CN115199471B - Power control method and system for controlling load reduction based on yaw variable pitch linkage - Google Patents

Power control method and system for controlling load reduction based on yaw variable pitch linkage Download PDF

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Publication number
CN115199471B
CN115199471B CN202210728068.6A CN202210728068A CN115199471B CN 115199471 B CN115199471 B CN 115199471B CN 202210728068 A CN202210728068 A CN 202210728068A CN 115199471 B CN115199471 B CN 115199471B
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power
pitch
wind
yaw
state
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CN115199471A (en
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李寿图
杨福爱
何坤雲
马玉龙
万芳
杨从新
李晔
马清东
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Lanzhou University of Technology
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Lanzhou University of Technology
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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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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

Abstract

The invention relates to a power control method and a system for controlling load reduction based on yaw and pitch linkage. According to the control method, after the wind wheel power of the wind turbine to be controlled is determined 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, the power state of the wind turbine to be controlled is determined according to the relation between the wind wheel power and the rated power, then a control instruction is generated according to the power state, and the power control is completed according to the control instruction, so that the load problem existing in the prior art can be effectively solved, and the service life of the ultra-large wind generating set is remarkably prolonged.

Description

Power control method and system for controlling load reduction based on yaw variable pitch linkage
Technical Field
The invention relates to the technical field of power control of generators, in particular to a power control method and system for controlling load reduction based on yaw variable pitch linkage.
Background
Currently, ultra-large wind power generator sets are the main stream type for generating electricity. When the ultra-large wind turbine is connected with the grid, the power generation frequency and the power of the wind turbine are required to meet the set requirements, so that the wind turbine is required to be subjected to power adjustment in the running process. The existing main current 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 is enabled to rotate 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. The power captured by the wind turbine is still increased due to the increase of the wind speed, and at the moment, in order to ensure the meeting of the power grid requirement, the blades are required to stall through active pitching of the pitching mechanism, so that the power is controlled to be constant.
In the power adjustment mode, the yaw motion aims to obtain energy to the maximum extent for wind, and the pitch adjustment power is adjusted only by the pitch mechanism according to wind speed information after rated wind speed. The signals required by the pitching execution action of the pitching mechanism are processed, but the actual wind speed is pulsed and unstable, so that the continuous irregular execution of the large-amplitude pitching action is required for keeping the power constant, and the fatigue loads of the pitching mechanism and the blades are increased at the stage of high wind speed after the rated wind speed, and the service lives of the pitching mechanism and the blades are reduced.
When the wind turbine is at a high wind speed, the wind wheel is opposite to the wind, the captured wind energy is the maximum, and at the moment, the wind energy captured by the wind wheel is q=q 1+Q2, wherein Q 1 is the energy provided by the wind wheel for the generator to generate electricity, Q 2 is the energy for continuously increasing the rotation speed of the wind wheel, the energy for increasing the rotation speed of the wind wheel can cause the wind wheel to generate faults of over-speed flying or over-speed stopping, and the fatigue load of the unit can be increased due to high-speed rotation, the unit is seriously lost due to long-term operation at a higher rotation speed, and the service life is shortened. At present, the part of acceleration energy is controlled by adopting a pitch control strategy, in the pitch control strategy, the rotating speed of the wind wheel is limited, but because the wind wheel is still perpendicular to the wind speed, the part of energy is consumed by acting on the wind wheel in a thrust mode, the wind wheel of the wind generating set bears great wind loads, and the wind loads increase fatigue loads of the set, seriously reduce the loss of the set and prolong the service life.
Chinese patent CN 102777322 proposes a method capable of controlling proper yaw of a fan through the corresponding relation between the wind direction angle and the rotating speed of the fan, and enabling a unit to operate at a stable rotating speed for a long time under the dual actions of yaw and pitch variation so as to prevent the unit from being stopped at an overspeed. However, the document only considers the relation between the azimuth angle and the rotation speed of the wind turbine, but when the original pitch angles are different, the azimuth angle and the rotation speed of the wind turbine are not directly related, and the specific wind speed, the wind direction angle and the rotation speed and the power corresponding to the pitch angle are not given, so that accurate control can not be achieved in a small range of pitch. The method only considers the rotating speed under the same pitch angle, the method aims to achieve the purpose of limiting power, the pitch control action is required to be carried out for a plurality of times after yawing, and the fatigue loads of a pitch mechanism and wind turbine blades of the wind turbine are not considered. Moreover, the yaw system is adopted before and after the rated wind speed in the method to participate in power limitation, which clearly 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 a system for controlling load reduction based on yaw pitch linkage.
