CN113048019B - Gust detection method, gust controller and wind power generation system - Google Patents

Abstract

A gust detection method, a gust controller and a wind power generation system are provided. The gust detection method comprises the following steps: determining the thrust force experienced by the wind turbine; determining a speed of a tower of the wind turbine in a fore-aft direction; determining an acceleration of a tower of the wind turbine in a fore-aft direction; calculating a gust intensity based on the thrust, the velocity, and the acceleration; detecting the presence of a wind gust by comparing the calculated gust intensity with a predetermined threshold.

Description

Gust detection method, gust controller and wind power generation system

technical field

The invention relates to the technical field of wind power, and more particularly, to a gust detection method, a gust controller and a wind power generation system.

Background technique

The presence or absence of wind gusts often affects the performance of wind power systems. Therefore, the detection of wind gusts is very important for wind power generation systems.

Existing wind gust detection methods typically use lidar to measure the wind speed in front of a wind turbine to detect wind gusts before they hit the wind turbine. However, lidars tend to be expensive, making the cost of detecting wind gusts significantly higher.

SUMMARY OF THE INVENTION

Exemplary embodiments of the present invention provide a gust detection method, a gust controller and a wind power generation system.

According to an exemplary embodiment of the present invention, there is provided a gust detection method, the gust detection method comprising: determining the thrust received by the wind turbine; determining the speed of the tower of the wind turbine in the front-rear direction; acceleration in the fore-and-aft direction; calculating a gust intensity based on the thrust, the velocity and the acceleration; detecting the presence or absence of a gust by comparing the calculated gust intensity with a predetermined threshold.

Optionally, when the calculated gust intensity is greater than a predetermined threshold, it is detected that the gust exists; when the calculated gust intensity is less than or equal to the predetermined threshold, it is detected that the gust does not exist.

Optionally, the predetermined threshold corresponds to an extreme operating gust of the wind turbine.

Optionally, the step of calculating the gust intensity based on the thrust, the velocity and the acceleration comprises: applying a first weight, a second weight and a third weight to the thrust, the velocity and the acceleration, respectively ; Perform a first summation on the result of applying a first weight to the thrust, the result of applying a second weight to the speed and the result of applying a third weight to the acceleration to obtain a gust intensity index, and based on the gust intensity index Calculate gust strength.

Optionally, the step of calculating the gust intensity based on the gust intensity index comprises: applying a fourth weight to the thrust variation experienced by the wind turbine; performing a second summation of the gust strength index and the result of the fourth weighting applied to the thrust variation , and take the second summation result obtained by the second summation as the gust intensity.

Optionally, before the thrust variation is applied the fourth weight, a notch filter is used to filter the thrust variation experienced by the wind turbine.

Optionally, the step of calculating the gust intensity based on the gust intensity index includes: using a counter to count based on the gust intensity index; and using the count value output by the counter as the gust intensity.

Optionally, the gust intensity index is calculated periodically or aperiodically, and the step of counting based on the gust intensity index includes: when the gust intensity index at the second moment is equal to the gust intensity at the first moment before the second moment When the difference between the indices is greater than the first threshold, the count value of the counter at the first moment is increased by the first value as the count value of the counter at the second moment; when the gust intensity index at the second moment is the same as the gust strength at the first moment When the difference between the exponents is less than a second threshold, the count value of the counter at the first moment is decremented by a second value as the count value of the counter at the second moment, wherein in response to the blades of the wind turbine being high for a period of a predetermined length Pitch angle, the count value output by the counter is initialized to the initial value.

Optionally, the step of counting based on the gust intensity index further includes: when the difference between the gust intensity index at the second time and the gust intensity index at the first time is less than or equal to a first threshold and greater than or equal to a second threshold , using the forgetting factor to reduce the count value of the counter at the first moment to be the count value of the counter at the second moment, where the forgetting factor is a value greater than 0 and less than or equal to 1.

Optionally, the gust detection method further includes: using a low-pass filter to perform low-pass filtering on the gust intensity index, wherein the step of calculating the gust intensity based on the gust intensity index includes: using the low-pass filtered gust intensity index as the gust intensity index. Gust strength.

