CN111980868B - Method for inhibiting pitching motion of floating type double-impeller wind turbine generator basic platform - Google Patents

Method for inhibiting pitching motion of floating type double-impeller wind turbine generator basic platform Download PDF

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CN111980868B
CN111980868B CN202010902991.8A CN202010902991A CN111980868B CN 111980868 B CN111980868 B CN 111980868B CN 202010902991 A CN202010902991 A CN 202010902991A CN 111980868 B CN111980868 B CN 111980868B
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impeller
platform
inclination angle
additional
instruction
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CN111980868A (en
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李刚
马冲
邹荔兵
张启应
陈思范
刘凡鹰
魏煜锋
任永
卢军
王超
李友龙
石宇峰
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MingYang Smart Energy 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
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • F03D13/22—Foundations specially adapted for wind motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • 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
    • F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor 
    • F03D1/02—Wind motors with rotation axis substantially parallel to the air flow entering the rotor  having a plurality of rotors
    • 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
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
    • 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
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • 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
    • F03D7/0272—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor by measures acting on the electrical generator
    • 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
    • F03D7/0276—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
    • G06F7/38—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation
    • G06F7/48—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation using non-contact-making devices, e.g. tube, solid state device; using unspecified devices
    • G06F7/57—Arithmetic logic units [ALU], i.e. arrangements or devices for performing two or more of the operations covered by groups G06F7/483 – G06F7/556 or for performing logical operations
    • G06F7/575—Basic arithmetic logic units, i.e. devices selectable to perform either addition, subtraction or one of several logical operations, using, at least partially, the same circuitry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B63B2035/4433—Floating structures carrying electric power plants
    • B63B2035/446—Floating structures carrying electric power plants for converting wind energy into electric energy
    • 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
    • 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
    • Y02E10/727—Offshore wind turbines
    • 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
    • Y02E10/728—Onshore wind turbines

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  • Wind Motors (AREA)

Abstract

The invention discloses a method for inhibiting pitching motion of a basic platform of a floating double-impeller wind turbine generator, which is characterized in that the method is based on the postures of a cabin and the basic platform measured by an inclination angle sensor and used as feedback quantity input controllers, and the generator torque instructions and blade pitch-changing instructions of two impellers are obtained through calculation of a control algorithm, so that the motion of the floating basic platform is controlled. In a word, the invention reduces the amplitude of the movement of the floating type basic platform in the pitching direction, and simultaneously has little influence (can be basically ignored) on the rotation speed control and the power output of the impeller, thereby ensuring the safe and stable operation of the unit.

Description

Method for inhibiting pitching motion of floating type double-impeller wind turbine generator basic platform
Technical Field
The invention relates to the technical field of floating type double-impeller wind turbine generator basic platforms, in particular to a method for inhibiting pitching motion of a floating type double-impeller wind turbine generator basic platform.
Background
With the development of wind power technology, onshore wind power is fully developed, and a new development direction is towards offshore wind power. For offshore and shallow sea, the foundation of the wind turbine generator mainly adopts a fixed foundation, such as a single-pile foundation and a jacket foundation; for deep and open sea, the cost will increase dramatically due to the use of fixed foundations, while the use of floating foundations is the best solution. Statistically, about 80% of the global offshore wind energy resource potential is located in deep sea areas, and therefore floating offshore wind power will dominate future wind power development. At present, only a few offshore floating type wind power prototype projects are available in the world, and the projects are mainly concentrated in European sea areas. Wherein the Hywind Tampen project is located in the North Norway sea; the EolMed-GruissanFloating project is located in the Mediterranean region of France; the WindFloat Atlantic project is located in the Atlantic sea area.
