CN111608857B - Wind generating set, control method and system thereof and computer readable storage medium - Google Patents

Wind generating set, control method and system thereof and computer readable storage medium Download PDF

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Publication number
CN111608857B
CN111608857B CN202010386205.3A CN202010386205A CN111608857B CN 111608857 B CN111608857 B CN 111608857B CN 202010386205 A CN202010386205 A CN 202010386205A CN 111608857 B CN111608857 B CN 111608857B
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load
wind
pitch angle
determining
pitch
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CN111608857A (en
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安少朋
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Shanghai Electric Wind Power Group Co Ltd
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Shanghai Electric Wind Power Group 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
    • F03D7/0204—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
    • 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
    • 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
    • F05B2260/00—Function
    • F05B2260/84—Modelling or simulation
    • 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
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/329—Azimuth or yaw angle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

The application provides a wind generating set, a control method and a control system thereof and a computer readable storage medium. The method comprises the following steps: acquiring the tower top load of the tower; determining the unbalanced load of the main shaft of the wind generating set according to the tower top load; determining a pitch angle compensation value of the blade according to the unbalanced load of the main shaft; determining a pitch angle control value according to the pitch angle compensation value; and controlling the blades to change the pitch according to the pitch angle control value.

Description

Wind generating set, control method and system thereof and computer readable storage medium
Technical Field
The application relates to the field of wind driven generators, in particular to a wind driven generator set, a control method and a control system thereof and a computer readable storage medium.
Background
It is known in the art that with the development of wind power technology, wind power generators gradually tend to be designed with large megawatts, high towers, large impellers and light weight. For large impeller assemblies, blade root fatigue loads, hub imbalance loads, and yaw imbalance loads can increase significantly. In order to realize the light-weight design of the impeller and the tower, the unit needs to adopt an independent variable pitch control strategy so as to reduce the fatigue load.
The traditional independent variable pitch control mainly comprises the steps that a load sensor is attached to the root of a fan blade, the load in the blade root waving direction and the shimmy direction is measured, and the unbalanced load on the rotating plane of the wind wheel is obtained through park transformation.
However, the blade root load sensor is expensive to install and difficult to maintain, and therefore a more reliable method for determining the unbalance of the unit needs to be found.
Disclosure of Invention
The application provides a wind generating set, a control method and a control system thereof and a computer readable storage medium.
According to a first aspect of embodiments of the present application, there is provided a pitch control method applied to a wind turbine generator system, the wind turbine generator system comprising a tower and blades, the method comprising:
acquiring the tower top load of the tower;
determining the unbalanced load of the main shaft of the wind generating set according to the tower top load;
determining a pitch angle compensation value of the blade according to the unbalanced load of the main shaft;
determining a pitch angle control value according to the pitch angle compensation value; and
and controlling the blades to change the pitch according to the pitch angle control value.
Optionally, the method comprises: and determining the unbalanced load of the main shaft according to the tower top load, the weight and the size of the wind generating set, the transmission chain torque of the wind generating set, the transmission chain elevation angle of the wind generating set, the wind wheel thrust of the wind generating set and the yaw angle of the cabin of the wind generating set.
Optionally, the method comprises: the tower top load is obtained from a load cell mounted at the top of the tower.
Optionally, the spindle unbalance load comprises a first unbalance load component on one coordinate axis and a second unbalance load component on the other coordinate axis of the dq coordinate system; determining a main shaft unbalance load of the wind generating set, comprising:
determining the first unbalanced load component according to the Z-axis load component of the tower top load in the Z-axis direction of a tower top coordinate system, the transmission chain torque and the transmission chain elevation; and/or
And determining the second unbalanced load component according to the X-axis load component of the tower top load in the X-axis direction of a tower top coordinate system, the Y-axis load component of the tower top load in the Y-axis direction of the tower top coordinate system, the weight and the size of the wind generating set, the elevation angle of the transmission chain, the thrust of the wind wheel and the yaw angle of the cabin.
Optionally, the method comprises: and determining the thrust of the wind wheel according to the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set.
Optionally, determining the wind wheel thrust according to the power, the pitch angle, the ambient wind speed and the ambient air density of the wind turbine generator set comprises:
and determining the thrust of the wind wheel according to the power, the pitch angle, the ambient wind speed and the first relation corresponding table of the ambient air density and the thrust of the wind wheel of the wind generating set.
Optionally, the method comprises:
determining a relative angle of an axis of the nacelle at an initial position with respect to a mounting axis of the load sensor;
and calculating the difference value between the actually measured yaw angle of the cabin in the running process and the relative angle to obtain the yaw angle.
Optionally, determining a relative angle of the nacelle at an initial position with respect to the load sensor comprises:
controlling the cabin to rotate at least one circle;
acquiring a plurality of load values measured by the load sensor in the rotation process of the cabin;
determining the relative angle from the plurality of load values.
Optionally, determining a pitch angle compensation value of the blade according to the main shaft unbalance load, further comprising: and determining the compensation amount of the unbalanced load of the main shaft, and determining the compensation value of the pitch angle according to the unbalanced load of the main shaft and the compensation amount of the unbalanced load of the main shaft.
Optionally, determining the spindle unbalance load compensation amount comprises:
and determining the unbalanced load compensation quantity of the main shaft according to the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set.