Optionally, the gust detection method further includes: performing anti-saturation control on the count value output by the counter, wherein the step of using the count value output by the counter as the gust intensity includes: taking the count value output by the counter after anti-saturation control. as gust strength.

According to an exemplary embodiment of the present invention, a computer-readable storage medium storing a computer program, when the computer program is executed by a processor, implements any one of the above-described wind gust detection methods.

According to an exemplary embodiment of the present invention, there is provided a gust controller comprising: a processor; a memory, wherein the memory stores a computer program, the computer program implements the above when executed by the processor Any of the gust detection methods described.

According to an exemplary embodiment of the present invention, there is provided a wind power generation system comprising: the gust controller as described above.

The gust detection method of the present invention can calculate the gust intensity based on the thrust received by the wind turbine, the speed of the tower of the wind turbine in the front-rear direction, and the acceleration of the tower of the wind turbine in the front-rear direction, compared to using an expensive laser The radar is used to calculate the gust intensity, and a gust detection scheme is provided which is inexpensive and ensures the calculation accuracy of the gust estimated intensity.

Furthermore, the gust detection method of the present invention may be applied by taking into account the same or different degrees of influence on the gust by the thrust experienced by the wind turbine, the speed of the wind turbine's tower in the fore-aft direction, and the acceleration of the wind turbine's tower in the fore-aft direction. The same or different weights are used to calculate the gust strength, thus ensuring the accuracy of the calculation of the gust strength.

In addition, the gust detection method of the present invention can use a notch filter to filter out the 3p frequency signal component from the signal corresponding to the thrust change experienced by the wind turbine, thereby eliminating the interference of the 3p frequency signal component to the calculation of the gust intensity, and Improved the accuracy of calculating gust strength.

In addition, the gust detection method of the present invention can reflect the change trend of the thrust felt by the wind turbine through the change of the count value output by the counter, so that the gust can always be detected early and accurately. In addition, the gust detection method of the present invention can use the scaling factor to slowly decrease the count value over time without the occurrence of the count value increasing by the first value and the count value decreasing by the second value, thereby ensuring that the count value is always stable and reliable. The ground control indicates the gust strength.

In addition, the gust detection method of the present invention can perform anti-saturation control on the count value output by the counter, which can reduce the delay caused by the gust detection by reducing the count value under non-gust conditions, thereby optimizing the gust detection performance.

Description of drawings

The above and other objects and features of the present invention will become more apparent from the following description in conjunction with the accompanying drawings illustrating an example, wherein:

1 shows a flowchart of a gust detection method according to an exemplary embodiment of the present invention;

2 shows a block diagram of a gust controller according to an exemplary embodiment of the present invention.

Detailed ways

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like parts throughout. The embodiments will be described below in order to explain the present invention by referring to the figures.

FIG. 1 shows a flowchart of a gust detection method according to an exemplary embodiment of the present invention.

Referring to Fig. 1, in step S110, the thrust received by the wind turbine is determined.

As a non-limiting example, the thrust experienced by the wind turbine may be indicative of thrust in a direction perpendicular to the plane of the blades. However, the present invention is not limited thereto, and the direction of the thrust received by the wind turbine may be predetermined as the thrust of other directions. Furthermore, in the present invention, the thrust experienced by the wind turbine may be determined periodically or aperiodically.

Here, the thrust experienced by the wind turbine can be determined by various existing methods. For example, the thrust experienced by the wind turbine can be determined by sensors. As another example, the thrust experienced by the wind turbine may be determined by a combination of sensors and processors.

In step S120, the velocity of the tower of the wind turbine in the fore-aft direction is determined, and in step S130, the acceleration of the tower of the wind turbine in the fore-aft direction is determined.

As one non-limiting example, the fore-aft direction of the tower of a wind turbine may be indicated in a direction perpendicular to the plane of the blades. However, the present invention is not limited thereto, and the front-to-rear direction of the tower of the wind turbine may be predetermined as other directions that form a predetermined angle with the direction perpendicular to the plane of the blade.

In a preferred embodiment, the velocity of the tower may indicate the velocity of the top of the tower, and the acceleration of the tower may indicate the acceleration of the top of the tower.

