CN112283031A - Deep-sea semi-submersible type wind turbine generator group wind energy obtaining and stability cooperative control method and system - Google Patents
Deep-sea semi-submersible type wind turbine generator group wind energy obtaining and stability cooperative control method and system Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/02—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses
- B63B39/03—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses by transferring liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
- B63B43/06—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability using ballast tanks
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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
- F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
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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
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- 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
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- 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
Abstract
The invention discloses a deep-sea semi-submersible type wind turbine generator set wind energy obtaining and stability cooperative control method and system. When the wind speed and the wind direction change greatly, the yaw device needs to be started to rotate the cabin to face the wind, the pneumatic load borne by the wind wheel changes in the yaw process, the changed pneumatic load is transmitted to the floating type platform through the wind wheel, the cabin and the tower, the floating type platform stabilizing and adjusting device assists in a cooperation mode, and in the operation process of the yaw device, the floating type platform stabilizing and adjusting device simultaneously adjusts the balance of the floating type platform, so that the semi-submersible wind turbine generator set achieves the optimal yaw wind-facing effect, and captures wind energy as much as possible. The invention can automatically coordinate and control the semi-submersible wind turbine generator set to accurately yaw and wind without manual operation, thereby greatly improving the power generation efficiency of the offshore wind turbine generator set.
Description
Technical Field
The invention relates to the field of power generation of offshore wind turbine generators, in particular to a cooperative control method and system for wind energy capture and stability of a deep-sea semi-submersible wind turbine generator.
Background
Compared with an offshore pile type wind turbine, the floating type wind turbine can be installed in a deeper water area, and the utilization of offshore wind resources is higher. This was proposed as early as 1972 by professor William Heronemus of the american academy of labor, ma. Currently, with the continuous expansion of the wind power industry, the number of wind power plants available for development on land is increasingly reduced, and the development of wind power to the sea is inevitable. Considering practical condition limitations of offshore fishery, military and the like, the development and research of the deep-sea floating wind turbine set have wide prospects, and the deep-sea floating wind turbine set becomes one of the focuses of the current wind power industry. In recent years, various offshore wind turbine structures have been proposed, and typical structures mainly include Spar type, TLP type and semi-submersible type (triple pontoon type). The semi-submersible type ship is simple in structure, good in balance stability, and simple and convenient to tow and install.
When the wind speed and the wind direction change, the stress state of the floating platform changes along with the change, and if the critical condition of dynamic balance is broken through, overturning and collapsing can happen, and the stability of the system is ensured by circularly adjusting the water level inside the platform (namely, adjusting the mass distribution of the floating platform by redistributing ballast water). When the wind direction change angle is large, the wind turbine generator yaw mechanism needs to be started, and the engine room is rotated to face the wind. Pneumatic load changes in the yaw operation process, and the changed pneumatic load can be transmitted to the floating type platform through the wind wheel, the transmission system, the engine room, the yaw large gear ring and the tower frame, so that the balance of stress, bending moment and torque of the platform is influenced, and the stability of the whole machine is finally influenced. Moreover, the offshore floating wind turbine is simultaneously subjected to the combined action of wind waves and currents, and under the action of multiple time-varying loads, the dynamic balance of the whole stress can be kept only by an effective dynamic balance adjusting strategy, so that the wind turbine can capture wind energy to the maximum extent.
Therefore, the invention provides a method and a system for cooperatively controlling wind energy capture and stability of a deep-sea semi-submersible type wind turbine generator set, and has positive significance for development of offshore wind power.
Disclosure of Invention
In order to solve the technical problems, the invention designs a cooperative control method and system for wind energy capture and stability of a deep-sea semi-submersible type wind turbine generator set, which is reasonable in structure and adaptive.
The technical scheme adopted by the invention is as follows:
the deep-sea semi-submersible type wind turbine generator set wind energy obtaining and stability cooperative control system comprises a sensing detection device, a data processing and control device, a yaw device, a floating type platform stability adjusting device and a display device; the sensing detection device collects detection signals and transmits the detection signals to the data processing and control device; after the data processing and control device processes and analyzes the detection signal data transmitted by the sensing detection device, the processing result is transmitted to the display device, the yaw device is controlled to rotate the cabin to face wind, and meanwhile, the floating type platform stability adjusting device is controlled to adjust the balance of the floating type platform, so that the optimal yaw wind-facing effect is achieved, and wind energy is captured as far as possible; and the display device receives the data signal transmitted by the data processing and controlling device and displays the data signal.
