CN111622904B - 对称翼型垂直轴风力机的变桨控制方法及系统 - Google Patents
对称翼型垂直轴风力机的变桨控制方法及系统 Download PDFInfo
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Abstract
本发明提供了一种对称翼型垂直轴风力机的变桨控制方法及系统,通过风速仪、风向仪和角度传感器采集数据,基于桨距角控制规律输出最优桨距角,通过变桨控制机构将风力机桨距角控制到最优桨距角。本发明提供的优点在于:所采用的控制规律的输入为风速vin和桨叶方位角Ψ,除这两个变量外,还与桨叶旋转半径R、转速Ω、气动系数c1、c2和c3等常量有关,雷诺数对三个气动系数c1、c2、c3的影响较小,因此该控制规律适用于各种风况;变桨执行机构控制调整杆实现对桨叶的自主变桨控制,变桨控制规律表达式简洁,计算时间短,响应速度快,解决了变桨控制滞后的缺陷。
Description
技术领域
本发明涉及风力机变桨控制技术领域,尤其涉及一种对称翼型垂直轴风力机的变桨控制方法及系统。
背景技术
垂直轴风力发电机的风轮旋转轴垂直于底面或气流,在风向改变时无需对风,相对于水平轴风力发电机不仅结构设计简化,而且减少了风轮对风时的陀螺力。但垂直轴风力机存在自启能力差、风能利用率低等缺点,变桨距控制是优化垂直轴风力机气动性能和风能利用率的一种有效措施,现有技术中有大量关于水平轴风力机的变桨控制方法,但由于两种风力机运行方式不同,这些控制方法不能直接应用于垂直轴风力机;目前垂直轴风力机采用的变桨方式主要有:(1)利用偏心机构设置周期变化的桨距角进行调节;(2)通过数值仿真和优化算法确定最优桨距角进行实时控制。利用偏心机构的调节通常自主性差;通过优化算法的实时调节,如果迭代算法复杂,易出现变桨控制滞后的问题,且实时调节多依据某一具体雷诺数下的风况进行设置,缺乏普适性。
公开号为CN102889177A的发明专利申请公开了一种H型垂直轴风力发电系统变桨距角结构及控制方法,通过实时采集风向、风速信号和风机叶片位置信号,并将风速与设定的切出风速进行比较,并结合风向给出变桨控制的结果,提高垂直轴风力发电机的自启动能力和切向力,但其控制逻辑相对复杂,存在响应时间长,变桨控制滞后的问题。
发明内容
本发明所要解决的技术问题在于提供一种针对对称翼型直叶片高尖速比垂直轴风力机变桨控制的方法及系统。
本发明是通过以下技术方案解决上述技术问题的:对称翼型垂直轴风力机的变桨控制方法,风力机包括连杆,连杆两端分别设置有一个对称的桨叶,连杆的中心设置有一个垂直地面的转轴,所述转轴上设置有控制桨叶的变桨执行机构,变桨执行机构设置有与桨叶连接的调整杆,风力机上还设置有风向仪和风速仪,连杆上设置有角度传感器;变桨执行机构的最优桨距角控制规律为:
其中,θp为最优桨距角,Ψ为桨叶方位角,即风向沿逆时针旋转到翼型圆周内法线时转过的角度,过风向仪和角度传感器的数值即可得到桨叶方位角;为叶尖速度比,R为旋转半径,Ω为转速,vin为风速,即风速仪的数值;
c1、c2和c3为升力系数表达式CL(α)=c1α+c3α3和阻力系数表达式CD(α)=c0+c2α2中的气动系数,α为攻角,表示相对风速vr与翼型弦线之间的夹角,vr=vin-RΩ;将根据控制规律得到的桨距角输出给变桨执行机构,所述变桨执行机构控制调整杆对桨叶进行变桨控制。
本发明所采用的控制规律的输入为风速vin和桨叶方位角Ψ,除这两个变量外,还与桨叶旋转半径R、转速Ω、气动系数c1、c2和c3等常量有关,由常用翼型的气动实验数据可知,雷诺数对三个气动系数c1、c2、c3的影响较小,因此该控制规律适用于各种风况;通过风向仪和角度传感器的数值即可求出桨叶方位角Ψ,通过风速仪可直接获得风速的数值vin;计算结果输出给变桨执行机构,变桨执行机构控制调整杆实现对桨叶的自主变桨控制,提高不同风况下桨叶变桨控制的普适性,变桨控制规律表达式简洁,计算时间短,响应速度快,解决了变桨控制滞后的缺陷。
