CN113606085A - Yaw control method, controller and system based on failure condition of variable pitch system - Google Patents

Yaw control method, controller and system based on failure condition of variable pitch system Download PDF

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Publication number
CN113606085A
CN113606085A CN202110970979.5A CN202110970979A CN113606085A CN 113606085 A CN113606085 A CN 113606085A CN 202110970979 A CN202110970979 A CN 202110970979A CN 113606085 A CN113606085 A CN 113606085A
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China
Prior art keywords
yaw
hub
blades
rotating speed
wind
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CN202110970979.5A
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Chinese (zh)
Inventor
黄正
黄凌翔
陈子达
袁黎龙
童剑雄
李逸
刘亮
罗晓嵘
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Harbin Electric Wind Energy Co ltd
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Harbin Electric Wind Energy Co ltd
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Priority to CN202110970979.5A priority Critical patent/CN113606085A/en
Publication of CN113606085A publication Critical patent/CN113606085A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • 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
    • F03D7/0244—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking
    • 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
    • F03D7/0264—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
    • F03D7/0268—Parking or storm protection
    • 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
    • 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
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • F03D80/50—Maintenance or repair
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/101—Purpose of the control system to control rotational speed (n)
    • F05B2270/1011—Purpose of the control system to control rotational speed (n) to prevent overspeed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/107—Purpose of the control system to cope with emergencies
    • F05B2270/1077—Storm protection
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/304—Spool rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • 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

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

The application relates to the technical field of wind power generation, and discloses a yaw control method, a controller and a system based on failure conditions of a pitch control system, which comprise: acquiring result information of simultaneous feathering of three blades of the wind driven generator within preset time; if the three blades fail to feather at the same time within the preset time, acquiring the rotating speed of the hub; if the rotating speed of the hub reaches a threshold value needing yaw unloading, acquiring the current wind speed; if the current wind speed reaches the threshold value of passive yaw under pressure, the tail brake of the yaw motor is released, and hydraulic brake high-pressure band-type brake is carried out; the machine head enters a control process of passive yaw under the action of wind power; if the contained angle of aircraft nose and wind direction falls into contained angle threshold value within range gradually and when the wheel hub rotational speed fell into rotational speed threshold value within range, then withdraw from passive driftage control process, get into the control process of initiatively driftage, this application has when aerogenerator hypervelocity problem appears, reduces the consuming time of initiatively driftage, effectively reduces the effect of the risk of unit driving.

Description

Yaw control method, controller and system based on failure condition of variable pitch system
Technical Field
The invention relates to the technical field of wind power generation, in particular to a yaw control method, a controller and a system based on failure conditions of a variable pitch system.
Background
The condition of variable pitch failure in the running process of the wind driven generator is often accompanied by the phenomena of overspeed of an impeller and unbalance of three blades. Especially when the unit appears impeller overspeed and three paddle unbalance problem under the strong wind condition, because overspeed and the unbalanced problem of paddle can cause the impact limit load to the driftage drive chain, the serious condition can damage driftage speed reducer or driftage motor bearing and beat the tooth.
In order to prevent the overspeed problem of the wind driven generator, active yaw wind measurement is generally adopted for 90 degrees, so that the rotating speed of the unit is reduced, and major accidents are avoided; however, when the pitch of a single blade fails, the overspeed time of the unit is short, and the impact limit load action time of the yaw drive chain caused by overspeed and unbalance is also short, and at the moment, the mechanical structure of the yaw drive chain can only passively bear the limit load. For the condition that more than two blades have pitch variation failure, the overspeed time is longer, and the active yaw speed of the unit is low, so that the average yaw speed in the industry is 0.5 degrees/s, and the crosswind 90 degrees needs 180 s; meanwhile, as the yaw limit load at the moment is overlarge, the active yaw easily causes the overload protection of a yaw motor, and the failure of active yaw crosswind is caused.
For the related technologies, the inventor thinks that when the wind driven generator overspeed problem occurs, the time consumption is long, and the active yaw crosswind may not effectively avoid the train runaway of the unit.
Disclosure of Invention
In order to reduce the time consumption of active yaw and effectively reduce the risk of unit runaway when the overspeed problem of the wind driven generator occurs, the invention provides a yaw control method, a controller and a system based on the failure condition of a variable pitch system.
