CN115199471A - Power control method and system based on yaw variable pitch linkage control load shedding - Google Patents
Power control method and system based on yaw variable pitch linkage control load shedding Download PDFInfo
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- CN115199471A CN115199471A CN202210728068.6A CN202210728068A CN115199471A CN 115199471 A CN115199471 A CN 115199471A CN 202210728068 A CN202210728068 A CN 202210728068A CN 115199471 A CN115199471 A CN 115199471A
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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
- F03D7/028—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
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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
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention relates to a power control method and a power control system based on yaw variable pitch linkage control load shedding. The control method comprises the steps of determining the power of a wind turbine to be controlled according to the obtained current wind speed, the current azimuth angle of the wind turbine, the current pitch angle of the wind turbine, the current torque of the wind turbine and the current rotating speed of the wind turbine, then determining the power state of the wind turbine to be controlled according to the relation between the power of the wind turbine and the rated power, then generating a control command according to the power state, and completing power control according to the control command, so that the load problem in the prior art can be effectively solved, and the service life of the ultra-large wind generating set is remarkably prolonged.
Description
Technical Field
The invention relates to the technical field of power control of generators, in particular to a power control method and system based on yaw variable pitch linkage control load shedding.
Background
At present, an ultra-large wind generating set becomes a mainstream machine type for generating electricity. When the ultra-large wind turbine is connected to the grid, the power generation frequency and the power of the wind turbine need to meet the established requirements, so that the power of the wind turbine needs to be adjusted during operation. The existing mainstream power control mode is that the pitch angle is kept to be zero when the wind speed is lower than the rated wind speed, the rotating speed of the wind wheel rotates in an optimal tip speed ratio curve by controlling the torque of the motor, and the rotating speed reaches the maximum value after the rated wind speed. And because the wind speed is increased, the power captured by the wind turbine is still increased, and at the moment, in order to ensure that the power grid requirement is met, the blades need to be stalled by actively changing the pitch through a pitch mechanism, so that the power is controlled to be constant.
In the power regulation mode, the purpose of yaw action is to enable the wind wheel of the wind turbine to obtain energy to the maximum extent, and the power is regulated only by a variable pitch mechanism according to wind speed information after rated wind speed. Although signals required by the variable-pitch mechanism for executing the variable-pitch action are processed, the actual wind speed is pulsating and unstable, and the large variable-pitch action needs to be continuously and irregularly executed to ensure that the power is constant, so that the fatigue load of the variable-pitch mechanism and the blades is increased at a high wind speed stage after the rated wind speed, and the service lives of the variable-pitch mechanism and the blades are shortened.
When the wind turbine is at high wind speed, the wind energy captured is maximum because the wind wheel is over against the wind, and the wind energy captured by the wind wheel at the moment Q = Q 1 +Q 2 Wherein Q is 1 Is the energy provided by the wind wheel to the generator for generating electricity, Q 2 The energy is the energy which enables the rotating speed of the wind wheel to be continuously increased, the energy which enables the rotating speed of the wind wheel to be increased enables the wind wheel to have the fault of overspeed runaway or overspeed shutdown, the fatigue load of the unit can be increased due to high-speed rotation, the unit is seriously damaged when the wind wheel runs at a high rotating speed for a long time, and the service life is shortened. At present, the part of the acceleration energy is controlled by a variable pitch control strategy, and in the variable pitch control strategy,although the rotation speed of the wind wheel is limited, as the wind wheel is still perpendicular to the wind speed, the energy is consumed by acting on the wind wheel in the form of thrust, the wind wheel of the wind generating set can bear large wind load, the wind load can increase fatigue load of the set, the set can be seriously worn, and the service life is shortened.
Chinese patent CN 102777322 proposes a method for controlling a fan to properly yaw by using a corresponding relationship between a wind direction angle and a rotating speed of the fan, so that a unit operates at a stable rotating speed for a long time under dual actions of yaw and pitch variation, and the unit is prevented from being shut down at an excessive speed. However, the document only considers the relationship between the azimuth angle and the rotating speed of the wind wheel, but when the original pitch angles are different, the azimuth angle and the rotating speed of the wind wheel have no direct correlation, and specific wind speed and wind direction angles and rotating speed and power corresponding to the pitch angles are not given, so that accurate control cannot be achieved within a small-range pitch variation. In the method, only the rotating speed under the same pitch angle is considered, the method aims to achieve the purpose of limiting power, multiple pitch control actions are required after yawing, and the fatigue load of a pitch mechanism and blades of the wind turbine is not considered. Furthermore, the method adopts a yaw system before and after the rated wind speed, and participates in power limitation, which undoubtedly increases the use times of the yaw system and increases the fatigue load of the yaw mechanism.
Disclosure of Invention
Based on the load problem existing in the existing wind turbine power control, the invention provides a power control method and system based on yaw variable pitch linkage control load reduction.
In order to achieve the purpose, the invention provides the following scheme:
a power control method based on yaw variable pitch linkage control load shedding comprises the following steps:
acquiring the current wind speed, the current azimuth angle of the wind wheel, the current pitch angle of the wind wheel, the current torque of the wind wheel, the current rotating speed and the initial quantity of the wind wheel; the initial quantities include: rated power, rated wind speed and rated rotating speed;
determining the wind wheel power of a wind turbine to be controlled according to the current wind speed, the current azimuth angle of the wind wheel, the current pitch angle of the wind wheel, the current torque of the wind wheel and the current rotating speed of the wind wheel;
determining the power state of the wind turbine to be controlled according to the relation between the wind wheel power and the rated power; the power states include: an under-power state, a power over-modulation state and a power under-modulation state;
and generating a control instruction according to the power state, and finishing power control according to the control instruction.
