CN115263671B - Variable pitch control method, device and system and wind generating set - Google Patents
Variable pitch control method, device and system and wind generating set Download PDFInfo
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- CN115263671B CN115263671B CN202211048463.6A CN202211048463A CN115263671B CN 115263671 B CN115263671 B CN 115263671B CN 202211048463 A CN202211048463 A CN 202211048463A CN 115263671 B CN115263671 B CN 115263671B
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Classifications
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/026—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for starting-up
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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
- F03D7/0264—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
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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
- F03D7/0276—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
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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
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/304—Spool rotational speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/321—Wind directions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/328—Blade pitch angle
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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
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- Sustainable Development (AREA)
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- 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 discloses a variable pitch control method, device and system and a wind generating set. The pitch control method comprises the following steps: acquiring the wind direction of incoming flow of the running environment of the wind generating set; acquiring the running state of the wind generating set and the rotating speed of an impeller of the wind generating set; acquiring an actual pitch control mode of the wind generating set according to the wind direction of the incoming flow; and calculating a pitch angle control instruction of the wind generating set according to the running state and the rotating speed of the impeller. According to the technical scheme provided by the invention, the upper airfoil surface of the blade is aligned with the dominant wind direction or the opposite direction of the dominant wind direction through the 360-degree pitch capability of the blade, the rotating speed of the impeller can be controlled to change within the design range, and the problem of wind capturing and power generation in double wind directions is solved. The yaw system adopted by the conventional wind turbine generator is thoroughly abandoned, the hardware cost is saved, and the generated energy of the wind turbine generator is ensured.
Description
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a variable pitch control method and device and a wind generating set.
Background
The current wind turbine generator system has obvious tendency of large-scale (single-machine capacity is increased) and aims to solve the problem of the cost of wind power equipment. According to European renewable energy resource organization statistics, the average single machine capacity of the offshore wind turbine in 10 years from 2010 to 2019 is increased from 2.9MW to 7.8MW, and meanwhile, the average electricity cost of offshore wind power is reduced by nearly 30%.
With the increase of the capacity of the unit, the conventional single-impeller wind turbine unit needs to use longer and heavier blades, and other key parts such as a transmission system, a gear box, a generator and the like are continuously enlarged in terms of volume and weight. Thus, the nacelle and impeller parts of modern high capacity units weigh more than 200 tons, more particularly more than 500 tons for offshore units. In addition, the increase in capacity and the use of ultra-long blades have led to dramatic increases in unit loads.
The yaw system is arranged at the top end of the tower and is connected with the engine room of the unit. The yaw bearing and yaw drive of the high capacity unit are increasingly burdened. However, the wind direction change in the environment where the unit is located is generally slow, and the power loss caused by a small amount of wind direction error (such as 15 degrees) is small, and even the emergency can be ignored. For areas with small wind direction changes and obvious dominant wind directions, the frequency of the yaw system of the wind turbine generator is very low, and the directions of the actual impellers are mainly only two (the dominant wind directions and the opposite directions of the dominant wind directions). Thus, the yaw system with high cost has small positive influence on the running of the unit, and the effect of 'input and output disproportionation' is caused.
The development increment of global offshore wind power is continuously improved, and compared with a land wind power project, wind direction distribution is very clear in wind resource characteristics of the offshore project: most of the time in the dominant wind direction and in the opposite direction to the dominant wind direction. In this case the use of conventional yaw systems is no longer an optimal solution.
In recent solutions, a way of eliminating the overhead yaw system has emerged, using sea water and floating foundations as "yaw supports", similar to the way the ship is driven, using propellers as yaw drives. Meanwhile, the yaw rotation of the floating foundation is completed by utilizing a single-point mooring technology. But such methods require a relatively complex mooring system and yaw drive, which is still not an optimal solution.
Disclosure of Invention
Accordingly, an object of the present invention is to provide a pitch control method. In the wind power project with obvious dominant wind direction, the wind turbine generator can realize control of the wind turbine generator impeller rotating speed in the dominant wind direction and the opposite direction without yaw wind, wind capturing and power generation of the wind turbine generator, and meanwhile, safe operation of the wind turbine generator is guaranteed.
In order to achieve the above object, there is provided a pitch control method, comprising:
Acquiring the wind direction of incoming flow of the running environment of the wind generating set;
acquiring the running state of the wind generating set, wherein the running state comprises a starting state or a standby state;
acquiring the rotating speed of an impeller of a wind generating set, wherein the impeller comprises at least two blades;
acquiring an actual pitch control mode of the wind generating set according to the wind direction of the incoming flow, wherein the actual pitch control mode comprises an upwind pitch mode, a downwind pitch mode or a shutdown mode;
calculating a pitch angle control instruction of the wind generating set according to the running state of the wind generating set, the rotating speed of the impeller and the actual pitch control mode;
adjusting the pitch angle of the blade according to the pitch angle control instruction;
calculating a first wind direction error threshold value and a second wind direction error threshold value according to the aerodynamic characteristics of the impeller of the wind generating set and the rated power of the wind generating set;
the specific step of calculating the first wind direction error threshold value comprises the following steps:
s1, setting an initial wind direction error threshold value,
s2, enabling the wind direction error to be equal to a currently set wind direction error threshold value, calculating current impeller shaft power according to the aerodynamic characteristics and rated wind speed of the impeller, wherein the shaft power of the current impeller can be calculated according to a classical mathematical formula in aerodynamics:
Ps = 0.5·ρ·π·R3·V2·Cq(Rω/V,β)
Wherein Ps is the shaft power of the impeller, ρ is the air density of the running environment of the wind turbine, R is the radius of the impeller, V is the wind speed of the running environment of the wind turbine, ω is the rotational speed of the impeller, β is the pitch angle of the blades, cq is the torque coefficient of the impeller, which can be calculated according to the aerodynamic characteristics of the impeller,
s3, comparing the current impeller shaft power calculated in the step S2 with one half of the rated impeller shaft power, executing the step S5 if the difference between the two shaft powers is smaller than a given value of 0.001, executing the step S4 if the difference between the two shaft powers is larger than the given value of 0.001,
s4, reducing the current wind direction error threshold value, executing the 02 nd step,
s5, recording the current wind direction error threshold value, and enabling the first wind direction error threshold value to be equal to the current wind direction error threshold value;
the algebraic sum of the first wind direction error threshold value and the second wind direction error threshold value is 180 degrees, and when the actual pitch control mode is an upwind pitch mode or a downwind pitch mode, the maximum value of the actual output power of the wind generating set is greater than or equal to half of the rated power;
the step of obtaining the actual pitch control mode of the wind generating set specifically comprises the following steps:
Calculating the absolute value of the average wind direction error according to the wind direction of the incoming flow;
when the absolute value of the average wind direction error is smaller than or equal to the first wind direction error threshold value, determining that the actual pitch control mode is an upwind pitch mode;
when the absolute value of the average wind direction error is greater than or equal to the second wind direction error threshold value, determining that the actual pitch control mode is a downwind pitch mode;
and when the absolute value of the average wind direction error is larger than the first wind direction error threshold value and smaller than the second wind direction error threshold value, determining that the actual pitching control mode is a shutdown mode.