In order to achieve the above object, the present invention provides the following solutions:
a power control method for controlling load shedding based on yaw pitch linkage comprises the following steps:
Acquiring a current wind speed, a current azimuth angle of the wind wheel, a current pitch angle of the wind wheel, a current torque of the wind wheel, a current rotating speed of the wind wheel and an initial quantity; the initial amount includes: rated power, rated wind speed and rated rotational speed;
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;
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 overshoot 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.
Preferably, the determining the power state of the wind turbine to be controlled according to the relation between the wind wheel power and the rated power specifically includes:
when the wind wheel power 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 underpower 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 wind wheel power is larger than the rated power, determining that the wind turbine to be controlled is in a power undershoot 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 be zeroed and controlling the wind turbine to be controlled to be in a C p constant area.
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 a power overshoot state, determining a power increment corresponding to the current wind direction angle and a power variation regulated and controlled by a pitch variation angle under the current wind direction angle; the variable pitch angle is obtained from a source control parameter database;
Determining the cause of a power overshoot state according to the power increment and the power variation;
And generating a second control instruction according to the cause of the power overshoot state, and finishing power control according to the second control instruction.
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 pitching;
When the power increment is greater than the power change amount, the cause of the power overshoot state is oversteer.
Preferably, when the cause of the power overshoot condition is excessive pitch, the second control instruction is used to control the pitch angle to rotate towards 0 °;
When the cause of the power overshoot state is yaw overage, the second control instruction is used for controlling the azimuth angle to rotate a specific angle towards the direction of 0 degrees.
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 a power undershoot state, determining a cause of the power undershoot state;
and generating a third control instruction according to the cause of the power undershoot state, and finishing power control according to the third control instruction.
Preferably, when the cause of the power undershoot state is yaw undershoot, the third control instruction is used for controlling the yaw mechanism to positively deflect by a specific angle;
When the cause of the power undershoot state is pitch undershoot, the third control instruction is used for controlling the pitch mechanism to pitch downwards by a specific angle, collecting pitch angles in the pitch process of the pitch mechanism, determining a pitch range according to the change of front pitch angles and back pitch angles, and controlling the yaw mechanism to deflect forwards when the pitch range is within a preset pitch 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 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 wind wheel power corresponding to a wind speed range of 3m/s-25 m/s;
drawing a power curve according to the air density, the initial quantity, 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 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:
According to the power control method based on yaw variable pitch linkage control load reduction, after the wind wheel power of the wind turbine to be controlled is determined 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, the power state of the wind turbine to be controlled is determined according to the relation between the wind wheel power and rated power, then a control instruction is generated according to the power state, and the power control is completed according to the control instruction, so that the load problem existing in the prior art can be effectively solved, and the service life of the ultra-large wind generator set is remarkably prolonged.
In addition, the invention also provides a power control system for controlling load reduction based on yaw pitch linkage, which comprises: 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 main control computer is used for executing the power control method based on yaw pitch linkage control load reduction.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a power control method based on yaw-pitch linkage control load shedding provided by the invention;
FIG. 2 is a schematic diagram of a power control system for controlling load shedding based on yaw-pitch linkage;
FIG. 3 is a schematic view of a wind turbine blade according to an embodiment of the present invention, wherein the distance γ between the wind turbine blade and the blade root is γ 1;
FIG. 4 is a schematic view of a wind turbine blade according to an embodiment of the present invention when a distance γ between the wind turbine blade and the blade root is γ 2;
FIG. 5 is a graph of thrust and normal force analysis of 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 block diagram showing the structural composition of a control system according to an embodiment of the present invention;
FIG. 8 is a block diagram of the structural composition of a data acquisition system according to an embodiment of the present invention;
Fig. 9 is a block diagram of a structural composition relationship of a master control computer according to an embodiment of the present invention;
FIG. 10 is a block diagram of the structural composition of a yaw system provided by an embodiment of the present invention;
FIG. 11 is a block diagram of the structural composition of a pitch system provided by an embodiment of the present invention;
FIG. 12 is a graph of azimuth angle, pitch angle, wind speed and power versus provided by an embodiment of the present invention;
FIG. 13 is a schematic diagram of an embodiment of a power control method for controlling load shedding based on yaw-pitch linkage according to the present invention;
FIG. 14 is a comparison of the situation provided by the embodiment of the invention when the rotor is yawed at a certain angle and when the rotor is not yawed; wherein, part a of fig. 14 is a situation diagram when the wind wheel does not yaw; part b of fig. 14 is a situation diagram when the wind wheel yaw is at a certain angle;
FIG. 15 is a wind blade torque diagram provided by an embodiment of the present invention;
FIG. 16 is a schematic diagram showing intervals of a constant region of C p according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a power control method and a system for controlling load reduction based on yaw pitch linkage, which can effectively solve the load problem in the prior art and further remarkably improve the service life of an ultra-large wind generating set.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the power control method based on yaw pitch linkage control load reduction provided by the invention comprises the following steps:
step 100: the method comprises the steps of obtaining a current wind speed, a current azimuth angle of a wind wheel, a current pitch angle of the wind wheel, a current torque of the wind wheel, a current rotating speed of the wind wheel and an initial quantity. The initial amounts include: rated power, rated wind speed, and rated rotational speed.