Preferably, the determining the power state of the wind turbine to be controlled according to the relationship between the wind wheel power and the rated power specifically includes:
when the power of the wind wheel is smaller than the rated power, judging the relation between the current wind speed and the rated wind speed;
when the current wind speed is smaller than the rated wind speed, determining that the wind turbine to be controlled is in an under-power state;
when the current wind speed is larger than the rated wind speed, determining that the wind turbine to be controlled is in a power overshoot state;
and when the power of the wind wheel is larger than the rated power, determining that the wind turbine to be controlled is in a power-off state.
Preferably, the generating a control command according to the power state and completing power control according to the control command specifically includes:
when the power state is an under-power state, generating a first control instruction; the first control instruction is used for controlling the azimuth angle and the pitch angle of the wind wheel to return to zero and controlling the wind turbine to be controlled to be in the state of C p A constant region.
Preferably, the generating a control command according to the power state and completing power control according to the control command specifically include:
when the power state is a power overshoot state, determining a power increment corresponding to the current wind direction angle and a power variation regulated and controlled by a variable pitch variation angle under the current wind direction angle; the variable pitch variation angle is obtained from a source control parameter database;
determining a cause of a power overshoot state according to the power increment and the power variation;
and generating a second control command according to the cause of the power overshoot state, and finishing power control according to the second control command.
Preferably, the determining the cause of the power overshoot state according to the power increment and the power variation specifically includes:
when the power increment is smaller than the power variation, the cause of the power overshoot state is excessive variable pitch;
when the power increment is larger than the power variation, the power overshoot state is caused by oversteer.
Preferably, when the cause of the power overshoot state is excessive pitch, the second control instruction is used for controlling the pitch angle to rotate by 0 degrees;
when the cause of the power overshoot state is yaw overshoot, the second control command is used to control the azimuth to rotate by a specific angle in the 0 ° direction.
Preferably, the generating a control command according to the power state and completing power control according to the control command specifically includes:
when the power state is the power under-regulation state, determining the cause of the power under-regulation state;
and generating a third control instruction according to the cause of the power under-regulation state, and completing power control according to the third control instruction.
Preferably, when the cause of the power-undershoot condition is yaw undershoot, the third control command is used to control the yaw mechanism to be biased forward by a specific angle;
and when the cause of the underpower condition is pitch control underadjustment, the third control instruction is used for controlling the pitch control mechanism to tilt down by a specific angle, acquiring a pitch angle in the process of tilting down the pitch control mechanism, determining a pitch control range according to the change of the front pitch angle and the back pitch angle, and controlling the yaw mechanism to be positively deflected when the pitch control range is within a preset pitch control range.
Preferably, the construction process of the source control parameter database is as follows:
acquiring air density;
acquiring a preset range pitch angle, a preset range wind wheel power and a preset range azimuth angle; the pitch angle in the preset range is a pitch angle in a range of 0-10 degrees corresponding to the azimuth angle of the wind wheel in a range of 0-90 degrees; the wind wheel power in the preset range is the wind wheel power corresponding to the wind speed range of 3m/s-25 m/s;
drawing a power curve according to the air density, the initial amount, the preset range pitch angle, the preset range azimuth angle and the preset range wind wheel power;
and acquiring a yaw change angle and a pitch change angle based on the power curve so as to generate a source control parameter database of the wind turbine to be controlled.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the power control method based on yaw variable pitch linkage control load shedding determines the wind wheel power of a wind turbine to be controlled according to the obtained current wind speed, the current azimuth angle of the wind wheel, the current pitch angle of the wind wheel, the current torque of the wind wheel and the current rotating speed of the wind wheel, then determines the power state of the wind turbine to be controlled according to the relation between the wind wheel power and the rated power, then generates a control instruction according to the power state, and finishes power control according to the control instruction, so that the load problem existing in the prior art can be effectively solved, and the service life of an ultra-large wind generating set is remarkably prolonged.