When the running state is a starting state, calculating an initial pitch angle control instruction according to the current rotating speed of the impeller and the rated rotating speed of the impeller;
obtaining the pitch angle control command based on the initial pitch angle control command and the actual pitch control mode; the pitch angle control instruction enables the rotating speed of the impeller to be smaller than the safe operating rotating speed of the wind generating set.
In a further technical scheme, the optimal pitch angle of the wind generating set comprises a first optimal pitch angle and a second optimal pitch angle; the feathering pitch angle of the wind generating set comprises a first feathering pitch angle and a second feathering pitch angle;
The obtaining the pitch angle control command based on the initial pitch angle control command and the actual pitch control mode specifically includes:
when the actual pitch control mode is a upwind pitch mode, converting the initial pitch angle control instruction into a first optimal pitch angle which is larger than or equal to the first optimal pitch angle and smaller than or equal to the first feathering pitch angle so as to obtain the pitch angle control instruction;
and when the actual pitch control mode is a downwind pitch mode, converting the initial pitch angle control instruction into a second optimal pitch angle which is larger than or equal to the initial pitch angle and smaller than or equal to the second feathering pitch angle so as to obtain the pitch angle control instruction.
Another object of the present invention is to provide a pitch control device. The wind turbine generator system speed control and the conversion of the optimal pitch angle and the forward pitch angle under the upwind mode and the downwind mode can be realized, the safe starting and stopping of the wind turbine generator system under different conditions are realized, and the occurrence of a galloping accident is avoided.
To achieve the above object, there is provided a pitch control device comprising:
the wind direction acquisition module is used for acquiring the wind direction of incoming flow of the running environment of the wind generating set;
The operation state acquisition module is used for acquiring the operation state of the wind generating set, wherein the operation state comprises a starting state or a standby state;
the rotating speed acquisition module is used for acquiring the rotating speed of an impeller of the wind generating set, and the impeller comprises at least two blades;
the pitch control mode determining module is used for obtaining an actual pitch control mode of the wind generating set according to the wind direction of the incoming flow, wherein the actual pitch control mode comprises an upwind pitch mode, a downwind pitch mode or a shutdown mode;
the pitch angle control instruction determining module is used for calculating a pitch angle control instruction of the wind generating set according to the running state of the wind generating set, the rotating speed of the impeller and the actual pitch control mode;
the pitch angle adjusting module is used for adjusting the pitch angle of the blade according to the pitch angle control instruction;
the pitch control device further includes:
the wind direction error threshold value calculating module is used for:
calculating a first wind direction error threshold value and a second wind direction error threshold value according to the aerodynamic characteristics of the impeller of the wind generating set and the rated power of the wind generating set;
the specific step of calculating the first wind direction error threshold value comprises the following steps:
S1, setting an initial wind direction error threshold value,
s2, enabling the wind direction error to be equal to a currently set wind direction error threshold value, calculating current impeller shaft power according to the aerodynamic characteristics and rated wind speed of the impeller, wherein the shaft power of the current impeller can be calculated according to a classical mathematical formula in aerodynamics:
Ps = 0.5·ρ·π·R3·V2·Cq(Rω/V,β)
wherein Ps is the shaft power of the impeller, ρ is the air density of the running environment of the wind turbine, R is the radius of the impeller, V is the wind speed of the running environment of the wind turbine, ω is the rotational speed of the impeller, β is the pitch angle of the blades, cq is the torque coefficient of the impeller, which can be calculated according to the aerodynamic characteristics of the impeller,
s3, comparing the current impeller shaft power calculated in the step S2 with one half of the rated impeller shaft power, executing the step S5 if the difference between the two shaft powers is smaller than a given value of 0.001, executing the step S4 if the difference between the two shaft powers is larger than the given value of 0.001,
s4, reducing the current wind direction error threshold value, executing the 02 nd step,
s5, recording the current wind direction error threshold value, and enabling the first wind direction error threshold value to be equal to the current wind direction error threshold value;
wherein the algebraic sum of the first and second wind direction error thresholds is 180 degrees; and when the actual pitch control mode is an upwind pitch mode or a downwind pitch mode, the maximum value of the actual output power of the wind generating set is greater than or equal to half of the rated power.
In a further technical scheme, the pitch control mode determining module is specifically configured to:
calculating the absolute value of the average wind direction error according to the wind direction of the incoming flow;
when the absolute value of the average wind direction error is smaller than or equal to the first wind direction error threshold value, determining that the actual pitch control mode is an upwind pitch mode;
when the absolute value of the average wind direction error is greater than or equal to the second wind direction error threshold value, determining that the actual pitch control mode is a downwind pitch mode;
and when the absolute value of the average wind direction error is larger than the first wind direction error threshold value and smaller than the second wind direction error threshold value, determining that the actual pitching control mode is a shutdown mode.
In a further technical scheme, the pitch angle control instruction determining module specifically includes:
the initial pitch angle control instruction calculation sub-module is used for calculating an initial pitch angle control instruction according to the current rotating speed of the impeller and the rated rotating speed of the impeller when the running state is a starting state;
a final pitch angle control instruction calculation sub-module, configured to obtain the pitch angle control instruction based on the initial pitch angle control instruction and the actual pitch control mode; the pitch angle control instruction enables the rotating speed of the impeller to be smaller than the safe operating rotating speed of the wind generating set.
In a further technical scheme, the optimal pitch angle of the wind generating set comprises a first optimal pitch angle and a second optimal pitch angle; the feathering pitch angle of the wind generating set comprises a first feathering pitch angle and a second feathering pitch angle;
the final pitch angle control instruction calculation sub-module is specifically configured to:
when the actual pitch control mode is a upwind pitch mode, converting the initial pitch angle control instruction into a first optimal pitch angle which is larger than or equal to the first optimal pitch angle and smaller than or equal to the first feathering pitch angle so as to obtain a first pitch angle control instruction;
and when the actual pitch control mode is a downwind pitch mode, converting the initial pitch angle control instruction into a second optimal pitch angle which is larger than or equal to the second optimal pitch angle and smaller than or equal to the second feathering pitch angle so as to obtain a second pitch angle control instruction.