The sensing detection device comprises a wind speed and direction sensor arranged at the tail of the engine room and an attitude sensor arranged on the floating platform.
The data processing and control device adopts STM32F103RCT6 embedded microcontroller as the central processing module of the whole system.
The yawing device comprises a yawing actuating mechanism, a yawing bearing, a brake disc and a hydraulic brake. The yaw actuating mechanisms are four groups in total, and each group of yaw actuating mechanisms comprises a driving motor, a planetary gear reducer and a driving pinion.
Furthermore, the floating platform stabilization adjusting device comprises three water pumps arranged inside three floating barrels of the floating platform.
Furthermore, the wind speed and direction sensor adopts a CFF3D-1 type three-dimensional ultrasonic wind speed and direction sensor for detecting wind speed and direction signals; the attitude sensor adopts an MPU60509 axis motion processing sensor to detect the attitude signal of the floating platform.
Further, an output shaft of the yaw driving motor is connected with a planetary gear reducer, and the planetary gear reducer is driven in a four-stage speed reduction mode. An output shaft of the planetary gear reducer is connected with a driving pinion; and a driving pinion of each group of yaw actuating mechanisms is meshed with an inner ring of a yaw bearing, and the planetary gear reducer is fixed on a bottom plate of the machine room through bolts. The engine room is fixed on the outer ring of the yaw bearing by bolts. And an inner ring of the yaw bearing is fixed at the top end of the tower frame by a bolt. The brake disc is fixed with the top end of the tower, and the hydraulic brake is fixed with the bottom of the cabin through bolts.
The data processing and control device regulates and distributes ballast water quantity in the floating pontoon of the floating platform again by controlling the starting and stopping of a water pump in the floating platform stability regulating device, changes the gravity center position of the floating platform and keeps the floating platform balanced. One-way circulation transport is taken in the regulation mode of carrying of ballast water between the flotation pontoon, and the ballast water is pumped in to No. II flotation pontoons in No. I flotation pontoon to No. I water pump promptly, and No. II water pumps are pumped in to No. III flotation pontoon from No. II flotation pontoons and are sent the ballast water, and No. III water pumps are pumped in to No. I flotation pontoon from No. III flotation pontoon.
The deep-sea semi-submersible type wind turbine generator set wind energy obtaining and stability cooperative control method comprises the following steps:
(1) the sensing detection device collects and transmits signals;
the signals required to be acquired by the sensing detection device are wind speed and direction signals and attitude signals of a floating platform of the semi-submersible wind turbine generator, measurement is achieved by the aid of the ultrasonic wind speed and direction sensor and the 9-axis motion processing sensor respectively, and the acquired signals are transmitted to the data processing and control device. The wind speed and direction signals collected by the ultrasonic wind speed and direction sensor are digital quantity signals, the 9-axis motion processing sensor is provided with an A/D converter, the collected floating type platform attitude analog quantity signals can be converted into the digital quantity signals, and the detection signals can be directly transmitted to the data processing and control device.
(2) The data processing and control device analyzes and processes the signals;
the data processing and control device receives the detection signal of the sensing detection device, analyzes and processes the detection signal, judges whether the yaw device needs to be controlled to rotate the cabin to face the wind according to the wind speed and direction signals, judges whether the floating type platform stability adjusting device needs to be controlled to adjust the balance of the floating type platform according to the floating type platform attitude signals, and enables the wind turbine generator set to achieve the optimal yaw wind aligning effect and capture wind energy as much as possible by cooperatively controlling the yaw device and the floating type platform stability adjusting device. The method comprises the following specific steps:
a) and judging whether the wind turbine generator needs to yaw to wind or not according to the wind speed and direction signal detected by the wind speed and direction sensor. When the included angle between the wind direction and the position of the engine room, namely the yaw angle alpha is larger than the critical value of 15 degrees, the data processing and control device controls the hydraulic brake to release the brake disc and controls and starts 4 yaw driving motors, the yaw driving motors drive the planetary gear reducer to operate, the planetary gear reducer drives the driving pinion to operate, the driving pinion drives the yaw bearing to operate, and the engine room rotates relative to the tower to face the wind. When the cabin is to be aligned with the wind direction, the data processing and control device stops starting the yaw driving motor, and the cabin moves under the inertia effect. Meanwhile, the hydraulic brake clamps the brake disc to stop yawing.