In addition, the invention also provides a power control system based on the yaw variable pitch linkage control load shedding, which comprises: the system comprises a data detection collector, a main control computer, a yaw controller and a variable pitch controller;
the data detection collector, the yaw controller and the pitch controller are all connected with the main control computer; and the main control computer is used for executing the power control method based on the yaw variable pitch linkage control load shedding.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of a power control method based on yaw variable pitch linkage control load shedding provided by the present invention;
FIG. 2 is a schematic structural diagram of a power control system based on yaw-pitch linkage control load shedding provided by the present invention;
FIG. 3 shows an embodiment of the present invention in which the distance γ between the wind blade and the blade root is γ 1 Schematic view of time;
FIG. 4 shows an embodiment of the present invention in which the distance γ between the wind blade and the root is γ 2 Schematic diagram of time;
FIG. 5 is an analysis graph of thrust and normal forces exerted on a blade according to an embodiment of the present invention;
FIG. 6 is a graph of azimuth and rotor thrust provided by an embodiment of the present invention;
fig. 7 is a structural composition relationship block diagram of a control system according to an embodiment of the present invention;
fig. 8 is a structural composition relationship block diagram of a data acquisition system according to an embodiment of the present invention;
fig. 9 is a block diagram of structural composition relationship of a main control computer according to an embodiment of the present invention;
FIG. 10 is a block diagram illustrating a structural configuration of a yaw system according to an embodiment of the present invention;
FIG. 11 is a structural composition relationship block diagram of a pitch system according to an embodiment of the present invention;
FIG. 12 is a graph of the relationship between azimuth angle, pitch angle, wind speed and power provided by an embodiment of the present invention;
FIG. 13 is an implementation schematic diagram of a power control method based on yaw-pitch linkage control load shedding according to an embodiment of the present invention;
FIG. 14 is a comparison of the situation when the rotor is yawing at an angle and when the rotor is not yawing, according to an embodiment of the invention; wherein, part a of fig. 14 is a situation diagram when the wind wheel is not yawing; part b of fig. 14 is a diagram of the condition when the wind wheel is yawed by a certain angle;
FIG. 15 is a wind blade torque chart provided by an embodiment of the present invention;
FIG. 16 shows a schematic view of a cross-section of a display panel p Schematic interval diagram of constant region.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a power control method and a power control system based on yaw variable pitch linkage control load shedding, which can effectively solve the load problem in the prior art and further obviously prolong the service life of an ultra-large wind generating set.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
As shown in fig. 1, the power control method based on yaw and pitch linkage control load shedding provided by the present invention includes:
step 100: and acquiring the current wind speed, the current azimuth angle of the wind wheel, the current pitch angle of the wind wheel, the current torque of the wind wheel, the current rotating speed and the initial quantity of the wind wheel. The initial quantities include: rated power, rated wind speed and rated rotational speed.
Step 101: and determining the wind wheel power of the wind turbine to be controlled according to the current wind speed, the current azimuth angle of the wind wheel, the current pitch angle of the wind wheel, the current torque of the wind wheel and the current rotating speed of the wind wheel.
Step 102: and determining the power state of the wind turbine to be controlled according to the relation between the power of the wind wheel and the rated power. The power states include: an under power condition, a power over-regulation condition, and a power under regulation condition. And when the power of the wind wheel is less than the rated power, judging the relationship between the current wind speed and the rated wind speed. And when the current wind speed is less than the rated wind speed, determining that the wind turbine to be controlled is in an underpower state. And when the current wind speed is greater than the rated wind speed, determining that the wind turbine to be controlled is in a power overshoot state. And when the power of the wind wheel is greater than the rated power, determining that the wind turbine to be controlled is in a power-off state.
Step 103: and generating a control command according to the power state, and finishing power control according to the control command.
Specifically, when the power state is the under-power state, the following operations are performed:
generating a first control instruction for controlling the azimuth angle and the pitch angle of the wind wheel to be zero and controlling the wind turbine to be controlled to be in the C state p Constant region to capture maximum wind energy. Wherein, as shown in FIG. 16, the wind speed is C in the interval of 0-15m/s p A constant region. The existing large-scale wind turbine adopts a variable-speed constant-frequency wind turbine model, and the wind speed follows a certain power curve from the starting wind speed (generally 3 m/s) to the rated wind speed (the given wind speed during design) to the cut-out wind speed (generally 25 m/s) and the power during the design of the variable-speed constant-frequency wind turbine. When the wind wheel blade is designed, the power curve of the wind wheel blade is increased from zero to rated power between starting wind speed and rated wind speed, and at the moment, the wind energy utilization rate C needs to be kept p Reach the optimum, strive to capture more wind energy, so keep the wind energy utilization ratio at the optimum value all the time at this stage, C p In a constant state, i.e. C p A constant region. After the rated wind speed, the wind power captured by the wind wheel will continue to increase due to the increase of the wind speed, but the purpose is to keep the power at the rated power, so the wind energy utilization coefficient of the wind wheel needs to be reduced by changing the pitch, and then the power can be kept at a constant value even at a high wind speed, so the wind energy utilization coefficient will slowly decrease after the rated wind speed.
B, when the power state is the power overshoot state, performing the following operations:
step 1, determining a power increment corresponding to a current wind direction angle and a power variation regulated and controlled by a variable pitch variation angle under the current wind direction angle. And the variable pitch change angle is obtained from a source control parameter database. The construction process of the source control parameter database comprises the following steps:
and acquiring the air density.
And acquiring the pitch angle in the preset range and the wind wheel power in the preset range. The pitch angle in the preset range is the pitch angle in the range of 0-10 degrees corresponding to the azimuth angle of the wind wheel in the range of 0-90 degrees. The wind wheel power in the preset range is the wind wheel power corresponding to the wind speed range of 3m/s-25 m/s.
And drawing a power curve according to the air density, the initial quantity, the pitch angle in the preset range and the wind wheel power in the preset range.
And acquiring a yaw change angle and a pitch change angle based on the power curve to generate a source control parameter database of the wind turbine to be controlled.
And 2, determining the cause of the power overshoot state according to the relationship between the power increment of the wind wheel under the current parameter and the power variation in the pitch angle of 0-10 degrees under the current parameter. When the power increment is smaller than the power variation, the cause of the power overshoot state is excessive variable pitch. When the power increment is larger than the power variation amount, the power overshoot state is caused by the yaw overshoot.