A third object of the present invention is to provide a pitch control system comprising:
the wind direction measuring device is used for acquiring the wind direction of incoming flow of the running environment of the wind generating set;
the rotating speed measuring device is used for obtaining the rotating speed of an impeller of the wind generating set, and the impeller comprises at least two blades;
the main controller is used for determining the running state of the wind generating set, acquiring an actual pitch control mode of the wind generating set according to the wind direction of the incoming flow, and calculating a pitch angle control instruction according to the running state, the rotating speed of the impeller and the actual pitch control mode;
The pitch system controller is used for receiving the pitch angle control instruction and adjusting the pitch angle of blades of the wind generating set according to the pitch angle control instruction;
the main controller is specifically configured to:
calculating a first wind direction error threshold value and a second wind direction error threshold value according to the aerodynamic characteristics of the impeller and the rated power of the wind generating set;
the specific step of calculating the first wind direction error threshold value comprises the following steps:
s1, setting an initial wind direction error threshold value,
s2, enabling the wind direction error to be equal to a currently set wind direction error threshold value, calculating current impeller shaft power according to the aerodynamic characteristics and rated wind speed of the impeller, wherein the shaft power of the current impeller can be calculated according to a classical mathematical formula in aerodynamics:
Ps = 0.5·ρ·π·R3·V2·Cq(Rω/V,β)
wherein Ps is the shaft power of the impeller, ρ is the air density of the running environment of the wind turbine, R is the radius of the impeller, V is the wind speed of the running environment of the wind turbine, ω is the rotational speed of the impeller, β is the pitch angle of the blades, cq is the torque coefficient of the impeller, which can be calculated according to the aerodynamic characteristics of the impeller,
s3, comparing the current impeller shaft power calculated in the step S2 with one half of the rated impeller shaft power, executing the step S5 if the difference between the two shaft powers is smaller than a given value of 0.001, executing the step S4 if the difference between the two shaft powers is larger than the given value of 0.001,
S4, reducing the current wind direction error threshold value, executing the 02 nd step,
s5, recording the current wind direction error threshold value, and enabling the first wind direction error threshold value to be equal to the current wind direction error threshold value;
calculating an absolute value of an average wind direction error by the wind direction of the incoming flow;
and determining the actual pitch control mode according to the absolute value of the average wind direction error, the first wind direction error threshold and the second wind direction error threshold.
In a further technical scheme, the main controller is specifically configured to:
when the absolute value of the average wind direction error is smaller than or equal to the first wind direction error threshold value, determining that the actual pitch control mode is an upwind pitch mode;
when the absolute value of the average wind direction error is greater than or equal to the second wind direction error threshold value, determining that the actual pitch control mode is a downwind pitch mode;
and when the absolute value of the average wind direction error is larger than the first wind direction error threshold value and smaller than the second wind direction error threshold value, determining that the actual pitching control mode is a shutdown mode.
The main controller is specifically configured to:
when the running state is a starting state, calculating an initial pitch angle control instruction according to the running state and the rotating speed of the impeller;
Based on the initial pitch angle control instruction and the actual pitch control mode, obtaining the pitch angle control instruction; the pitch angle control instruction enables the rotating speed of the impeller to be smaller than the safe operating rotating speed of the wind generating set.
In a further technical scheme, the main controller is further provided with a first optimal pitch angle, a second optimal pitch angle, a first feathering pitch angle and a second feathering pitch angle;
the main controller is specifically configured to:
when the actual pitch control mode is a upwind pitch mode, executing a calculation method of a first pitch angle control instruction to convert the initial pitch angle control instruction into a first optimal pitch angle which is larger than or equal to the first optimal pitch angle and smaller than or equal to the first feathering pitch angle;
when the actual pitch control mode is a downwind pitch mode, executing a calculation method of a second pitch angle control instruction to convert the initial pitch angle control instruction into a second optimal pitch angle which is larger than or equal to the second optimal pitch angle and smaller than or equal to the second feathering pitch angle;
the main controller is also used for sending the pitch angle control instruction to the pitch system controller.
A fourth object of the present invention is to provide an electronic device, which can implement the application of the foregoing pitch control method and control the foregoing pitch device.
A fifth object of the present invention is to provide a wind power generation set capable of achieving wind capturing and power generation in two directions in an environment where dominant wind direction and opposite wind direction are apparent, without using a conventional yaw system.
The beneficial effects of the invention are as follows: and the impeller is initially oriented to the dominant wind direction of the incoming flow, and the working modes of the pitch system are divided, wherein the working modes comprise an upwind pitch mode and a downwind pitch mode. The upper airfoil surface of the blade is adjusted to be aligned with the dominant wind direction or the opposite direction of the dominant wind direction through the 360-degree pitch capability of the blade, and the rotating speed of the impeller can be controlled to change within the design range, so that the problem of wind capturing and power generation of double wind directions is solved. The yaw system adopted by the conventional wind turbine generator is thoroughly abandoned, the hardware cost is saved, and the generated energy of the wind turbine generator is ensured.
Drawings
Fig. 1 is a schematic diagram of a wind direction rose of an application scene of a pitch control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating operation of a wind direction pitch pattern unit in a pitch control method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating operation of a unit in a downwind pitch mode according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for controlling pitch control according to an embodiment of the present invention;
FIG. 5 is a flowchart of calculating a wind direction error threshold value of a pitch control method according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a method for determining an actual pitch pattern in a pitch control according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a region division of a unit pitch pattern in a pitch control method according to an embodiment of the present invention;
FIG. 8 is a pitch angle control command calculation flow chart for a pitch control method according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a pitch angle change of a wind direction pitch pattern unit in a pitch control method according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a pitch angle change of a unit in a downwind pitch mode according to an embodiment of the present invention.
Reference numerals illustrate:
1. the rotor blade comprises an impeller, 1.1, a blade, 1.101, a blade leading edge, 1.102, a blade trailing edge, 2, a nacelle, 3, a tower, 4, a dominant wind direction, 5, a direction opposite to the dominant wind direction, 6, an upwind pitching mode area, 7, a downwind pitching mode area, 8, a shutdown mode area, 100, a wind direction measuring device, 200, a rotation speed measuring device, 300, a main controller, 301, a first wind direction error threshold, 302, a second wind direction error threshold, 303, an upwind pitching mode, 304, a downwind pitching mode, 305, a shutdown mode, 306, an initial pitch angle control instruction, 400, a pitching system controller, 401, a first pitch angle control instruction, 402, a second pitch angle control instruction, 403, a pitching driver, 500, aerodynamic characteristics of the impeller, 501, a first optimal pitch angle, 502, a second optimal pitch angle 503, a first feathering pitch angle, 504, and a second pitch angle.
