CN114562413A - Variable pitch control method and device and tower damper - Google Patents
Variable pitch control method and device and tower damper 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
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- F03D7/00—Controlling wind motors
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- 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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The disclosure provides a variable pitch control method and device and a tower damper. The pitch control method may comprise the steps of: acquiring a tower top acceleration signal and a tower top speed signal; obtaining a variable pitch control component by using the tower top acceleration signal and the tower top speed signal; performing a pitch operation based on the pitch control component. The tower load can be effectively reduced through the present disclosure.
Description
Technical Field
The disclosure relates to the technical field of wind power generation, in particular to a variable pitch control method and device and a tower damper.
Background
Wind turbine generators are devices that convert wind energy into electrical energy. In the control of the wind generating set, pitch control is an important link. In general, normal rotational speed control may be performed using collective pitch, and accordingly, pitch operation may be performed according to a rotational speed-based collective pitch reference signal. However, due to the complex external environment of the wind turbine generator system, phenomena such as the offset of the pitch position and the tower oscillation may occur during the operation of the wind turbine generator system, and thus, the load may be damaged, and the current pitch control scheme cannot meet the requirement of reducing the tower load.
Disclosure of Invention
The present disclosure provides a pitch control method, a pitch control device, and a tower damper to at least solve the problem of reducing tower loads.
According to a first aspect of an embodiment of the present disclosure, a pitch control method of a wind turbine generator system is provided, which may include the following steps: acquiring a tower top acceleration signal and a tower top speed signal; obtaining a variable pitch control component by using the tower top acceleration signal and the tower top speed signal; and performing a pitch operation based on the pitch control component.
Optionally, the step of obtaining the tower top acceleration signal and the tower top velocity signal may comprise: acquiring the measured tower top acceleration and the estimated thrust; obtaining the tower top acceleration signal and the tower top velocity signal based on the measured tower top acceleration and the estimated thrust using a state space observer.
Alternatively, the state space observer may be a dragon berg observer or a kalman filter.
Optionally, the step of obtaining a pitch control component by using the tower top acceleration signal and the tower top velocity signal may include: determining a gain value for the pitch control component; calculating the pitch control component by applying the gain value to the tower top acceleration signal and the tower top velocity signal.
Optionally, the step of determining a gain value for the pitch control component may comprise: the gain value is determined based on at least one of wind speed, turbulence intensity, and ambient temperature.
Alternatively, the gain value may be calculated based on the wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
Optionally, the step of obtaining a pitch control component by using the tower top acceleration signal and the tower top velocity signal may include: obtaining a first coefficient based on the tuning parameters for the tower top acceleration signal and the tower top velocity signal and a tower first natural frequency; obtaining a second coefficient based on the adjustment parameter; calculating the pitch control component by applying the gain value to a value of the tower top acceleration signal multiplied by a first coefficient and a value of the tower top velocity signal multiplied by a second coefficient.
Optionally, the step of performing a pitch operation based on the pitch control component may comprise: determining a centralized variable pitch reference signal according to the rotating speed signal; performing a pitch operation using the collective pitch reference signal plus the sum of the pitch control components as a final pitch reference signal.
According to a second aspect of the embodiments of the present disclosure, there is provided a pitch control apparatus of a wind turbine generator system, the pitch control apparatus may include: a data acquisition module configured to obtain a tower top acceleration signal and a tower top velocity signal; and a data processing module configured to: obtaining a variable pitch control component by using the tower top acceleration signal and the tower top speed signal; performing a pitch operation based on the pitch control component.
Optionally, the data acquisition module may be configured to: acquiring the measured tower top acceleration and the estimated thrust; obtaining the tower top acceleration signal and the tower top velocity signal based on the measured tower top acceleration and the estimated thrust using a state space observer.
Alternatively, the state space observer may be a dragon berg observer or a kalman filter.
Optionally, the data processing module may be configured to: determining a gain value for the pitch control component; calculating the pitch control component by applying the gain value to the tower top acceleration signal and the tower top velocity signal.
Optionally, the data processing module may be configured to: the gain value is determined based on at least one of wind speed, turbulence intensity, and ambient temperature.