And generating a second control instruction according to the cause of the power overshoot state, and completing power control according to the second control instruction. When the cause of the power overshoot state is the excessive pitch variation, the second control command is used for controlling the pitch angle to rotate by 0 degrees so as to increase the power. When the cause of the power overshoot state is yaw overshoot, the second control command is used for controlling the azimuth angle to rotate by a specific angle in the direction of 0 degrees so as to increase the power captured by the wind wheel.
C when the power state is the power-underregulation state, performing the following operations:
step 1, determining the cause of the power under-regulation state. For example, it is determined whether a large or small excess of power is currently present. A large overshoot indicates that the power undershoot is caused by a yaw undershoot, and if a small overshoot indicates that the pitch undershoot is caused. If the current power exceeds the rated power
Then it is a power over excess state. If the current wind wheel power is
This is a small excess state.
And 2, generating a third control instruction according to the cause of the power under-regulation state, and finishing power control according to the third control instruction. When the cause of the power under-regulation state is yaw under-regulation, the third control command is used for controlling the yaw mechanism to positively deviate by a specific angle. When the cause of the power understeer state is pitch understeer, the third control instruction is used for controlling the pitch changing mechanism to bow a specific angle downwards, the pitch angle is collected in the process of pitching the pitch changing mechanism downwards, the pitch changing range is determined according to the change of the front pitch angle and the rear pitch angle, and when the pitch changing range is in a preset pitch changing range (namely a non-ideal pitch changing range), the yaw mechanism is controlled to be deflected positively. If the pitch angle is larger than or equal to 0 degrees and smaller than or equal to 10 degrees, the yaw mechanism is in an ideal pitch variation range, and if the pitch angle is larger than or equal to 10 degrees, the yaw mechanism is in a non-ideal pitch variation range, and then a positive deviation signal is transmitted to the yaw controller, so that the yaw mechanism is positively deviated, and the power is reduced.
In addition, the present invention further provides a power control system based on yaw variable pitch linkage control load shedding, as shown in fig. 2, the system includes: the system comprises a data detection collector 200, a main control computer 201, a yaw controller 202 and a pitch controller 203.
The data detection collector 200, the yaw controller 202 and the pitch controller 203 are all connected with a main control computer 201. The main control computer 201 is used for executing the power control method based on the yaw variable pitch linkage control load shedding provided above.
Based on the disclosure, the power control is carried out according to the corresponding relation of the wind direction angle, the pitch angle, the wind speed and the power, and the energy captured by the wind wheel is reduced through yawing and pitching for a certain angle in a high wind speed stage after rated wind speed, so that the wind load borne by the wind wheel blades is reduced, the fatigue load of the blades and a pitching mechanism is further reduced, and the service life is prolonged.
And moreover, the concept of low-frequency yaw and small-range pitch control is introduced in the invention, and then the low-frequency yaw and the small-range pitch control are subjected to linkage control, so that both yaw and pitch control participate in the power control process after the rated wind speed. The low-frequency yaw is introduced to control the power, because when the incoming wind speed increases, the wind wheel yaws at a certain angle, and the wind energy captured by the wind wheel is reduced. The power captured by the wind wheel is in cosine relation with the azimuth angle, so that the power captured by the wind wheel can be reduced when the wind wheel is at high wind speed, the inflow speed can be reduced when the wind wheel yaws for a certain angle, the aerodynamic force is directly related to the inflow speed, and therefore, compared with the state that the wind wheel is just opposite to the inflow under the same wind speed, the power is captured, and simultaneously, the wind load born by the blades of the wind wheel and the fatigue load of a variable pitch mechanism at the blade root are reduced. The power is adjusted by adopting low-frequency yawing action, so that the pressure of adjusting the power by the variable pitch action is reduced, and the low-frequency action does not cause the abrasion of a yawing mechanism. Since the yaw power regulation shares the power regulation pressure of a part of wind, the power can be stabilized near the rated power only by carrying out small-range pitch regulation. Compared with the current large-range pitch control, the small pitch control within the range of 0-10 degrees avoids blade trembling caused by violent stall of the blade when the pitch angle is large, reduces the wind load change amplitude caused by large-range change of the pitch angle of the blade, and further reduces the fatigue loads of the wind wheel blade and the pitch control mechanism under the condition of realizing power control.
The following specifically explains the advantages of the present invention based on the design framework of the control system provided above, in combination with the specific implementation process of the power control method based on the yaw pitch-controlled load shedding.
Example one
Step 1, obtaining rated power P of wind turbine to be controlled 0 Rated wind speed v 0 Rated speed n 0 And the local air density rho and other parameters are input into a main control computer to form initial quantity.
And 2, acquiring a pitch angle beta of 0-10 degrees corresponding to an azimuth angle theta in the range of 0-90 degrees and a wind wheel power P corresponding to a wind speed v of 3-25 m/s.
And 3, drawing a power curve according to the data obtained in the steps 1 and 2 to obtain a wind turbine set with determined parameters and an optimal power curve under determined wind conditions. And acquiring a yaw change angle and a pitch change angle from the power curve, and storing the data in a main control computer to form a source control parameter database of the parameter wind turbine.