Optionally, determining the main shaft unbalance load compensation amount according to the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set, including:
and determining the main shaft unbalanced load compensation amount according to the power, the pitch angle, the ambient wind speed and a second relation corresponding table of the ambient air density and the main shaft unbalanced load compensation amount of the wind generating set.
Optionally, determining the pitch angle compensation value according to the main shaft unbalanced load and the main shaft unbalanced load compensation amount includes:
and subtracting the unbalanced load compensation amount of the main shaft from the unbalanced load of the main shaft, and then determining the compensation value of the pitch angle through PI calculation.
Optionally, determining the pitch angle control value according to the pitch angle compensation value comprises:
obtaining a unified pitch angle of the wind generating set based on rotation speed control;
performing D-Q inverse transformation on the pitch angle compensation value to obtain a pitch angle transformation value of the blade;
and determining the pitch angle control value according to the pitch angle transformation value and the unified pitch angle.
Optionally, obtaining a unified pitch angle of the wind turbine generator set based on the rotation speed control comprises:
and determining the unified pitch angle according to the generator rotating speed of the wind generating set and the set point of the generator rotating speed.
According to a second aspect of the embodiments of the present application, there is provided a pitch control system applied to a wind turbine generator system, including one or more processors, for implementing the pitch control method according to any one of the embodiments.
According to a third aspect of embodiments of the present application, there is provided a computer readable storage medium, having a program stored thereon, which when executed by a processor, implements a pitch control method as described in any of the embodiments above.
According to a fourth aspect of the embodiments of the present application, there is provided a wind turbine generator system, including:
a tower;
the engine room is arranged on the top of the tower;
the load sensor is arranged at the top of the tower and used for acquiring the load of the tower top;
the wind wheel is arranged on the engine room and comprises a hub and blades arranged on the hub;
the variable-pitch driving device is connected with the blades;
the pitch control system according to the above embodiment is used for controlling the pitch driving device to drive the blades to pitch.
According to the technical scheme provided by the embodiment of the application, the tower top load is obtained, the unbalanced load of the main shaft is determined according to the tower top load, then the variable pitch control is carried out, the position of the tower top is fixed, and the movement of the cabin arranged on the tower top relative to the tower top is less, so that the more accurate tower top load and the unbalanced load of the main shaft can be obtained, and the reliability of the independent variable pitch control is higher.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic perspective view of a wind turbine generator system according to an exemplary embodiment of the present disclosure.
FIG. 2 is a schematic flow chart diagram illustrating a pitch control method applied to a wind generating set according to an exemplary embodiment of the present application.
Fig. 3 is a schematic view of a tower top coordinate system applied to a wind turbine generator system according to an exemplary embodiment of the present application.
FIG. 4 is a schematic illustration of a nacelle and tower position relationship for a wind turbine generator system according to an exemplary embodiment of the present application.
Fig. 5 is a schematic diagram illustrating a position relationship between a nacelle axis and a load sensor applied to a wind turbine generator set according to an exemplary embodiment of the present application.
Fig. 6 is a schematic simulation modeling diagram of a rotor thrust applied to a wind turbine generator set according to an exemplary embodiment of the present application.
FIG. 7 is a schematic diagram of a modeling process for a wind turbine thrust calculation module shown in an exemplary embodiment of the present application.
Fig. 8 is a schematic flow chart illustrating a yaw angle determination process applied to a nacelle of a wind turbine generator system according to an exemplary embodiment of the present application.
Fig. 9 is a schematic simulation modeling diagram of a main shaft unbalance load compensation amount applied to a wind turbine generator system according to an exemplary embodiment of the present application.
Fig. 10 is a schematic diagram of a modeling process of a calculation module of a spindle unbalance load compensation amount according to an exemplary embodiment of the present application.
FIG. 11 is a control logic diagram illustrating a pitch control method applied to a wind turbine generator set according to an exemplary embodiment of the present application.
FIG. 12 is a schematic flow diagram illustrating a determination of a pitch angle control value applied to a wind turbine generator set according to an exemplary embodiment of the present application.
FIG. 13 is a block diagram illustrating a pitch control system of a wind turbine generator set according to an exemplary embodiment of the present application.
FIG. 14 is a block diagram of a pitch control system of a wind turbine generator set according to another exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Wind power generation converts kinetic energy of wind into mechanical kinetic energy, and then converts the mechanical energy into electrical kinetic energy. A wind power generation device is called a wind generating set. The application provides a wind generating set, a control method and a control system thereof and a computer readable storage medium. The wind turbine generator set, the control method and system thereof, and the computer readable storage medium of the present application are described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.