优选的,所述调整杆为液压伸缩杆,所述变桨控制机构的信号输出端与液压系统通信连接。
本发明还提供了一种对称翼型垂直轴风力机的变桨控制系统,包括连杆,连杆两端分别设置有一个对称的桨叶,连杆的中心设置有一个垂直地面的转轴,所述转轴上设置有控制桨叶的变桨执行机构,变桨执行机构设置有与桨叶连接的调整杆,风力机上还设置有风向仪和风速仪,连杆上设置有角度传感器,风速仪、风向仪和角度传感器的信号输出端与控制器通信连接,控制器的信号输出端与变桨执行机构通信连接;所述控制器基于风速仪和风向仪的采集数据输出控制桨距角,控制器的控制规律为
c1、c2和c3为升力系数表达式CL(α)=c1α+c3α3和阻力系数表达式CD(α)=c0+c2α2中的气动系数,α为攻角,表示相对风速vr与翼型弦线之间的夹角,vr=vin-RΩ。
本发明提供的对称翼型垂直轴风力机的变桨控制方法及系统的优点在于:所采用的控制规律的输入为风速vin和桨叶方位角Ψ,除这两个变量外,还与桨叶旋转半径R、转速Ω、气动系数c1、c2和c3等常量有关,由常用翼型的气动实验数据可知,雷诺数对三个气动系数c1、c2、c3的影响较小,因此该控制规律适用于各种风况;通过风向仪和角度传感器的参数即可求出桨叶方位角Ψ,通过风速仪可直接获得风速的数值vin;计算结果输出给变桨执行机构,变桨执行机构控制调整杆实现对桨叶的自主变桨控制,提高不同风况下桨叶变桨控制的普适性,变桨控制规律表达式简洁,计算时间短,响应速度快,解决了变桨控制滞后的缺陷。
附图说明
图1为本发明的实施例提供的风力机模型图;
图2为本发明的实施例提供的变桨结构的模型图;
图3为本发明的实施提供的变桨控制流程图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白,以下结合具体实施例,并参照附图,对本发明作进一步的详细说明。
本实施例提供了一种针对对称翼型垂直轴风力机的变桨控制方法,风力机的简化模型如图1所示,包括连杆1,连杆1两端分别设置有一个对称的桨叶2,连杆1的中心设置有一个垂直地面的转轴(图未示),所述转轴上设置有控制桨叶2的变桨执行机构3,变桨执行机构3设置有与桨叶2连接的调整杆4,所述桨叶2分别与连杆1和调整杆4铰接配合,调整杆4能够伸缩改变长度,风力机上还设置有风向仪5和风速仪6,结合图2,所述连杆1上设置角度传感器7;则求解变桨控制规律转换为翼型气动转矩的最大值问题,翼型气动转矩表示为
其中,M为翼型气动转矩,θp为最优桨距角,c为翼型弦长,ρa为空气密度,vr为相对风速,计算公式为vr=vin-RΩ,其中粗体表示矢量,非粗体表示数值大小,vin为风速,通过风速仪6测量获得,R为旋转半径,Ω为转速,Ψ为桨叶方位角,即风向沿逆时针旋转到翼型圆周内法线时转过的角度,通过风向仪5和角度传感器7的数值即可得到桨叶方位角,为叶尖速度比,
c1、c2和c3为升力系数表达式CL(α)=c1α+c3α3和阻力系数表达式CD(α)=c0+c2α2中的气动系数,这些系数可参考已公开的数据,或者通过翼型的实验数据或CFD计算数据得出;α为攻角,表示相对风速vr与翼型弦线之间的夹角;
则求解得到的最优桨距角控制规律为:
根据控制规律计算得到桨距角,并输出给变桨执行机构3,所述变桨执行机构3控制调整杆4对桨叶2进行变桨控制即可。
所述调整杆4优选为液压伸缩杆,所述变桨执行机构3的信号输出端与液压系统通信连接,变桨执行机构3输出信号控制液压的动作,从而改变调整杆4的长度,实现对桨叶2的变桨控制。