It is noted that the above-described figures are for illustrating features of the present invention and are not intended to show any actual structure or reflect the dimensions, relative proportions, etc. of the various elements. The examples in the figures have been simplified in order to more clearly illustrate the principles of the present invention and to avoid obscuring the principles of the present invention in unnecessary detail. These illustrations do not present an inconvenience to those skilled in the relevant art in understanding the present invention, and a practical embodiment may include more modules/components.
Description of the embodiments
For the purpose of making the objects and technical solutions of the embodiments of the present invention more clear, the embodiments of the present invention will be fully described below with reference to the accompanying drawings of the embodiments of the present invention. This patent describes only a few, 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.
1. Characteristics of wind direction of incoming flow of operation environment of offshore wind generating set
Fig. 1 shows a wind direction frequency distribution diagram (wind rose diagram) of a certain offshore wind project. The wind power project has very obvious dominant wind direction, wind direction distribution in the north and south (within 10 degrees of deviation, wherein north is dominant wind direction, south is opposite direction of dominant wind direction) covers most of the time in one year, and the incoming wind in other directions can be almost defined as a small probability event.
The characteristic of obvious wind direction distribution exists in coastal areas widely. Such as areas where the phenomenon of "sea and land wind" in meteorology is obvious, incoming wind in the opposite direction of the dominant wind direction and the dominant wind direction is mainly affected by the solar radiation time. I.e. in the daytime when the illumination is sufficient, the incoming wind moves from the ocean to the land; the wind coming at night moves from the land to the ocean. The "bi-wind direction" phenomenon is essentially the air flow caused by the difference in thermal properties between the sea surface and coastal land.
In particular, if the influence of heat sources other than solar radiation (such as heat radiation caused by industrial development) in land areas is severe, the wind direction changes between day and night, for example, the wind coming at night moves from sea to land. However, this phenomenon does not change the characteristics of the offshore wind resource of "bi-wind direction".
In addition to coastal areas, some areas of land wind power projects have the characteristic of very obvious dominant wind direction, such as the situation that canyon topography exists in upwind direction.
2. Yaw and pitch technical scheme of conventional wind turbine generator
Yaw technical scheme:
a yaw slewing bearing is arranged between the bottom of a nacelle of a conventional wind generating set and the top of a tower, the nacelle and the tower are relatively slewing through the scheme of a motor acceleration and deceleration device, and the slewing angle depends on wind direction errors. Typically, the generator tail or converter output end cable is connected to the main transformer on the ground through the entire tower, so that the rotation of the nacelle and the tower necessarily causes cable torsion, and after a certain angle of torsion, the wind turbine must release the cable torsion already formed by yaw rotation, otherwise cable breakage or even more serious accident may occur.
For areas where the prevailing wind direction is very significant, the yaw system is simply repeated most of the time in order to switch the impeller orientation back and forth between the prevailing wind direction and the opposite direction to the prevailing wind direction. That is, conventionally yaw solutions only accomplish two angles of wind in a "stepless slewing" way, which is obviously a solution with greater investment than return.
The pitch control technical scheme comprises the following steps:
the pitch angle of a conventional wind turbine generator set varies between an optimal pitch angle and a feathering pitch angle. Generally, the optimal pitch angle is in the range of-2 to 1 degree, and the feathering pitch angle is in the range of 85 to 95 degrees. That is, the pitch angle variation range in the conventional pitch-control scheme is only about 90 degrees.
In particular, for the electric pitch scheme, the change range of the pitch angle of 90 degrees means that nearly three-fourths of pitch bull gears do not participate in working in the life cycle of more than 20 years, and waste of hardware resources is caused. 3. Influence of blade airfoil on wind direction change
From the first and second parts described above, two conclusions can be drawn:
1. the wind direction of the offshore wind power project in coastal areas is obvious, and the incoming wind directions are only two for most of the time: the dominant wind direction and the direction opposite to the dominant wind direction;
2. The conventional yaw system solves the wind facing problem in two directions, and the conventional pitch system only finishes pitch about 90 degrees, so that the yaw system is an expression of underutilization of part resources of the wind turbine generator.
Therefore, one of the technical schemes capable of solving the problems is as follows: the conventional yaw system is canceled, and the blades are pitched, so that the impellers are mutually switched between an upwind pitching mode and a downwind pitching mode to finish wind capturing and power generation under the condition of two wind directions (namely, the double wind directions) in the above-mentioned condition.
The part with the wing profile in the blades of the horizontal-axis wind turbine generator system usually adopts an asymmetric wing profile, and the main reason is that the asymmetric wing profile can provide higher lifting force under the same wind speed and rotation speed conditions. In particular for larger blades, higher lift at low rotational speeds or low wind speeds is clearly more advantageous for wind capture power generation.
Therefore, after the blades using the asymmetric airfoil type wind direction pitch mode and the downward direction pitch mode are switched, the pitch angle of the actual blades needs to be adjusted by about 180 degrees; the rotation direction of the blade also changes. In contrast, if the blade employs a symmetrical airfoil, neither the pitch angle nor the rotational direction of the actual blade need to be changed.
4. Inventive concept
The core technical characteristics of the embodiment of the invention can be summarized as the following points: 1) The initial direction of the impeller faces the dominant wind direction of the running environment of the wind turbine, and the nacelle and the tower do not rotate relatively; 2) Dividing the operation mode of the pitch system into an upwind pitch mode, a shutdown mode and a downwind pitch mode, and determining the actual operation mode of the pitch system by detecting the change of the incoming wind direction and the operation state of the wind turbine generator; 3) The main controller calculates a variable pitch instruction through the impeller rotating speed detection value and the set value; 4) Controlling the pitch angle of the blade according to the pitch instruction and the running mode of the actual pitch system; 5) The blades adopt asymmetric wing sections, when the operation mode of the actual pitch system is an upwind pitch mode or a downwind pitch mode, the pitch angle of each blade is controlled so that the upper wing surface of each blade is in positive windward, and the impeller rotates to catch wind and generate electricity.
