculate an additional pitch angle for each blade based on the calculated phase compensation value, the pitch angle in the d-axis direction and the pitch angle in the q-axis direction, and the estimated azimuth angle, respectively. For example, the data calculation module 402 may inverse d-q transform the moment angle in the d-axis direction and the moment angle in the q-axis direction based on the phase compensation values, resulting in equations (7), (8), and (9), for example, and then use equations (7), (8), and (9) to calculate the additional moment angle for each blade, respectively.
The data calculation module 402 may calculate a unified pitch angle for all blades using a unified pitch algorithm according to the acquired impeller rotational speed. Then, for each blade, the data calculation module 402 superimposes the uniform pitch angle on the additional pitch angle of each blade to obtain a target moment angle of each blade.
After obtaining the target moment angle for each blade, the control module 403 may pitch each blade to the target moment angle to perform independent pitch control.
Fig. 5 shows a block diagram of a wind park according to an exemplary embodiment of the present invention.
Referring to fig. 5, a wind park 500 according to the present disclosure may comprise at least two blades 501, an impeller speed sensor 502, a blade root load sensor 503, a pitch system 504 and a controller 505.
The impeller speed sensor 502 may measure an impeller speed of the wind turbine.
The blade root load sensor 503 may measure the load of the blade root of each of the at least two blades 501 in a specific direction. Wherein the specific direction is perpendicular to the axial direction of the impeller and the length direction of the blades. 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 corresponds 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 thumb points to the tip of the blade in the length direction of the blade.
The controller 505 may obtain the impeller rotation speed of the wind park by means of the impeller rotation speed sensor 502 and the load of the blade root of each blade in a specific direction by means of the blade root load sensor 503.
The controller 505 estimates an impeller rotational speed based on the acquired impeller rotational speed and calculates an additional pitch angle of each blade separately from the estimated impeller rotational speed and a load of a blade root of each blade in a specific direction. Specifically, the controller 505 may estimate the impeller azimuth angle using equation (1) based on the obtained impeller rotational speed. The controller 505 converts the load of the blade root of each blade in a specific direction into a load in the d-axis direction, which is a pitch load, and a load in the q-axis direction, which is a yaw load, by d-q conversion based on the estimated wheel azimuth angle. For example, the controller 505 may transform the load of the blade root of each blade in the y-direction to a load in the d-axis direction and a load in the q-axis direction according to equations (2) and (3).
The controller 505 may filter the pitch and yaw loads using filters and perform a proportional integral operation on the filtered pitch and yaw loads to determine a moment angle in the d-axis direction and a moment angle in the q-axis direction that causes the pitch load to drop to a pitch load desired value and the yaw load to drop to a yaw load desired value. For example, the pitch load expectation may be set to 0 and the yaw load expectation may be set to 0. It should be understood that the pitch load expectation and the yaw load expectation may be set according to actual conditions and actual requirements. The controller 505 may use a PI controller to determine the moment angle in the d-axis direction and the moment angle in the q-axis direction.
The controller 505 may calculate the phase compensation value from "(lag time of pitch actuator performing pitch + lag time of filter) x rotational speed of the impeller", and may calculate the unified pitch angle using a unified pitch algorithm. Here, the lag time of the filter used when calculating the phase compensation value is obtained by a filter that filters the pitch load and the yaw load.
The controller 505 calculates an additional pitch angle for each blade based on the phase compensation value, the pitch angle in the d-axis direction and the pitch angle in the q-axis direction, respectively, and the estimated impeller azimuth angle. Specifically, the controller 505 may inverse d-q transform the moment angle in the d-axis direction and the moment angle in the q-axis direction based on the phase compensation value to obtain equations (7), (8), and (9), for example. The controller 505 may calculate the additional moment angle for each blade according to, for example, equations (7), (8), and (9).
For each blade, the controller 505 respectively superimposes the additional pitch angle of each blade on the basis of the calculated unified pitch angle to obtain the target pitch angle of each blade. Controller 505 then controls pitch system 504 to perform an independent pitch operation in accordance with the calculated additional pitch angle for said each blade. By way of example, pitch system 504 may generate and transmit to the pitch actuators respective control commands for controlling the pitch actuators based on the obtained target moment angle for each blade to control the pitch actuators to pitch each blade to the corresponding target moment angle.
The pitch control method of a wind park according to an example embodiment of the disclosure may be implemented as computer readable instructions on a computer readable recording medium or may be transmitted over a transmission medium. The computer readable recording medium is any data storage device that can store data which can be thereafter read by a computer system. Examples of the computer readable recording medium include, but are not limited to, read-only memory (ROM), random-access memory (RAM), compact discs (CD-ROMs), Digital Versatile Discs (DVDs), magnetic tapes, floppy disks, and optical data storage devices. The transmission medium may include a carrier wave transmitted over a network or various types of communication channels. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable instructions are stored and executed in a distributed fashion.
It should be appreciated that the various units in the pitch control arrangement 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.