本实施例以翼型气动转矩最大值对应的桨距角作为最优桨距角,由此得到的变桨控制规律能够使翼型气动转矩在当前风况下最大,以此规律控制变桨能够提高风能利用率和自启能力,克服了现有技术的缺陷。
参考图3,该控制规律的输入为风速vin和桨叶方位角Ψ,除这两个变量外,还与桨叶旋转半径R、转速Ω、气动系数c1、c2和c3等常量有关,由常用翼型的气动实验数据可知,雷诺数对三个气动系数c1、c2、c3的影响较小,因此该控制规律适用于各种风况。
通过风向仪5和角度传感器7的参数即可求出桨叶方位角Ψ,通过风速仪6可直接获得风速的数值vin;计算结果输出给变桨执行机构3,变桨执行机构3控制调整杆4实现对桨叶2的自主变桨控制,提高不同风况下叶片变桨控制的普适性,变桨控制规律表达式简洁,计算时间短,响应速度快,解决了变桨控制滞后的缺陷。
本实施例还提供了一种对称翼型垂直轴风力机的变桨控制系统,包括连杆1,连杆1两端分别设置有一个对称的桨叶2,连杆1的中心设置有一个垂直地面的转轴(图未示),所述转轴上设置有控制桨叶2的变桨执行机构3,变桨执行机构3设置有与桨叶2连接的调整杆4,风力机上还设置有风向仪5和风速仪6,连杆1上设置角度传感器7;风速仪6、风向仪5和角度传感器7的信号输出端与控制器(图未示)通信连接,控制器的信号输出端与变桨执行机构3通信连接;所述控制器基于风速仪5、风向仪6和角度传感器7的采集数据输出控制桨距角,控制器的控制规律为
c1、c2和c3为升力系数表达式CL(α)=c1α+c3α3和阻力系数表达式CD(α)=c0+c2α2中的气动系数,α为攻角,表示相对风速vr与翼型弦线之间的夹角,vr=vin-RΩ。
Claims (3)
1.一种对称翼型垂直轴风力机的变桨控制方法,其特征在于:风力机包括连杆,连杆两端分别设置有一个对称的桨叶,连杆的中心设置有一个垂直地面的转轴,所述转轴上设置有控制桨叶的变桨执行机构,变桨执行机构设置有与桨叶连接的调整杆,所述调整杆为液压伸缩杆,风力机上还设置有风向仪和风速仪,连杆上设置有角度传感器;则变桨执行机构的最优桨距角控制规律为:
其中,θp为最优桨距角,Ψ为桨叶方位角,即风向沿逆时针旋转到翼型圆周内法线时转过的角度,通过风向仪和角度传感器的数值即可得到桨叶方位角;为叶尖速度比,R为旋转半径,Ω为转速,vin为风速,即风速仪的数值;将根据控制规律得到的桨距角输出给变桨执行机构,所述变桨执行机构控制调整杆对桨叶进行变桨控制;
c1、c2和c3为升力系数表达式CL(α)=c1α+c3α3和阻力系数表达式CD(α)=c0+c2α2中的气动系数,α为攻角,表示相对风速vr与翼型弦线之间的夹角,vr=vin-RΩ;将根据控制规律得到的桨距角输出给变桨执行机构,所述变桨执行机构控制调整杆对桨叶进行变桨控制。
2.根据权利要求1所述的一种对称翼型垂直轴风力机的变桨控制方法,其特征在于:所述变桨控制机构的信号输出端与液压系统通信连接。
3.一种对称翼型垂直轴风力机的变桨控制系统,其特征在于:包括连杆,连杆两端分别设置有一个对称的桨叶,连杆的中心设置有一个垂直地面的转轴,所述转轴上设置有控制桨叶的变桨执行机构,变桨执行机构设置有与桨叶连接的调整杆,所述调整杆为液压伸缩杆,风力机上还设置有风向仪和风速仪,连杆上设置有角度传感器,风速仪、风向仪和角度传感器的信号输出端与控制器通信连接,控制器的信号输出端与变桨执行机构通信连接;所述控制器基于风速仪和风向仪的采集数据输出控制桨距角,控制器的控制规律为
c1、c2和c3为升力系数表达式CL(α)=c1α+c3α3和阻力系数表达式CD(α)=c0+c2α2中的气动系数,α为攻角,表示相对风速vr与翼型弦线之间的夹角,vr=vin-RΩ;将根据控制规律得到的桨距角输出给变桨执行机构,所述变桨执行机构控制调整杆对桨叶进行变桨控制。
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