Step 101: 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 wind wheel power and the rated power. The power states include: an under power state, a power overshoot state, and a power under regulation state. And when the wind wheel power is smaller than the rated power, judging the relation between the current wind speed and the rated wind speed. And 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. 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. When the wind wheel power is larger than rated power, determining that the wind turbine to be controlled is in a power undershoot state.
Step 103: and generating a control instruction according to the power state, and finishing power control according to the control instruction.
Specifically, when the power state is the under-power state, a performs the following operations:
And generating a first control instruction for controlling the azimuth angle and the pitch angle of the wind wheel to be zeroed and controlling the wind turbine to be controlled to be in a C p constant area so as to capture the maximum wind energy. Wherein, the region of the wind speed of 0-15m/s is the constant region of C p as shown in FIG. 16. The current large-scale wind turbines all adopt variable speed constant frequency wind turbine models, and the wind speed is from the starting wind speed (generally 3 m/s) to the rated wind speed (given wind speed in design) to the cut-out wind speed (generally 25 m/s) and the power obeys a certain power curve in 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 the starting wind speed and the rated wind speed, and the wind energy utilization rate C p needs to be kept to be optimal at the moment, so that more wind energy is captured, the wind energy utilization rate is always kept to be the optimal value at the stage, and C p is in a constant state, namely a C p constant area. After rated wind speed, the wind power captured by the wind wheel can be continuously increased due to the increase of the wind speed, but the purpose is to keep the power at the rated power, so that the wind energy utilization coefficient of the wind wheel is reduced by changing the pitch, and the power can be kept at a constant value even at high wind speed, and the wind energy utilization coefficient can be slowly reduced after the rated wind speed.
And B, when the power state is a 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 pitch variation angle under the current wind direction angle. The pitch change angle is obtained from a source control parameter database. The construction process of the source control parameter database comprises the following steps:
The air density is obtained.
And acquiring a preset range pitch angle and a preset range wind wheel power. The preset range pitch angle 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 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 preset range pitch angle and the preset range wind wheel power.
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 relation between the wind wheel power increment under the current parameter and the power variation in the 0-10 DEG pitch angle under the current parameter. When the power increment is smaller than the power variation, the cause of the power overshoot state is excessive pitching. When the power increment is greater than the power variation, the cause of the power overshoot condition is oversteer.
And generating a second control instruction according to the cause of the power overshoot state, and completing the power control according to the second control instruction. And when the cause of the power overshoot state is excessive pitching, the second control instruction is used for controlling the pitch angle to rotate towards 0 degrees so as to increase the power. When the power overshoot state is caused by excessive yaw, the second control instruction is used for controlling the azimuth angle to rotate a specific angle towards the direction of 0 degrees so as to increase the power captured by the wind wheel.
C, when the power state is a power undershoot state, performing the following operations:
and step 1, determining the cause of the power undershoot state. For example, it is determined whether the power is currently large or small. The large overexplanation power undershoot is caused by yaw undershoot, and the small overexplanation is caused by pitch undershoot. If the current power exceeds the rated power Then the power is high overage state. If the current wind wheel power is at/>This is a small overage condition.