5. Embodiment of pitch control method and device
And (3) according to wind resource detection data of the current period of the wind power item, making a wind direction rose diagram, and positioning the dominant wind direction. As shown in fig. 2 and 3, since the wind turbine to which the pitch control method and apparatus of the present embodiment is applied is not equipped with a yaw slewing bearing, the orientation of the impeller 1 (the impeller 1 includes three blades 1.1, and in some embodiments, two blades 1.1) and the nacelle 2 does not change as the wind direction changes. That is, the bottom of the nacelle 2 is directly connected to the top of the tower 3 (rigid connections may be used in some embodiments). Therefore, the future orientation of the nacelle 2 of the wind turbine must be preset when installing the wind turbine foundation and the tower 3-in agreement with the prevailing wind direction 4.
As shown in fig. 4, the pitch control method in the embodiment of the present invention may be summarized as the following steps:
s101, acquiring the incoming flow wind direction of the running environment of a wind generating set;
s102, acquiring an actual pitch control mode of the wind generating set according to an incoming wind direction;
s103, acquiring the running state of the wind generating set and the rotating speed of an impeller of the wind generating set;
s104, calculating a pitch angle control instruction of the wind generating set according to the rotating speed of the impeller and the actual pitch control mode, and sending the pitch angle control instruction to a pitch system.
The actual pitch pattern may be adjusted according to the incoming flow direction, and may be an upwind pitch pattern or a downwind pitch pattern. It should be noted that, in fig. 2 and 3, only the dominant wind direction 4 and the opposite direction 5 of the dominant wind direction are shown, and the actual wind direction does not necessarily need to be completely consistent with the dominant wind direction 4 and the opposite direction 5 of the dominant wind direction in order to use the upwind pitching mode and the downwind pitching mode proposed by the present invention, and the detailed description will be given below.
As shown in fig. 2 and 3, when the wind turbine generator uses the upwind pitching mode or the downwind pitching mode, the direction in which the impeller rotates is different. The reason is that the pitch angle of the blade 1.1 is shifted in position between the leading edge 1.101 of the blade and the trailing edge 1.102 of the blade in upwind or downwind mode. According to classical phyllin momentum theory, the direction of rotation of the blades 1.1 and thus of the entire impeller 1 is reversed. As the blade 1.1 rotates, the rules are met that the leading edge 1.101 of the blade is forward and the trailing edge 1.102 of the blade is aft.
In the early design of the wind turbine, the maximum allowable wind direction error when the impeller rotates to generate electricity is calculated according to the aerodynamic characteristics of the impeller (mainly determined by the blades). The aerodynamic characteristics of an impeller mainly mean that the impeller can generate power, torque, thrust and the like under given operating environment conditions. The operating environment conditions referred to herein include, but are not limited to, air density, air viscosity, wind speed distribution within the swept surface of the impeller, pitch angle of the blades, and impeller speed.
A conventional wind turbine equipped with a yaw system usually does not require similar calculations, but in this embodiment the orientation of the nacelle 2 does not change with changes in wind direction, which results in that once the wind direction error exceeds a certain maximum value, the shaft power generated by the impeller 1 is much lower than the rated shaft power and the load carried by the critical components is also increased. The problem of increased load is particularly serious for wind turbines using ultra-long blades. Under the double disadvantageous conditions of low power generation and large load, the wind turbine generator starts the pneumatic brake through the variable pitch system to enter a standby state. And after the wind direction changes to a certain acceptable interval, starting the wind turbine generator set to generate grid-connected power through the variable pitch system again.
The "certain maximum value" represents the wind direction error threshold value, and should be obtained according to the configuration calculation of the unit, and is not an arbitrary set value such as "45 degrees" as mentioned in some existing patent technical schemes. The same unit is installed in different areas, and the wind direction error threshold value may also change.
As shown in the flowchart of fig. 5, in some embodiments, the wind direction error threshold may be obtained using an iterative method, and the specific calculation steps include:
s201, setting an initial wind direction error threshold value, such as 35 degrees;
s202, enabling the wind direction error to be equal to a current wind direction error threshold value, calculating current impeller shaft power according to aerodynamic characteristics 500 of the impeller and rated wind speed, wherein in some embodiments, the shaft power of the impeller can be calculated according to a classical mathematical formula in aerodynamics:
Ps = 0.5·ρ·π·R3·V2·Cq(Rω/V,β)
wherein Ps is the shaft power of the impeller, ρ is the air density of the running environment of the wind turbine, R is the radius of the impeller, V is the wind speed of the running environment of the wind turbine, ω is the rotational speed of the impeller, β is the pitch angle of the blades, cq is the torque coefficient of the impeller, and can be calculated according to the aerodynamic characteristics of the impeller;
s203, comparing the impeller shaft power calculated in the S202 with one half of the rated impeller shaft power, if the difference between the two shaft powers is smaller than a given value, such as 0.001, executing the S205, and if the difference between the two shaft powers is larger than the given value, executing the S204;
S204, reducing the current wind direction error threshold value, wherein the reduction value can be 0.1 degree or 0.2 degree, and executing the S202;
s205, recording a current wind direction error threshold value, enabling a first wind direction error threshold value 301 to be equal to the current wind direction error threshold value, and enabling a second wind direction error threshold value 302 to be equal to 180 degrees minus the first wind direction error threshold value 301.
The pitch control modes of the wind generating set are set as three modes: upwind pitch mode, downwind pitch mode, and shutdown mode. The actual pitch control mode of the wind park can only be one of the three modes described above.
As shown in the flow chart of fig. 6, the main controller 300 determines an actual pitch control mode according to an actual incoming flow direction, specifically by:
s301, calculating an absolute value of an average wind direction error from the wind direction of the incoming flow obtained by the wind direction measurement device 100. In some embodiments, the absolute value of the wind direction of the obtained incoming flow is calculated first, then an array can be set for storing the wind direction data points of the obtained incoming flow, and the wind direction change is faster, but the wind capturing effect of the impeller is slower, so the size of the array is selected according to the wind direction data points which can be stored for more than 30 seconds, and after the required wind direction data points are obtained, the wind direction data points in the array can be processed by adopting a method for calculating an arithmetic average value;
S302, after obtaining the absolute value of the average wind direction error, judging the actual pitch control mode:
when the absolute value of the average wind direction error is less than or equal to the first wind direction error threshold 301, determining that the actual pitch control mode is an upwind pitch mode 303;
when the absolute value of the average wind direction error is greater than or equal to the second wind direction error threshold 302, determining that the actual pitch control mode is a downwind pitch mode 304;
when the absolute value of the average wind direction error is greater than the first wind direction error threshold 301 and less than the second wind direction error threshold 302, then the actual pitch control mode is determined to be the shutdown mode 305.
As shown in fig. 7, the method of judging the actual pitch control mode according to the actual incoming flow direction can be more intuitively understood. According to the first wind direction error threshold 301 and the second wind direction error threshold 302, the azimuth angle of the wind turbine generator may be divided into three areas, namely an upwind pitching mode area 6, a downwind pitching mode area 7 and a shutdown mode area 8. These three regions correspond to the three pitch control modes described above, respectively.