Optionally, the data processing module may be configured to: calculating the gain value based on wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
Optionally, the data processing module may be configured to: obtaining a first coefficient based on the tuning parameters for the tower top acceleration signal and the tower top velocity signal and a tower first natural frequency; obtaining a second coefficient based on the adjustment parameter; calculating the pitch control component by applying the gain value to a value of the tower top acceleration signal multiplied by a first coefficient and a value of the tower top velocity signal multiplied by a second coefficient.
Optionally, the data processing module may be configured to: determining a centralized variable pitch reference signal according to the rotating speed signal; performing a pitch operation using the collective pitch reference signal plus the sum of the pitch control components as a final pitch reference signal.
According to a third aspect of embodiments of the present disclosure, there is provided a tower damper, which may comprise: a tower estimator configured to: acquiring a tower top acceleration signal and a tower top speed signal; and obtaining a variable pitch control component by using the tower top acceleration signal and the tower top speed signal.
Optionally, the tower estimator may be configured to: the measured tower top acceleration and the estimated thrust are obtained, and the tower top acceleration signal and the tower top velocity signal are calculated based on the measured tower top acceleration and the estimated thrust using a state space observer.
Alternatively, the state space observer may be a dragon berg observer or a kalman filter.
Optionally, the tower damper may comprise a booster. The booster may be configured to determine a gain value for the pitch control component based on at least one of wind speed, turbulence intensity, and ambient temperature.
Optionally, the booster may be configured to calculate the gain value based on the wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
Optionally, the tower estimator may be configured to: obtaining the pitch control component by applying the gain value to the tower top acceleration signal and the tower top velocity signal.
Optionally, the tower estimator may be configured to: obtaining a first coefficient based on the tuning parameters for the tower top acceleration signal and the tower top velocity signal and a tower first natural frequency; obtaining a second coefficient based on the adjustment parameter; calculating the pitch control component by applying the gain value to a value of the tower top acceleration signal multiplied by a first coefficient and a value of the tower top velocity signal multiplied by a second coefficient.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus, which may include: at least one processor; at least one memory storing computer-executable instructions, wherein the computer-executable instructions, when executed by the at least one processor, cause the at least one processor to perform a pitch control method as described above.
According to a fifth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a pitch control method as described above.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
by taking tower top wind speed and external factors (such as environmental variables) into account in pitch control, tower loads are reduced more effectively. In addition, gain scheduling can be carried out on the tower damper gain according to wind speed or other environment variables, and load balance reduction aiming at the goals of service life of a variable pitch system or a bearing, AEP reduction and the like can be realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
FIG. 1 is a flow chart of a pitch control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of performing pitch control according to an embodiment of the present disclosure;
FIG. 3 is a block diagram of a tower damper according to an embodiment of the present disclosure;
FIG. 4 is a flow diagram of a method for obtaining pitch control components according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram for obtaining pitch control components according to an embodiment of the present disclosure;
FIG. 6 is a block diagram of a pitch control apparatus according to an embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device according to an embodiment of the disclosure.
Throughout the drawings, it should be noted that the same reference numerals are used to designate the same or similar elements, features and structures.
Detailed Description
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of the embodiments of the disclosure as defined by the claims and their equivalents. Various specific details are included to aid understanding, but these are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The embodiments described in the following examples do not represent all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In this case, the expression "at least one of the items" in the present disclosure means a case where three types of parallel expressions "any one of the items", "a combination of any plural ones of the items", and "the entirety of the items" are included. For example, "include at least one of a and B" includes the following three cases in parallel: (1) comprises A; (2) comprises B; (3) including a and B. For another example, "at least one of the first step and the second step is performed", which means that the following three cases are juxtaposed: (1) executing the step one; (2) executing the step two; (3) and executing the step one and the step two.
In the related art, normal rotational speed control may be performed using collective pitch, and accordingly, a pitch operation may be performed according to a rotational speed-based collective pitch reference signal. However, due to the complex external environment of the wind turbine, phenomena such as tower oscillation may occur during the operation of the wind turbine, and thus, the load may be damaged, and the current pitch control scheme cannot meet the requirement of reducing the load.
According to the embodiment of the disclosure, on the basis of using the rotation speed control of centralized variable pitch, the variable pitch signal based on the rotation speed is combined with the variable pitch signal based on the tower top wind speed to perform variable pitch operation in consideration of the tower top wind speed control, so that the tower load, especially the tower longitudinal load, is effectively reduced.
Hereinafter, methods, apparatuses, and systems of the present disclosure will be described in detail with reference to the accompanying drawings, according to various embodiments of the disclosure.