Referring to fig. 1, an embodiment of the present application provides a wind turbine generator system, including: a tower 20, a nacelle 21, a load sensor 24, a wind rotor 25, a pitch drive (not shown) and a pitch control system (not shown). Wherein a nacelle 21 is mounted on top of a tower 20. A load cell 24 is provided at the top of the tower 20 for acquiring tower top loads. The load sensor is arranged at the top of the tower, and is arranged at the position of the blade root of the blade relative to the sensor, so that the number and the installation difficulty of the sensor can be reduced. In particular, for steel towers, more accurate tower top loading can be achieved due to isotropy. In the present embodiment, the number of the load sensors 24 is four, and the load sensors are orthogonally disposed on the top of the tower 20, and in other examples, the number of the load sensors 24 may be set according to actual situations. A rotor 25 is mounted to nacelle 21, and rotor 25 includes a hub 22 and blades 23 mounted to hub 22. In the present embodiment, the wind turbine 25 is mounted at the front of the nacelle 21, and in other examples, the wind turbine 25 may be mounted at the rear of the nacelle 21. The number of the blades 23 is three, and in other examples, the number of the blades 23 can be set according to actual conditions. The variable pitch driving device is connected with the blade 23 and used for driving the blade 23 to change pitch. The pitch drive arrangement may comprise a pitch drive motor and a gearbox connecting the pitch drive motor and the blades 23. The variable pitch control system is used for controlling the variable pitch driving device to drive the blades 23 to change pitch, and the variable pitch control system can control the variable pitch driving motor to operate to drive the gear box to move, so that the blades 23 are driven to rotate, the variable pitch is realized, and the detailed description is contained.
It can be understood that the rotor 25 is an important component for converting the kinetic energy of wind into mechanical energy, and when the wind blows to the blades 23, the blades 23 generate aerodynamic force to drive the rotor to rotate. The blade 23 is made of a material that is strong, lightweight, and is generally made of glass fiber reinforced plastic or other composite materials (e.g., carbon fiber). A generator connected with the wind wheel can be arranged in the nacelle 21, and the main shaft direction a of the generator set is the axial direction of the rotation of the wind wheel. The tower 20, which supports the rotor 25 and the nacelle 21, is typically constructed relatively high in order to obtain a large and uniform wind force, yet with sufficient strength.
Referring to fig. 2, an embodiment of the present application provides a pitch control method applied to a wind turbine generator system, where the pitch control method includes steps S101 to S105.
Wherein, in step S101, the tower top load of the tower is obtained,
in some alternative embodiments, the tower top load is obtained by a load cell mounted at the top of the tower. Compared with the sensor installed at the position of the blade root, the cost is low, the installation and maintenance are easy, and the cost of hardware required for realizing independent variable pitch control is reduced. The pitch control system may obtain the tower top load from the load sensor.
In step S102, the unbalanced load of the main shaft of the wind turbine generator system is determined according to the tower top load.
In some optional embodiments, the main shaft imbalance load is determined from the tower top load, the weight and size of the wind turbine, the drive train torque of the wind turbine, the drive train elevation of the wind turbine, the wind turbine thrust of the wind turbine, and the yaw angle of the nacelle of the wind turbine. In the process of participating the parameters in the calculation of determining the unbalanced load of the main shaft, the rotation transformation caused by the yawing of the engine room, the weight and the size of the wind generating set, the torque of a transmission chain of the wind generating set, the elevation angle of the transmission chain of the wind generating set and the additional bending moment caused by the thrust of a wind wheel of the wind generating set are considered, and the magnitude of the unbalanced load of the main shaft is also influenced, so that the finally obtained unbalanced load of the main shaft can be more accurate and reliable by the method.
Alternatively, the spindle unbalance load may include a first unbalance load component on one coordinate axis and a second unbalance load component on the other coordinate axis of the dq coordinate system. Determining a main shaft unbalance load of the wind generating set, comprising:
and determining the first unbalanced load component according to the Z-axis load component of the tower top load in the Z-axis direction of a tower top coordinate system, the transmission chain torque and the transmission chain elevation. And determining the second unbalanced load component according to the X-axis load component of the tower top load in the X-axis direction of a tower top coordinate system, the Y-axis load component of the tower top load in the Y-axis direction of the tower top coordinate system, the weight and the size of the wind generating set, the elevation angle of the transmission chain, the thrust of the wind wheel and the yaw angle of the cabin.
In some alternative embodiments, a load sensor is installed at the top end of the tower, and an X-axis load component of the tower top load in the X-axis direction of the tower top coordinate system, a Y-axis load component of the tower top load in the Y-axis direction of the tower top coordinate system, and a Z-axis load component of the tower top load in the Z-axis direction of the tower top coordinate system can be directly collected through the load sensor, and then a D-axis load on the D-axis and a Q-axis load on the Q-axis in the dq coordinate system are calculated. In some embodiments, the first unbalanced load component is a Q-axis load and the second unbalanced load component is a D-axis load.
The D-axis load reflects the unbalance of the load of the rotating plane of the wind wheel in the pitching direction, and the Q-axis load reflects the unbalance of the load of the rotating plane of the wind wheel in the yawing direction. Referring to fig. 1 and 3, the tower coordinate system is a fixed coordinate system with the X coordinate axis pointing south, the Y coordinate axis pointing east, the Z axis pointing vertically upward, the origin of the coordinates being on the central axis of the tower 20, and the tower coordinate system being relatively stationary with respect to the ground. It is understood that the D axis in the dq coordinate system can be understood as the same direction as the Y axis in fig. 3, and the Q axis in the dq coordinate system can be understood as the same direction as the Z axis in fig. 3.
The purpose of the independent variable pitch control is to eliminate the unbalanced load on the wind wheel, so that the unbalanced load of the main shaft measured by the load sensor needs to be converted into a D-axis load and a Q-axis load, then a pitch angle control value of the blades of the wind wheel is calculated according to the D-axis load and the Q-axis load, and finally the blades are controlled to realize variable pitch so as to offset the unbalanced load on the wind wheel.