In the main controller, the running state of the whole wind turbine can be divided into at least two states, namely a starting state and a standby state. When the wind turbine generator is in a starting state, the pitch angle of the blades is controlled to change to the vicinity of the optimal pitch angle, and the impeller is driven by aerodynamic force to rotate so as to drive the generator to generate electricity; when the wind turbine generator is in a standby state, the pitch angle of the control blade stays at the feathering pitch angle position, and the generator cannot generate electric energy. In some embodiments, the wind turbine may also have other operating states, such as maintenance states, etc.
In the embodiment of the present invention, in the actual pitch control mode, the up-wind pitch mode 303 and the down-wind pitch mode 304 are switched, and the wind turbine must be in a standby state. The reason for setting the limit is to avoid that the pitch angle control command is suddenly changed due to sudden change of wind direction in actual operation (the impeller is rotating), and the rotating speed of the impeller is out of control. If the wind turbine generator is switched to the shutdown mode 305 in the upwind pitching mode 303 or the downwind pitching mode 304, the wind turbine generator is not limited, and the wind turbine generator can be in an operation state or a standby state.
As shown in fig. 8, the wind turbine is provided with a rated rotational speed and a safe operating rotational speed, which may be set to 1.5 times the rated rotational speed in some embodiments. In general, the rotational speed of the wind turbine needs to be limited below the safe operating rotational speed, and once the safe operating rotational speed is exceeded, the actual pitch control mode is changed to the shutdown mode 305, the pitch angle of the blades is controlled to the feathering pitch angle position, the rotational speed of the impeller is gradually reduced, and the generator stops generating electric energy and is disconnected.
In the main controller 300, when the running state of the wind turbine generator is the start state, the actual pitch control mode is the upwind pitch mode 303 or the downwind pitch mode 304, and the main controller calculates an initial pitch angle control command 306 according to the rated rotation speed of the impeller and the rotation speed of the impeller collected by the rotation speed measurement device 200 (in some embodiments, the rotation speed of the impeller needs to take an absolute value, because the rotation direction of the impeller may be clockwise or anticlockwise), and in some embodiments, the initial pitch angle control command 306 may be obtained according to the following mathematical expression:
βd = KP (ωr-ω)+ KI∫(ωr-ω)dt+ KD d(ωr-ω)/dt
Where βd is the initial pitch angle control instruction 306; KP, KI and KD are proportional gain, integral gain and differential gain respectively, and are constants; ωr is the rated rotational speed of the impeller; omega is the rotational speed of the impeller; and d are integral and differential symbols, respectively.
The calculated initial pitch angle control command 306 can be classified into a clockwise rotation speed control and a counterclockwise rotation speed control according to the actual rotation direction of the impeller. The main controller 300 converts the initial pitch angle control command 306 into a first pitch angle control command 401 or a second pitch angle control command 402 according to the setting of the upwind pitch mode 303 or the downwind pitch mode 304, and transmits the first pitch angle control command or the second pitch angle control command 402 to the pitch system controller 400.
The above settings specifically refer to: the optimal pitch angles of the wind generating set comprise a first optimal pitch angle 501 and a second optimal pitch angle 502; the feathered pitch angles of the wind park comprise a first feathered pitch angle 503 and a second feathered pitch angle 504. In some embodiments, a first optimal pitch angle 501 and a second optimal pitch angle 502 may be set 180 degrees apart in the main controller, as may a first feathered pitch angle 503 and a second feathered pitch angle 504.
In an embodiment of the invention, the first optimal pitch angle 501 is set to 0 degrees and the second optimal pitch angle 502 is set to 180 degrees; the first feathering pitch angle 503 is set to 90 degrees and the second feathering pitch angle 504 is set to 270 degrees.
In some embodiments, the initial pitch angle control instruction 306 is converted to the first pitch angle control instruction 401 or the first pitch angle control instruction 401, a specific method may be:
when the actual pitch control mode is upwind pitch mode 303, the initial pitch angle control command 306 is converted to a first pitch angle control command 401 that is greater than or equal to 0 degrees and less than or equal to 90 degrees. For example, as shown in the middle diagram of fig. 9, when the initial pitch angle control command 306 in the main controller is 30 degrees at a certain time, the first pitch angle control command 401 sent to the pitch system controller is 30 degrees. Fig. 8 left and right graphs show the position of blade 1 when the first pitch angle control command is 401 a first optimal pitch angle 501 and a first feathered pitch angle 503.
When the actual pitch control mode is the downwind pitch mode 304, the initial pitch angle control command 306 is converted to a second pitch angle control command 402 that is greater than or equal to 180 degrees and less than or equal to 270 degrees. For example, as shown in the middle diagram of fig. 10, the initial pitch angle control command 306 in the main controller is still 30 degrees, but the second pitch angle control command 402 sent to the pitch system controller is 210 degrees. FIG. 9 left and right graphs illustrates the position of blade 1 when second pitch angle control command 402 is a second optimal pitch angle 502 and a second feathered pitch angle 504.