FIG. 1 is a flow chart of a pitch control method according to an embodiment of the present disclosure. The pitch control method shown in fig. 1 may be performed by a master controller or a pitch controller of the wind park or by another device (e.g. a pitch control arrangement as will be explained below) independent of the master controller and the pitch controller.
Referring to fig. 1, in step S101, a tower top acceleration signal and a tower top velocity signal are obtained. The tower top acceleration signal may be measured using an acceleration sensor. Here, the tower top acceleration signal may be a tower top longitudinal acceleration.
In the present disclosure, the tower top velocity signal may be estimated using the measured tower top acceleration and the estimated thrust. Here, since the thrust cannot be measured in practice, the thrust, i.e., the estimated thrust, can be obtained based on the blade load sensor measurement value and a mathematical model for describing the relationship between the blade load and the thrust.
As an example, a state space observer may be utilized to derive the tower top velocity signal based on the measured tower top acceleration and the estimated thrust. Here, the state space observer may be a dragon berg observer or a kalman filter. The measured tower top acceleration fed back into the tower estimator may be filtered by a band pass filter around the tower frequency included in the observer.
Alternatively, the tower top velocity signal and the tower top acceleration signal may be estimated using the measured tower top acceleration and the estimated thrust. For example, a state space observer may be utilized to derive a tower top velocity signal and a tower top acceleration signal based on the measured tower top acceleration and the estimated thrust. Here, the state space observer may be a dragon berg observer or a kalman filter.
For example, the tower top velocity signal and tower top acceleration signal may be obtained using a state space observer of equation (1) as follows:
wherein, x [ n ]]For the current state vector, x [ n +1 ]]Is the next state vector, A, B, C, D are the state space model of the tower, L is the space state observer gain,
for estimated thrust, afa[n]In order to measure the acceleration of the tower top,
for the estimated tower top acceleration signal,
is an estimated tower top velocity signal.
Here, the tower model may be built by a plurality of mode shapes, the different mode shapes describing different natural motions of the tower at different frequencies. Wherein the first mode shape tower frequency is the lowest value and it primarily causes the tower to move longitudinally and the displacement increases as the tower rises. Thus, with reduced tower longitudinal loads, A, B, C, D may be a state space model based at least on the first mode shape of the tower.
Here, L may be calculated based on the tower model and the tuning target, or L may be obtained based on the lobeberg principle or the kalman filter estimator.
Alternatively, the tower top acceleration signal may be measured with an acceleration sensor and the tower top wind speed signal may be measured with a wind speed sensor.
Thus, the measured tower top acceleration signal and the estimated tower top velocity signal may be used as the subsequently used parameters, or the estimated tower top acceleration signal and the estimated tower top velocity signal may be used as the subsequently used parameters, or the measured tower top acceleration signal and the measured tower top velocity signal may be used as the subsequently used parameters. However, the above examples are merely exemplary rows, and the present disclosure is not limited thereto.
In step S102, a pitch control component is obtained by using the obtained tower top acceleration signal and the tower top velocity signal. Specifically, the gain values for the pitch control components may be determined first, and then the pitch control components may be calculated by applying the gain values to the tower top acceleration signal and the tower top velocity signal.
In the present disclosure, the reason for setting the gain for the pitch control component is to take into account the effect of external factors (such as wind speed, turbulence intensity, and ambient temperature) on the tower load. Accordingly, a gain value for the pitch control component may be determined based on at least one of wind speed, turbulence intensity, and ambient temperature. Here, the wind speed may be a measured wind speed or a filtered wind speed.
As an example, gain values for the pitch control components may be calculated based on wind speed using a predefined function. For example, the gain value for the pitch control component may be calculated using equation (2) as follows:
kTD[n]＝f(vw[n]) (2)
here, the predefined function may be defined based on a look-up table. For example, the function used to calculate the gain value is represented using a look-up table of the form:
| I1 | I2 | I3 | I4 | I5 |
| O1 | O2 | O3 | O4 | O5 |
wherein, I1, I2, I3, I4 and I5 are each wind speed point, and O1, O2, O3, O4 and O5 are gain values corresponding to each wind speed point. The look-up table may be set differently based on actual needs and experience.