And 4, detecting the azimuth angle theta, the wind speed v, the pitch angle beta, the torque M and the wind wheel rotating speed n of the current wind wheel by using a detection element of the data detection collector, and transmitting detected signals to a main control computer to perform corresponding power calculation.
And 5, judging the current power and the rated power, and judging the relationship between the current wind speed and the rated wind speed by the main control computer if the wind wheel power of the wind turbine is less than the rated power.
And 6, if the current wind speed is less than the rated wind speed, the wind turbine is in an underpower state, the main control computer transmits execution signals to the yaw controller, the pitch controller and the motor controller, the yaw mechanism and the pitch mechanism act to enable the azimuth angle theta and the pitch angle beta of the wind wheel to be directly reset to zero, and the motor performs torque control to enable the wind turbine to be in a state of C p And a constant region for capturing maximum wind energy. If the current wind speed is larger than the rated wind speed, the wind speed is in a power overshoot state at the moment, and the main control computer judges the power increment delta P corresponding to the current wind direction angle and the power variation P which can be adjusted by changing the pitch of 10 degrees corresponding to the current wind direction angle β And judging whether the power overshoot is caused by excessive yaw or excessive pitch according to the relation. If the variable pitch is caused excessively, transmitting an up-regulation signal to a variable pitch controller to enable the blades to pitch upwards and increase power; if the wind wheel is caused by excessive yawing, a negative deviation signal is transmitted to a yaw controller, so that the yawing rotates for a certain angle, and the power captured by the wind wheel is increased.
And 7, when the power of the wind wheel is greater than the rated power of the wind turbine, namely the power is excessive, the wind wheel is in a power-undershoot state at the moment, and the following operations are executed:
1) It is determined whether a power large excess or a power small excess is present. A large overshoot indicates that the power undershoot is caused by a yaw undershoot, and if a small overshoot indicates that the pitch undershoot is caused. If it is currentlyThe power exceeding rated power
If the power is in a large excess state, the main control computer forwards a forward deviation execution signal to the yaw controller to enable the yaw mechanism to deviate at a certain angle forward and reduce the power; if the current wind wheel power is
And at the moment, the main control computer transmits a downward bending execution signal to the variable pitch controller if the main control computer is in a small excess state, so that the variable pitch mechanism bends downward at a certain angle, and the power is reduced. And detecting the pitch angle at any time in the pitch changing attachment process, transmitting the pitch angle to the main control computer, and comparing the pitch angles by the main control computer.
2) And the main control computer acquires a pitch angle comparison signal, acquires the current pitch angle beta, judges the pitch variation state, is in an ideal pitch variation range if the pitch angle beta is more than or equal to 0 degrees and less than or equal to 10 degrees, and is in a non-ideal pitch variation range if the pitch angle beta is more than or equal to 10 degrees, transmits a positive offset signal to the yaw controller at the moment, enables the yaw mechanism to be positively offset, and reduces the power.
In this embodiment, the control system may also be configured as a device including a data detection collector, a logic analysis control system, and an execution system. The data detection collector comprises sensors for detecting parameters such as the current fan azimuth angle theta, the incoming flow wind speed v, the pitch angle beta, the wind wheel rotating speed n and the like. The logic analysis control system comprises a main control computer, a yaw controller, a pitch controller and a motor controller, and the executing mechanism comprises a pitch executing mechanism, a yaw executing mechanism, a motor torque control mechanism and the like.
Example two
In the embodiment, the data detection collector detects parameters of each mechanism after action at any time and transmits the parameters to the main control computer, the main control computer performs logic and arithmetic analysis operation according to the existing program to obtain the wind wheel power corresponding to the currently detected parameters, compares the wind wheel power with the existing parameters in the source control parameter database, obtains corresponding control quantity and transmits the control quantity to the yaw controller, the pitch controller and the motor controller; each controller analyzes and calculates the signal transmitted from the main control computer to obtain an analog quantity signal which can be directly identified and executed by the execution mechanism; the actuator receives an analog command signal from the control system and then executes a predetermined operation.
Specifically, as shown in fig. 3, the airfoil profile is an airfoil profile of a special airfoil profile DU series for a wind turbine blade, and the airfoil profile is located at a distance r from the wind turbine blade to the root r 1 The airfoil of (a). Wherein phi is an included angle between an inflow angle, an inflow velocity and a wind wheel rotation plane; α is the angle of attack, the incident flow velocity and the angle of the chord line of the blade. Beta is the pitch angle, the angle between the chord line of the blade and the plane of rotation of the wind wheel. v is the incoming wind speed, w is the incoming flow speed, F L Is the lift force of the blade, F D Is the aerodynamic resistance borne by the blade, F is the resultant force of lift force and resistance, and F is obtained by decomposing F into the Y direction perpendicular to the rotation plane and the X direction parallel to the rotation plane y And F x In which F y Thrust force of wind acting in axial direction, F x Is a circumferential force acting tangentially to the rotor to rotate the rotor. In order to study the loads to which the blade surface is subjected, the force F may be decomposed into a chord-wise component F e And a component F perpendicular to the chord line direction n Wherein F is n And F y Is gamma 1 ，γ 1 ＝β。
Axial force
F n ＝F cosα
Wherein, F n And is also the resultant of the forces on the active blades in the direction of the outer normal at the aerodynamic center.