For the floating wind turbine generator, because the foundation is floating on the water surface rather than fixed, under the combined action of wind, wave and current, the floating foundation platform moves or tilts relative to the water surface. The low-frequency motion of the floating type basic platform is mutually coupled with the variable pitch rotating speed control, so that the pitching direction motion of the unit is greatly increased, and the stable operation of the unit is very unfavorable. To restrain the floating foundation platform from moving, a damping plate can be added under the foundation platform, or an underwater propeller can be added, but the hardware cost is increased. In addition, the movement of the floating type basic platform can be restrained to a certain extent by reducing the bandwidth frequency of the variable pitch rotating speed control loop, but the control effect of the rotating speed of the impeller is reduced, and the power fluctuation is obviously increased. Therefore, an effective control method is needed, which can inhibit the movement of the floating type basic platform and simultaneously does not affect the stable output of the rotating speed and the power.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for inhibiting the pitching motion of a basic platform of a floating type double-impeller wind turbine generator, the method is based on the postures of an engine room and the basic platform measured by a tilt angle sensor and used as feedback quantity input into a controller, and the generator torque instruction and the blade pitch instruction of two impellers are obtained through calculation of a control algorithm so as to control the motion of the floating type basic platform.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: a method for restraining pitching motion of a basic platform of a floating type double-impeller wind turbine generator system is characterized in that the floating type double-impeller wind turbine generator system is that two fans share one floating type basic platform through a Y-shaped tower, the two fans are respectively arranged on the left end part and the right end part of the Y-shaped tower through respective yaw driving systems, the bottom of the Y-shaped tower is fixed on the floating type basic platform, and the rotating directions of the impellers of the two fans are opposite to offset the centrifugal force of the two fans; the method comprises the steps that firstly, tilt sensors are respectively arranged in engine rooms of a left fan and a right fan and used for measuring a pitching tilt angle of the engine rooms, the tilt sensors are arranged on a floating type basic platform and used for measuring a pitching tilt angle of the platform, and then the following operations are carried out according to pitching tilt angle data of the engine rooms and the platform:
1) obtaining an additional pitch instruction by calculating the inclination angle of the nacelle
The pitching motion of the unit and the platform thereof is reflected by the inclination angle of the engine room, and in order to inhibit the pitching motion of the unit, a thrust and a bending moment are expected to be provided on the impeller to correspond to the speed of the inclination angle of the engine room, so that the damping of the pitching motion of the unit is increased; the inclination angle of the engine room needs to be differentiated to obtain the change rate of the inclination angle, namely the inclination angle speed, and the filtered inclination angle of the engine room is thetarAnd thetalIndicating, respectively, a right-hand nacelle inclination and a left-hand nacelle inclination;
Figure GDA0002961838910000021
wherein, γr,1、γr,2、γr,3Respectively indicating the three blade additional variable pitch instructions of the right-side impeller obtained by calculation; k1And K2Respectively representing thrust gain and bending moment gain from a nacelle inclination angle to variable pitch; d thetarDt is the rate of change of the right side cabin inclination;
Figure GDA0002961838910000022
the azimuth angle of the right impeller, the blade in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the right impeller;
the additional pitch command for the left-hand impeller defines the formula as follows:
Figure GDA0002961838910000031
wherein, γl,1、γl,2、γl,3Respectively indicating the three blades of the left impeller obtained by calculation and adding a variable pitch instruction; k1And K2Respectively representing thrust gain and bending moment gain from a nacelle inclination angle to variable pitch; d thetalDt is the rate of change of left side nacelle inclination;
Figure GDA0002961838910000032
the azimuth angle of the left impeller, the blade in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the left impeller;
2) additional variable pitch instruction is obtained by calculating the inclination angle of the floating type basic platform
The inclination angle of the floating type basic platform mainly reflects the pitching motion condition of the platform, the frequency of the platform motion is concentrated on a low-frequency part, the filtered platform inclination angle is represented by phi, and an additional variable pitch instruction definition formula of the right impeller obtained by the platform inclination angle is as follows:
Figure GDA0002961838910000033
wherein, deltar,1、δr,2、δr,3Respectively indicating the three blade additional variable pitch instructions of the right-side impeller obtained by calculation; d1、D2Respectively representing the thrust gain and the bending moment gain from the platform inclination angle to the variable pitch; d Φ/dt is the rate of change of the platform inclination;
Figure GDA0002961838910000034
the azimuth angle of the right impeller, the blade in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the right impeller;
the definition formula of the additional variable pitch instruction of the left impeller obtained by the platform inclination angle is as follows:
Figure GDA0002961838910000035
wherein, deltal,1、δl,2、δl,3Respectively indicating the three blades of the left impeller obtained by calculation and adding a variable pitch instruction; d1、D2Respectively representing the thrust gain and the bending moment gain from the platform inclination angle to the variable pitch; d Φ/dt is the rate of change of the platform inclination;
Figure GDA0002961838910000041
the azimuth angle of the left impeller, the blade in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the left impeller;
3) additional torque command is obtained by calculating the inclination angle of the cabin
The pitching motion of the floating type basic platform is controlled by controlling the torque instruction of the generator, changing the rotating speed of the impeller and further changing the thrust of the impeller, and the formula is defined from the inclination angle of the cabin to the additional torque instruction of the impeller generator on the right side as follows:
Tr＝B·(dθr/dt)
wherein, TrRepresenting the additional torque of the generator based on the right-hand nacelle inclination, B is the gain factor from the nacelle inclination to the generator torque, d θrDt is the rate of change of the right side cabin inclination;
the additional torque command from the nacelle pitch angle to the left impeller generator defines the formula as follows:
Tl＝B·(dθl/dt)
wherein, TlRepresenting the additional torque of the generator based on the left-hand nacelle inclination, B is the gain factor from the nacelle inclination to the generator torque, d θlDt is the rate of change of left side nacelle inclination;
4) additional torque instruction is obtained through calculation of floating type foundation platform inclination angle
The additional torque command from platform pitch to right impeller generator defines the formula as follows:
Qr＝C·(dΦ/dt)
wherein Q isrRepresenting the additional torque of the right impeller generator calculated based on the platform inclination angle, wherein C is a gain coefficient from the platform inclination angle to the generator torque, and d phi/dt is the change rate of the platform inclination angle;
the additional torque command from platform pitch to left impeller generator defines the formula as follows:
Ql＝C·(dΦ/dt)
wherein Q islRepresenting the additional torque of the left impeller generator calculated based on the platform inclination angle, C is a gain coefficient from the platform inclination angle to the generator torque, and d phi/dt is the change rate of the platform inclination angle;
5) calculating to obtain a final additional variable pitch instruction and an additional torque instruction
The final additional pitch-changing instruction of the right-side impeller comprises an additional pitch-changing instruction obtained by calculating the inclination angle of the nacelle and an additional pitch-changing instruction obtained by calculating the inclination angle of the platform, and comprises the following steps:
Figure GDA0002961838910000051
wherein, betar,1、βr,2、βr,3Adding a variable pitch instruction for the three final blades of the right-side impeller;
the final additional pitch-changing instruction of the left-side impeller comprises an additional pitch-changing instruction obtained by calculating the inclination angle of the nacelle and an additional pitch-changing instruction obtained by calculating the inclination angle of the platform, and the additional pitch-changing instruction comprises the following steps:
Figure GDA0002961838910000052
wherein, betal,1、βl,2、βl,3Adding a variable pitch instruction for the three final blades of the left-side impeller;
the final additional torque command for the right impeller is as follows:
Gr＝Tr+Qr
wherein G isrAdding a torque command to the final right impeller generator;
the final additional torque command for the left impeller is as follows:
Gl＝Tl+Ql
wherein G islAdding a torque command to the final left impeller generator;
the final additional pitch instruction obtained through calculation needs to be superposed with a pitch instruction output by the pitch rotating speed control and then transmitted to a pitch actuating mechanism of the unit, and the final additional torque instruction needs to be superposed with a torque instruction output by the torque rotating speed control and then transmitted to a frequency converter of the unit so as to execute the torque of the generator.
Further, the performance index requirements of the tilt sensor installed on the engine room and the floating type basic platform are the same, and the requirements on the tilt sensor are as follows: the bandwidth should cover the natural frequency of the floating type basic platform, the amplitude-frequency characteristic is good, the external acceleration interference can be resisted, the sampling frequency is higher than 50Hz, the inclination angle measurement precision is higher than 0.1 degree, high-frequency noise caused by vibration is filtered, and the communication reliability and the judgment accuracy are guaranteed.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the control scheme of the invention is simple and reliable, and only tilt sensors are needed to be arranged on the engine room and the floating type base platform without increasing the cost of other hardware. The motion of the platform is controlled by adding a variable pitch instruction and a generator torque instruction, so that the decoupling of variable pitch control and the motion of the platform is realized, and the motion stability of the floating type basic platform can be obviously improved. In a word, the invention reduces the amplitude of the movement of the floating type basic platform in the pitching direction, and simultaneously has little influence (can be basically ignored) on the rotation speed control and the power output of the impeller, thereby ensuring the safe and stable operation of the unit.