The wind speed based gain value may be a linear combination of O values corresponding to I values. For example, when the wind speed vw[n]When located between I1 and I2, kTD[n]Can be the function value:
(1-(vw[n]-In1))/(In2-In1)*O1+(1-(In2-vw[n]) /(In2-In1) × O2. However, the above examples are exemplary only,the present disclosure is not limited thereto.
Furthermore, for other external factors such as turbulence intensity and ambient temperature, gain values for the pitch control components may be calculated in a similar manner as described above.
By providing gain values based on wind speed, turbulence intensity or ambient temperature, tower loads may be better reduced while maintaining pitch action or maintaining loss of annual energy production AEP.
After obtaining the gain values for the pitch control components, the pitch control components may be calculated by applying the gain values to the tower top acceleration signal and the tower top velocity signal. Specifically, a first coefficient is obtained based on the adjustment parameter for the tower top acceleration signal and the tower top velocity signal and the tower first natural frequency, a second coefficient is obtained based on the adjustment parameter, and the pitch control component is calculated by applying a gain value to a value of the tower top acceleration signal multiplied by the first coefficient and a value of the tower top velocity signal multiplied by the second coefficient.
As an example, the pitch control component may be calculated using equation (3) as follows:
wherein, betafa[n]For the pitch control component, kTD[n]For gain, TDphaseFor the adjustment parameter, ω, for weighing the tower top acceleration signal and the tower top velocity signaltowIs the first tower frequency and is,
is a tower top acceleration signal, and is a tower top acceleration signal,
is the tower top velocity signal.
However, the above examples are merely exemplary, and the present disclosure may calculate the respective pitch control components based on the tower top velocity signal.
In step S103, a pitch operation is performed based on the obtained pitch control components. Specifically, a centralized pitch reference signal may be determined from the rotational speed signal, and then the pitch operation may be performed using the sum of the centralized pitch reference signal plus the pitch control component as the final pitch reference signal.
According to the embodiment of the disclosure, the gain of the tower damper, the tower top speed and the tower top acceleration can be calculated by reading the measured tower top acceleration signal, estimating the thrust and the effective wind speed, then the variable pitch control component based on the tower damper is calculated, and the final variable pitch reference signal is obtained by combining the variable pitch controller signal.
According to embodiments of the present disclosure, tower top wind speed and external factors (such as environmental variables) are taken into account in pitch control to balance tower loads and equipment operating costs.
FIG. 2 is a schematic diagram of performing pitch control according to an embodiment of the present disclosure. The obtaining of the pitch control component may be done by a tower damper. Thus, tower dampers may be combined with rotational speed controllers to achieve pitch control of the present disclosure.
Referring to FIG. 2, the rotational speed controller may be based on the current rotational speed ω [ n ]]Outputting corresponding centralized variable pitch reference signal betars[n]。
The tower damper according to the present disclosure may obtain a pitch control component β based on a state space observerfa[n]. Specifically, the tower damper may be based on the wind speed vw[n]Measured tower top acceleration afa[n]And estimated thrust
To calculate a pitch control component betafa[n]. The structure of the tower damper and how the pitch control components are obtained will be described in detail below with reference to FIG. 3.
For example, the master controller may use a centralized pitch reference signal βrs[n]Plus pitch control component betafa[n]As the final pitch reference signal β n]And sending the final variable pitch reference signal to a variable pitch controller, so that the variable pitch controller executes variable pitch operation according to the final variable pitch reference control signal.
FIG. 3 is a block diagram of a tower damper according to an embodiment of the present disclosure.
In the related art, since tower top velocity is difficult to obtain, a measured tower top acceleration signal is generally used as feedback to reduce tower loads. The tower damper of the present disclosure may be a pitch based tower damper using a tower top velocity signal. The tower damper can reduce the tower longitudinal load, especially the tower bottom longitudinal load.
Referring to FIG. 3, tower damper 300 may include a multiplier 301 and a tower estimator 302. However, each module in tower damper 300 may be implemented by one or more modules, and the name of the corresponding module may vary depending on the type of module. In various embodiments, some modules in tower damper 300 may be omitted, or additional modules (e.g., a pitch control calculator) may also be included. Furthermore, modules/elements according to various embodiments of the present disclosure may be combined to form a single entity, and thus the functions of the respective modules/elements may be equivalently performed prior to the combination.
