CN115571289A - Floating wind power equipment load adjusting system based on yaw influence and control method - Google Patents

Abstract

The invention provides a floating wind power equipment load adjusting system based on yaw influence and a control method, wherein the system comprises a floating foundation, a load adjusting cabin, a pumping device and a liquid level meter, a water outlet is formed in a bottom plate of the load adjusting cabin, the water outlet is communicated with the pumping device on a corresponding upright column, two water inlets are formed in the top of the load adjusting cabin, the water inlets are respectively communicated with the pumping devices on the other two upright columns, a first valve and a second valve are respectively arranged on the water inlets, and the control method comprises the following steps: when the machine head of the floating type fan faces to the center of the connecting line of the two upright posts, setting a yaw counter to zero; equally dividing 360-degree yaw positions of a machine head of the floating type fan into n parts, feeding back the yaw positions by a yaw counter when the machine head yaws to different equally divided positions, and dynamically adjusting ballast water of each upright post load adjusting cabin according to different yaw positions; and adjusting the floating wind power equipment to a balance state. The complexity of the motion of the floating wind power equipment is reduced, and the operation stability of the floating wind power equipment is improved.

Description

Floating wind power equipment load adjusting system based on yaw influence and control method

Technical Field

The invention relates to the technical field of wind power generation, in particular to a floating type wind power equipment load adjusting system based on yaw influence and a control method.

Background

Because offshore wind power resources face the problem of competing for limited resources with offshore breeding, fishery fishing, transportation routes and the like, offshore wind power resource development in China is gradually saturated, the reserve capacity of wind power resources in deep and far seas (the water depth is more than 60 m) is in the forefront of the world, and the trend that offshore wind power moves from offshore to deep and far seas is inevitable along with the gradual increase of energy requirements.

The floating wind power equipment mainly comprises a floating fan and a floating foundation, the floating fan which runs on the net at home and abroad at present mainly adopts an upwind mode, and the gravity center of a nose (a cabin and a wind wheel) is not on the central axis of a tower barrel but is deviated to the wind wheel; the most installed floating foundation is also mainly of a three-column semi-submersible type, the floating fan is installed on one of the columns, and the installed floating wind power equipment in China is of a three-column semi-submersible type. Compared with fixed wind power equipment, the floating wind power equipment adopts a floatable foundation, and when the floating wind power generation unit drifts to different positions without considering additional environmental conditions such as wind, waves, current and the like, the floating foundation can be caused to present different inclined postures due to the change of the gravity center position of the nose (engine room and wind wheel).

Disclosure of Invention

In view of this, the invention provides a floating wind power equipment load adjusting system and a control method based on yaw influence. According to the system, the ballast or the discharge of the ballast of each upright column ballast cabin is carried out through the ballast system according to the change of the yaw position of the nose of the floating wind power equipment, so that the inclination of the floating wind power equipment caused by the yaw of the floating fan is reduced or eliminated, and the center of gravity of the nose of the floating wind power equipment at different yaw positions is kept unchanged. In actual operation, the complexity of the motion of the floating wind power equipment is reduced, and the operation stability of the floating wind power equipment is improved.

The invention solves the technical problems by the following technical means: the invention provides a floating type wind power equipment load adjusting system based on yaw influence, which comprises a floating type foundation, a load adjusting cabin, a pumping device and a liquid level meter, wherein three upright columns are arranged on the floating type foundation in a triangular shape, a floating type fan is installed on one upright column or is installed in the center of the floating type foundation through a support, the load adjusting cabin and the pumping device are arranged on each upright column, the liquid level meter is arranged in the load adjusting cabin, a water outlet is formed in the bottom plate of the load adjusting cabin and is communicated with the pumping device on the corresponding upright column, two water inlets are formed in the top of each load adjusting cabin and are respectively communicated with the pumping devices on the other two upright columns, and a first valve and a second valve are respectively arranged on the two water inlets.

Furthermore, a fourth pipeline is further arranged at the top of the load regulation cabin, the fourth pipeline is communicated with the deck surface of the corresponding upright column, and a deck valve is arranged on the fourth pipeline on the deck surface.