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 (13)

1. An independent variable pitch control method of a wind generating set based on an estimated impeller azimuth angle is characterized by comprising the following steps:
acquiring the rotating speed of an impeller of the wind generating set and the load of the 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;
estimating an impeller azimuth angle based on the obtained impeller rotating speed;
calculating an additional pitch angle of each of the blades based on the estimated wheel azimuth angle, the load of the blade root of each of the blades in the specific direction, and the phase compensation value, respectively;
performing an independent pitch control according to the calculated additional pitch angle of said each blade,
wherein the load of the blade root of each blade in the specific direction is filtered by using a filter to obtain the converted pitch load and yaw load, and the phase compensation value is determined based on the lag time of the pitch actuator for performing pitch control, the lag time of the filter and the obtained impeller rotating speed.
2. The method of claim 1, wherein the step of separately calculating the additional pitch angle for each blade comprises:
and on the basis of the estimated impeller azimuth angle, converting the load of the blade root of each blade in the specific direction into a load in a d-axis direction and a load in a q-axis direction through d-q conversion, wherein the load in the d-axis direction is a pitching load, and the load in the q-axis direction is a yawing load.
3. The method of claim 2, wherein the step of separately calculating the additional pitch angle for each blade further comprises:
and performing proportional integral operation on the filtered pitch load and the filtered yaw load to determine a moment angle in the d-axis direction and a moment angle in the q-axis direction.
4. The method of claim 3, wherein the step of separately calculating the additional pitch angle for each blade further comprises:
calculating an additional pitch angle for each of the blades based on the estimated azimuth angle, the pitch angle in the d-axis direction and the pitch angle in the q-axis direction, and the phase compensation value.
5. The method according to any of claims 1-4, wherein the step of performing independent pitch control based on the calculated additional pitch angle of each blade comprises:
calculating a unified variable pitch angle for all the blades according to the obtained impeller rotating speed;
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 to perform independent pitch control.
6. A pitch control device of a wind generating set, the pitch control device comprising:
the data acquisition module is used for acquiring the rotating speed of an impeller of the wind generating set and the load of the 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;
a data calculation module for estimating an impeller azimuth angle based on the obtained impeller rotation speed, filtering a pitch load and a yaw load, which are converted from a load of a blade root of each blade in the specific direction, using a filter, and calculating an additional pitch angle of each blade based on the estimated impeller azimuth angle, the load of the blade root of each blade in the specific direction, and a phase compensation value, respectively;
and the control module is used for executing independent pitch control according to the calculated additional pitch angle of each blade, and the phase compensation value is determined based on the lag time of the pitch executing mechanism for executing pitch control, the lag time of the filter and the acquired impeller rotating speed.
7. The pitch control apparatus of claim 6, wherein the data calculation module is configured to:
and on the basis of the estimated impeller azimuth angle, converting the load of the blade root of each blade in the specific direction into a load in a d-axis direction and a load in a q-axis direction through d-q conversion, wherein the load in the d-axis direction is a pitching load, and the load in the q-axis direction is a yawing load.
8. The pitch control apparatus of claim 7, wherein the data calculation module is further configured to:
and performing proportional integral operation on the filtered pitch load and the filtered yaw load to determine a moment angle in the d-axis direction and a moment angle in the q-axis direction.
9. The pitch control apparatus of claim 8, wherein the data calculation module is further configured to:
calculating an additional pitch angle for each of the blades based on the estimated azimuth angle, the pitch angle in the d-axis direction, the pitch angle in the q-axis direction, and the phase compensation value.
10. A pitch control apparatus according to any of claims 6-9, wherein the data calculation module is further configured to:
calculating a unified variable pitch angle for all the blades according to the obtained impeller rotating speed;
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,
wherein the control module pitches each blade to a target pitch angle to perform independent pitch control.
11. A wind power plant, characterized in that it comprises:
at least two blades;
the impeller rotating speed sensor is used for measuring the rotating speed of an impeller of the wind generating set;
a blade root load sensor for measuring a load of a blade root of each of the at least two blades in a specific direction, wherein the specific direction is perpendicular to an axial direction of the impeller and a length direction of the blade;
a pitch system; and
a controller to:
acquiring the impeller rotating speed of the wind generating set through an impeller rotating speed sensor, and acquiring the load of the blade root of each blade in a specific direction through a blade root load sensor;
estimating an impeller azimuth angle based on the obtained impeller rotating speed;
calculating an additional pitch angle of each of the blades based on the estimated wheel azimuth angle, the load of the blade root of each of the blades in the specific direction, and the phase compensation value, respectively;
controlling a pitch system to perform an independent pitch operation according to the calculated additional pitch angle of each blade,
wherein the load of the blade root of each blade in the specific direction is filtered by using a filter to obtain the converted pitch load and yaw load, and the phase compensation value is determined based on the lag time of the pitch actuator for performing pitch control, the lag time of the filter and the obtained impeller rotating speed.
12. A computer-readable storage medium storing a program, the program comprising instructions for performing the method of any one of claims 1-5.
13. A computer comprising a readable medium and a processor, in which a computer program is stored, characterized in that the method according to any of claims 1-5 is performed when the computer program is run by the processor.
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