Here, the velocity and acceleration of the tower of the wind turbine in the fore-aft direction can be determined by various existing methods. For example, the velocity and acceleration of the tower of the wind turbine in the fore-aft direction may be determined by sensors. As another example, the velocity and acceleration of the tower of the wind turbine in the fore-aft direction may be determined by a combination of sensors and processors. For another example, the speed of the tower of the wind turbine in the front-rear direction may be determined first, and then the acceleration of the tower of the wind turbine in the front-rear direction may be calculated according to the determined speed of the tower of the wind turbine in the front-rear direction.

In addition, in the present invention, steps S110 to S130 may be performed periodically or aperiodically. For example, when the thrust received by the wind turbine, the speed of the wind turbine tower in the fore-aft direction and the acceleration of the wind turbine tower in the fore-aft direction are determined at any time, the gust intensity at that time is calculated accordingly.

In step S140, the gust intensity is calculated based on the thrust, velocity and acceleration.

In the present invention, the wind gust intensity is calculated based on the thrust received by the wind turbine, the speed of the tower of the wind turbine in the front-rear direction, and the acceleration of the tower of the wind turbine in the front-rear direction, compared with the use of expensive lidar to calculate the wind gust intensity. The gust intensity is calculated, and a gust detection scheme that is inexpensive and ensures the calculation accuracy of the gust estimated intensity is provided.

According to an exemplary embodiment of the present invention, the gust intensity can be calculated by applying a first weight, a second weight, and a third weight to the thrust received by the wind turbine and the speed of the tower of the wind turbine in the front-rear direction, respectively. and the acceleration of the tower of the wind turbine in the front-rear direction; the result of applying a first weight to the thrust received by the wind turbine, the result of applying a second weight to the speed of the tower of the wind turbine in the front-rear direction, and the result of applying a second weight to the tower of the wind turbine in The acceleration in the front-rear direction is subjected to a first summation to obtain a gust intensity index, and the gust intensity is calculated based on the gust intensity index. That is, in this exemplary embodiment, by considering the same or different effects on the wind by considering the thrust experienced by the wind turbine, the speed of the wind turbine tower in the fore-aft direction and the acceleration of the wind turbine's tower in the fore-aft direction The same or different weights are applied to calculate the gust intensity, so as to ensure the accuracy of calculating the gust intensity.

Here, the first weight, the second weight and the third weight may be predetermined weights. For example, the first weight, the second weight and the third weight may be obtained through simulation and/or experiments. Furthermore, the first weight, the second weight and the third weight may be the same or different from each other. Optionally, the first weight, the second weight and the third weight may be normalized.

In a preferred embodiment of the present invention, the step of calculating the gust intensity based on the gust intensity index may include: applying a fourth weight to the change in the thrust received by the wind turbine; The results of the four weights are subjected to a second summation, and the second summation result obtained by the second summation is used as the gust intensity.

According to this preferred embodiment, the gust intensity is calculated using the thrust change applied to the wind turbine to which the fourth weight is applied, since the influence of the thrust change on the wind turbine on the gust intensity is further considered, so the calculation of the gust intensity is further improved. accuracy.

Here, similarly to the first weight, the second weight, and the third weight, the fourth weight may also be a predetermined weight. For example, the fourth weight may be obtained through simulation and/or experimentation. Furthermore, the fourth weight may be the same as or different from the first weight, the second weight and the third weight. Optionally, the fourth weight may be normalized.

Furthermore, optionally, a notch filter may be used to filter the variation in the thrust experienced by the wind turbine before the fourth weight is applied to the variation in the thrust experienced by the wind turbine. Here, the notch filter can filter out the 3p frequency signal component from the signal corresponding to the change in the thrust experienced by the wind turbine, thereby eliminating the interference of the 3p frequency signal component in the calculation of the gust strength and improving the accuracy of the calculation of the gust strength , where the 3p frequency is 3 times the rotational frequency of the rotor.

According to another embodiment of the present invention, the gust detection method may further include: using a low-pass filter to perform low-pass filtering on the gust intensity index. At this time, the low-pass filtered gust intensity index can be used as the gust intensity.