Drawings
Fig. 1 is a schematic diagram of a floating type double-impeller wind turbine generator.
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
In this embodiment, the application object is a floating type double-impeller wind turbine generator, as shown in fig. 1, the generator specifically includes two fans sharing a floating type base platform through a Y-shaped tower, the two fans are respectively installed on the left and right end portions of the Y-shaped tower through respective yaw driving systems, the bottom of the Y-shaped tower is fixed on the floating type base platform, and the rotation directions of the impellers of the two fans are opposite to offset the centrifugal force of the two fans.
As shown in fig. 2, in the method for suppressing the pitching motion of the floating type dual-impeller wind turbine generator basic platform provided by this embodiment, tilt sensors are required to be installed in the engine rooms of the left and right wind turbines, respectively, for measuring the pitching tilt angle of the engine room, and since the natural frequency of the movement of the floating type basic platform is very low, and the frequency of the movement is near 0.05Hz, the requirements for the tilt sensors are as follows: the bandwidth should cover the inherent frequency of the platform, the amplitude-frequency characteristic is good, the external acceleration interference can be resisted, the sampling frequency is 50Hz or above, the inclination angle measurement precision is higher than 0.1 degree, the inclination angle sensor also needs to filter high-frequency noise caused by vibration, and the communication reliability and the judgment accuracy are guaranteed.
And the floating type base platform is also provided with an inclination angle sensor, the performance index requirement of the inclination angle sensor is the same as that of the cabin, and the inclination angle sensor is used for measuring the pitching inclination angle motion of the floating type base platform.
The inclination angle data measured by the inclination angle sensor of the engine room and the inclination angle of the inclination angle sensor on the floating type basic platform reflect the motion condition of the floating type double-impeller wind turbine generator. Because the inclination angle measurement signal may contain a high-frequency unit vibration signal, the inclination angle measurement signal also needs to be subjected to data preprocessing, such as filtering out a high-frequency noise signal through band-pass filtering and band-stop filtering, and then the following operations are performed according to the pitching inclination angle data of the cabin and the platform:
1) obtaining an additional pitch instruction by calculating the inclination angle of the nacelle
The pitching motion of the unit and the platform thereof is reflected by the inclination angle of the engine room, and in order to inhibit the pitching motion of the unit, a thrust and a bending moment are expected to be provided on the impeller to correspond to the speed of the inclination angle of the engine room, so that the damping of the pitching motion of the unit is increased; the inclination angle of the engine room needs to be differentiated to obtain the change rate of the inclination angle, namely the inclination angle speed, and the filtered inclination angle of the engine room is thetarAnd thetalIndicating, respectively, a right-hand nacelle inclination and a left-hand nacelle inclination;
Figure GDA0002961838910000071
wherein, γr,1、γr,2、γr,3Respectively indicating the three blade additional variable pitch instructions of the right-side impeller obtained by calculation; k1And K2Respectively representing thrust gain and bending moment gain from a nacelle inclination angle to variable pitch; d thetarDt is the rate of change of the right side cabin inclination;
Figure GDA0002961838910000072
the azimuth angle of the right impeller, the blade (blade 1) in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the right impeller;
the additional pitch command for the left-hand impeller defines the formula as follows:
Figure GDA0002961838910000081
wherein, γl,1、γl,2、γl,3Respectively indicating the three blades of the left impeller obtained by calculation and adding a variable pitch instruction; k1And K2Respectively representing thrust gain and bending moment gain from a nacelle inclination angle to variable pitch; d thetalDt is the rate of change of left side nacelle inclination;
Figure GDA0002961838910000082
is the azimuth angle of the left-hand impeller, the blade (blade 1) at 12 o' clock is defined as the zero degree starting point, and the positive direction is the left-hand impeller rotation direction.