FIG. 4 illustrates a wind turbine blade spaced from the root r 2 The wing section is arranged at r, because the wind turbine blade is designed to have a twist angle from the blade root to the blade tip 1 Airfoil of (a) and r 2 Of the wing profileThe twist angle is delta beta, the speeds of different wing profiles on the same blade along the direction of a rotating plane are the same, the wind speeds are also the same, but due to the existence of one twist angle, the inflow angle is unchanged, the attack angle is reduced, the stress on the surface of the blade is also changed, wherein F n And F y Is gamma 2 ，γ 2 And = Δ β + β, so that a certain included angle exists between resultant forces at different positions of the wind turbine blade along the direction of the outer normal of the blade, as shown in fig. 5. This condition creates a torque that tends to cause the blade to rotate about the root, placing additional loads on the pitch mechanism. Wherein the axial force F y An axial force is applied to the blade to bend the blade, loads of the two conditions can be ignored when the wind speed is low, but the wind turbine blade can bear a large load when the wind speed is high, and the load borne by the wind turbine blade is changed irregularly due to the irregularity of the wind speed, so that the fatigue load of the blade is increased, and the service life of the blade is shortened. It can also be seen from figure 6 that the axial thrust experienced by the rotor is greatest when the incoming flow is perpendicular to the rotor plane.
Based on the situation, the invention provides the method for controlling the linkage power of the low-frequency yaw and the small-range pitch control, which can reduce the fatigue load of the wind turbine blade and the pitch control mechanism in the operation at the rated power stage, and the control system matched with the control mode.
For example, as shown in fig. 7, the devices constituting the control system include a data detection collector, a main control computer, a yaw controller, a yaw driver, a yaw motor, a pitch controller, a pitch driver, a pitch motor, a yaw angle detection element, and a pitch angle detection element. The parameter detection element comprises a wind speed and wind direction detection element, a torque detection element, a rotating speed detection element, a density detection element, a yaw angle detection element and a pitch angle detection element. Fig. 8 shows a data detection collector, which mainly functions to collect analog signals of the detection elements and convert the analog signals into digital signals to be transmitted to the host computer. Fig. 9 shows a main control computer, which collects various detected parameters, calculates the power of the wind turbine corresponding to each currently detected parameter, compares the parameters corresponding to the power stored in the source control parameter database to obtain a deviation between the input parameter and the current parameter, and then transfers the signal to the pitch controller and the yaw controller through the analog-to-digital converter to control the power captured by the whole wind turbine. Fig. 10 and 11 show a yaw system and a pitch system, because yaw and a pitch motor need to be accurately controlled, and a PID controller is adopted for pitch and yaw, the system response is fast, the lag amount is small, and the system overshoot amount is small.
Fig. 12 shows the relationship between azimuth angle θ, pitch angle β, wind speed v, and power P. When the azimuth angle theta is unchanged, the power taken by the wind wheel is reduced when the pitch angle beta is increased. When the pitch angle is unchanged, the azimuth angle is increased, and the power acquired by the wind wheel is reduced. The pitch angle and the azimuth angle are in a cosine relation with the power change trend obtained by the wind wheel. However, because the actual wind conditions are complex, the relationship between the three is not a simple linear relationship, and the analysis and the recording are still required according to the actual wind conditions. When the source control data is acquired in actual wind conditions, firstly, the azimuth angle is kept unchanged, the pitch angle is increased by one degree each time, the power curve of the wind wheel is acquired and recorded, the power curves in the range from 0 degree to 10 degrees of the pitch angle are acquired in total, and the power change value of the pitch angle changing by 10 degrees corresponding to different wind speeds in the azimuth angle is recorded as P β . And then, traversing the azimuth angle from 0 degree to 90 degrees by repeating the method, and acquiring different pitch angles corresponding to the azimuth angle from 0 degree to 90 degrees and corresponding power corresponding to the wind speed. In order to avoid the situation that the yaw mechanism acts continuously according to the irregularity of the power signal while traversing different azimuth angles, the change of the yaw angle is set to be changed by the equal incremental value, that is, the yaw angle changes by 5 degrees every time. When the wind speed is increased, the azimuth angle is reduced or increased by 5 degrees when the wind speed is reduced only in the range of 0-10 degrees and the power cannot be reduced or increased, so that the power regulation pressure of the variable pitch is reduced, and the variable pitch mechanism is changed in a small range. The action not only can reduce the energy obtained by the wind wheel to play a role in adjusting work when the wind speed is high, but also can reduce the wind load born by the wind wheel and enable the variable pitch to act in a small rangeThe fatigue load of the wind wheel blade and the variable pitch mechanism is reduced, and the fatigue life is prolonged.
FIG. 13 shows a schematic flow of a power control method for reducing fatigue loads of wind turbine blades and a pitch mechanism based on low frequency yaw and small range pitch linkage control. The method comprises the following specific steps:
(1) Inputting rated power P of wind turbine to be controlled to main control computer 0 Rated wind speed v 0 Local air density ρ, maximum speed of rotation n max And a rated speed n 0 And control source data as shown in figure 12 of the drawings that have been measured and stored in the source control parameter database.
(2) The detection element detects the current pitch angle beta, the azimuth angle theta, the wind speed v, the rotating speed n and the torque M of the wind turbine and transmits the current pitch angle beta, the azimuth angle theta, the wind speed v, the rotating speed n and the torque M to the main control computer for calculation through the data detection collector.