In the embodiment, the tower top load collected by the load sensor is used as an input signal of the independent pitch control. The D-axis load is directly related to an X-axis load component of the tower top load in the X-axis direction of the tower top coordinate system and a Y-axis load component of the tower top load in the Y-axis direction of the tower top coordinate system, so that the D-axis load, i.e., the second unbalanced load component, can be calculated through coordinate transformation according to the X-axis load component of the tower top load in the X-axis direction of the tower top coordinate system, the Y-axis load component of the tower top load in the Y-axis direction of the tower top coordinate system, the weight and size of the wind turbine generator set, the drive chain elevation angle, the wind turbine thrust and the yaw angle of the nacelle.
The Q-axis load is directly related to the Z-axis load component of the tower top load in the Z-axis direction of the tower top coordinate system, so that the Q-axis load, namely the first unbalanced load component, can be obtained through coordinate transformation calculation according to the Z-axis load component of the tower top load in the Z-axis direction of the tower top coordinate system, the transmission chain torque and the transmission chain elevation.
In the process of calculating the D-axis load and the Q-axis load, the rotary transformation caused by the yaw of the engine room, the weight and the size of the wind generating set, the torque of a transmission chain of the wind generating set, the elevation angle of the transmission chain of the wind generating set and the additional bending moment caused by the thrust of a wind wheel of the wind generating set are involved in the calculation process of determining the unbalanced load of the main shaft, so that the rotary transformation caused by the yaw of the engine room, the weight and the size of the wind generating set, the torque of the transmission chain of the wind generating set, the elevation angle of the transmission chain of the wind generating set and the additional bending moment caused by the thrust of the wind wheel of the wind generating set are considered, and the unbalanced load of the main shaft is also influenced, so that the finally obtained unbalanced load of the main shaft can be more accurate and reliable through the mode. Obtaining D-axis load M from tower top load through coordinate transformationdThe formula (2) is shown as formula (1), and Q-axis load M is obtained from tower top load through coordinate transformationqIs as in formula (2):
Md＝-MxTT*sinβ+MyTT*cosβ-FGl + Fx (L sin α + h), formula (1);
Mq＝MzTT-MxDT sin α, formula (2).
Referring to FIGS. 3 to 5, in the formula, MxTT、MyTT、MzTT represents the load of the tower top in three directions respectively, namely MxTT represents the X-axis load component of the tower top load in the X-axis direction of the tower top coordinate system, MyTT represents a Y-axis load component of the tower top load in the Y-axis direction of the tower top coordinate system, MzTT represents a Z-axis load component of the tower top load in the Z-axis direction of the tower top coordinate system. MxDT represents the drive train torque. Fx represents the rotor thrust. FGRepresenting the weight of the nacelle. L represents the distance from the center of gravity G of nacelle 21 to the center axis of the tower of tower 20 (shown in phantom in FIG. 4). h represents the distance from the intersection point of the drive chain axis, which can be understood as the direction coinciding with the axial direction of the main shaft a, and the tower central axis of the tower 20 to the tower top of the tower 20. l represents the distance from the head of the nacelle 21 to the central axis of the tower 20. The size of the wind park may comprise the parameters L, l and h described above. Alpha represents the drive chain elevation angle, and the angle between the axis direction of the main shaft A and the horizontal plane is shown in FIG. 4, and can also be understood as the angle between the nacelle axis B and the main shaft A. Fig. 5 is a schematic diagram of the position relationship of the nacelle and the load sensor projected on the horizontal plane, where β represents the yaw angle of the nacelle, which can be understood as the angle between the line between the nacelle axis B and the installation axis of the load sensor 24, and the nacelle axis B can be understood as the projection of the main axis a on the horizontal plane. The mounting axis of the load cell 24 may be a projection of a line between any two diagonally positioned load cells 24 on a horizontal plane. In the present embodiment, a projection of a line between two load sensors 24 on the X-axis on a horizontal plane is illustrated as an installation axis, and the determination method of the yaw angle and the wind turbine thrust is described in detail below. It should be noted that the drive train torque MxDT can be actually measured or calculated by unit power and rotation speed, and the parameter FGL, h, α can all be measured from the size of the nacelle.
In the above expression, the rotation transformation caused by the yaw of the nacelle, the weight and size of the wind turbine generator system, the torque of the transmission chain of the wind turbine generator system, the elevation angle of the transmission chain of the wind turbine generator system, and the additional bending moment caused by the thrust of the wind turbine generator system are involved in the calculation process for determining the unbalanced load of the main shaft, so that the rotation transformation caused by the yaw of the nacelle, the weight and size of the wind turbine generator system, the torque of the transmission chain of the wind turbine generator system, the elevation angle of the transmission chain of the wind turbine generator system, and the additional bending moment caused by the thrust of the wind turbine generator system are considered, and the unbalanced load of the main shaft is also influenced, so that the finally obtained unbalanced load of the main shaft can be more accurate and reliable by the above method.
In some optional embodiments, the rotor thrust is determined from the power, pitch angle, ambient wind speed, and ambient air density of the wind turbine generator set. Considering the influence of the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set on the thrust of the wind wheel, the parameters are involved in the calculation process of determining the thrust of the wind wheel, so that the finally obtained thrust of the wind wheel is more accurate and reliable.