In a first aspect, the yaw control method based on the failure condition of the pitch system provided by the application adopts the following technical scheme:
a yaw control method based on a failure condition of a pitch system comprises the following steps:
acquiring result information of simultaneous feathering of three blades of the wind driven generator within preset time;
based on the result information, if the three blades fail to feather at the same time within a preset time, acquiring the rotating speed of the hub;
if the rotating speed of the hub reaches a threshold value needing yaw unloading, acquiring the current wind speed;
if the current wind speed reaches the threshold value of passive yaw under pressure, the tail brake of the yaw motor is released, and hydraulic brake high-pressure band-type brake is carried out; the machine head enters a control process of passive yaw under the action of wind power;
acquiring an included angle between the machine head and the wind direction and the rotating speed of the hub based on the control process that the machine head enters the passive yaw;
and if the included angle between the machine head and the wind direction gradually falls into the included angle threshold range and the rotating speed of the hub falls into the rotating speed threshold range, exiting the passive yaw control process and entering an active yaw control process for keeping the included angle between the machine head and the wind direction within the included angle threshold range.
By adopting the technical scheme, when the strong wind condition is met, the problem that feathering cannot be smoothly achieved can not be solved directly through active yawing, when the rotating speed of the hub reaches the requirement of yawing unloading, whether the wind speed reaches a wind speed threshold value needs to be judged, when the wind speed reaches the threshold value of the requirement of pressurized passive yawing, the process of pressurized passive yawing is entered, the machine head passively and rapidly drifts to reduce wind energy absorbed by the impeller through gyro moment applied to the impeller by the strong wind, and meanwhile, the impact load of a yaw motor bearing in the Mz direction can be eliminated through loosening of a yaw motor tail brake, and a yaw transmission chain is protected; when the machine head drifts to the range that the rotating speed of the hub is reduced to the rotating speed threshold value, the safe included angle between the machine head and the wind direction is kept, the dynamic load of the impeller by strong wind is minimum at the moment, the passive driftage is stopped, the active driftage control for keeping the safe included angle between the machine head and the wind direction is carried out, and the emergency protection effect of the fan is achieved. In this case, the passive yaw control strategy can avoid overlarge impact of limit load on a yaw transmission chain caused by unbalanced blades and overspeed, meanwhile, the yaw crosswind can be rapidly and passively drifted to reduce the rotating speed of the impeller, and the further active yaw can reduce the risk of train runaway of the unit.
Optionally, the step of obtaining information of a result of simultaneous feathering of three blades of the wind turbine within a preset time includes:
respectively obtaining real-time included angles alpha 1, alpha 2 and alpha 3 between three blades of the wind driven generator and a hub plane;
acquiring angle deviation values of two adjacent blades, namely, delta 1= | alpha 1-alpha 2 | and delta 2= | alpha 2-alpha 3 | and delta 3= | alpha 1-alpha 3 | based on real-time included angles alpha 1, alpha 2 and alpha 3 of the three blades;
respectively judging whether the angle deviation values delta 1, delta 2 and delta 3 exceed a deviation set value A;
if at least one of the angle deviation values delta 1, delta 2 and delta 3 exceeds the deviation set value A, the three blades enter an emergency feathering mode, the three blades simultaneously feather, and result information of whether the three blades of the wind driven generator feather at the same time within preset time is obtained.
By adopting the technical scheme, when the feathering is needed, the real-time included angles of the three blades need to be acquired, then the angle deviation values of the two adjacent blades are respectively acquired, if any one of the angle deviation values exceeds a deviation set value, the feathering needs to be carried out, whether the passive yaw is needed or not is judged according to the feathering result, the feathering is successful, the passive yaw is not needed, if the feathering fails, the passive yaw is needed to be firstly carried out to reduce the rotating speed of the hub, and then the active yaw control process is started; calculating the angular deviation value helps to determine whether an emergency feathering mode is required to reduce the risk of over-speed of the impeller.
Optionally, after the step of respectively determining whether the angle deviation values Δ 1, Δ 2, and Δ 3 exceed the deviation set value a, the method further includes:
and if the angle deviation values delta 1, delta 2 and delta 3 do not exceed the deviation set value A, acquiring real-time included angles alpha 1, alpha 2 and alpha 3 between the three blades and the plane of the hub again.
By adopting the technical scheme, when the deviation values of the three groups of angles do not exceed the deviation set values, the real-time included angles of the three groups of blades are normal, so that feathering is not needed, data of the real-time included angles of the three groups of blades at the next time are collected again, and whether the feathering condition is met or not is judged; the step of collecting the real-time included angle of the blade is carried out in a circulating mode, and the utilization rate of the control method under the condition that the variable pitch system fails is improved.