And step 2, generating a third control instruction according to the cause of the power undershoot state, and finishing power control according to the third control instruction. When the power undershoot state is caused by yaw undershoot, the third control instruction is used for controlling the yaw mechanism to positively deflect by a specific angle. When the cause of the power undershoot state is pitch undershoot, the third control instruction is used for controlling the pitch mechanism to pitch downwards by a specific angle, collecting pitch angles in the pitch process of the pitch mechanism, determining a pitch range according to the change of the front pitch angle and the rear pitch angle, and controlling the yaw mechanism to deflect forwards when the pitch range is in a preset pitch range (namely a non-ideal pitch range). If the pitch angle is more than or equal to 0 degrees and less than or equal to 10 degrees, the ideal pitch range is provided, if the pitch angle is more than or equal to 10 degrees, the non-ideal pitch range is provided, and at the moment, a forward bias signal is transmitted to the yaw controller, so that the yaw mechanism is forward biased, and the power is reduced.
In addition, the invention also provides a power control system for controlling load reduction based on yaw pitch linkage, as shown in fig. 2, the system comprises: data detection collector 200, main control computer 201, yaw controller 202 and pitch controller 203.
The data detection collector 200, the yaw controller 202 and the pitch controller 203 are all connected with the main control computer 201. The main control computer 201 is configured to execute the power control method based on yaw pitch linkage control load shedding provided above.
Based on the disclosure, the invention performs power control according to the corresponding relation of wind direction angle, pitch angle, wind speed and power, and reduces the energy captured by the wind wheel through yaw and pitch by a certain angle in the high wind speed stage after rated wind speed so as to reduce the wind load born by the wind wheel blades, further reduce the fatigue load of the blades and the pitch mechanism and prolong the service life.
In addition, the invention introduces the ideas of low-frequency yaw and small-range pitch control, and then carries out linkage control on the yaw and the pitch control, so that the yaw and the pitch control are both participated in the power control process after the rated wind speed. The low-frequency yaw is introduced to control power, because when the incoming wind speed increases, the wind wheel yaw is at a certain angle, and the wind energy captured by the wind wheel can be reduced. The captured power of the wind wheel and the azimuth angle are in cosine relation, the captured power of the wind wheel can be reduced at a high wind speed based on the cosine relation, the inflow speed can be reduced when the wind wheel is yawed at a certain angle, aerodynamic force is directly related to the inflow speed, and therefore compared with the state that the wind wheel is opposite to the inflow at the same wind speed, the captured power is reduced, and meanwhile wind load born by the wind wheel blades and fatigue load of a variable-pitch mechanism at a blade root are reduced. The low-frequency navigational motion is adopted to adjust the power, so that the pressure of the power is reduced when the pitch motion is used for adjusting the power, and the low-frequency motion can not cause abrasion of a yaw mechanism. Since yaw power regulation shares the power regulation pressure of a portion of the wind, only a small range of pitching is required to stabilize the power around the rated power. Compared with the current large-range pitch adjustment, the small-range pitch adjustment in the range of 0-10 degrees avoids blade trembling caused by severe blade stall at a large pitch angle, reduces the wind load change amplitude caused by large-range change of the blade pitch angle, and further reduces the fatigue loads of wind turbine blades and a pitch mechanism under the condition of realizing power adjustment.
The following describes the advantages of the present invention in detail based on the design framework of the control system provided above, and in combination with the specific implementation procedure of the power control method based on yaw pitch linkage control load shedding.
Example 1
And step 1, obtaining parameters such as rated power P 0, rated wind speed v 0, rated rotating speed n 0, local air density rho and the like of the wind turbine to be controlled, and inputting the parameters into a main control computer to form initial quantity.
And 2, obtaining a pitch angle beta of 0-10 degrees corresponding to the azimuth angle theta in the range of 0-90 degrees and wind wheel power P corresponding to the 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 an optimal power curve under the conditions of the determined parameter wind turbine unit and the determined wind. And obtaining 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 and the wind speed v of the current wind wheel, the pitch angle beta, the torque M and the wind wheel rotating speed n by a detection element of the data detection collector, and transmitting the detected signals to a main control computer for corresponding power calculation.
And 5, judging the magnitude of the current power and the rated power, and if the wind wheel power of the wind turbine is smaller than the rated power, judging the magnitude relation between the current wind speed and the rated wind speed by the main control computer.