Wherein, according to the power, pitch angle, ambient wind speed and ambient air density of the wind generating set, determining the wind wheel thrust may further include: and determining the thrust of the wind wheel according to the power, the pitch angle, the ambient wind speed and the first relation corresponding table of the ambient air density and the thrust of the wind wheel of the wind generating set. It can be understood that the wind turbine thrust of the wind turbine generator system in practical application can be obtained by looking up the first relation correspondence table. The first relation corresponding table can be obtained through simulation of the unit model under different ambient wind speeds and ambient air densities.
Referring to fig. 6 and 7, in practical applications, the first relationship correspondence table may be stored in the wind turbine thrust calculation module 30, and the wind turbine thrust calculation module 30 is configured to search for corresponding wind turbine thrust from the first relationship correspondence table according to the power, the pitch angle, the ambient wind speed, and the ambient air density. The simulation experiment modeling process of the wind wheel thrust calculation module 30 is shown in fig. 7. A unit model of the wind generating set is established in simulation software of a computer, and different ambient wind speeds and ambient air densities are input into the unit model to obtain data of power, pitch angle and wind wheel thrust of the corresponding wind generating set. And establishing a first relation corresponding table by each group of the ambient wind speed and the ambient air density, the power, the pitch angle and the wind wheel thrust of the corresponding wind generating set.
Because the ambient wind speed, the ambient air density, the power of the wind generating set and the pitch angle can be obtained through actual measurement, as long as the actually measured ambient wind speed, the ambient air density, the power of the wind generating set and the pitch angle are input to the wind wheel thrust calculation module 30, the wind wheel thrust calculation module 30 can directly output the corresponding wind wheel thrust value of the wind generating set through table lookup.
Referring to FIG. 8, in some alternative embodiments, the yaw angle of the nacelle as described in equation (1) may be determined by the following method steps S201-S202.
Wherein in step S201, a relative angle of the nacelle axis B at an initial position with respect to an installation axis of the load sensor 24 is determined. Alternatively, as shown in fig. 5, four load sensors 24 may be arranged on the top of the tower, four load sensors 24 are arranged on the top of the tower in a cross-shaped manner, and the four load sensors 24 may or may not be arranged along the X-axis and the Y-axis of the tower top coordinate system. Due to the existence of the fan yaw system, the axis B of the nacelle cannot be parallel to the installation axis of the load sensor 24 in real time after the nacelle is installed, and therefore, the relative angle of the unit in the low wind condition after the load sensor 24 is installed, that is, the relative angle of the nacelle in the initial position with respect to the load sensor 24, needs to be determined. The initial position of the nacelle is understood to be the position at the top of the tower when the nacelle is not being yawed after it has been installed.
The relative angle of the nacelle at the initial position with respect to the load sensor may be determined by the following method. First, the nacelle is controlled to rotate at least one turn each clockwise and counter-clockwise. In the process of rotating the cabin, corresponding load signals are respectively measured by the load sensors corresponding to a plurality of positions where the cabin is located. When the axis of the nacelle is parallel to the line between any two diagonally positioned load sensors, the load signal of the load sensor 24 near the nose position of the nacelle is at the peak position, and the load signal of the load sensor 24 near the tail position of the nacelle is at the valley position. In practical application, after the nacelle rotates once, a plurality of load values of the load signal measured by each load sensor 24 in the rotating process of the nacelle are obtained, and the load signal of each load sensor 24 has a primary peak value and a primary valley value, so that the respective positions of the four load sensors 24 relative to the nacelle can be determined according to the principle and the plurality of load values measured by each load sensor 24. It will be appreciated that the greater the number of revolutions of the nacelle, the more accurate the position of each load cell 24 can be determined. In this embodiment, the nacelle is controlled to rotate at least two revolutions each, clockwise and counter-clockwise. After the positions of the four load sensors 24 relative to the nacelle are determined, the projection of the connecting line of one group of load sensors 24 on the horizontal plane is taken as the installation axis, so that the included angle of the nacelle axis B relative to the installation axis of the load sensors at the initial position of the nacelle can be determined, namely the relative angle of the nacelle relative to the load sensors 24 at the initial position of the nacelle can be determined.
In step S202, a difference between the measured yaw angle of the nacelle in operation and the determined relative angle is calculated. The nacelle generates a yaw angle relative to the initial position due to real-time wind, and the difference between the measured yaw angle of the nacelle during operation and the determined relative angle is calculated as the yaw angle of equation (1). It is understood that the measured yaw angle of the nacelle during operation refers to a yaw angle of the nacelle relative to an initial position after the nacelle has made a yaw rotation under the action of wind power, and the measured yaw angle can be measured by arranging a sensor.
With continued reference to FIG. 2, in step S103, a pitch angle compensation value for the blade is determined from the main shaft imbalance load.
In some optional embodiments, determining a pitch angle compensation value for the blade based on the main shaft imbalance load further comprises: the compensation amount of the unbalanced load of the main shaft is determined, the compensation value of the pitch angle is determined according to the compensation amount of the unbalanced load of the main shaft and the compensation amount of the unbalanced load of the main shaft, the compensation amount of the unbalanced load of the main shaft is introduced into the pitch control method, the target of independent pitch control can be flexibly adjusted, and the application range of the independent pitch control method is expanded.