According to another preferred embodiment of the present invention, the step of calculating the gust intensity based on the gust intensity index may include: using a counter to count based on the gust intensity index, and using the count value output by the counter as the gust intensity.

Specifically, when the difference between the gust intensity index at the second time and the gust intensity index at the first time before the second time is greater than the first threshold, the count value of the counter at the first time is increased by the first value as The count value of the counter at the second time. That is to say, if the gust intensity index at the current moment is greater than the gust intensity index at the previous moment by the first threshold, that is, the gust tends to increase, the count value of the counter at the current moment may be equal to the gust strength index at the previous moment and the gust strength index at the previous moment. The result of the summation of the first values, that is, the count value of the counter at this time is automatically incremented by the first value. It should be noted that the first moment and the second moment here represent relative moments, not absolute moments. That is, the time difference between the second time instant and the first time instant may correspond to a period of any length.

Here, the first threshold value and the first value may have predetermined values, respectively. For example, the first threshold and the first value may be obtained through simulation and/or experimentation. As an example, the first threshold is a number greater than 0, and the first value is a number greater than 0.

In addition, when the difference between the gust intensity index at the second time and the gust intensity index at the first time is smaller than the second threshold, the count value of the counter at the first time is decreased by a second value as the count of the counter at the second time. count value. That is to say, if the gust intensity index at the current moment is smaller than the gust intensity index at the previous moment by the second threshold, that is, when the gust tends to decrease, the count value of the counter at the current moment may be equal to the gust strength at the previous moment. The result of summing the exponent and the first value, that is, the count value of the counter is decremented by the second value at this time.

Here, the second threshold value and the second value may have predetermined values, respectively. For example, the second threshold and the second value may be obtained through simulation and/or experimentation. As an example, the second threshold is a number less than zero and the second value is a number greater than zero.

Additionally, in response to the blades of the wind turbine being at a predetermined pitch angle (eg, by way of non-limiting example, a pitch angle greater than 20 degrees) for a predetermined length of time, the count value output by the counter is initialized to an initial value. Here, the blades of the wind turbine are at a predetermined pitch angle for a period of predetermined length may correspond to a situation in which gusts are not present or very small (eg, the gust intensity is below a predetermined threshold). In other words, when the gust does not exist or the gust is very small (eg, the gust intensity is lower than a predetermined threshold), the count value output by the counter will remain at the initial value. In this way, the count value output by the counter can always correctly reflect the general trend of gust, so the gust intensity can always be accurately calculated. As a non-limiting example, the initial value may be zero. However, the present invention does not limit the size of the initial value, and the initial value can be any other predetermined value. In addition, although an exemplary example in which the predetermined pitch angle indicates that the pitch angle is greater than 20 degrees is shown above, the present invention is not limited to this, and the predetermined pitch angle of the present invention may also indicate that the pitch angle is greater than 20 degrees according to design requirements. Examples of other specific angles.

Optionally, when the difference between the gust intensity index at the second time and the gust intensity index at the first time is less than or equal to the first threshold and greater than or equal to the second threshold, the forgetting factor is used to count the counter at the first time The value is reduced as the count value of the counter at the second time, wherein the forgetting factor is a value greater than 0 and less than or equal to 1.

As a non-limiting moment, if the difference between the gust intensity index at the current moment and the gust strength index at the previous moment is less than or equal to the first threshold and greater than or equal to the second threshold, the count value of the counter at the current moment is equal to the previous The product of the count value of the counter at a moment and the forgetting factor.

By using the forgetting factor as described above, the count value can be slowly decreased over time without the occurrence of the count value incrementing by the first value and the count value decrementing by the second value, so as to ensure that the count value is always stable and controllable. Indicates gust strength.

Preferably, the gust detection method further comprises performing anti-saturation control on the count value output by the counter. In addition, the count value of the counter output after the anti-saturation control is performed is used as the gust strength. Anti-saturation control is a commonly used control method in the field of control, therefore, the anti-saturation control is not described in detail here. By performing anti-saturation control on the count value output by the counter, the delay caused by the gust detection can be reduced by reducing the count value under non-gust conditions, thereby optimizing the gust detection performance.