b) When the data processing and control device controls the yaw device to rotate the cabin to face wind, the pneumatic load borne by the wind wheel changes, the changed pneumatic load is transmitted to the floating platform through the wind wheel, the cabin and the tower, and the balance of stress, bending moment and torque of the floating platform is broken, so that the floating platform translates and rotates. When the floating platform rotates and the pitch angle or roll angle of the floating platform is larger than the set angle beta of the starting of the floating platform stabilizing and adjusting device, the data processing and controlling device controls the floating platform stabilizing and adjusting device to adjust the balance of the floating platform:
firstly, defining an inertial coordinate system A and a body coordinate system B, establishing the body coordinate system B by taking a detection origin and a detection axis of an attitude sensor as an origin and coordinate axes of the coordinate system, wherein the origin corresponds to the central point of an upper end cover of a No. II floating drum, an x axis points to the central point of the upper end cover of a No. III floating drum, a z axis is vertically upward, and a y axis is intersected with the x axis and the z axis and meets the right-hand rule. The inertial coordinate system A and the body coordinate system B have the same posture and position, wherein the inertial coordinate system A is permanently fixed, and the body coordinate system B can change along with the movement of the floating platform.
The floating platform is of an equilateral triangle structure, the center distance of every two buoys is L, and the position vectors of the center points of the end covers of the three buoys relative to a body coordinate system B are respectively as follows:
Bp2＝[0 0 0 1]T (2)
Bp3＝[0 L 0 1]T (3)
t in equations (1) to (3) represents a transpose of a matrix.
When the wind direction changes greatly, and the wind turbine generator system drifts off to the wind, the stress state of the floating platform changes along with the wind, the integral force balance condition is damaged, translation and rotation are generated, the body coordinate system B changes along with the wind, and the posture of the body coordinate system B relative to the global coordinate system A is calculated according to the posture signal of the floating platform detected by the posture sensor:
suppose that the attitude sensor detects the attitude signals of the floating platform as psi, theta and
that is, the rotation change of the body coordinate system B with respect to the global coordinate system a is: around xAAxial rotation by angle psi (pitch angle), about yARotation of the shaft by angle theta (roll angle), about zARotation of the shaft
Angle (heading angle), and assuming that the translational change of the body coordinate system B with respect to the global coordinate system a is: along xAAxial translation by a units, along yAAxial translation by b units, along zAThe axis is translated by c units.
X of the body coordinate system B around the global coordinate system AAWhen the axis is rotated by an angle psi, the rotation matrix is:
y of the body coordinate system B around the global coordinate system AAWhen the shaft rotates by an angle theta, the rotation matrix is as follows:
z of the body coordinate system B around the global coordinate system AARotation of the shaft
At angle, its rotation matrix is:
when the body coordinate system B is along x of the global coordinate system AAAxial translation by a units, along yAAxial translation by b units, along zAThe axis is translated by c units, and the transformation matrix is:
the pose of the body coordinate system B with respect to the global coordinate system a is described as:
calculating the position vectors of the central points of the three buoy end covers relative to the global coordinate system A according to the position vectors of the central points of the three buoy end covers relative to the body coordinate system B and the pose description of the body coordinate system B relative to the global coordinate system A:
wherein i is 1,2,3.
The combined type (1) to (9) is as follows:
when the roll angle psi or the pitch angle theta is larger than the set angle beta for starting the floating platform stabilizing and adjusting device, the data processing and controlling device controls the floating platform stabilizing and adjusting device to adjust the balance of the floating platform:
as can be seen from the formulas (10) - (12), the center points of the end covers of the three buoys are relative to z of the global coordinate system { A } when the floating platform tilts and displacesAThe axis coordinate values are respectively:
zA2＝c (14)
zA3＝-sinθL+c (15)
comparison zA1、zA2And zA3Size, to obtain zmaxAnd zminTo distinguish the floating platformThe highest barrel and the lowest barrel in the three floating barrels are used for controlling corresponding water pumps to convey ballast water from the lowest barrel to the highest barrel, the water quantity of the pressure cabin in the floating barrels is readjusted and distributed, the gravity center position of the floating platform is changed, the height difference between the floating barrels is reduced until psi is less than or equal to beta and theta is less than or equal to beta, and the floating platform achieves the purpose of balance control.