Optionally, determining the spindle unbalance load compensation amount may include: and determining the unbalanced load compensation quantity of the main shaft according to the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set. Considering the influence of the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set on the unbalanced load compensation quantity of the main shaft, the parameters are involved in the calculation process of determining the unbalanced load compensation quantity of the main shaft, so that the finally obtained unbalanced load compensation quantity of the main shaft is more accurate and reliable.
Wherein, according to the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set, the determining the main shaft unbalance load compensation amount may further include: and determining the main shaft unbalanced load compensation amount according to the power, the pitch angle, the ambient wind speed and a second relation corresponding table of the ambient air density and the main shaft unbalanced load compensation amount of the wind generating set. It can be understood that the spindle unbalance load compensation amount can be obtained by looking up the second relationship correspondence table. The second relation corresponding table can be obtained through simulation of the unit model under different ambient wind speeds and ambient air densities. And during simulation, the unbalanced load needing to be compensated can be removed, and finally the unbalanced load compensation quantity of the main shaft is obtained. As shown in the above equations (1) and (2), because the calculation formulas of the D-axis load and the Q-axis load relate to more parameters and the types of the unbalanced loads are more, the method introduces the compensation amount of the unbalanced load of the main shaft, and participates the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set in the determination process of the unbalanced load in a table look-up manner, so that the calculation process of the D-axis load and the Q-axis load is not required to be participated, and the difficulty in determining the unbalanced load is simplified. It should be noted that, in this embodiment, the power, the pitch angle, the ambient wind speed, and the ambient air density of the wind turbine generator system are used as the relevant parameters for determining the compensation amount of the unbalanced load of the main shaft, in other examples, different parameters may be replaced or additional parameters may be added according to actual needs, for example, although the influence of the ambient humidity on the determination of the compensation amount of the unbalanced load of the main shaft is small, the ambient humidity may also be added to the calculation process for determining the compensation amount of the unbalanced load of the main shaft, so as to obtain a more accurate compensation amount of the unbalanced load of the main shaft. Therefore, the target of the independent variable pitch control can be flexibly adjusted, and the application range of the independent variable pitch control method is expanded.
Referring to fig. 9 and 10, in practical applications, the second relationship correspondence table may be stored in the calculation module 40 for the spindle unbalance load compensation amount, and the calculation module 40 for the spindle unbalance load compensation amount is configured to look up a corresponding spindle unbalance load compensation amount from the second relationship correspondence table according to the power, the pitch angle, the ambient wind speed, and the ambient air density. The simulation experiment modeling process of the calculation module 40 for the spindle unbalance load compensation amount is shown in fig. 10. And establishing a unit model of the wind generating set in simulation software of a computer, and inputting different ambient wind speeds and ambient air densities into the unit model to obtain data of power, pitch angle and main shaft unbalance load compensation quantity of the corresponding wind generating set. And establishing a second relation corresponding table by the ambient wind speed and the ambient air density of each group, the power and the pitch angle of the corresponding wind generating set and the unbalanced load compensation quantity of the main shaft. In particular, the main shaft unbalance load compensation amount may correspond to the main shaft unbalance load, including a first main shaft unbalance load compensation amount MdoffAnd a second spindle unbalance load compensation quantity MqoffThe first spindle unbalance load compensation amount and the second spindle unbalance load compensation amount can be obtained through table lookup.
Because the ambient wind speed, the ambient air density, the power of the wind generating set and the pitch angle can be obtained through actual measurement, the actually measured ambient wind speed, the actually measured ambient air density, the actually measured power of the wind generating set and the actually measured pitch angle are input into the main shaft unbalanced load compensation quantity calculation module, and the main shaft unbalanced load compensation quantity calculation module can directly output the corresponding first main shaft unbalanced load compensation quantity and the corresponding second main shaft unbalanced load compensation quantity after table lookup.
Referring to fig. 11, the D-axis load M of the unbalanced load of the main shaft may be calculated by the main shaft unbalanced load calculation module 29dAnd Q shaft load MqAnd determining the compensation value of the pitch angle according to the unbalanced load of the main shaft and the unbalanced load compensation quantity of the main shaft.
In some optional embodiments, determining the pitch angle compensation value according to the main shaft unbalanced load and the main shaft unbalanced load compensation amount may further include: and subtracting the unbalanced load compensation amount of the main shaft from the unbalanced load of the main shaft, and then determining the compensation value of the pitch angle through PI calculation. Specifically, D-axis load MdSubtracting the corresponding first spindle unbalance load compensation quantity MdoffThen, the pitch angle compensation value A enters a filter 51 for filtering processing, then enters a PI controller 52 for PI calculation, and is subjected to speed limit processing by a speed limit module 53 and position limit processing by a position limit module 54 to obtain a corresponding pitch angle compensation value Ad. Q-axis load MqSubtracting the corresponding first spindle unbalance load compensation quantity MqoffThen, the pitch angle compensation value A enters a filter 61 for filtering processing, then enters a PI controller 62 for PI calculation, and is subjected to speed limit processing by a speed limit module 63 and position limit processing by a position limit module 64 to obtain a corresponding pitch angle compensation value Aq。
Wherein the pitch angle compensation value AdIs expressed as expression (3), the pitch angle compensation value AqIs expressed as expression (4); in the formula KpIs a coefficient in PI control, TiIs an integration time constant in the PI control.