In the description of the present invention, it should be noted that the orientation or positional relationship indicated by "top, bottom", etc. in terms are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected, coupled" and the like in this application are to be construed broadly and construed, unless otherwise specifically indicated and defined, such as: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (11)
1. A pitch control method, the method comprising:
acquiring the wind direction of incoming flow of the running environment of the wind generating set;
acquiring the running state of the wind generating set, wherein the running state comprises a starting state or a standby state;
acquiring the rotating speed of an impeller of a wind generating set, wherein the impeller comprises at least two blades;
acquiring an actual pitch control mode of the wind generating set according to the wind direction of the incoming flow, wherein the actual pitch control mode comprises an upwind pitch mode, a downwind pitch mode or a shutdown mode;
calculating a pitch angle control instruction of the wind generating set according to the running state of the wind generating set, the rotating speed of the impeller and the actual pitch control mode;
adjusting the pitch angle of the blade according to the pitch angle control instruction;
calculating a first wind direction error threshold value and a second wind direction error threshold value according to the aerodynamic characteristics of the impeller of the wind generating set and the rated power of the wind generating set;
the specific step of calculating the first wind direction error threshold value comprises the following steps:
s1, setting an initial wind direction error threshold value,
s2, enabling the wind direction error to be equal to a currently set wind direction error threshold value, calculating current impeller shaft power according to the aerodynamic characteristics and rated wind speed of the impeller, wherein the shaft power of the current impeller can be calculated according to a classical mathematical formula in aerodynamics:
P s = 0.5·ρ·π·R 3 ·V 2 ·C q (Rω/V,β)
Wherein P is s Is the shaft power of the impeller, ρ is the air density of the running environment of the wind turbine, R is the radius of the impeller, V is the wind speed of the running environment of the wind turbine, ω is the rotation speed of the impeller, β is the pitch angle of the blades, C q Is the torque coefficient of the impeller, can be calculated according to the aerodynamic characteristics of the impeller,
s3, comparing the current impeller shaft power calculated in the step S2 with one half of the rated impeller shaft power, executing the step S5 if the difference between the two shaft powers is smaller than a given value of 0.001, executing the step S4 if the difference between the two shaft powers is larger than the given value of 0.001,
s4, reducing the current wind direction error threshold value, executing the 02 nd step,
s5, recording the current wind direction error threshold value, and enabling the first wind direction error threshold value to be equal to the current wind direction error threshold value;
wherein the algebraic sum of the first and second wind direction error thresholds is 180 degrees; when the actual pitch control mode is an upwind pitch mode or a downwind pitch mode, the maximum value of the actual output power of the wind generating set is more than or equal to half of the rated power;
calculating the absolute value of the average wind direction error according to the wind direction of the incoming flow;
When the absolute value of the average wind direction error is smaller than or equal to the first wind direction error threshold value, determining that the actual pitch control mode is an upwind pitch mode;
when the absolute value of the average wind direction error is greater than or equal to the second wind direction error threshold value, determining that the actual pitch control mode is a downwind pitch mode;
and when the absolute value of the average wind direction error is larger than the first wind direction error threshold value and smaller than the second wind direction error threshold value, determining that the actual pitching control mode is a shutdown mode.
2. The pitch control method according to claim 1, wherein the calculating the pitch angle control command of the wind turbine according to the operation state of the wind turbine, the rotation speed of the impeller, and the actual pitch control mode specifically includes:
when the running state is a starting state, calculating an initial pitch angle control instruction according to the current rotating speed of the impeller and the rated rotating speed of the impeller;
obtaining the pitch angle control command based on the initial pitch angle control command and the actual pitch control mode; the pitch angle control instruction enables the rotating speed of the impeller to be smaller than the safe operating rotating speed of the wind generating set.
3. The pitch control method according to claim 2, characterized by: the optimal pitch angle of the wind generating set comprises a first optimal pitch angle and a second optimal pitch angle; the feathering pitch angle of the wind generating set comprises a first feathering pitch angle and a second feathering pitch angle;
the obtaining the pitch angle control command based on the initial pitch angle control command and the actual pitch control mode specifically includes:
when the actual pitch control mode is a upwind pitch mode, converting the initial pitch angle control instruction into a first optimal pitch angle which is larger than or equal to the first optimal pitch angle and smaller than or equal to the first feathering pitch angle so as to obtain a first pitch angle control instruction;
and when the actual pitch control mode is a downwind pitch mode, converting the initial pitch angle control instruction into a second optimal pitch angle which is larger than or equal to the second optimal pitch angle and smaller than or equal to the second feathering pitch angle so as to obtain a second pitch angle control instruction.
4. A pitch control device, comprising at least:
the wind direction acquisition module is used for acquiring the wind direction of incoming flow of the running environment of the wind generating set;
the operation state acquisition module is used for acquiring the operation state of the wind generating set, wherein the operation state comprises a starting state or a standby state;
The rotating speed acquisition module is used for acquiring the rotating speed of an impeller of the wind generating set, and the impeller comprises at least two blades;
the pitch control mode determining module is used for obtaining an actual pitch control mode of the wind generating set according to the wind direction of the incoming flow, wherein the actual pitch control mode comprises an upwind pitch mode, a downwind pitch mode or a shutdown mode;
the pitch angle control instruction determining module is used for calculating a pitch angle control instruction of the wind generating set according to the running state of the wind generating set, the rotating speed of the impeller and the actual pitch control mode;
the pitch angle adjusting module is used for adjusting the pitch angle of the blade according to the pitch angle control instruction;
the wind direction error threshold value calculating module is used for:
calculating a first wind direction error threshold value and a second wind direction error threshold value according to the aerodynamic characteristics of the impeller of the wind generating set and the rated power of the wind generating set;
the specific step of calculating the first wind direction error threshold value comprises the following steps:
s1, setting an initial wind direction error threshold value,
s2, enabling the wind direction error to be equal to a currently set wind direction error threshold value, calculating current impeller shaft power according to the aerodynamic characteristics and rated wind speed of the impeller, wherein the shaft power of the current impeller can be calculated according to a classical mathematical formula in aerodynamics:
P s = 0.5·ρ·π·R 3 ·V 2 ·C q (Rω/V,β)
Wherein P is s Is the shaft power of the impeller, ρ is the air density of the running environment of the wind turbine, R is the radius of the impeller, V is the wind speed of the running environment of the wind turbine, ω is the rotation speed of the impeller, β is the pitch angle of the blades, C q Is the torque coefficient of the impeller, can be calculated according to the aerodynamic characteristics of the impeller,
s3, comparing the current impeller shaft power calculated in the step S2 with one half of the rated impeller shaft power, executing the step S5 if the difference between the two shaft powers is smaller than a given value of 0.001, executing the step S4 if the difference between the two shaft powers is larger than the given value of 0.001,
s4, reducing the current wind direction error threshold value, executing the 02 nd step,
s5, recording the current wind direction error threshold value, and enabling the first wind direction error threshold value to be equal to the current wind direction error threshold value;
wherein the algebraic sum of the first and second wind direction error thresholds is 180 degrees; when the actual pitch control mode is an upwind pitch mode or a downwind pitch mode, the maximum value of the actual output power of the wind generating set is more than or equal to half of the rated power;
the pitch control mode determining module is specifically configured to:
Calculating the absolute value of the average wind direction error according to the wind direction of the incoming flow;
when the absolute value of the average wind direction error is smaller than or equal to the first wind direction error threshold value, determining that the actual pitch control mode is an upwind pitch mode;
when the absolute value of the average wind direction error is greater than or equal to the second wind direction error threshold value, determining that the actual pitch control mode is a downwind pitch mode;
and when the absolute value of the average wind direction error is larger than the first wind direction error threshold value and smaller than the second wind direction error threshold value, determining that the actual pitching control mode is a shutdown mode.