Optionally, the step of obtaining result information of whether three blades of the wind turbine are feathered at the same time within a preset time further includes:
and based on the result information, if the three blades successfully feather at the same time within the preset time, sending fault information to the operation and maintenance platform.
By adopting the technical scheme, when the three blades are feathered successfully at the same time, fault information is sent to the operation and maintenance platform, operation and maintenance personnel wait for the operation and maintenance personnel to go to maintenance, the operation and maintenance personnel get rid of the fault of the pitch control system, and the unit can be protected in time.
Optionally, the step of obtaining the rotation speed of the hub further includes:
and if the rotating speed of the hub does not reach the threshold value needing yaw unloading, acquiring real-time included angles alpha 1, alpha 2 and alpha 3 between the three blades and the plane of the hub again.
By adopting the technical scheme, when the rotating speed of the hub does not reach the threshold value needing yaw unloading, passive yaw and passive yaw are not needed, the data of real-time included angles of the next three groups of blades need to be collected again, and whether the rotating speed of the hub reaches the threshold value needing yaw unloading is judged; the step of collecting the real-time included angle of the blade is carried out in a circulating mode, and the utilization rate of the control method is improved.
Optionally, the step of obtaining the current wind speed further includes:
if the current wind speed does not reach the threshold value of passive yaw under pressure, a yaw motor is loosened to perform tail brake and a hydraulic brake high-pressure band-type brake is loosened, and the machine head enters a passive yaw control process under the action of wind power;
acquiring an included angle between the machine head and the wind direction and the rotating speed of the hub based on the control process that the machine head enters the passive yaw;
if the included angle between the machine head and the wind direction falls into the included angle threshold range and the rotating speed of the hub falls into the rotating speed threshold range, the hydraulic brake high-pressure band-type brake is started, the passive yaw control process is quitted, and the active yaw control process for keeping the included angle between the machine head and the wind direction within the included angle threshold range is started.
By adopting the technical scheme, when the wind is in a normal breeze condition, the brake at the tail part of the yaw motor is firstly released, and when the wind is in a breeze condition, the brake does not need to be braked hydraulically, so that the brake needs to be released, the machine head passively yaws under the action of the breeze, the machine head gradually reaches a safe position, then the wheel hub gradually decelerates, when the speed of the wheel hub is in the range of the rotating speed threshold value, a high-pressure band brake needs to be braked hydraulically, the condition that the active yaw can be carried out is achieved under the breeze condition, so that the passive yaw needs to be withdrawn and enter the active yaw, and the passive yaw control strategy under the condition can avoid overlarge impact of limit load caused by the imbalance of the blades and the overspeed on a yaw transmission chain.
Optionally, the step of entering an active yaw control process for keeping the included angle between the machine head and the wind direction within the range of the included angle threshold value includes:
by adopting the technical scheme, after the active yaw is entered from the passive yaw under the condition of strong wind or small wind, fault information is sent to the operation and maintenance platform based on the active yaw control process, operation and maintenance personnel wait for the operation and maintenance personnel to go to maintenance, the operation and maintenance personnel get rid of the fault of the pitch control system, and the unit can be protected in time.
In a second aspect, the present application provides a yaw controller based on a failure condition of a pitch system, which adopts the following technical scheme:
a pitch system failure condition based yaw controller includes a processor and a memory;
the memory stores a program for yaw control in the event of a pitch system failure condition;
the processor performs the method described above when executing a program stored in the memory for yaw control in the event of a pitch system failure condition.