Figure BDA0002483925890000151
Figure BDA0002483925890000152
In step S104, a pitch angle control value is determined based on the pitch angle compensation value. Referring to fig. 12, determining the pitch angle control value according to the pitch angle compensation value may further include the steps of:
and S301, acquiring a unified pitch angle of the wind generating set based on rotation speed control. Wherein the unified pitch angle may be determined from a generator speed of the wind turbine generator set and a set point of the generator speed. It will be appreciated that a uniform pitch angle is one for which each blade is pitched in order for the wind turbine to overcome the no-load drag torque of the drive system. The unified pitch angle θ 0 can be calculated by PI according to the generator speed of the wind turbine generator and the set point of the generator speed, and the calculation formula is as follows:
Figure BDA0002483925890000153
wherein, ω isgAs generator speed, ωrefIs the set point for the generator speed.
In step S302, as shown in fig. 11, the pitch angle compensation value is subjected to Park (Park) inverse transformation by the Park inverse transformer 70 to obtain a pitch angle transformation value of the blade. In particular, the pitch angle compensation value AdAnd AqAnd respectively obtaining a pitch angle transformation value of each blade through Park inverse transformation by the Park inverse transformer 70, wherein the calculation formula of the Park inverse transformation is as the following formula (6):
Figure BDA0002483925890000154
in the formula (I), the compound is shown in the specification,
Figure BDA0002483925890000155
is the rotor azimuth angle and can be measured by the rotor azimuth angle sensor 90. Theta1、θ2、θ3For each blade obtained by inverse Park transformationThe pitch angle transformation value. Considering signal measurement transmission delay and pitch action delay, an azimuth angle compensation quantity delta needs to be introduced into a wind wheel azimuth angle of a Park inverse transformation formula to be added with a pitch angle transformation value of a blade, and the time delay between signal measurement and pitch action is compensated through the azimuth angle compensation quantity delta, so that the formula of the inverse Park inverse transformation can be expressed as a formula (7):
Figure BDA0002483925890000156
step S303, determining the pitch angle control value according to the pitch angle conversion value and the unified pitch angle. Optionally, the pitch of the blades may be controlled by a pitch actuator 80 of the pitch control system, and the obtained pitch angle transformation value is added to the unified pitch angle to obtain a final pitch angle control value of each blade, and the final pitch angle control value is input to the pitch actuator.
In step S105, the blades are controlled to pitch according to the pitch angle control value. Optionally, the pitch angle control value is input into the pitch actuator 80 according to the pitch angle control value, and the pitch actuator 80 controls the pitch driving device to drive and control each blade to pitch.
According to the pitch control method, the load sensor is arranged at the top of the tower, the load of the tower top is obtained through the load sensor to serve as an input signal of independent pitch control, the unbalanced load of the main shaft is determined according to the load of the tower top, and then pitch control is carried out. Compared with the prior art that the sensors are mounted at the blade root positions of the blades, the tower top position is fixed, and the movement of the engine room and the load sensor mounted on the tower top relative to the tower top is small, so that accurate tower top load and main shaft unbalanced load can be obtained, and the reliability of independent variable pitch control is higher. The unbalanced load compensation amount of the main shaft is introduced into the variable pitch control method, so that the target of independent variable pitch control can be flexibly adjusted, and the application range of the independent variable pitch control method is expanded.
Corresponding to the embodiment of the pitch control method of the wind generating set, the application also provides an embodiment of a pitch control system of the wind generating set.
Referring to FIG. 13, a pitch control system of a wind turbine may include a data acquisition module 110, a calculation module 120, and a pitch control module 130. The data acquisition module 110 is configured to acquire operating data of the wind turbine generator system, including parameters such as tower top load, transmission chain torque of the wind turbine generator system, transmission chain elevation of the wind turbine generator system, yaw angle of a nacelle of the wind turbine generator system, power of the wind turbine generator system, pitch angle, ambient wind speed, ambient air density, wind wheel azimuth, generator rotation speed, and set point of generator rotation speed.
The calculating module 120 is configured to determine, according to the data acquired by the data acquiring module 110, a main shaft unbalanced load compensation amount, a wind turbine thrust, a yaw angle, a pitch angle compensation value, a pitch angle transformation value, a unified pitch angle, a pitch angle control value, and the like of the wind turbine generator system. And the pitch control module 130 is used for controlling the pitch of the blades according to the pitch angle control value determined by the calculation module 120.
The pitch control system may perform the pitch control method described above. The implementation process of the functions and actions of the modules is specifically described in the implementation process of the corresponding steps in the method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Referring to fig. 14, the embodiment of the present application further provides a pitch control system 10 applied to a wind turbine generator set, and the pitch control system 10 may perform the pitch control method described above. The pitch control system 10 comprises one or more processors 11 for implementing a pitch control method as described in any of the embodiments above. Embodiments of pitch control system 10 may be applied on a wind turbine generator set. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. Taking a software implementation as an example, as a device in a logical sense, the processor 11 of the wind turbine generator set in which the device is located reads corresponding computer program instructions in the nonvolatile memory into the memory for operation. From a hardware aspect, as shown in fig. 12, the hardware structure diagram of the wind turbine generator system where the pitch control system 10 is located in the present application is shown, except for the processor 11, the internal bus 12, the memory 14, the network interface 13, and the nonvolatile memory 15 shown in fig. 13, the wind turbine generator system where the device is located in the embodiment may also include other hardware according to the actual function of the wind turbine generator, which is not described again.