Although various exemplary embodiments are shown above to calculate gust strength based on thrust, velocity and acceleration, the invention is not limited thereto and any other method of calculating gust strength based on thrust, velocity and acceleration is possible.

In step S150, the existence of gust is detected by comparing the calculated gust intensity with a predetermined threshold.

Here, the presence of a gust is detected when the calculated gust intensity is greater than a predetermined threshold. The absence of a gust is detected when the calculated gust strength is less than or equal to a predetermined threshold.

According to an example embodiment of the invention, the predetermined threshold may correspond to an extreme operating gust (EOG) of the wind turbine. Here, the predetermined threshold may be a predetermined threshold. For example, the predetermined threshold may be obtained through simulation and/or experimentation.

2 shows a block diagram of a gust controller according to an exemplary embodiment of the present invention.

Referring to FIG. 2 , a gust controller 200 according to an exemplary embodiment of the present invention may include a processor 210 and a memory 220 . Here, the memory 220 stores a computer program, wherein the computer program, when executed by the processor 220, implements any of the wind gust detection methods described with reference to FIG. 1 . For the sake of brevity, the description of any gust detection method described with reference to FIG. 1 performed by the processor 220 will not be repeated here.

Also, the method according to the exemplary embodiment of the present invention can be implemented as a computer program in a computer-readable recording medium. A person skilled in the art can implement the computer program according to the description of the above method. The above-described method of the present invention is implemented when the computer program is executed in a computer.

Furthermore, it should be understood that each unit in the apparatus according to the exemplary embodiment of the present invention may be implemented as hardware components and/or software components. Those skilled in the art can implement each unit by using, for example, a Field Programmable Gate Array (FPGA) or an Application Specific Integrated Circuit (ASIC) according to the defined processing performed by each unit.

In addition, according to an exemplary embodiment of the present invention, the present invention further provides a wind power generation system including the gust controller in FIG. 2 . For example, the wind power generation system may perform or perform predetermined operations (eg, use pitch kicks, activate tower dampers, etc.) based on the gust detection result of the gust controller, so that the wind power generation system can Good performance runs.

The gust detection method of the present invention can calculate the gust intensity based on the thrust received by the wind turbine, the speed of the tower of the wind turbine in the front-rear direction, and the acceleration of the tower of the wind turbine in the front-rear direction, compared to using an expensive laser The radar is used to calculate the gust intensity, and a gust detection scheme is provided which is inexpensive and ensures the calculation accuracy of the gust estimated intensity.

Furthermore, the gust detection method of the present invention may be applied by taking into account the same or different degrees of influence on the gust by the thrust experienced by the wind turbine, the speed of the wind turbine's tower in the fore-aft direction, and the acceleration of the wind turbine's tower in the fore-aft direction. The same or different weights are used to calculate the gust strength, thus ensuring the accuracy of the calculation of the gust strength.

In addition, the gust detection method of the present invention can use a notch filter to filter out the 3p frequency signal component from the signal corresponding to the thrust change experienced by the wind turbine, thereby eliminating the interference of the 3p frequency signal component to the calculation of the gust intensity, and Improved the accuracy of calculating gust strength.

In addition, the gust detection method of the present invention can always correctly reflect the general trend of gust by using the count value output by the counter, so the gust intensity can always be accurately calculated.

In addition, the gust detection method of the present invention can use the scaling factor to slowly decrease the count value over time without the occurrence of the count value increasing by the first value and the count value decreasing by the second value, thereby ensuring that the count value is always stable and reliable. The ground control indicates the gust strength.

In addition, the gust detection method of the present invention can perform anti-saturation control on the count value output by the counter, which can reduce the delay caused by the gust detection by reducing the count value under non-gust conditions, thereby optimizing the gust detection performance.

Although this disclosure includes specific examples, it will be apparent to those of ordinary skill in the art that various changes in form and details may be made in these examples without departing from the spirit and scope of the claims and their equivalents kind of change. The examples described herein should be regarded as descriptive only and not for purposes of limitation. Descriptions of features or aspects in each example should be considered applicable to similar features or aspects in other examples. If the described techniques are performed in a different order, and/or if components in the described systems, architectures, devices, or circuits are combined in different ways, and/or are replaced or supplemented by other components or their equivalents, then Appropriate results can be achieved. Therefore, the scope of the disclosure is defined not by the detailed description but by the claims and their equivalents, and all changes that come within the scope of the claims and their equivalents should be construed as being included in the disclosure.