In a third aspect, the yaw control system based on the failure condition of the pitch system provided by the application adopts the following technical scheme:
a yaw control system based on a failure condition of a variable pitch system comprises a machine head, a wheel hub, blades, a blade angle collector, a wheel hub rotating speed collector, a wind speed collector, a machine head angle collector, a navigation motor, a yaw bearing hydraulic braking system and the yaw controller based on the failure condition of the variable pitch system;
the three blades are arranged and are all arranged on the hub, and the three blades rotate under the action of wind force to drive the hub to rotate;
the blade angle collector is used for collecting a real-time included angle between a blade and a hub plane and sending the real-time included angle to the controller;
the hub rotating speed collector is used for collecting the rotating speed of the hub and sending the rotating speed to the controller;
the wind speed collector is used for collecting the current wind speed and sending the current wind speed to the controller;
the machine head angle collector is used for collecting an included angle between the wind direction and the machine head and sending the included angle to the controller;
when the yaw motor enters a passive yaw control process, the yaw motor is loosened to perform tail braking, and when the rotating speed of the hub is reduced to be within a rotating speed threshold range, the tail braking is started;
the yaw bearing hydraulic braking system performs hydraulic braking and high-pressure band-type braking when the current wind speed reaches a wind speed threshold range, and does not need to perform hydraulic braking and high-pressure band-type braking when the rotating speed of the hub is reduced to the rotating speed threshold range; when the current wind speed does not reach the wind speed threshold range, releasing the hydraulic brake high-pressure band-type brake, and when the rotating speed of the hub is reduced to the rotating speed threshold range, performing the hydraulic brake high-pressure band-type brake;
the yaw controller based on the failure condition of the variable pitch system is respectively and electrically connected with a hub, blades, a blade angle collector, a hub rotating speed collector, a wind speed collector, a machine head angle collector, a yaw motor and a yaw bearing hydraulic braking system; the device is used for receiving and judging whether the angle deviation values of the three groups of blades exceed a deviation set value or not and judging whether the three groups of blades can be feathered successfully at the same time within a preset time or not; the yaw unloading device is used for judging whether the rotating speed of the hub reaches a threshold value needing yaw unloading or not; the wind speed control device is used for judging whether the current wind speed reaches a threshold value of passive yawing under pressure; the yaw brake is used for controlling the yaw motor to brake the tail part; the high-pressure band-type brake is used for controlling the yaw bearing hydraulic braking system to perform hydraulic braking and braking; the method is used for controlling the wind driven generator to exit the passive yaw control process and enter the active yaw control process.
By adopting the technical scheme, when the strong wind condition is met, the problem that feathering cannot be smoothly achieved can not be solved directly through active yawing, when the rotating speed of the hub reaches the requirement of yawing unloading, whether the wind speed reaches a wind speed threshold value needs to be judged, when the wind speed reaches the threshold value of the requirement of pressurized passive yawing, the process of pressurized passive yawing is entered, the machine head passively and rapidly drifts to reduce wind energy absorbed by the impeller through gyro moment applied to the impeller by the strong wind, and meanwhile, the impact load of a yaw motor bearing in the Mz direction can be eliminated through loosening of a yaw motor tail brake, and a yaw transmission chain is protected; when the machine head drifts to the range that the rotating speed of the hub is reduced to the rotating speed threshold value, the safe included angle between the machine head and the wind direction is kept, the dynamic load of the impeller by strong wind is minimum at the moment, the passive driftage is stopped, the active driftage control for keeping the safe included angle between the machine head and the wind direction is carried out, and the emergency protection effect of the fan is achieved. In this case, the passive yaw control strategy can avoid overlarge impact of limit load on a yaw transmission chain caused by unbalanced blades and overspeed, meanwhile, the yaw crosswind can be rapidly and passively drifted to reduce the rotating speed of the impeller, and the further active yaw can reduce the risk of train runaway of the unit.
Optionally, the system further comprises an operation and maintenance platform; the operation and maintenance platform is in communication connection with the controller and is used for receiving fault information sent by the controller and informing operation and maintenance personnel of removing faults when the three blades are feathered successfully at the same time in the preset time and enter an active yaw control process.
By adopting the technical scheme, when feathering is successful and an active yaw control process is started, in order to solve the problem of overspeed of the impeller as soon as possible, the operation and maintenance platform informs operation and maintenance personnel of going to the fault of the inspection unit, so that major accidents are avoided.
In summary, the present application includes at least one of the following beneficial technical effects:
1. under the condition of strong wind, the passive yaw control strategy can avoid overlarge impact of extreme load on a yaw transmission chain caused by unbalanced blades and overspeed, meanwhile, the side wind can be quickly and passively yawed to reduce the rotating speed of an impeller, and the further active yaw can reduce the risk of train runaway of a unit;
2. when feathering is successful and an active yaw control process is entered, in order to solve the problem of overspeed of the impeller as soon as possible, operation and maintenance personnel are informed to go to the fault of the inspection unit through the operation and maintenance platform, and major accidents are avoided.
Drawings
FIG. 1 is a hardware architecture diagram of a yaw control system based on a pitch system failure condition according to an embodiment of the present application.
FIG. 2 is a logic block flow diagram of a yaw control method based on a pitch system failure condition according to an embodiment of the present application.
FIG. 3 is a flow chart of a method of yaw control based on a pitch system failure condition according to an embodiment of the present application.
Fig. 4 is an expanded flowchart of S700 in fig. 3.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
The embodiment of the application discloses a yaw control system based on a failure condition of a variable pitch system. Referring to fig. 1, the yaw control system includes a head, a hub, blades, a blade angle collector, a hub rotational speed collector, a wind speed collector, a head angle collector, a yaw motor, a yaw bearing hydraulic braking system, and a yaw controller based on a pitch system failure condition.