The invention also provides a control method of the floating wind power equipment load adjusting system based on yaw influence, which comprises the following steps:

s1, when a machine head of a floating type fan faces to the center of a connecting line of two stand columns, a yaw counter is set to be zero;

s2, equally dividing 360-degree yaw positions of a machine head of the floating type fan into n parts, feeding back the yaw positions by a yaw counter when the machine head yaws to different equally divided positions, and dynamically adjusting ballast water of each upright post load adjusting cabin according to different yaw positions;

and S3, adjusting the floating wind power equipment to a balance state, and feeding back the liquid level height before and after load adjustment in each load adjustment cabin by a liquid level meter.

Further, the floating wind power equipment is adjusted to a balance state, and the method comprises the following steps,

s31, respectively naming three columns on the floating foundation as an A column, a B column and a C column, wherein the corresponding liquid level changes are that the liquid level of the A column changes into delta A, the liquid level of the B column changes into delta B, and the liquid level of the C column changes into delta C, and the following relations exist: Δ a + Δb + Δc =0; when delta is larger than 0, the upright post adjusting cabin is loaded, when delta =0, the upright post adjusting cabin is kept unchanged, when delta is smaller than 0, the upright post adjusting cabin is arranged and loaded, wherein delta A is positive, and at least one of delta B and delta C is negative;

s32, opening deck valves on deck plates corresponding to the three columns, and opening the valves of the corresponding columns with negative numbers in the delta A, the delta B and the delta C and the pumping device to pump ballast water into corresponding column load-adjusting chambers with positive numbers;

s33, monitoring and feeding back the ballast water liquid level in the pumped ballast tank through a liquid level meter, and closing a corresponding valve to stop pumping until the difference value between the liquid level and the original liquid level is less than or equal to a set error;

and S34, automatically closing deck valves corresponding to the three columns.

Further, step S32 includes,

if Δ A is positive and Δ B and Δ C are negative, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The second valve A of the column A is opened, the pumping device of the column B is started, the operation time hb = [ Delta ] B/rated flow of the pumping device, and the liquid level sensor of the load regulating cabin of the column B feeds back a liquid level B2';

(3) When the liquid level | B-B' | is less than or equal to a set error, the second valve A of the column A is closed, and the pumping device of the column B stops; when the absolute value of B-B 'is larger than a set error, the system adopts a PID control algorithm, starts the A upright post pumping device or the B upright post pumping device and cooperates with the loading and discharging corresponding valve opening and closing combination of the B upright post adjusting cabin, finally the liquid level absolute value of B-B' is smaller than or equal to the set error, the corresponding valve is automatically closed and the pumping device stops;

(4) The method comprises the following steps that a first valve A of an A column is opened, a pumping device of a C column is started, the operation time hc = Delta C/rated flow of the pumping device, and a liquid level sensor of a load regulation cabin of the C column feeds back a liquid level C2';

(5) When the liquid level | C-C' | is less than or equal to a set error, closing a first valve A of the column A, and stopping the pumping device of the column C; when the absolute value of C-C 'is larger than the set error, the system adopts a PID control algorithm, starts the A column pumping device or the C column pumping device and cooperates with the loading and discharging corresponding valve opening and closing combination of the C column adjusting cabin, finally the liquid level absolute value of C-C' is smaller than or equal to the set error, the corresponding valve is automatically closed, and the pumping device stops.

Further, step S32 includes, further,

if Δ A is positive, Δ B is 0, and Δ C is a negative number, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The method comprises the following steps that a first valve A of an A column is opened, a pumping device of a C column is started, the operation time hc = Delta C/rated flow of the pumping device, and a liquid level sensor of a load regulation cabin of the C column feeds back a liquid level C2';

(3) When the liquid level | C-C' | is less than or equal to a set error, a first valve A of the column A is closed, and the pumping device of the column C stops; when the absolute value of C-C 'is larger than the set error, the system adopts a PID control algorithm, starts the A column pumping device or the C column pumping device and cooperates with the loading and discharging corresponding valve opening and closing combination of the C column adjusting cabin, finally the liquid level absolute value of C-C' is smaller than or equal to the set error, the corresponding valve is automatically closed, and the pumping device stops.