Claims (13)

1. A method of gust detection, the method comprising:

determining the thrust force experienced by the wind turbine;

determining a speed of a tower of the wind turbine in a fore-aft direction;

determining an acceleration of a tower of the wind turbine in a fore-aft direction;

calculating a wind gust intensity based on the thrust, the velocity, and the acceleration;

detecting the presence of a wind gust by comparing the calculated gust intensity with a predetermined threshold,

wherein calculating a gust intensity based on the thrust, the velocity and the acceleration comprises:

applying a first weight, a second weight, and a third weight to the thrust, the velocity, and the acceleration, respectively;

first summing a result of the thrust being applied with a first weight, a result of the velocity being applied with a second weight, and a result of the acceleration being applied with a third weight to obtain a gust intensity index, and calculating a gust intensity based on the gust intensity index.

2. A gust detection method according to claim 1, wherein the presence of a gust is detected when the calculated gust intensity is greater than a predetermined threshold;

the absence of a gust is detected when the calculated gust intensity is less than or equal to a predetermined threshold.

3. A gust detection method according to claim 2, wherein the predetermined threshold value corresponds to a limit operating gust of the wind turbine.

4. The gust detection method of claim 1, wherein the step of calculating the gust intensity based on the gust intensity index comprises:

applying a fourth weight to the thrust variation experienced by the wind turbine;

and performing second summation on the result of the fourth weighting applied to the gust intensity index and the thrust variation, and taking a second summation result obtained by the second summation as the gust intensity.

5. A method of detecting a gust according to claim 4, wherein the thrust variations experienced by the wind turbine are filtered using a notch filter before the fourth weight is applied to the thrust variations.

6. The gust detection method of claim 1, wherein the step of calculating the gust intensity based on the gust intensity index comprises:

counting based on the gust intensity index using a counter;

and taking the count value output by the counter as the gust intensity.

7. A gust detection method according to claim 6, wherein a gust intensity index is calculated periodically or non-periodically,

the counting based on the gust intensity index includes:

when the difference between the gust intensity index at the second moment and the gust intensity index at the first moment before the second moment is larger than a first threshold value, increasing the count value of the counter at the first moment by a first value to be used as the count value of the counter at the second moment;

when the difference between the gust intensity index at the second time and the gust intensity index at the first time is less than a second threshold value, decreasing the count value of the counter at the first time by a second value as the count value of the counter at the second time,

wherein the count value output by the counter is initialized to an initial value in response to the blades of the wind turbine being at the predetermined pitch angle for a period of predetermined length.

8. A gust detection method according to claim 7,

the step of counting based on the gust intensity index further comprises:

when the difference between the gust intensity index at the second time and the gust intensity index at the first time is less than or equal to a first threshold value and greater than or equal to a second threshold value, the count value of the counter at the first time is reduced by a forgetting factor to be used as the count value of the counter at the second time,

wherein the forgetting factor is a value greater than 0 and equal to or less than 1.

9. A gust detection method according to claim 1, wherein the gust detection method further comprises: the gust intensity index is low pass filtered using a low pass filter,

wherein the step of calculating the gust intensity based on the gust intensity index comprises: and taking the gust intensity index after low-pass filtering as the gust intensity.

10. A gust detection method according to claim 6, wherein the gust detection method further comprises: the counter value output by the counter is subjected to anti-saturation control,

wherein, the step of taking the count value output by the counter as the gust intensity comprises: and taking the counting value output by the counter after the anti-saturation control as the gust intensity.

11. A computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the gust detection method of any one of claims 1 to 10.

12. A gust controller, the gust controller comprising:

a processor;

a memory for storing a plurality of data to be transmitted,

wherein the memory stores a computer program which, when executed by the processor, implements a gust detection method as claimed in any one of claims 1-10.

13. A wind power generation system, the wind power generation system comprising:

the gust controller of claim 12.

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