The hub is located aircraft nose one side, and the quantity of blade sets up to three groups, installs respectively on the hub, and the blade has certain contained angle with the hub, and the blade drives the hub rotation under the effect of wind power, and at hub pivoted in-process, mechanical energy changes the electric energy into and carries out wind power generation.
The blade angle collector, the hub rotating speed collector, the wind speed collector, the yaw motor and the yaw bearing hydraulic braking system are all electrically connected with the yaw controller.
The blade angle collector is installed on the blade and used for collecting real-time included angles of the three blades and the plane of the hub, the measuring instrument for measuring the blade angle can be a multifunctional bubble angle ruler, a plane angle ruler and the like, and the collected real-time included angle information is sent to the controller.
The hub rotating speed collector is used for collecting the real-time rotating speed of the hub, and an instrument for collecting the rotating speed of the hub can be a hub bearing rotating speed sensor; and transmitting the acquired rotating speed of the hub to a controller, carrying out a passive yaw control process when the rotating speed of the hub reaches the impact load in the Mz direction of a yaw motor bearing needing to be unloaded in a yaw mode, and quitting the passive yaw control process when the rotating speed of the hub is reduced to the range of a rotating speed threshold value.
And the wind speed collector is used for collecting the current wind speed in real time, an instrument for collecting the wind speed can be a wind speed measuring instrument, and the collected wind speed is sent to the controller.
The aircraft nose angle collector is installed on the aircraft nose for gather the contained angle of aircraft nose and wind direction in real time, the instrument of gathering aircraft nose and wind direction can be for turning round the cable sensor, sends the contained angle of the aircraft nose and the wind direction of gathering to the controller.
The yaw motor is arranged on the nose and used for quickly and stably aligning the wind direction when the wind direction changes, and when passive yaw is needed under the condition of strong wind, the controller controls the yaw motor to release a brake at the tail part, so that impact load applied by the strong wind in the Mz direction of a bearing of the yaw motor can be eliminated, and a yaw transmission chain is protected.
A yaw bearing hydraulic brake system refers to a hydraulic brake of a yaw motor bearing, only a tail brake of a motor needs to be loosened under the condition of strong wind, the pressure of the yaw motor bearing hydraulic brake is kept, acting force of a fan blade is passively yawed through the strong wind, and the hydraulic brake of the yaw motor bearing cannot be loosened in order to keep the stability of a fan head under the condition.
The yaw controller based on the failure condition of the pitch system comprises a memory and a processor, wherein the memory is electrically connected with the processor, the memory stores a program for performing yaw control when the pitch system fails, and the memory comprises various media capable of storing program codes, such as a U disk, a mobile hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk. The processor is used for executing a program which is stored in the memory and is used for yaw control when the variable pitch system fails, and the processor comprises a single chip microcomputer, an MCU, a central processing unit and other chips.
The system also comprises an operation and maintenance platform which is in communication connection with the controller and is used for receiving fault information sent by the controller and informing operation and maintenance personnel of removing faults when the three blades are feathered successfully at the same time in the preset time and enter the active yaw control process.
The implementation principle of the yaw control system based on the failure condition of the variable pitch system in the embodiment of the application is as follows: after a variable pitch system fails, when a strong wind condition is met, whether three groups of blades can be feathered successfully or not is required to be judged, if the three groups of blades cannot be feathered successfully, whether the current rotating speed of a hub reaches a condition needing yaw unloading is judged, whether the wind speed reaches a wind speed threshold value is judged, when the wind speed reaches the threshold value needing pressure passive yaw, the process of pressure passive yaw is started, the machine head is subjected to passive and rapid yaw to reduce wind energy absorbed by the impeller through gyro moment applied to the impeller by the strong wind, and meanwhile, impact load of a yaw motor bearing in the Mz direction can be eliminated through loosening of a yaw motor tail brake, so that a yaw transmission chain is protected; when the machine head drifts to the range that the rotating speed of the hub is reduced to the rotating speed threshold value, the safe included angle between the machine head and the wind direction is kept, the dynamic load of the impeller by strong wind is minimum at the moment, the passive driftage is stopped, the active driftage control for keeping the safe included angle between the machine head and the wind direction is carried out, and the emergency protection effect of the fan is achieved. In this case, the passive yaw control strategy can avoid overlarge impact of limit load on a yaw transmission chain caused by unbalanced blades and overspeed, meanwhile, the yaw crosswind can be rapidly and passively drifted to reduce the rotating speed of the impeller, and the further active yaw can reduce the risk of train runaway of the unit.