5. The pitch control device of claim 4, wherein the pitch angle control command determination module specifically comprises:
the initial pitch angle control instruction calculation sub-module is used for calculating an initial pitch angle control instruction according to the current rotating speed of the impeller and the rated rotating speed of the impeller when the running state is a starting state;
a final pitch angle control instruction calculation sub-module, configured to obtain the pitch angle control instruction based on the initial pitch angle control instruction and the actual pitch control mode; the pitch angle control instruction enables the rotating speed of the impeller to be smaller than the safe operating rotating speed of the wind generating set.
6. The pitch control device according to claim 5, characterized in that: the optimal pitch angle of the wind generating set comprises a first optimal pitch angle and a second optimal pitch angle; the feathering pitch angle of the wind generating set comprises a first feathering pitch angle and a second feathering pitch angle;
the final pitch angle control instruction calculation sub-module is specifically configured to:
when the actual pitch control mode is a upwind pitch mode, converting the initial pitch angle control instruction into a first optimal pitch angle which is larger than or equal to the first optimal pitch angle and smaller than or equal to the first feathering pitch angle so as to obtain a first pitch angle control instruction;
and when the actual pitch control mode is a downwind pitch mode, converting the initial pitch angle control instruction into a second optimal pitch angle which is larger than or equal to the second optimal pitch angle and smaller than or equal to the second feathering pitch angle so as to obtain a second pitch angle control instruction.
7. A pitch control system, comprising at least:
the wind direction measuring device is used for acquiring the wind direction of incoming flow of the running environment of the wind generating set;
the rotating speed measuring device is used for obtaining the rotating speed of an impeller of the wind generating set, and the impeller comprises at least two blades;
The main controller is used for determining the running state of the wind generating set, acquiring an actual pitch control mode of the wind generating set according to the wind direction of the incoming flow, and calculating a pitch angle control instruction according to the running state, the rotating speed of the impeller and the actual pitch control mode;
the pitch system controller is used for receiving the pitch angle control instruction and adjusting the pitch angle of blades of the wind generating set according to the pitch angle control instruction;
the main controller is specifically configured to:
calculating a first wind direction error threshold value and a second wind direction error threshold value according to the aerodynamic characteristics of the impeller and the rated power of the wind generating set;
the specific step of calculating the first wind direction error threshold value comprises the following steps:
s1, setting an initial wind direction error threshold value,
s2, enabling the wind direction error to be equal to a currently set wind direction error threshold value, calculating current impeller shaft power according to the aerodynamic characteristics and rated wind speed of the impeller, wherein the shaft power of the current impeller can be calculated according to a classical mathematical formula in aerodynamics:
P s = 0.5·ρ·π·R 3 ·V 2 ·C q (Rω/V,β)
wherein P is s Is the shaft power of the impeller, ρ is the air density of the running environment of the wind turbine, R is the radius of the impeller, V is the wind speed of the running environment of the wind turbine, ω is the rotation speed of the impeller, β is the pitch angle of the blades, C q Is the torque coefficient of the impeller, can be calculated according to the aerodynamic characteristics of the impeller,
s3, comparing the current impeller shaft power calculated in the step S2 with one half of the rated impeller shaft power, executing the step S5 if the difference between the two shaft powers is smaller than a given value of 0.001, executing the step S4 if the difference between the two shaft powers is larger than the given value of 0.001,
s4, reducing the current wind direction error threshold value, executing the 02 nd step,
s5, recording the current wind direction error threshold value, and enabling the first wind direction error threshold value to be equal to the current wind direction error threshold value;
calculating an absolute value of an average wind direction error by the wind direction of the incoming flow;
determining the actual pitch control mode according to the absolute value of the average wind direction error, the first wind direction error threshold value and the second wind direction error threshold value;
the main controller is specifically configured to:
when the absolute value of the average wind direction error is smaller than or equal to the first wind direction error threshold value, determining that the actual pitch control mode is an upwind pitch mode;
when the absolute value of the average wind direction error is greater than or equal to the second wind direction error threshold value, determining that the actual pitch control mode is a downwind pitch mode;
And when the absolute value of the average wind direction error is larger than the first wind direction error threshold value and smaller than the second wind direction error threshold value, determining that the actual pitching control mode is a shutdown mode.
8. The pitch control system of claim 7, wherein: the main controller is specifically configured to:
when the running state is a starting state, calculating an initial pitch angle control instruction according to the running state and the rotating speed of the impeller;
based on the initial pitch angle control instruction and the actual pitch control mode, obtaining the pitch angle control instruction; the pitch angle control instruction enables the rotating speed of the impeller to be smaller than the safe operating rotating speed of the wind generating set.
9. The pitch control system of claim 8, wherein:
the main controller is also provided with a first optimal pitch angle, a second optimal pitch angle, a first feathering pitch angle and a second feathering pitch angle;
the main controller is specifically configured to:
when the actual pitch control mode is a upwind pitch mode, executing a calculation method of a first pitch angle control instruction to convert the initial pitch angle control instruction into a first optimal pitch angle which is larger than or equal to the first optimal pitch angle and smaller than or equal to the first feathering pitch angle;
When the actual pitch control mode is a downwind pitch mode, executing a calculation method of a second pitch angle control instruction to convert the initial pitch angle control instruction into a second optimal pitch angle which is larger than or equal to the second optimal pitch angle and smaller than or equal to the second feathering pitch angle;
the main controller is also used for sending the pitch angle control instruction to the pitch system controller.
10. An electronic device, comprising: a storage medium storing a program; and at least one processor, wherein the program, when executed by the processor, implements a pitch control method of a wind turbine generator set according to any one of claims 1-3.
11. A wind power generation set, characterized in that the wind power generation set comprises a pitch control device according to any one of claims 4-6, or a pitch control system according to any one of claims 7-9.
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| ITBO20070673A1 (en) * | 2007-10-03 | 2009-04-04 | Corima Internat Machinery S R | MACHINE FOR THE RECEPTION OF THE PAPER SHEETS OF WINDING OF PRODUCTS, IN PARTICULAR OF BATTERIES OF COVERS |
| ITPR20080024A1 (en) * | 2008-04-18 | 2009-10-19 | Clevertech Srl | APPARATUS AND PROCEDURE TO REMOVE A PACKAGING FILM FOR OBJECTS |
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| JPH01199837A (en) * | 1988-01-29 | 1989-08-11 | Kirin Brewery Co Ltd | Device for cutting and removing packaging material |
| CN101566127A (en) * | 2008-04-21 | 2009-10-28 | 上海驰风机电科技有限公司 | Bidirectional wind-counter wind-driven motor and bidirectional wind-counter method thereof |
| EP2960491A1 (en) * | 2014-06-25 | 2015-12-30 | Hitachi Ltd. | Horizontal shaft type windmill and waiting method therefor |
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