2) Additional variable pitch instruction is obtained by calculating the inclination angle of the floating type basic platform
The inclination angle of the floating type basic platform mainly reflects the pitching motion condition of the platform, the frequency of the platform motion is concentrated on a low-frequency part, the filtered platform inclination angle is represented by phi, and an additional variable pitch instruction definition formula of the right impeller obtained by the platform inclination angle is as follows:
Figure GDA0002961838910000083
wherein, deltar,1、δr,2、δr,3Respectively indicating the three blade additional variable pitch instructions of the right-side impeller obtained by calculation; d1、D2Respectively representing the thrust gain and the bending moment gain from the platform inclination angle to the variable pitch; d Φ/dt is the rate of change of the platform inclination;
Figure GDA0002961838910000084
the azimuth angle of the right impeller, the blade (blade 1) in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the right impeller;
the definition formula of the additional variable pitch instruction of the left impeller obtained by the platform inclination angle is as follows:
Figure GDA0002961838910000085
wherein, deltal,1、δl,2、δl,3Respectively indicating the three blades of the left impeller obtained by calculation and adding a variable pitch instruction; d1、D2Respectively representing the thrust gain and the bending moment gain from the platform inclination angle to the variable pitch; d Φ/dt is the rate of change of the platform inclination;
Figure GDA0002961838910000086
is the azimuth angle of the left-hand impeller, the blade (blade 1) at 12 o' clock is defined as the zero degree starting point, and the positive direction is the left-hand impeller rotation direction.
3) Additional torque command is obtained by calculating the inclination angle of the cabin
The pitching motion of the floating type basic platform is controlled by controlling the torque instruction of the generator, changing the rotating speed of the impeller and further changing the thrust of the impeller, and the formula is defined from the inclination angle of the cabin to the additional torque instruction of the impeller generator on the right side as follows:
Tr＝B·(dθr/dt)
wherein, TrRepresenting the additional torque of the generator based on the right-hand nacelle inclination, B is the gain factor from the nacelle inclination to the generator torque, d θrDt is the rate of change of the right side cabin inclination;
the additional torque command from the nacelle pitch angle to the left impeller generator defines the formula as follows:
Tl＝B·(dθl/dt)
wherein, TlRepresenting the additional torque of the generator based on the left-hand nacelle inclination, B is the gain factor from the nacelle inclination to the generator torque, d θlAnd/dt is the rate of change of left side nacelle inclination.
4) Additional torque instruction is obtained through calculation of floating type foundation platform inclination angle
The additional torque command from platform pitch to right impeller generator defines the formula as follows:
Qr＝C·(dΦ/dt)
wherein Q isrRepresenting the additional torque of the right impeller generator calculated based on the platform inclination angle, wherein C is a gain coefficient from the platform inclination angle to the generator torque, and d phi/dt is the change rate of the platform inclination angle;
the additional torque command from platform pitch to left impeller generator defines the formula as follows:
Ql＝C·(dΦ/dt)
wherein Q islRepresenting the left hand impeller generator parasitic torque calculated based on platform inclination, C is the gain factor from platform inclination to generator torque, and d Φ/dt is the rate of change of platform inclination.
5) Calculating to obtain a final additional variable pitch instruction and an additional torque instruction
The final additional pitch-changing instruction of the right-side impeller comprises an additional pitch-changing instruction obtained by calculating the inclination angle of the nacelle and an additional pitch-changing instruction obtained by calculating the inclination angle of the platform, and comprises the following steps:
Figure GDA0002961838910000101
wherein, betar,1、βr,2、βr,3Adding a variable pitch instruction for the three final blades of the right-side impeller;
the final additional pitch-changing instruction of the left-side impeller comprises an additional pitch-changing instruction obtained by calculating the inclination angle of the nacelle and an additional pitch-changing instruction obtained by calculating the inclination angle of the platform, and the additional pitch-changing instruction comprises the following steps:
Figure GDA0002961838910000102
wherein, betal,1、βl,2、βl,3Adding a variable pitch instruction for the three final blades of the left-side impeller;
the final additional torque command for the right impeller is as follows:
Gr＝Tr+Qr
wherein G isrAdding a torque command to the final right impeller generator;
the final additional torque command for the left impeller is as follows:
Gl＝Tl+Ql
wherein G islA torque command is added to the final left hand impeller generator.