As an example, tower estimator 302 may obtain a measured tower top acceleration and an estimated thrust, and utilize a state space observer to obtain a tower top acceleration signal and a tower top velocity signal that are subsequently used to calculate the pitch control component based on the measured tower top acceleration and the estimated thrust.
As an example, the state space observer may be a dragon berg observer or a kalman filter. The measured tower top acceleration fed back into the tower estimator may be filtered by a band pass filter around the tower frequency included in the observer.
For example, the tower top velocity signal and the tower top acceleration signal may be obtained using a state space observer of equation (1) as follows:
wherein, x [ n ]]For the current state vector, x [ n +1 ]]Is the next state vector, A, B, C, D are the state space model of the tower, L is the space state observer gain,
for estimated thrust, afa[n]In order to measure the acceleration of the tower top,
for the estimated tower top acceleration signal,
is an estimated tower top velocity signal.
Here, the tower model may be built by a plurality of mode shapes, the different mode shapes describing different natural motions of the tower at different frequencies. Wherein the first mode shape tower frequency is the lowest value and it primarily causes the tower to move longitudinally and the displacement increases as the tower rises. Thus, with reduced tower longitudinal loads, A, B, C, D may be a state space model based at least on the first mode shape of the tower.
Here, L may be calculated based on the tower model and the tuning target, or L may be obtained based on the lobeberg principle or the kalman filter estimator.
The booster 301 may determine a gain value for the pitch control component based on at least one of the wind speed, turbulence intensity and ambient temperature. In this disclosure, the gain values for the pitch control components may also be referred to as tower damper gain values.
The multiplier 301 may calculate a gain value based on the wind speed using a predefined function. The function may be defined based on a look-up table, for example.
As an example, gain values for the pitch control components may be calculated based on wind speed using a predefined function. For example, the gain value for the pitch control component may be calculated using equation (2) as follows:
kTD[n]＝f(vw[n]) (2)
here, the predefined function may be defined based on a look-up table. For example, the function used to calculate the gain value is represented using a look-up table of the form:
| I1 | I2 | I3 | I4 | I5 |
| O1 | O2 | O3 | O4 | O5 |
wherein, I1, I2, I3, I4 and I5 are each wind speed point, and O1, O2, O3, O4 and O5 are gain values corresponding to each wind speed point. The look-up table may be set differently based on actual needs and experience.
The wind speed based gain value may be a linear combination of O values corresponding to I values. For example, when the wind speed vw[n]When located between I1 and I2, kTD[n]Can be the function value:
(1-(vw[n]-In1))/(In2-In1)*O1+(1-(In2-vw[n]))/(In2-In1) O2. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
By providing gain values based on wind speed, turbulence intensity or ambient temperature, tower loads may be better reduced while maintaining pitch action or maintaining loss of annual energy production AEP.
As an example, tower estimator 302 may calculate the pitch control components using equation (3) as follows:
wherein, betafa[n]For the pitch control component, kTD[n]For gain, TDphaseFor the adjustment parameter, ω, for weighing the tower top acceleration signal and the tower top velocity signaltowIs the first tower frequency and is,
is a tower top acceleration signal, and is a tower top acceleration signal,
is the tower top velocity signal. Furthermore, the above-described calculation of the pitch control components may be performed by a pitch control calculator. For example, the pitch control calculator may calculate the pitch control component using the gain, the tower velocity signal, and the tower top acceleration signal using equation (3).
The tower damper according to the present disclosure achieves a better damping effect in terms of reducing tower loads (especially longitudinal loads). In addition, gain scheduling can be carried out on the tower damper gain according to wind speed or other environment variables, and load balance reduction aiming at the goals of service life of a variable pitch system or a bearing, AEP reduction and the like can be realized.
FIG. 4 is a flow chart of a method for obtaining pitch control components according to an embodiment of the present disclosure. The method shown in fig. 4 may be performed by a main control or pitch controller, and may also be performed by the tower damper described above.
Referring to fig. 4, in step S401, the measured tower top acceleration and the estimated thrust are acquired. The tower top acceleration signal may be measured using an acceleration sensor. Thrust may be obtained based on blade load sensor measurements and a mathematical model describing the relationship between blade load and thrust.