Based on the hardware architecture, the embodiment of the application further discloses a yaw control method based on the failure condition of the pitch control system, which comprises the following steps of S100-S1000:
step S100: real-time included angles alpha 1, alpha 2 and alpha 3 between three blades of the wind driven generator and the plane of the hub are obtained respectively.
The real-time included angles between the three blades and the plane of the hub are respectively obtained through the blade angle collector, and the real-time included angle information is sent to the controller after the collection is completed.
Step S200: based on the real-time included angles α 1, α 2 and α 3 of the three blades, angle deviation values Δ 1= | α 1- α 2 | Δ 2= | α 2- α 3 | and Δ 3= | α 1- α 3 | of two adjacent blades are obtained.
When the controller receives the real-time included angle information collected by the blade angle collector, the angle deviation value of two adjacent blades is calculated, and feathering is not needed until the angle deviation value is within a threshold range.
Step S300: respectively judging whether the angle deviation values delta 1, delta 2 and delta 3 exceed a deviation set value A;
if at least one of the angle deviation values delta 1, delta 2 and delta 3 exceeds the deviation set value A, the three blades enter an emergency feathering mode, the three blades simultaneously feather, and result information of whether the three blades of the wind driven generator feather at the same time within preset time is obtained;
and if the angle deviation values delta 1, delta 2 and delta 3 do not exceed the deviation set value A, acquiring real-time included angles alpha 1, alpha 2 and alpha 3 between the three blades and the plane of the hub again.
If at least one angle deviation value exceeds the deviation set value A, the load of the blade is larger under the action of wind power, and feathering is needed, otherwise, when the angle deviation value does not exceed the deviation set value A, the load of the blade meets the requirement, and feathering is not needed. In the emergency pitch-retracting mode, namely, the blades return to the 90-degree position, active yaw wind measurement is adopted for 90 degrees, so that the rotating speed of the unit is reduced, and major accidents are avoided. The predetermined time is generally 20 to 40 seconds.
Step S400: and acquiring the result information of the simultaneous feathering of the three blades of the wind driven generator within the preset time.
And sending a result of the success of feathering to the controller for the controller to carry out the next operation.
Step S500: based on the result information, if the three blades fail to feather at the same time within a preset time, acquiring the rotating speed of the hub; and if the three blades are feathered successfully at the same time within the preset time, sending fault information to the operation and maintenance platform.
And under the condition that feathering is successful, representing that the fan is in a safe state, sending failure information of the variable pitch system to the operation and maintenance platform, and informing related operation and maintenance personnel to maintain.
Step S600: if the rotating speed of the hub reaches a threshold value needing yaw unloading, acquiring the current wind speed;
and if the rotating speed of the hub does not reach the threshold value needing yaw unloading, acquiring real-time included angles alpha 1, alpha 2 and alpha 3 between the three blades and the plane of the hub again.
The following steps S700-S900 are yawing steps under the condition of strong wind, and the steps S710-S910 are yawing steps under the condition of small wind, wherein the strong wind is that the current wind speed exceeds the wind speed threshold range, and the small wind is that the current wind speed does not exceed the wind speed threshold range.
Step S700: if the current wind speed reaches the threshold value of passive yaw under pressure, the tail brake of the yaw motor is released, and hydraulic brake high-pressure band-type brake is carried out; the machine head enters a control process of passive yaw under the action of wind power;
step S710: if the current wind speed does not reach the threshold value of passive yaw under pressure, a yaw motor is loosened to perform tail brake and a hydraulic brake high-pressure band-type brake is loosened, and the machine head enters a passive yaw control process under the action of wind power.
Step S800: and acquiring the included angle between the machine head and the wind direction and the rotating speed of the hub based on the control process that the machine head enters the passive yaw.
Step S810: and acquiring the included angle between the machine head and the wind direction and the rotating speed of the hub based on the control process that the machine head enters the passive yaw.
Utilize aircraft nose angle sensor to acquire the contained angle of aircraft nose and wind direction to send the contained angle of aircraft nose and wind direction to the controller, the controller judges whether the contained angle of aircraft nose and wind direction is located contained angle threshold value within range, when the aircraft nose is in safe scope, just can further acquire the wheel hub rotational speed.