And 6, if the current wind speed is smaller than the rated wind speed, in an underpower state, transmitting execution signals to a yaw controller, a pitch controller and a motor controller by a main control computer, enabling the yaw mechanism and the pitch mechanism to act, enabling the azimuth angle theta and the pitch angle beta of the wind wheel to be directly zeroed, enabling the motor to perform torque control, enabling the wind turbine to be in a C p constant area, and capturing the maximum wind energy. If the current wind speed is greater than the rated wind speed, the main control computer is in a power overshoot state at the moment, judges the relation between the power increment delta P corresponding to the current wind direction angle and the power variation quantity P β which can be regulated by 10-degree pitch corresponding to the current wind direction angle, and judges whether the power overshoot is caused by excessive yaw or excessive pitch according to the relation. If the pitch is caused by excessive pitch variation, an up-regulation signal is transmitted to a pitch variation controller, so that the blades are upward turned, and the power is increased; if the yaw is caused excessively, a negative bias signal is transmitted to the yaw controller, so that the yaw rotates by a certain angle, and the power captured by the wind wheel is increased.
Step 7, when the wind wheel power is larger than the rated power of the wind turbine, namely the power is excessive, the wind wheel is in a power undershoot state, and the following operations are executed:
1) It is determined whether the power is currently large or small. The large overexplanation power undershoot is caused by yaw undershoot, and the small overexplanation is caused by pitch undershoot. If the current power exceeds the rated power The yaw mechanism is in a large power overload state, and the main control computer transmits a positive bias execution signal to the yaw controller to enable the yaw mechanism to be biased forward by a certain angle, so that the power is reduced; if the current wind wheel power is at/>In the small excessive state, if the state is in the small excessive state, the main control computer transmits a pitching executing signal to the pitch controller, so that the pitch mechanism is pitched downwards by a certain angle, and the power is reduced. And detecting the pitch angle at any time in the pitch-changing attaching process, transmitting the pitch angle to a main control computer, and comparing the pitch angle by the main control computer.
2) The main control computer acquires a pitch angle comparison signal, then acquires a current pitch angle beta, judges the pitch state, is in an ideal pitch range if the pitch angle beta is more than or equal to 0 degrees and less than or equal to 10 degrees, is in a non-ideal pitch range if the pitch angle beta is more than or equal to 10 degrees, and transmits a forward bias signal to the yaw controller at the moment so as to forward bias the yaw mechanism and reduce power.
In this embodiment, the control system may also be provided as a device comprising a data detection collector, a logic analysis control system and an execution system. The data detection collector comprises sensors for detecting current fan azimuth angle theta, incoming wind speed v, pitch angle beta, wind wheel rotation speed n and other parameters. The logic analysis control system comprises a main control computer, a yaw controller, a pitch controller and a motor controller, and the actuating mechanism comprises a pitch actuating mechanism, a yaw actuating mechanism, a motor torque control mechanism and the like.
Example two
In the embodiment, the data detection collector detects parameters after the actions of each mechanism at any time and transmits the parameters to the main control computer, the main control computer carries out logic and arithmetic analysis and operation according to the existing program to obtain 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 corresponding control quantity to the yaw controller, the pitch controller and the motor controller; each controller analyzes and calculates the signals transmitted from the main control computer to obtain analog quantity signals which can be directly identified and executed by the executing mechanism; after the executing mechanism obtains the analog quantity command signal from the control system, certain action is executed.
Specifically, as shown in fig. 3, the wing profile is a wing profile of a wing profile DU series special for a wind turbine blade, and the wing profile is a wing profile positioned at a position from a blade root r 1 of the wind turbine blade. Wherein phi is the inflow angle, the inflow speed and the included angle of the wind wheel rotation plane; alpha is the angle of attack, the angle between the incoming flow velocity and 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 turbine. v is the incoming wind speed, w is the incoming flow speed, F L is the blade lift, F D is the aerodynamic drag to which the blade is subjected, F is the combined force of lift and drag, F y and F x are obtained by breaking F into the Y direction perpendicular to the plane of rotation and the X direction parallel to the plane of rotation, wherein F y is the thrust of the wind acting in the axial direction, and F x is the circumferential force acting in the tangential direction of the rotor to rotate the rotor. To investigate the load experienced by the blade surface, the force F may be decomposed into a component F e in the chord direction and a component F n perpendicular to the chord direction, where the angle between F n and F y is γ 1,γ1 =β.