In step S402, a tower top velocity signal is calculated from the measured tower top acceleration and the estimated thrust. A state space observer may be utilized to obtain a tower top velocity signal based on the measured tower top acceleration and the estimated thrust. As an example, the state space observer may be a dragon berg observer or a kalman filter. For example, the tower top velocity signal may be obtained based on the measured tower top acceleration and the estimated thrust using equation (1) above. Here, the estimated tower top acceleration signal and the estimated tower top velocity signal may be output by the state space observer of equation (1), and thus, in the present disclosure, the measured tower top acceleration signal or the estimated tower top acceleration signal and the estimated tower top velocity signal may be used as variables for subsequent calculation of the pitch control component.
In step S403, a gain value for the tower damper is determined. The gain value for the tower damper can be set according to design requirements and practical conditions. For example, the gain value may be set to a constant value.
Optionally, the gain value for the pitch control component may be determined based on at least one of wind speed, turbulence intensity and ambient temperature. For example, the gain value for the tower damper may be determined based on the wind speed using equation (2) above.
In step S404, a pitch control component is obtained based on the determined gain value and the tower top velocity signal. As an example, the pitch control component may be calculated by applying a gain value to the tower top acceleration signal and the tower top velocity signal. For example, a first coefficient is obtained based on the tuning parameter for the tower top acceleration signal and the tower top velocity signal and the tower first natural frequency, a second coefficient is obtained based on the tuning parameter, and the pitch control component is calculated by applying a gain value to a value of the tower top acceleration signal multiplied by the first coefficient and a value of the tower top velocity signal multiplied by the second coefficient. For example, the tower damper based pitch control component may be calculated using equation (3) above.
FIG. 5 is a schematic flow diagram for obtaining pitch control components according to an embodiment of the present disclosure.
Referring to FIG. 5, the wind speed v may be determinedw[n]Inputting the tower multiplier to obtain the gain k based on the tower damperTD[n]I.e. the gain values for the pitch control components. For example, the tower multiplier may utilize equation (2) above to calculate the gain value.
The measured tower top acceleration afa[n]And estimated thrust
Inputting a state space observer-based tower estimator to obtain an estimated tower top velocity signal
And estimated tower top acceleration signal
For example, the tower estimator may utilize equation (1) above to estimate the tower top velocity signal and the tower top acceleration signal.
The pitch control calculator of the tower damper then uses the gain kTD[n]Tower top velocity signal
And tower top acceleration signal
The pitch control components are calculated. For example,the pitch control calculator may calculate the pitch control component β using equation (3) abovefa[n]. Alternatively, the pitch control calculator may be part of the tower damper, i.e. the process of calculating the pitch control component described above is implemented by the tower damper.
FIG. 6 is a block diagram of a pitch control apparatus according to an embodiment of the present disclosure. Referring to FIG. 6, pitch control apparatus 600 may include a data acquisition module 601 and a data processing module 602. Each module in pitch control apparatus 600 may be implemented by one or more modules, and the names of the corresponding modules may vary depending on the type of module. In various embodiments, some modules of pitch control apparatus 600 may be omitted, or additional modules may also be included. Furthermore, modules/elements according to various embodiments of the present disclosure may be combined to form a single entity, and thus the functions of the respective modules/elements may be equivalently performed prior to the combination.
The data acquisition module 601 may obtain a tower top acceleration signal and a tower top velocity signal.
The data processing module 602 may use the obtained tower top acceleration signal and the obtained tower top velocity signal to derive the pitch control component.
As an embodiment, the data acquisition module 601 may acquire the measured tower top acceleration and the estimated thrust, and then use a state space observer to obtain a tower top acceleration signal and a tower top velocity signal for subsequent use based on the measured tower top acceleration and the estimated thrust.
As an embodiment, the state space observer may employ a rongeur observer or a kalman filter.
As one embodiment, the data processing module 602 may determine a gain value for the pitch control component, which is calculated by applying the gain value to the tower top acceleration signal and the tower top velocity signal.
As one implementation, data processing module 602 may determine a gain value for the pitch control component based on at least one of wind speed, turbulence intensity, and ambient temperature.
As one embodiment, data processing module 602 may calculate a gain value for the pitch control component based on the wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
As an embodiment, the data processing module 602 may obtain a first coefficient based on the tuning parameter for the tower top acceleration signal and the tower top velocity signal and the tower first natural frequency, obtain a second coefficient based on the tuning parameter, and calculate the pitch control component by applying a gain value to a value of the tower top acceleration signal multiplied by the first coefficient and a value of the tower top velocity signal multiplied by the second coefficient.