The final additional pitch instruction obtained through calculation needs to be superposed with a pitch instruction output by the pitch rotating speed control and then transmitted to a pitch actuating mechanism of the unit, and the final additional torque instruction needs to be superposed with a torque instruction output by the torque rotating speed control and then transmitted to a frequency converter of the unit so as to execute the torque of the generator.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims (2)

1. A method for restraining pitching motion of a basic platform of a floating type double-impeller wind turbine generator system is characterized in that the floating type double-impeller wind turbine generator system is that two fans share one floating type basic platform through a Y-shaped tower, the two fans are respectively arranged on the left end part and the right end part of the Y-shaped tower through respective yaw driving systems, the bottom of the Y-shaped tower is fixed on the floating type basic platform, and the rotating directions of the impellers of the two fans are opposite to offset the centrifugal force of the two fans; the method is characterized in that: firstly, tilt sensors are respectively arranged in the engine rooms of a left fan and a right fan and used for measuring the pitching tilt angle of the engine rooms, the tilt sensors are arranged on a floating type basic platform and used for measuring the pitching tilt angle of the platform, and then the following operations are carried out according to the pitching tilt angle data of the engine rooms and the platform:
1) obtaining an additional pitch instruction by calculating the inclination angle of the nacelle
The pitching motion of the unit and the platform thereof is reflected by the inclination angle of the engine room, and in order to inhibit the pitching motion of the unit, a thrust and a bending moment are expected to be provided on the impeller to correspond to the speed of the inclination angle of the engine room, so that the damping of the pitching motion of the unit is increased; the inclination angle of the cabin needs to be firstlyObtaining the change rate of the inclination angle, namely the inclination angle speed, and the inclination angle theta of the filtered engine room through differential operationrAnd thetalIndicating, respectively, a right-hand nacelle inclination and a left-hand nacelle inclination;
Figure FDA0002660398250000011
wherein, γr,1、γr,2、γr,3Respectively indicating the three blade additional variable pitch instructions of the right-side impeller obtained by calculation; k1And K2Respectively representing thrust gain and bending moment gain from a nacelle inclination angle to variable pitch; d thetarDt is the rate of change of the right side cabin inclination;
Figure FDA0002660398250000012
the azimuth angle of the right impeller, the blade in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the right impeller;
the additional pitch command for the left-hand impeller defines the formula as follows:
Figure FDA0002660398250000013
wherein, γl,1、γl,2、γl,3Respectively indicating the three blades of the left impeller obtained by calculation and adding a variable pitch instruction; k1And K2Respectively representing thrust gain and bending moment gain from a nacelle inclination angle to variable pitch; d thetalDt is the rate of change of left side nacelle inclination;
Figure FDA0002660398250000021
the azimuth angle of the left impeller, the blade in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the left impeller;
2) additional variable pitch instruction is obtained by calculating the inclination angle of the floating type basic platform
The inclination angle of the floating type basic platform mainly reflects the pitching motion condition of the platform, the frequency of the platform motion is concentrated on a low-frequency part, the filtered platform inclination angle is represented by phi, and an additional variable pitch instruction definition formula of the right impeller obtained by the platform inclination angle is as follows:
Figure FDA0002660398250000022
wherein, deltar,1、δr,2、δr,3Respectively indicating the three blade additional variable pitch instructions of the right-side impeller obtained by calculation; d1、D2Respectively representing the thrust gain and the bending moment gain from the platform inclination angle to the variable pitch; d Φ/dt is the rate of change of the platform inclination;
Figure FDA0002660398250000023
the azimuth angle of the right impeller, the blade in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the right impeller;
the definition formula of the additional variable pitch instruction of the left impeller obtained by the platform inclination angle is as follows:
Figure FDA0002660398250000024
wherein, deltal,1、δl,2、δl,3Respectively indicating the three blades of the left impeller obtained by calculation and adding a variable pitch instruction; d1、D2Respectively representing the thrust gain and the bending moment gain from the platform inclination angle to the variable pitch; d Φ/dt is the rate of change of the platform inclination;