(3) Display and remote transmission of measurement signals
The display device utilizes the data transmission between the liquid crystal display screen and the data processing and controlling device to output the digital signals obtained after the processing of the data processing and controlling device to the liquid crystal display screen, thereby obtaining the wind speed and direction signals and the attitude signals of the floating platform of the semi-submersible wind turbine. When the control system is installed in an offshore wind farm for use, data of the control system is transmitted to an upper computer through RS 485.
Compared with the prior art, the invention has the following benefits and effects:
(1) the semi-submersible type wind turbine floating platform attitude detection device is reasonable in structure and adaptive, and can detect wind speed and direction signals and semi-submersible type wind turbine floating platform attitude signals in real time through the wind speed and direction sensor and the attitude sensor.
(2) The invention can coordinate and control the yawing device and the floating platform stabilizing and adjusting device, so that the semi-submersible wind generating set can keep stable when yawing under a complex offshore working environment, the optimal yawing wind effect is achieved, wind energy is captured as far as possible, manual intervention and operation are not needed, and automatic control is realized.
Drawings
Fig. 1 is a schematic diagram of the control system structure of the present invention.
FIG. 2 is a schematic view of a yawing assembly according to the present invention.
Figure 3 is a coordinate analysis diagram of the floating platform of the present invention.
Fig. 4 is a block diagram of a data processing and control apparatus according to the present invention.
Fig. 5 is a control structure diagram of the present invention.
Fig. 6 is a flow chart of a control method of the present invention.
1-wind speed and direction sensor 2-attitude sensor 3-data processing and control device
4-yawing device 5-number I buoy 6-number II buoy
No. 7-No. III buoy No. 8-No. I water pump No. 9-No. II water pump
10-III water pump 11-display device 12-yaw driving motor
13-planetary gear reducer 14-drive pinion 15-tower
16-yaw bearing outer ring 17-yaw bearing inner ring 18-brake disc
19-Hydraulic brake
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 6, the specific structure of the present invention is: the deep-sea semi-submersible type wind turbine generator set wind energy obtaining and stability cooperative control system comprises a sensing detection device, a data processing and control device, a yaw device, a floating type platform stability adjusting device and a display device; the sensing detection device collects detection signals and transmits the detection signals to the data processing and control device; after the data processing and control device processes and analyzes the detection signal data transmitted by the sensing detection device, the processing result is transmitted to the display device, the yaw device is controlled to rotate the cabin to face wind, and meanwhile, the floating type platform stability adjusting device is controlled to adjust the balance of the floating type platform, so that the optimal yaw wind-facing effect is achieved, and wind energy is captured as far as possible; and the display device receives the data signal transmitted by the data processing and controlling device and displays the data signal.
As shown in fig. 1, the sensing and detecting device includes a wind speed and direction sensor 1 mounted at the tail of the nacelle and an attitude sensor 2 mounted on the floating platform. The data processing and controlling device 3 and the display device 11 are installed in the semi-submersible wind turbine tower. Float formula platform stabilization regulation device and contain No. I water pump 8 of installing in No. I flotation pontoon 5, No. II water pump 9 in No. II flotation pontoon 6 and No. III water pump 10 in No. III flotation pontoon.
As shown in fig. 2, the yawing arrangement comprises a yaw actuator, a yaw bearing 17, a brake disc 18 and a hydraulic brake 19. The yaw actuating mechanisms are four groups, and each group of yaw actuating mechanisms comprises a driving motor 12, a planetary gear reducer 13 and a driving pinion 14.
An output shaft of the yaw driving motor 12 is connected with a planetary gear reducer 13, and the planetary gear reducer 13 is driven in a four-stage speed reduction mode. The output shaft of the planetary gear reducer 13 is connected with a driving pinion 14; the driving pinion 14 of each group of yaw actuating mechanisms is meshed with the inner ring of a yaw bearing 17, and the planetary gear reducer 13 is fixed on the bottom plate of the engine room through bolts. The nacelle is bolted to the yaw bearing outer race 16. The inner ring of the yaw bearing 17 is fixed on the top end of the tower 15 through bolts. The brake disc 18 is fixed with the top end of the tower 15, and the hydraulic brake 19 is fixed with the bottom of the nacelle through bolts.