As an embodiment, the data processing module 602 may determine a centralized pitch reference signal from the rotation speed signal, and perform a pitch operation using the sum of the centralized pitch reference signal plus the pitch control component as a final pitch reference signal.
As an example, the data acquisition module 601 may be implemented by the tower estimator described above. The data acquisition module 602 may be implemented by the tower multiplier, pitch control calculator, and rotational speed controller described above. Here, the pitch control calculator may be implemented as part of the tower estimator. The data acquisition module 601 may estimate the tower top velocity signal based on the acquired tower top acceleration and the estimated thrust using a tower estimator. The data processing module 602 may obtain the gain for the pitch control component using the tower multiplier, obtain the centralized pitch reference signal using the rotational speed controller, and obtain the pitch control component using the pitch control calculator according to the gain for the pitch control component, the tower top acceleration signal and the tower top velocity signal obtained by the data obtaining module 601, and then the data processing module 602 may obtain the final pitch reference signal using the pitch control component and the centralized pitch reference signal.
As another example, the data acquisition module 601 may be implemented by an acceleration sensor and a velocity sensor. The data acquisition module 602 may be implemented by a tower multiplier, a rotational speed controller, and a pitch control calculator. Here, the pitch control calculator may be implemented as part of the tower estimator. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
In the present disclosure, in addition to the tower top acceleration signal as the signal to be controlled, the estimated tower top velocity or the measured tower velocity is used, both in combination, to significantly reduce the longitudinal load of the tower.
According to an embodiment of the present disclosure, an electronic device may be provided. FIG. 7 is a block diagram of an electronic device according to an embodiment of the disclosure, which electronic device 700 may comprise at least one memory 702 and at least one processor 701, the at least one memory 702 storing a set of computer-executable instructions, which, when executed by the at least one processor 701, performs a pitch control method or a method for obtaining pitch control components according to an embodiment of the disclosure.
The processor 701 may include a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a programmable logic device, a special-purpose processor system, a microcontroller, or a microprocessor. By way of example, and not limitation, processor 701 may also include an analog processor, a digital processor, a microprocessor, a multi-core processor, a processor array, a network processor, or the like.
The memory 702 may be integrated with the processor 701, for example, RAM or flash memory may be disposed within an integrated circuit microprocessor or the like. Further, memory 702 may comprise a stand-alone device, such as an external disk drive, storage array, or any other storage device usable by a database system. The memory and the processor may be operatively coupled or may communicate with each other, such as through an I/O port, a network connection, etc., so that the processor can read files stored in the memory.
In addition, the electronic device 700 may also include a video display (such as a liquid crystal display) and a user interaction interface (such as a keyboard, mouse, touch input device, etc.). All components of the electronic device 700 may be connected to each other via a bus and/or a network.
By way of example, the electronic device 700 may be a PC computer, tablet device, personal digital assistant, smartphone, or other device capable of executing the set of instructions described above. Here, the electronic device 700 need not be a single electronic device, but can be any collection of devices or circuits that can execute the above instructions (or sets of instructions) either individually or in combination. The electronic device 700 may also be part of an integrated control system or system manager, or may be configured as a portable electronic device that interfaces with local or remote (e.g., via wireless transmission).
Those skilled in the art will appreciate that the configuration shown in FIG. 7 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
According to an embodiment of the disclosure, there may also be provided a computer-readable storage medium storing instructions which, when executed by at least one processor, cause the at least one processor to perform a pitch control method or a method for obtaining pitch control components according to the disclosure. Examples of the computer-readable storage medium herein include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD + R, CD-RW, CD + RW, DVD-ROM, DVD-R, DVD + R, DVD-RW, DVD + RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disk memory, Hard Disk Drive (HDD), solid-state disk drive (SSD), card-type memory (such as a multimedia card, a Secure Digital (SD) card or an extreme digital (XD) card), tape, a floppy disk, a magneto-optical data storage device, an optical data storage device, a hard disk, a magnetic tape, a magneto-optical data storage device, a hard disk, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic disk, a magnetic data storage device, a magnetic disk, A solid state disk, and any other device configured to store and provide a computer program and any associated data, data files, and data structures to a processor or computer in a non-transitory manner such that the processor or computer can execute the computer program. The computer program in the computer-readable storage medium described above can be run in an environment deployed in a computer apparatus, such as a client, a host, a proxy device, a server, and the like, and further, in one example, the computer program and any associated data, data files, and data structures are distributed across a networked computer system such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed fashion by one or more processors or computers.