Axial force
Fn＝Fcosα
Wherein F n is also the resultant of the forces on the active blade in the outer normal direction at the aerodynamic center.
Fig. 4 shows the wing profile of a wind turbine blade at a distance from a blade root r 2, because the wind turbine blade is designed to have a torsion angle from the blade root to the blade tip, the torsion angle of the wing profile at r 1 and the torsion angle of the wing profile at r 2 are delta beta, the speeds of different wing profiles on the same blade along the direction of a rotation plane are the same, the wind speeds are the same, but due to the existence of one torsion angle, the inflow angle is unchanged, the attack angle is reduced, the stress on the surface of the blade is changed, wherein the included angle between F n and F y is gamma 2,γ2 = delta beta + beta, and therefore, a certain included angle is formed between resultant forces of different positions of the wind turbine blade along the direction of the external normal of the blade, as shown in fig. 5. This condition creates a torque that tends to rotate the blade about the root, imparting additional load to the pitch mechanism. The axial force F y can apply an axial force to the blade to bend the blade, the load of the two conditions can be ignored in the case of low wind speed, but the wind turbine blade can bear large load in the case of high wind speed, and the load born by the wind turbine blade can change irregularly due to the irregularity of the wind speed, so that the fatigue load of the blade per se is increased, and the service life of the blade is reduced. Also, as can be seen in fig. 6, the axial thrust experienced by the rotor is greatest when the incoming flow is perpendicular to the rotor plane.
Based on the above situation, the invention provides a method for controlling the low-frequency yaw and the small-range pitch of the fatigue load of the wind turbine blade and the pitch mechanism during the rated power stage operation and a control system matched with the control mode.
For example, as shown in fig. 7, the components constituting the control system are 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 elements comprise a wind speed and wind direction detection element, a torque detection element, a rotation 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 is mainly used for collecting analog quantity signals of a detection element, converting the analog quantity signals into digital quantity signals and transmitting the digital quantity signals to a main control 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 detected parameters with the parameters corresponding to the existing power stored in a source control parameter database to obtain deviation between the input parameters and the current parameters, and then transfers signals to a pitch controller and a yaw controller through an analog-to-digital converter to further control the power captured by the whole wind wheel. FIGS. 10 and 11 illustrate a yaw system and pitch system that has a fast system response, low hysteresis, and low system overshoot because yaw and pitch motors require precise control, pitch and yaw employ PID controllers.
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, when the pitch angle beta is increased, the power acquired by the wind wheel is reduced. When the pitch angle is unchanged, the azimuth angle increases and the power drawn by the rotor decreases. The pitch angle and the azimuth angle are in cosine relation with the power change trend obtained by the wind wheel. However, because the actual wind condition is complex, the relationship among the three is not a simple linear relationship, and analysis and recording are needed according to the actual wind condition. When source control data are acquired in actual wind conditions, firstly, an azimuth angle is unchanged, the pitch angle is increased by one degree each time, a power curve of a wind wheel is acquired and recorded, a total power curve within a range from 0 degrees to 10 degrees of pitch angle is acquired, and a power change value of the pitch angle corresponding to different wind speeds under the azimuth angle, which is changed by 10 degrees, is recorded as P β. And then traversing azimuth angles of 0-90 degrees by repeating the method, and obtaining corresponding power corresponding to different pitch angles and wind speeds corresponding to the azimuth angles of 0-90 degrees. In order to avoid a situation where the yaw mechanism acts continuously in dependence on irregularities of the power signal when traversing different azimuth angles, the change of yaw angle is here set to an equal incremental value change, i.e. 5 ° each time the yaw angle is changed. When the wind speed is increased, the azimuth angle is reduced or increased by 5 degrees only by the adjustment and the decrease in the range of 0-10 degrees, so that the pitch power adjusting pressure is reduced, and the pitch mechanism is changed in a small range. The action not only can reduce the energy acquired by the wind wheel to play a role in regulating work at high wind speed, but also can reduce the wind load born by the wind wheel and enable the variable pitch to act in a small range, thereby reducing the fatigue load of the wind wheel blades and the variable pitch mechanism and prolonging the fatigue life.