Step S900: and if the included angle between the machine head and the wind direction gradually falls into the included angle threshold range and the rotating speed of the hub falls into the rotating speed threshold range, exiting the passive yaw control process and entering an active yaw control process for keeping the included angle between the machine head and the wind direction within the included angle threshold range.
Under the condition of strong wind, the impact force on the fan blade is large, only the brake at the tail part of the yaw motor needs to be loosened, the pressure of the hydraulic brake of the yaw bearing is kept, and the acting force of the strong wind on the impeller is used for carrying out passive yaw, so that the hydraulic brake of the yaw bearing cannot be loosened in order to keep the stability of the fan head; when the rotating speed of the hub is within the range of the rotating speed threshold value, the passive yaw can be quitted, the active yaw is entered, and the fan is in a safer state.
Step S910: if the included angle between the machine head and the wind direction falls into the included angle threshold range and the rotating speed of the hub falls into the rotating speed threshold range, the hydraulic brake high-pressure band-type brake is started, the passive yaw control process is quitted, and the active yaw control process for keeping the included angle between the machine head and the wind direction within the included angle threshold range is started.
Under the condition of low wind, the impact force on the fan blades is small, the brake at the tail of the yaw motor and the hydraulic brake of the yaw bearing are loosened, and the yaw motor can quit the passive yaw and enter the active yaw after the rotating speed of the hub is within the range of the rotating speed threshold value.
Step S1000: and sending fault information to the operation and maintenance platform based on the active yaw control process.
And the fault information of the variable pitch system is sent to the operation and maintenance platform by the controller, and operation and maintenance personnel are waited to eliminate the fault of the variable pitch system.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. A yaw control method based on a failure condition of a variable pitch system is characterized in that: the method comprises the following steps:
acquiring result information of simultaneous feathering of three blades of the wind driven generator within preset time;
based on the result information, if the three blades fail to feather at the same time within a preset time, acquiring the rotating speed of the hub;
if the rotating speed of the hub reaches a threshold value needing yaw unloading, acquiring the current wind speed;
if the current wind speed reaches the threshold value of passive yaw under pressure, the tail brake of the yaw motor is released, and hydraulic brake high-pressure band-type brake is carried out; the machine head enters a control process of passive yaw under the action of wind power;
acquiring an included angle between the machine head and the wind direction and the rotating speed of the hub based on the control process that the machine head enters the passive yaw;
and if the included angle between the machine head and the wind direction gradually falls into the included angle threshold range and the rotating speed of the hub falls into the rotating speed threshold range, exiting the passive yaw control process and entering an active yaw control process for keeping the included angle between the machine head and the wind direction within the included angle threshold range.
2. A method of yaw control based on a pitch system failure condition according to claim 1, wherein: the step of obtaining the result information of the simultaneous feathering of the three blades of the wind driven generator within the preset time comprises the following steps:
respectively obtaining real-time included angles alpha 1, alpha 2 and alpha 3 between three blades of the wind driven generator and a hub plane;
acquiring angle deviation values of two adjacent blades, namely, delta 1= | alpha 1-alpha 2 | and delta 2= | alpha 2-alpha 3 | and delta 3= | alpha 1-alpha 3 | based on real-time included angles alpha 1, alpha 2 and alpha 3 of the three blades;
respectively judging whether the angle deviation values delta 1, delta 2 and delta 3 exceed a deviation set value A;
if at least one of the angle deviation values delta 1, delta 2 and delta 3 exceeds the deviation set value A, the three blades enter an emergency feathering mode, the three blades simultaneously feather, and result information of whether the three blades of the wind driven generator feather at the same time within preset time is obtained.
3. A method of yaw control based on a pitch system failure condition according to claim 2, wherein: after the step of respectively judging whether the angle deviation values Δ 1, Δ 2, and Δ 3 exceed the deviation set value a, the method further includes:
and if the angle deviation values delta 1, delta 2 and delta 3 do not exceed the deviation set value A, acquiring real-time included angles alpha 1, alpha 2 and alpha 3 between the three blades and the plane of the hub again.
4. A method of yaw control based on a pitch system failure condition according to claim 2, wherein: the step of obtaining the result information of whether the three blades of the wind driven generator are feathered at the same time within the preset time further comprises the following steps:
and based on the result information, if the three blades successfully feather at the same time within the preset time, sending fault information to the operation and maintenance platform.
5. A method of yaw control based on a pitch system failure condition according to claim 1, wherein: the step of obtaining the rotation speed of the hub further comprises the following steps:
and if the rotating speed of the hub does not reach the threshold value needing yaw unloading, acquiring real-time included angles alpha 1, alpha 2 and alpha 3 between the three blades and the plane of the hub again.