According to an embodiment of the present disclosure, there may also be provided a computer program product, instructions of which are executable by a processor of a computer device to perform the above described pitch control method or method for obtaining pitch control components.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (18)
1. A variable pitch control method of a wind generating set is characterized by comprising the following steps:
acquiring a tower top acceleration signal and a tower top speed signal;
obtaining a variable pitch control component by using the tower top acceleration signal and the tower top speed signal;
performing a pitch operation based on the pitch control component.
2. The method of claim 1, wherein the step of obtaining a tower top acceleration signal and a tower top velocity signal comprises:
acquiring the measured tower top acceleration and the estimated thrust;
obtaining the tower top acceleration signal and the tower top velocity signal based on the measured tower top acceleration and the estimated thrust using a state space observer.
3. The method of claim 2, wherein the state space observer is a dragon berg observer or a kalman filter.
4. The method of claim 1, wherein the step of using the tower top acceleration signal and the tower top velocity signal to derive a pitch control component comprises:
determining a gain value for the pitch control component;
calculating the pitch control component by applying the gain value to the tower top acceleration signal and the tower top velocity signal.
5. The method according to claim 4, wherein the step of determining gain values for the pitch control components comprises:
the gain value is determined based on at least one of wind speed, turbulence intensity, and ambient temperature.
6. The method of claim 4, wherein the gain value is calculated based on wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
7. The method of claim 4, wherein the step of using the tower top acceleration signal and the tower top velocity signal to derive a pitch control component comprises:
obtaining a first coefficient based on the tuning parameters for the tower top acceleration signal and the tower top velocity signal and a tower first natural frequency;
obtaining a second coefficient based on the adjustment parameter;
calculating the pitch control component by applying the gain value to a value of the tower top acceleration signal multiplied by a first coefficient and a value of the tower top velocity signal multiplied by a second coefficient.
8. The method according to claim 1, wherein the step of performing a pitch operation based on the pitch control component comprises:
determining a centralized variable pitch reference signal according to the rotating speed signal;
performing a pitch operation using the collective pitch reference signal plus the sum of the pitch control components as a final pitch reference signal.
9. A pitch control device of a wind generating set, the pitch control device comprising:
a data acquisition module configured to obtain a tower top acceleration signal and a tower top velocity signal; and
a data processing module configured to:
obtaining a variable pitch control component by using the tower top acceleration signal and the tower top speed signal;
performing a pitch operation based on the pitch control component.
10. A tower damper, comprising:
a tower estimator configured to:
acquiring a tower top acceleration signal and a tower top speed signal;
and obtaining a variable pitch control component by using the tower top acceleration signal and the tower top speed signal.
11. The tower damper of claim 10, wherein the tower estimator is configured to: the measured tower top acceleration and the estimated thrust are obtained, and the tower top acceleration signal and the tower top velocity signal are calculated based on the measured tower top acceleration and the estimated thrust using a state space observer.
12. The tower damper of claim 11, wherein the state space observer is a luneberg observer or a kalman filter.
13. The tower damper of claim 10, comprising a booster configured to determine a gain value for the pitch control component based on at least one of wind speed, turbulence intensity, and ambient temperature.
14. The tower damper of claim 10, comprising a booster configured to calculate a gain value for the pitch control component based on wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
15. A tower damper as claimed in claim 13 or 14, wherein the tower estimator is configured to:
obtaining the pitch control component by applying the gain value to the tower top acceleration signal and the tower top velocity signal.
16. A tower damper as claimed in claim 13 or 14, wherein the tower estimator is configured to:
obtaining a first coefficient based on the tuning parameters for the tower top acceleration signal and the tower top velocity signal and a tower first natural frequency;
obtaining a second coefficient based on the adjustment parameter;
calculating the pitch control component by applying the gain value to a value of the tower top acceleration signal multiplied by a first coefficient and a value of the tower top velocity signal multiplied by a second coefficient.
17. An electronic device, comprising:
at least one processor;
at least one memory storing computer-executable instructions,
wherein the computer-executable instructions, when executed by the at least one processor, cause the at least one processor to perform a pitch control method according to any one of claims 1-8.
18. A computer-readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a pitch control method according to any one of claims 1-8.
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