Figure FDA0002660398250000025
the azimuth angle of the left impeller, the blade in the 12 o' clock direction is defined as a zero-degree starting point, and the positive direction is the rotating direction of the left impeller;
3) additional torque command is obtained by calculating the inclination angle of the cabin
The pitching motion of the floating type basic platform is controlled by controlling the torque instruction of the generator, changing the rotating speed of the impeller and further changing the thrust of the impeller, and the formula is defined from the inclination angle of the cabin to the additional torque instruction of the impeller generator on the right side as follows:
Tr＝B·(dθr/dt)
wherein, TrRepresenting the additional torque of the generator based on the right-hand nacelle inclination, B is the gain factor from the nacelle inclination to the generator torque, d θrDt is the rate of change of the right side cabin inclination;
the additional torque command from the nacelle pitch angle to the left impeller generator defines the formula as follows:
Tl＝B·(dθl/dt)
wherein, TlRepresenting the additional torque of the generator based on the left-hand nacelle inclination, B is the gain factor from the nacelle inclination to the generator torque, d θlDt is the rate of change of left side nacelle inclination;
4) additional torque instruction is obtained through calculation of floating type foundation platform inclination angle
The additional torque command from platform pitch to right impeller generator defines the formula as follows:
Qr＝C·(dΦ/dt)
wherein Q isrRepresenting the additional torque of the right impeller generator calculated based on the platform inclination angle, wherein C is a gain coefficient from the platform inclination angle to the generator torque, and d phi/dt is the change rate of the platform inclination angle;
the additional torque command from platform pitch to left impeller generator defines the formula as follows:
Ql＝C·(dΦ/dt)
wherein Q islRepresenting the additional torque of the left impeller generator calculated based on the platform inclination angle, C is a gain coefficient from the platform inclination angle to the generator torque, and d phi/dt is the change rate of the platform inclination angle;
5) calculating to obtain a final additional variable pitch instruction and an additional torque instruction
The final additional pitch-changing instruction of the right-side impeller comprises an additional pitch-changing instruction obtained by calculating the inclination angle of the nacelle and an additional pitch-changing instruction obtained by calculating the inclination angle of the platform, and comprises the following steps:
Figure FDA0002660398250000041
wherein, betar,1、βr,2、βr,3Adding a variable pitch instruction for the three final blades of the right-side impeller;
the final additional pitch-changing instruction of the left-side impeller comprises an additional pitch-changing instruction obtained by calculating the inclination angle of the nacelle and an additional pitch-changing instruction obtained by calculating the inclination angle of the platform, and the additional pitch-changing instruction comprises the following steps:
Figure FDA0002660398250000042
wherein, betal,1、βl,2、βl,3Adding a variable pitch instruction for the three final blades of the left-side impeller;
the final additional torque command for the right impeller is as follows:
Gr＝Tr+Qr
wherein G isrAdding a torque command to the final right impeller generator;
the final additional torque command for the left impeller is as follows:
Gl＝Tl+Ql
wherein G islAdding a torque command to the final left impeller generator;
the final additional pitch instruction obtained through calculation needs to be superposed with a pitch instruction output by the pitch rotating speed control and then transmitted to a pitch actuating mechanism of the unit, and the final additional torque instruction needs to be superposed with a torque instruction output by the torque rotating speed control and then transmitted to a frequency converter of the unit so as to execute the torque of the generator.
2. The method for restraining pitching motion of the floating double-impeller wind turbine generator basic platform according to claim 1, wherein the method comprises the following steps: the performance index requirements of the tilt sensor arranged on the engine room and the floating type basic platform are the same, and the requirements on the tilt sensor are as follows: the bandwidth should cover the natural frequency of the floating type basic platform, the amplitude-frequency characteristic is good, the external acceleration interference can be resisted, the sampling frequency is higher than 50Hz, the inclination angle measurement precision is higher than 0.1 degree, high-frequency noise caused by vibration is filtered, and the communication reliability and the judgment accuracy are guaranteed.
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