6. A method of yaw control based on a pitch system failure condition according to claim 1, wherein: the step of obtaining the current wind speed further comprises the following steps:
if the current wind speed does not reach the threshold value of passive yaw under pressure, a yaw motor is loosened to perform tail brake and a hydraulic brake high-pressure band-type brake is loosened, and the machine head enters a passive yaw control process under the action of wind power;
acquiring an included angle between the machine head and the wind direction and the rotating speed of the hub based on the control process that the machine head enters the passive yaw;
if the included angle between the machine head and the wind direction falls into the included angle threshold range and the rotating speed of the hub falls into the rotating speed threshold range, the hydraulic brake high-pressure band-type brake is started, the passive yaw control process is quitted, and the active yaw control process for keeping the included angle between the machine head and the wind direction within the included angle threshold range is started.
7. A method of yaw control based on a pitch system failure condition according to claim 1 or 6, wherein: the step of entering the active yaw control process for keeping the included angle between the machine head and the wind direction within the range of the included angle threshold value comprises the following steps:
and sending fault information to the operation and maintenance platform based on the active yaw control process.
8. A yaw controller based on a pitch system failure condition, characterized by: comprises a processor and a memory;
the memory stores a program for yaw control in the event of a pitch system failure condition;
the processor, when executing a program stored in the memory for yaw control in case of a pitch system failure, performs the method of any of claims 1 to 7.
9. A yaw control system based on a failure condition of a variable pitch system is characterized in that: the yaw control system comprises a machine head, a hub, blades, a blade angle collector, a hub rotating speed collector, a wind speed collector, a machine head angle collector, a yaw motor, a yaw bearing hydraulic braking system and a yaw controller based on the failure condition of a pitch system, wherein the machine head is connected with the wind speed collector;
the number of the blades is three, the blades are all arranged on the hub, and the three blades rotate under the action of wind force to drive the hub to rotate;
the blade angle collector is used for collecting a real-time included angle between a blade and a hub plane and sending the real-time included angle to the controller;
the hub rotating speed collector is used for collecting the rotating speed of the hub and sending the rotating speed to the controller;
the wind speed collector is used for collecting the current wind speed and sending the current wind speed to the controller;
the machine head angle collector is used for collecting an included angle between the wind direction and the machine head and sending the included angle to the controller;
when the yaw motor enters a passive yaw control process, the yaw motor is loosened to perform tail braking, and when the rotating speed of the hub is reduced to be within a rotating speed threshold range, the tail braking is started;
the yaw bearing hydraulic braking system performs hydraulic braking and high-pressure band-type braking when the current wind speed reaches a wind speed threshold range, and does not need to perform hydraulic braking and high-pressure band-type braking when the rotating speed of the hub is reduced to the rotating speed threshold range; when the current wind speed does not reach the wind speed threshold range, releasing the hydraulic brake high-pressure band-type brake, and when the rotating speed of the hub is reduced to the rotating speed threshold range, performing the hydraulic brake high-pressure band-type brake;
the yaw controller based on the failure condition of the variable pitch system is respectively and electrically connected with a hub, blades, a blade angle collector, a hub rotating speed collector, a wind speed collector, a machine head angle collector, a yaw motor and a yaw bearing hydraulic braking system; the device is used for receiving and judging whether the angle deviation values of the three groups of blades exceed a deviation set value or not and judging whether the three groups of blades can be feathered successfully at the same time within a preset time or not; the yaw unloading device is used for judging whether the rotating speed of the hub reaches a threshold value needing yaw unloading or not; the wind speed control device is used for judging whether the current wind speed reaches a threshold value of passive yawing under pressure; the yaw brake is used for controlling the yaw motor to brake the tail part; the high-pressure band-type brake is used for controlling the yaw bearing hydraulic braking system to perform hydraulic braking and braking; the method is used for controlling the wind driven generator to exit the passive yaw control process and enter the active yaw control process.
10. A pitch system failure condition based yaw control system according to claim 9, wherein: the system also comprises an operation and maintenance platform; the operation and maintenance platform is in communication connection with the controller based on the failure condition of the variable pitch system, and is used for receiving fault information sent by the controller and informing operation and maintenance personnel of removing faults when the three blades are feathered successfully at the same time in the preset time and enter the active yaw control process.
CN202110970979.5A 2021-08-23 2021-08-23 Yaw control method, controller and system based on failure condition of variable pitch system Pending CN113606085A (en)

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Application publication date: 20211105