The Processor 11 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor 11 may be any conventional processor or the like.
The embodiment of the present application further provides a computer-readable storage medium, on which a program is stored, and when the program is executed by the processor 11, the method for controlling a pitch is implemented as described in any of the above embodiments.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the wind turbine generator system according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the wind turbine, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like, provided on the device. Further, the computer readable storage medium may also comprise both an internal storage unit of the wind park and an external storage device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the wind park and may also be used for temporarily storing data that has been or will be output.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims (14)

1. A pitch control method applied to a wind generating set, wherein the wind generating set comprises a tower and a blade, and is characterized in that the method comprises the following steps:
acquiring the tower top load of the tower;
determining the unbalanced load of the main shaft of the wind generating set according to the tower top load, the weight and the size of the wind generating set, the transmission chain torque of the wind generating set, the transmission chain elevation angle of the wind generating set, the wind wheel thrust of the wind generating set and the yaw angle of the cabin of the wind generating set;
determining the compensation amount of the unbalanced load of the main shaft according to the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set, and determining the pitch angle compensation value of the blade according to the unbalanced load of the main shaft and the compensation amount of the unbalanced load of the main shaft;
determining a pitch angle control value according to the pitch angle compensation value; and
and controlling the blades to change the pitch according to the pitch angle control value.
2. The method of claim 1, wherein the method comprises: the tower top load is obtained from a load cell mounted at the top of the tower.
3. The method of claim 2, wherein the spindle imbalance load comprises a first imbalance load component in one coordinate axis and a second imbalance load component in another coordinate axis of a dq coordinate system; determining the unbalanced load of the main shaft of the wind generating set, comprising:
determining the first unbalanced load component according to the Z-axis load component of the tower top load in the Z-axis direction of a tower top coordinate system, the transmission chain torque and the transmission chain elevation; and/or
And determining the second unbalanced load component according to the X-axis load component of the tower top load in the X-axis direction of a tower top coordinate system, the Y-axis load component of the tower top load in the Y-axis direction of the tower top coordinate system, the weight and the size of the wind generating set, the elevation angle of the transmission chain, the thrust of the wind wheel and the yaw angle of the cabin.
4. The method of claim 3, wherein the method comprises: and determining the thrust of the wind wheel according to the power, the pitch angle, the ambient wind speed and the ambient air density of the wind generating set.
5. The method of claim 4, wherein determining the rotor thrust from the power, pitch angle, ambient wind speed, and ambient air density of the wind turbine generator set comprises:
and determining the thrust of the wind wheel according to the power, the pitch angle, the ambient wind speed and the first relation corresponding table of the ambient air density and the thrust of the wind wheel of the wind generating set.
6. The method of claim 3, wherein the method comprises:
determining a relative angle of an axis of the nacelle at an initial position with respect to a mounting axis of the load sensor;
and calculating the difference value between the actually measured yaw angle of the cabin in the running process and the relative angle to obtain the yaw angle.
7. The method of claim 6, wherein determining a relative angle of the nacelle at an initial position with respect to the load sensor comprises:
controlling the cabin to rotate at least one circle;
acquiring a plurality of load values measured by the load sensor in the rotation process of the cabin;
determining the relative angle from the plurality of load values.
8. The method of claim 1, wherein determining the main shaft imbalance load compensation amount based on the power of the wind turbine, a pitch angle, an ambient wind speed, and an ambient air density comprises:
and determining the main shaft unbalanced load compensation amount according to the power, the pitch angle, the ambient wind speed and a second relation corresponding table of the ambient air density and the main shaft unbalanced load compensation amount of the wind generating set.
9. The method of claim 1, wherein determining the pitch angle compensation value based on the main shaft imbalance load and the main shaft imbalance load compensation amount comprises:
and subtracting the unbalanced load compensation amount of the main shaft from the unbalanced load of the main shaft, and then determining the compensation value of the pitch angle through PI calculation.
10. The method according to claim 1, wherein determining the pitch angle control value from the pitch angle compensation value comprises:
obtaining a unified pitch angle of the wind generating set based on rotation speed control;
performing D-Q inverse transformation on the pitch angle compensation value to obtain a pitch angle transformation value of the blade;
and determining the pitch angle control value according to the pitch angle transformation value and the unified pitch angle.
11. The method of claim 10, wherein obtaining a uniform pitch angle of the wind turbine generator set based on rotational speed control comprises:
and determining the unified pitch angle according to the generator rotating speed of the wind generating set and the set point of the generator rotating speed.
12. A pitch control system for a wind park comprising one or more processors for implementing a pitch control method according to any of claims 1-11.
13. A computer readable storage medium, characterized in that a program is stored thereon, which program, when being executed by a processor, is adapted to carry out a pitch control method according to any one of claims 1-11.
14. A wind turbine generator set, comprising:
a tower;
the engine room is arranged on the top of the tower;
the load sensor is arranged at the top of the tower and used for acquiring the load of the top of the tower;
the wind wheel is arranged on the engine room and comprises a hub and blades arranged on the hub;
the variable-pitch driving device is connected with the blades;
a pitch control system according to claim 12, for controlling the pitch drive arrangement to drive the blades to pitch.
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