As shown in fig. 3, the data processing and controlling device 3 controls the start and stop of the water pump in the floating platform stability adjusting device to readjust and distribute the ballast water amount in the buoy of the floating platform, so as to change the position of the center of gravity of the floating platform, and keep the floating platform balanced. One-way circulation transport is taken in the regulation mode of carrying of ballast water between the flotation pontoon, and No. I water pump 8 pumps ballast water from No. I flotation pontoon 5 in to No. II flotation pontoon 6 promptly, and No. II water pump 9 pumps ballast water from No. II flotation pontoon 6 in to No. III flotation pontoon 7, and No. III water pump 10 pumps ballast water from No. III flotation pontoon 7 in to No. I flotation pontoon 5.
As shown in fig. 1 and 4, the data processing and control device 3 adopts an STM32F103RCT6 embedded microcontroller as a central processing module of the whole system. The wind speed and direction sensor 1 adopts a CFF3D-1 type three-dimensional ultrasonic wind speed and direction sensor to detect wind speed and direction signals; the attitude sensor 2 detects an attitude signal of the floating platform by using an MPU60509 axis motion processing sensor.
As shown in fig. 3 to 6, the method for cooperatively controlling wind energy capture and stability of the deep-sea semi-submersible wind turbine generator set comprises the following specific steps:
(1) the sensing detection device collects and transmits signals;
as shown in fig. 4, the signals required to be collected by the sensing and detecting device are wind speed and direction signals and attitude signals of the floating platform of the semi-submersible wind turbine, the ultrasonic wind speed and direction sensor 1 and the attitude sensor 2 are respectively used for realizing measurement, and the collected signals are transmitted to the data processing and controlling device 3. Wind speed and direction signals collected by the selected CFF3D-1 type three-dimensional ultrasonic wind speed and direction sensor are digital quantity signals, an MPU60509 shaft motion processing sensor is provided with an A/D converter, collected floating platform attitude analog quantity signals can be converted into digital quantity signals, and detection signals can be directly transmitted to a data processing and control device.
(2) The data processing and control device analyzes and processes the signals;
the data processing and control device 3 receives the detection signal of the sensing detection device, analyzes and processes the detection signal, judges whether the yaw device 4 needs to be controlled to rotate the cabin to face wind according to the wind speed and direction signals, judges whether the floating platform stability adjusting device needs to be controlled to adjust the balance of the floating platform according to the floating platform attitude signals, and enables the wind turbine generator set to achieve the optimal yaw wind facing effect and capture wind energy as much as possible by cooperatively controlling the yaw device 4 and the floating platform stability adjusting device. The method comprises the following specific steps:
a) and judging whether the wind turbine generator needs to yaw to wind or not according to the wind speed and direction signal detected by the wind speed and direction sensor 1. When the included angle between the wind direction and the position of the nacelle, namely the yaw angle alpha, is larger than the critical value of 15 degrees, the data processing and control device 3 controls the hydraulic brake 19 to release the brake disc 18, and controls to start the 4 yaw driving motors 12, the yaw driving motors 12 drive the planetary gear reducer 13 to operate, the planetary gear reducer 13 drives the driving pinion 14 to operate, and the driving pinion 14 drives the yaw bearing to operate, so that the nacelle rotates relative to the tower 15 to face the wind. When the nacelle is about to be aligned with the wind direction, the data processing and control device 3 stops activating the yaw drive motor 12 and the nacelle moves under inertia. At the same time, the hydraulic brake 19 clamps the brake disc 18, stopping the yaw.
b) When the data processing and control device 3 controls the yawing device 4 to rotate the nacelle to face wind, the pneumatic load borne by the wind wheel changes, and the changed pneumatic load is transmitted to the floating platform through the wind wheel, the nacelle and the tower, so that the balance of stress, bending moment and torque of the floating platform is broken, and the floating platform is enabled to translate and rotate. When the floating platform rotates and the pitch angle or roll angle of the floating platform is larger than the set angle beta of the starting of the floating platform stabilizing and adjusting device, the data processing and controlling device 3 controls the floating platform stabilizing and adjusting device to adjust the balance of the floating platform:
firstly, defining an inertial coordinate system A and a body coordinate system B, establishing the body coordinate system B by taking a detection origin and a detection axis of the attitude sensor 2 as an origin and coordinate axes of the coordinate system, wherein the origin corresponds to the central point of the upper end cover of the No. II buoy 6, the x axis points to the central point of the upper end cover of the No. III buoy 7, the z axis is vertical upwards, and the y axis is intersected with the x axis and the z axis and meets the right-hand rule. The inertial coordinate system A and the body coordinate system B have the same posture and position, wherein the inertial coordinate system A is permanently fixed, and the body coordinate system B can change along with the movement of the floating platform.