(3) And the main control computer calculates the power acquired by the wind wheel at the moment according to the rotating speed and torque signals transmitted by the data detection collector and according to P = M omega, then calls a pitch angle, an azimuth angle and a wind speed corresponding to the power in a source control parameter database according to the power, compares the called parameters with the parameters detected by the current detection element for calculation, obtains a deviation value and transmits the deviation value to the pitch controller and the yaw controller. Compared with the direct measurement of the generator power, the wind wheel power obtained according to the method of P = M omega has no various losses and high precision, so that the control on the wind wheel is relatively precise.
(4) The calculation process of the main control computer also comprises the steps of judging the current power and the rated power, and judging the relationship between the current wind speed and the rated wind speed if the wind wheel power of the wind turbine is smaller than the rated power.
(5) If the current wind speed is less than the rated wind speed, the wind turbine is in an under-power state at the moment, the main control computer transmits execution signals to the yaw controller, the pitch controller and the motor controller, the yaw mechanism and the pitch mechanism act to enable the azimuth angle theta and the pitch angle beta of the wind turbine to be directly reset to zero, and the wind turbine is in a state of C p And a constant region for capturing maximum wind energy. If the current wind speed is greater than the rated wind speed, the wind turbine is in a power overshoot state at the momentThe main control computer obtains the current power variation delta P = P-P 0 And the current power variation delta P and the power variation value P which can be regulated and controlled by the 10-degree variable pitch angle under the current wind direction angle β And comparing to judge whether the power overshoot is caused by excessive yaw or excessive pitch. If Δ P ≦ P β If the situation is caused by excessive pitch variation, the main control computer calculates corresponding up-regulation control quantity according to the current parameters and transmits the up-regulation control quantity to the pitch variation controller, so that the blade pitch angle rotates by 0 degree, and the power is increased; if Δ P ≧ P β If the wind wheel is excessively yawed, the main control computer calculates and transmits a negative bias signal to the yaw controller, so that the yaw mechanism returns a certain angle to the direction with the azimuth angle being zero, and the energy captured by the wind wheel is increased.
(6) And if the power of the wind wheel is greater than the rated power of the wind turbine, namely the wind wheel is in a power excess state and in a power underregulation state, executing the following operation.
(7) Judging whether delta P is larger than or equal to P β . Namely, judging whether the power is adjusted by yaw or pitch when the power is under-adjusted. If Δ P ≧ P β When the yaw mechanism is in a large excess power state, the yaw mechanism needs to act to adjust power, and the main control computer calculates a forward bias control quantity according to the current parameters and transmits a forward bias execution signal to the yaw controller, so that the yaw mechanism is biased forward by a certain angle, and the power is reduced; if the current wind wheel power delta P is less than or equal to P β At the moment, the state belongs to a low excess power state, the power is required to be adjusted by the action of the variable pitch mechanism, and the main control computer transmits a downward-pitching execution signal to the variable pitch controller, so that the variable pitch mechanism is pitched at a certain angle, and the power is reduced. And detecting the pitch angle at any time in the pitch changing and downward pitching process, transmitting the pitch angle to the main control computer, and comparing the pitch angle by the main control computer.
(8) And acquiring a current pitch angle beta after the main control computer acquires the pitch angle comparison signal, judging a pitch variation state, if the pitch angle is more than or equal to 0 degree and less than or equal to 10 degrees, determining that the current pitch angle is in an ideal pitch variation range, and if the pitch angle is more than or equal to 10 degrees, determining that the current pitch angle is in a non-ideal pitch variation range, indicating that the power cannot be continuously adjusted by changing the pitch in the ideal pitch variation range, and transmitting a positive offset signal to the yaw controller by the main control computer, so that the yaw mechanism is positively offset, and the power is reduced.
Fig. 14 shows a comparison of when the rotor is yawing at an angle and when the rotor is not yawing. As can be seen from FIG. 14, when the wind direction is unchanged and the wind speed is increased, the wind wheel drifts by a certain angle, the inflow speed can be reduced, so that the energy obtained by the wind wheel is reduced, the power obtained by the wind wheel is controlled, and the wing-shaped lift force formula is used for controlling the power obtained by the wind wheel
Formula of sum resistance
It can be seen that as the inflow velocity decreases, the lift and drag of the airfoil decreases. It follows that the forces acting on the blades when yawing at a certain angle are also reduced. As can be seen from fig. 5 and 15, the torque and bending moment applied to the blade with a certain torsion angle linearly decreasing in chord length become significantly smaller at high wind speed after the load-reducing power control method of the present invention is used. Where point O of fig. 8 is the center of torsion and h is the moment arm length.
Therefore, the power control method for reducing the load based on the yaw and pitch linkage control enables the wind wheel to obtain the same power under the conditions of low-frequency yaw and small-range pitch, meanwhile, the wind load and the load change amplitude borne by the wind wheel are greatly reduced, the vibration load caused by the large stall of the blades of the wind turbine is avoided, the fatigue load of the blades and the pitch mechanism is reduced, and the load borne by the tower is also reduced. And because the yaw system carries out threshold value incremental deflection, the abrasion of the yaw mechanism caused by multiple times of irregular yawing due to irregular change of parameters is avoided.