FIG. 13 illustrates a principle flow of a power control method for reducing fatigue loads of wind turbine blades and pitch mechanisms based on low frequency yaw and small range pitch linkage control. The method comprises the following steps:
(1) The rated power P 0, the rated wind speed v 0, the local air density rho, the maximum rotation speed n msx, the rated rotation speed n 0 and the measured control source data as shown in figure 12 of the drawings are input to a main control computer and stored in a source control parameter database.
(2) The detection element detects the current pitch angle beta, azimuth angle theta, wind speed v, rotating speed n and torque M of the wind turbine, and transmits the current pitch angle beta, azimuth angle theta, wind speed v, rotating speed n and torque M to the main control computer for calculation through the data detection collector.
(3) The main control computer calculates the acquired power of the wind wheel at the moment according to the rotating speed and the torque signals transmitted by the data detection collector and P=Mω, then invokes pitch angle, azimuth angle and wind speed corresponding to the power in the source control parameter database according to the power, then compares and calculates the invoked parameters with the parameters detected by the current detection element to obtain deviation amount and transmits the deviation amount to the pitch controller and the yaw controller. Compared with the direct measurement of the power of the generator, the wind wheel power obtained by the method of P=M omega has the advantages of no various loss and high precision, so that the control of the wind wheel is more accurate.
(4) The calculation process of the main control computer further comprises the step of judging the current power and the rated power, and if the wind wheel power of the wind turbine is smaller than the rated power, the magnitude relation between the current wind speed and the rated wind speed is judged.
(5) If the current wind speed is smaller 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, the azimuth angle theta and the pitch angle beta of the wind wheel are directly zeroed, the wind turbine is in a C p constant area, and the maximum wind energy is captured. If the current wind speed is greater than the rated wind speed, the current wind speed is in a power overshoot state, the main control computer obtains the current power variation delta P=P-P 0, and compares the current power variation delta P with a power variation value P β which can be regulated and controlled by a 10-degree pitch angle under the current wind direction angle to judge whether the power overshoot is caused by excessive yaw or excessive pitch. If the ΔP is less than or equal to P β, indicating that the pitch is excessive, calculating a corresponding up-regulating control quantity by the main control computer according to the current parameter, transmitting the corresponding up-regulating control quantity to a pitch controller, enabling the pitch angle of the blade to rotate towards 0 degrees, and increasing power; if the delta P is more than or equal to P β, indicating that the yaw is excessive, calculating by a main control computer and transmitting a negative bias signal to a yaw controller, so that the yaw mechanism returns a certain angle to the direction of zero azimuth angle, and increasing the energy captured by the wind wheel.
(6) If the wind wheel power is larger than the rated power of the wind turbine, namely the wind wheel power belongs to the power overmuch and belongs to the power undershot state, the following operation is executed.
(7) And judging that the delta P is more than or equal to P β. I.e. to determine if the power will be adjusted by yaw or pitch when the power is undershot. If the delta P is more than or equal to P β, and the yaw mechanism is in a large-excess power state, the yaw mechanism is required to act for adjusting the power, the main control computer calculates the 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 forward biased 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 and belongs to a small excess power state, the action of the pitch-control mechanism is required to adjust the power, and the main control computer transmits a pitch-down execution signal to the pitch-control controller, so that the pitch-control mechanism is pitched down by a certain angle, and the power is reduced. And detecting the pitch angle at any time in the pitch-down process, transmitting the pitch angle to a main control computer, and comparing the pitch angles by the main control computer.
(8) After the main control computer acquires the pitch angle comparison signal, the current pitch angle beta is acquired, the pitch state is judged, if the pitch angle is more than or equal to 0 degree and less than or equal to 10 degrees, the pitch state is in an ideal pitch range, if the pitch angle is more than or equal to 10 degrees, the pitch state is in a non-ideal pitch range, the fact that the power cannot be continuously regulated by the light in the ideal pitch range is indicated, and at the moment, the main control computer transmits a forward bias signal to the yaw controller, so that the yaw mechanism is forward biased, and the power is reduced.
Fig. 14 shows a comparison of the situation when the rotor is yawed at an angle and when the rotor is not yawed. As can be seen from FIG. 14, when the wind direction is unchanged and the wind speed is increased, the wind wheel yaw is at a certain angle, so that the inflow speed can be reduced, the energy acquired by the wind wheel is reduced, the power acquired by the wind wheel is controlled, and the wing type lift force formula is adoptedAnd resistance formulaIt can be seen that as the inflow speed decreases, the lift and drag of the airfoil decreases. It follows that the forces acting on the blades when yawing is at an 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 angle of torsion in which the chord length is linearly reduced is significantly reduced at a high wind speed by using the load-reducing power control method of the present invention. Where h is the arm length, the center of torsion at point O of fig. 8.