The floating platform is of an equilateral triangle structure, the center distance of every two buoys is L, and the position vectors of the center points of the end covers of the three buoys relative to a body coordinate system B are respectively as follows:
Bp2＝[0 0 0 1]T (2)
Bp3＝[0 L 0 1]T (3)
t in equations (1) to (3) represents a transpose of a matrix.
When the wind direction changes greatly, and the wind turbine generator system drifts off to wind, the stress state of the floating platform changes along with the wind, the integral force balance condition is damaged, translation and rotation are generated, the body coordinate system B changes along with the wind, and the posture of the body coordinate system B relative to the global coordinate system A is calculated according to the posture signal of the floating platform detected by the posture sensor 2:
suppose that the attitude sensor 2 detects attitude signals of the floating platform as psi, theta and
that is, the rotation change of the body coordinate system B with respect to the global coordinate system a is: around xAAxial rotation by angle psi (pitch angle), about yARotation of the shaft by angle theta (roll angle), about zARotation of the shaft
Angle (heading angle), and assuming that the translational change of the body coordinate system B with respect to the global coordinate system a is: along xAAxial translation by a units, along yAAxial translation by b units, along zAThe axis is translated by c units.
X of the body coordinate system B around the global coordinate system AAWhen the axis is rotated by an angle psi, the rotation matrix is:
y of the body coordinate system B around the global coordinate system AAWhen the shaft rotates by an angle theta, the rotation matrix is as follows:
z of the body coordinate system B around the global coordinate system AARotation of the shaft
At angle, its rotation matrix is:
when the body coordinate system B is along x of the global coordinate system AAAxial translation by a units, along yAAxial translation by b units, along zAThe axis is translated by c units, and the transformation matrix is:
the pose of the body coordinate system B with respect to the global coordinate system a is described as:
calculating the position vectors of the central points of the three buoy end covers relative to the global coordinate system A according to the position vectors of the central points of the three buoy end covers relative to the body coordinate system B and the pose description of the body coordinate system B relative to the global coordinate system A:
wherein i is 1,2,3.
The combined type (1) to (9) is as follows:
when the roll angle ψ or the pitch angle θ is larger than the set angle β at which the floating platform stabilizing and adjusting device is started, the data processing and controlling device 3 controls the floating platform stabilizing and adjusting device to adjust the balance of the floating platform:
as can be seen from the formulas (10) - (12), the center points of the end covers of the three buoys are relative to z of the global coordinate system { A } when the floating platform tilts and displacesAThe axis coordinate values are respectively:
zA2＝c (14)
zA3＝-sinθL+c (15)
comparison zA1、zA2And zA3Size, to obtain zmaxAnd zminAnd distinguishing the highest barrel and the lowest barrel in the three pontoons of the floating platform, controlling the corresponding water pumps to convey ballast water from the lowest barrel to the highest barrel, readjusting and distributing the water volume of the cabin in the pontoons, changing the gravity center position of the floating platform, and reducing the height difference among the pontoons until psi is less than or equal to beta and theta is less than or equal to beta, so that the floating platform achieves the aim of balance control.
(4) Display and remote transmission of measurement signals
The display device 4 utilizes the data transmission between the liquid crystal display screen and the data processing and controlling device 3 to output the digital signals obtained after the processing of the data processing and controlling device 3 to the liquid crystal display screen, thereby obtaining the wind speed and direction signals and the attitude signals of the floating platform of the semi-submersible wind turbine. When the control system is installed in an offshore wind farm for use, data of the control system is transmitted to an upper computer through RS 485.
Claims (8)
1. Deep sea semi-submersible type wind turbine generator set wind energy obtaining and stability cooperative control system is characterized in that: the device comprises a sensing detection device, a data processing and controlling device, a yawing device, a floating type platform stability adjusting device and a display device; the sensing detection device collects detection signals and transmits the detection signals to the data processing and control device; the data processing and controlling device processes and analyzes the detection signal data transmitted by the sensing detection device, transmits the processing result to the display device, controls the yaw device to rotate the cabin to face wind, and controls the floating platform stability adjusting device to adjust the balance of the floating platform; and the display device receives the data signal transmitted by the data processing and controlling device and displays the data signal.