The invention not only can realize good wind turbine power control, but also can greatly reduce the fatigue load of the wind turbine generator set and prolong the service life.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (10)
1. A power control method based on yawing variable pitch linkage control load shedding is characterized by comprising the following steps:
acquiring the current wind speed, the current azimuth angle of the wind wheel, the current pitch angle of the wind wheel, the current torque of the wind wheel, the current rotating speed and the initial quantity of the wind wheel; the initial quantities include: rated power, rated wind speed and rated rotating speed;
determining the wind wheel power of a wind turbine to be controlled according to the current wind speed, the current azimuth angle of the wind wheel, the current pitch angle of the wind wheel, the current torque of the wind wheel and the current rotating speed of the wind wheel;
determining the power state of the wind turbine to be controlled according to the relation between the wind wheel power and the rated power; the power states include: an under-power state, a power over-regulation state and a power under-regulation state;
and generating a control instruction according to the power state, and finishing power control according to the control instruction.
2. The power control method based on yaw variable pitch linkage control load shedding according to claim 1, wherein the determining the power state of the wind turbine to be controlled according to the relation between the power of the wind wheel and the rated power specifically comprises:
when the power of the wind wheel is smaller than the rated power, judging the relation between the current wind speed and the rated wind speed;
when the current wind speed is smaller than the rated wind speed, determining that the wind turbine to be controlled is in an under-power state;
when the current wind speed is larger than the rated wind speed, determining that the wind turbine to be controlled is in a power overshoot state;
and when the power of the wind wheel is greater than the rated power, determining that the wind turbine to be controlled is in a power-failure state.
3. The power control method based on yaw and pitch linkage control load shedding according to claim 1, wherein the generating a control command according to the power state and completing power control according to the control command specifically comprises:
when the power state is an under-power state, generating a first control instruction; the first control instruction is used for controlling the azimuth angle and the pitch angle of the wind wheel to be zero and controlling the wind turbine to be controlled to be in the state of C p A constant region.
4. The power control method based on yaw variable pitch linkage control load shedding according to claim 1, wherein the generating a control command according to the power state and completing power control according to the control command specifically comprises:
when the power state is a power overshoot state, determining a power increment corresponding to the current wind direction angle and a power variation regulated and controlled by a variable pitch variation angle under the current wind direction angle; the variable pitch variation angle is obtained from a source control parameter database;
determining a cause of a power overshoot state according to the power increment and the power variation;
and generating a second control command according to the cause of the power overshoot state, and finishing power control according to the second control command.
5. The power control method based on yaw-pitch linkage control load shedding according to claim 4, wherein the determining the cause of the power overshoot state according to the power increment and the power variation specifically comprises:
when the power increment is smaller than the power variation, the cause of the power overshoot state is excessive variable pitch;
when the power increment is larger than the power variation, the cause of the power overshoot state is yaw overshoot.
6. The power control method based on the yaw-pitch linkage control load shedding according to claim 5, wherein when the cause of the power overshoot state is a pitch overshoot, the second control command is used for controlling a pitch angle to rotate by 0 °;
when the cause of the power overshoot state is yaw overshoot, the second control command is used to control the azimuth to rotate by a specific angle in the 0 ° direction.
7. The power control method based on yaw and pitch linkage control load shedding according to claim 1, wherein the generating a control command according to the power state and completing power control according to the control command specifically comprises:
when the power state is a power under-regulation state, determining the cause of the power under-regulation state;
and generating a third control instruction according to the cause of the power under-regulation state, and completing power control according to the third control instruction.
8. The power control method based on the yaw-pitch linkage control load shedding according to claim 7, wherein when the cause of the power-undershoot condition is yaw undershoot, the third control command is used for controlling a yaw mechanism to be positively deflected by a specific angle;
and when the cause of the underpower condition is pitch control underadjustment, the third control instruction is used for controlling the pitch control mechanism to tilt down by a specific angle, acquiring a pitch angle in the process of tilting down the pitch control mechanism, determining a pitch control range according to the change of the front pitch angle and the back pitch angle, and controlling the yaw mechanism to be positively deflected when the pitch control range is within a preset pitch control range.
9. The power control method based on yaw and pitch linkage control load shedding according to claim 4, wherein the construction process of the source control parameter database comprises the following steps:
acquiring air density;
acquiring a preset range pitch angle, a preset range wind wheel power and a preset range azimuth angle; the pitch angle in the preset range is a pitch angle in a range of 0-10 degrees corresponding to the azimuth angle of the wind wheel in a range of 0-90 degrees; the wind wheel power in the preset range is the wind wheel power corresponding to the wind speed range of 3m/s-25 m/s;
drawing a power curve according to the air density, the initial amount, the preset range pitch angle, the preset range azimuth angle and the preset range wind wheel power;
and acquiring a yaw change angle and a pitch change angle based on the power curve so as to generate a source control parameter database of the wind turbine to be controlled.
10. A power control system based on load shedding of yaw variable pitch linkage control is characterized by comprising: the system comprises a data detection collector, a main control computer, a yaw controller and a pitch controller;
the data detection collector, the yaw controller and the pitch controller are all connected with the main control computer; the master control computer is used for executing the power control method based on the yaw variable pitch linkage control load shedding according to any one of claims 1-9.
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