According to the power control method based on yaw and pitch linkage control, which is provided by the invention, the wind wheel can obtain the same power under the conditions of low-frequency yaw and small-range pitch, the wind load and load change amplitude borne by the wind wheel are greatly reduced, the vibration load caused by large stall of the wind turbine blade is avoided, the fatigue load of the blade and the pitch mechanism is reduced, and the load borne by the tower barrel is also reduced. Moreover, as the yaw system performs the threshold incremental deflection, the abrasion to the yaw mechanism caused by irregular yaw for a plurality of times due to irregular change of parameters is avoided.
The invention not only can realize good power control of the wind turbine, but also can greatly reduce fatigue load of the wind turbine generator set and prolong service life.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (8)

1. The power control method for controlling load reduction based on yaw pitch linkage is characterized by comprising the following steps of:
Acquiring a current wind speed, a current azimuth angle of the wind wheel, a current pitch angle of the wind wheel, a current torque of the wind wheel, a current rotating speed of the wind wheel and an initial quantity; the initial amount includes: rated power, rated wind speed and rated rotational speed;
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;
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 overshoot state, and a power under-regulation state;
generating a control instruction according to the power state, and finishing power control according to the control instruction;
the method specifically includes the steps of generating a control instruction according to the power state, and finishing power control according to the control instruction:
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 pitch variation angle under the current wind direction angle; the variable pitch angle is obtained from a source control parameter database; the power increment is the difference value between the current wind wheel power and the rated power;
Determining the cause of a power overshoot state according to the power increment and the power variation;
generating a second control instruction according to the cause of the power overshoot state, and finishing power control according to the second control instruction;
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 0-10 degrees; the azimuth angle of the preset range is 0-90 degrees; the wind wheel power in the preset range is wind wheel power under different pitch angles and wind speeds corresponding to the azimuth angle of the preset range; the wind speed range is 3m/s-25m/s;
drawing a power curve according to the air density, the initial quantity, 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 to generate a source control parameter database of the wind turbine to be controlled.
2. The power control method based on yaw-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 wind wheel power and the rated power specifically comprises:
when the wind wheel power 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 underpower 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 wind wheel power is larger than the rated power, determining that the wind turbine to be controlled is in a power undershoot state.
3. The power control method based on yaw-pitch linkage control load shedding according to claim 1, wherein the generating a control command according to the power state and finishing 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 zeroed and controlling the wind turbine to be controlled to be in a C p constant area.
4. The power control method based on yaw-pitch linkage control load shedding according to claim 1, 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 pitching;
When the power increment is greater than the power change amount, the cause of the power overshoot state is oversteer.
5. The power control method based on yaw-pitch linkage control for load shedding according to claim 4, wherein the second control command is for controlling a pitch angle to be rotated toward 0 ° when a cause of the power overshoot state is a pitch excess;
When the cause of the power overshoot state is yaw overage, the second control instruction is used for controlling the azimuth angle to rotate a specific angle towards the direction of 0 degrees.
6. The power control method based on yaw-pitch linkage control load shedding according to claim 1, wherein the generating a control command according to the power state and finishing power control according to the control command specifically comprises:
when the power state is a power undershoot state, determining a cause of the power undershoot state;
and generating a third control instruction according to the cause of the power undershoot state, and finishing power control according to the third control instruction.
7. The power control method based on yaw-pitch linkage control for reducing load according to claim 6, wherein when the cause of the power undershoot condition is yaw undershoot, the third control instruction is for controlling a yaw mechanism to be forward biased by a specific angle;
When the cause of the power undershoot state is pitch undershoot, the third control instruction is used for controlling the pitch mechanism to pitch downwards by a specific angle, collecting pitch angles in the pitch process of the pitch mechanism, determining a pitch range according to the change of front pitch angles and back pitch angles, and controlling the yaw mechanism to deflect forwards when the pitch range is within a preset pitch range.
8. A power control system for controlling load shedding based on yaw pitch linkage, 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 main control computer is used for executing the power control method based on yaw pitch linkage control load reduction according to any one of claims 1-7.
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