2. The method and system for cooperative control of wind energy capture and stability of the deep-sea semi-submersible wind turbine generator set according to claim 1, wherein: the sensing detection device comprises a wind speed and direction sensor arranged at the tail of the engine room and an attitude sensor arranged on the floating platform; the wind speed and direction sensor adopts an ultrasonic wind speed and direction sensor to detect a wind speed and direction signal; the attitude sensor adopts a 9-axis motion processing sensor to detect the attitude signal of the floating platform.
3. The deep-sea semi-submersible wind turbine generator set wind energy capture and stability cooperative control system according to claim 1, characterized in that: the yawing device comprises a yawing actuating mechanism, a yawing bearing, a brake disc and a hydraulic brake; the yaw actuating mechanisms are four groups in total, and each group of yaw actuating mechanisms comprises a driving motor, a planetary gear reducer and a driving pinion; an output shaft of the yaw driving motor is connected with a planetary gear reducer, and the planetary gear reducer is driven in a four-stage speed reduction mode; an output shaft of the planetary gear reducer is connected with a driving pinion; a driving pinion of each group of yaw actuating mechanisms is meshed with an inner ring of a yaw bearing, and a planetary gear reducer is fixed on a bottom plate of the machine room through bolts; the engine room is fixed on the outer ring of the yaw bearing by bolts; the inner ring of the yaw bearing is fixed at the top end of the tower frame by a bolt; the brake disc is fixed with the top end of the tower, and the hydraulic brake is fixed with the bottom of the cabin through bolts.
4. The deep-sea semi-submersible wind turbine generator set wind energy capture and stability cooperative control system according to claim 1, characterized in that: the data processing and control device adopts STM32F103RCT6 embedded microcontroller as the central processing module of the whole system.
5. The deep-sea semi-submersible wind turbine generator set wind energy capture and stability cooperative control system according to claim 1, characterized in that: the floating platform stability adjusting device comprises three water pumps arranged in three floating barrels of the floating platform; the regulation and transportation mode of ballast water among the pontoons adopts one-way circulation transportation, the three pontoons are a No. I pontoon, a No. II pontoon and a No. III pontoon respectively, a No. I water pump is arranged in the No. I pontoon, a No. II water pump is arranged in the No. II pontoon, and a No. III water pump is arranged in the No. III pontoon; no. I water pump is responsible for pumping ballast water in No. I flotation pontoon to No. II flotation pontoons, and No. II water pump is responsible for pumping ballast water in No. II flotation pontoons to No. III flotation pontoons, and No. III water pump is responsible for pumping ballast water in No. I flotation pontoon from No. III flotation pontoons.
6. A control method using the system of any one of claims 1 to 5, characterized in that the control method comprises the steps of:
(1) signal acquisition and transmission of sensing detection device
The signals required to be acquired by the sensing detection device are wind speed and direction signals and attitude signals of a floating platform of the semi-submersible wind turbine generator, measurement is realized by respectively utilizing an ultrasonic wind speed and direction sensor and a 9-axis motion processing sensor, and the acquired signals are transmitted to the data processing and control device; the wind speed and direction signals collected by the ultrasonic wind speed and direction sensor are digital quantity signals, the 9-axis motion processing sensor is provided with an A/D converter, the collected floating platform attitude analog quantity signals can be converted into digital quantity signals, and detection signals can be directly transmitted to the data processing and control device;
(2) analysis and processing of signals by data processing and control apparatus
The data processing and control device receives the detection signal of the sensing detection device, analyzes and processes the detection signal, judges whether a yaw device needs to be controlled to rotate a cabin to face wind according to a wind speed and direction signal, judges whether a floating platform stability adjusting device needs to be controlled to adjust the balance of a floating platform according to a floating platform attitude signal, and enables the wind turbine generator set to achieve optimal yaw to face wind and capture wind energy through cooperatively controlling the yaw device and the floating platform stability adjusting device;
(3) display and remote transmission of measurement signals
The display device utilizes data transmission between the liquid crystal display screen and the data processing and controlling device to output digital signals obtained after the processing of the data processing and controlling device to the liquid crystal display screen so as to obtain wind speed and direction signals and attitude signals of the floating platform of the semi-submersible wind turbine; when the control system is installed in an offshore wind farm for use, the control system is transmitted to an upper computer through RS 485.
7. The deep-sea semi-submersible wind turbine generator set wind energy capture and stability cooperative control method according to claim 6, characterized in that: in the step 2), the data processing and control device controls the yawing device to rotate the cabin to face wind according to the wind speed and direction signals, and the specific operation is as follows:
judging whether the wind turbine generator needs to yaw to wind or not according to a wind speed and direction signal detected by a wind speed and direction sensor; when the included angle between the wind direction and the position of the engine room, namely the yaw angle alpha is larger than the critical value of 15 degrees, the data processing and control device controls the hydraulic brake to release the brake disc and controls and starts 4 yaw driving motors, the yaw driving motors drive the planetary gear reducer to operate, the planetary gear reducer drives the driving pinion to operate, and the driving pinion drives the yaw bearing to operate, so that the engine room rotates relative to the tower to face the wind; when the cabin is to be aligned with the wind direction, the data processing and control device stops starting the yaw driving motor, and the cabin moves under the inertia effect; meanwhile, the hydraulic brake clamps the brake disc to stop yawing.
8. The deep-sea semi-submersible wind turbine generator set wind energy capture and stability cooperative control method according to claim 6, characterized in that: the data processing and controlling device controls the floating platform stabilizing and adjusting device to adjust the balance of the floating platform in the step 2), and the operation is as follows:
when the data processing and control device controls the yaw device to rotate the cabin to face wind, the pneumatic load borne by the wind wheel changes, and the changed pneumatic load is transmitted to the floating platform through the wind wheel, the cabin and the tower, so that the balance of stress, bending moment and torque of the floating platform is broken, and the floating platform is enabled to translate and rotate; when the floating platform rotates and the pitch angle or roll angle of the floating platform is larger than the set angle beta of the starting of the floating platform stabilizing and adjusting device, the data processing and controlling device controls the floating platform stabilizing and adjusting device to adjust the balance of the floating platform:
(a) an inertial coordinate system A and a body coordinate system B are defined, the body coordinate system B is established by taking a detection origin and a detection axis of the attitude sensor as an origin and coordinate axes of the coordinate system, the origin corresponds to the center point of the upper end cover of the No. II floating cylinder, the x axis points to the center point of the upper end cover of the No. III floating cylinder, the z axis is vertically upward, the y axis is intersected with the x axis and the z axis, and the right-hand rule is met; the inertial coordinate system A and the body coordinate system B have the same posture and position, wherein the inertial coordinate system A is permanently fixed, and the body coordinate system B can change along with the movement of the floating platform;
(b) when the wind direction changes greatly and the wind generating set drifts to wind, the stress state of the floating platform changes along with the change, the integral force balance condition is damaged, translation and rotation are generated, the body coordinate system B changes along with the change, and the pose of the body coordinate system B relative to the global coordinate system A is calculated according to the pose signal of the floating platform detected by the pose sensor:
(c) calculating the position vectors of the central points of the three buoy end covers relative to the global coordinate system A according to the position vectors of the central points of the three buoy end covers relative to the body coordinate system B and the pose description of the body coordinate system B relative to the global coordinate system A;
(d) when the roll angle psi or the pitch angle theta is larger than the set angle beta for starting the floating platform stabilizing and adjusting device, the data processing and controlling device controls the floating platform stabilizing and adjusting device to adjust the balance of the floating platform:
comparing the center points of the end covers of the three buoys with respect to z of the global coordinate system { A } when the floating platform tilts and displacesAAnd (3) judging the value of an axis coordinate, judging the highest barrel and the lowest barrel in the three pontoons of the floating platform, controlling a corresponding water pump to convey ballast water from the lowest barrel to the highest barrel, readjusting and distributing the water amount of the cabin water in the pontoons, changing the gravity center position of the floating platform, reducing the height difference between the pontoons until psi is less than or equal to beta and theta is less than or equal to beta, and achieving the purpose of balance control of the floating platform.
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| CN202010699671.7A CN112283031A (en) | 2020-07-20 | 2020-07-20 | Deep-sea semi-submersible type wind turbine generator group wind energy obtaining and stability cooperative control method and system |
| AU2021102257A AU2021102257A4 (en) | 2020-07-20 | 2021-04-29 | Method and system for coordinated control of wind energy harvesting and stability of deep-sea semi-submersible wind turbine |
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2020
- 2020-07-20 CN CN202010699671.7A patent/CN112283031A/en active Pending
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