Further, step S32 includes, further,

if Δ a is positive, Δ B is positive, and Δ C is negative, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The method comprises the following steps that A, a first valve A of an A column is opened, B, a first valve of a B column is opened, a C column pumping device is started, the operation time hc = Delta C/rated flow of the pumping device, and a C column load regulation cabin liquid level sensor feeds back a liquid level C2';

(3) When the liquid level | A-A '| is less than or equal to the set error, the first valve A of the column A is closed, and when the liquid level | B-B' | is less than or equal to the set error, the first valve B of the column B is closed, and the pumping device of the column C is closed.

According to the technical scheme, the invention has the beneficial effects that: according to the floating wind power equipment load adjusting system and the control method based on yaw influence, ballast water of each adjusting cabin is internally redistributed through the adjusting cabins arranged at the bottom of the floating platform and the pumping device, the inclination of the floating platform caused by different yaw positions of a floating fan nose (cabin + wind wheel) is reduced or eliminated, the movement complexity of the floating wind power equipment is reduced, the operation stability of the floating wind power equipment is indirectly improved, meanwhile, the simulation working condition number of the floating wind power equipment in an integrated design stage is reduced, and the design period of the floating wind power equipment is shortened.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic illustration of a floating foundation of the present invention;

FIG. 2 is a schematic diagram of a floating wind power equipment load regulation system based on yaw influence provided by the invention;

reference numerals: 1-load adjustment cabin; 11-a pumping device; 12-a liquid level meter; 13-first valve a; 14-a second valve a; 15-deck valves; 21-first valve B; 22-second valve B; 31-first valve C; 32-second invention C.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

Referring to fig. 1-2, the invention provides a floating wind power equipment load adjustment system based on yaw influence, which comprises a floating foundation, a load adjustment cabin, a pumping device and a liquid level meter, wherein three upright columns are arranged on the floating foundation in a triangular manner, a floating fan is installed on one upright column or is installed in the center of the floating foundation through a support, the load adjustment cabin and the pumping device are arranged on each upright column, the liquid level meter is arranged in the load adjustment cabin, a water outlet is arranged on a bottom plate of the load adjustment cabin and is communicated with the pumping device on the corresponding upright column, two water inlets are arranged at the top of each load adjustment cabin and are respectively communicated with the pumping devices on the other two upright columns, and a first valve and a second valve are respectively arranged on the two water inlets. The top of the load regulation cabin is also provided with a fourth pipeline which leads to the deck surface of the corresponding upright column, and a deck valve is arranged on the fourth pipeline on the deck surface.

When the floating fan is mounted on the a-column, as shown in fig. 1, it is defined that the yaw counter is zeroed when the head (nacelle and rotor) is oriented B, C center of the column. Each upright post of the floating foundation is provided with a load regulation cabin and a pumping device, wherein a liquid level meter is arranged in the load regulation cabin and is used for monitoring the height of liquid level in the load regulation cabin in real time; the bottom in the load regulation cabin is provided with a water outlet which is connected with an inlet of a pumping device in the upright post; a plurality of water inlets are arranged at the top part in the load regulating cabin, are correspondingly connected with other upright pumping devices, and are provided with valves (a 1 st valve and a 2 nd valve); the top in the load adjustment cabin is also additionally provided with a pipeline which leads to the deck surface of the corresponding upright post, and the deck surface is provided with a valve. The pumping device of each upright post can convey the ballast water in the load adjusting cabin of the upright post to other upright post load adjusting cabins through the opening and closing combination mode of different valves.

The invention also provides a control method of the floating wind power equipment load adjusting system based on yaw influence, which comprises the following steps:

s1, when a machine head of a floating fan faces to the center of a connecting line of two upright posts, setting a yaw counter to zero;

s2, equally dividing the 360-degree yaw position of the machine head of the floating fan into n parts, yawing the machine head to different equally divided positions, and carrying out load adjustment on ballast water of each upright load adjustment cabin; as shown in the following table, the following,

s3, adjusting the floating wind power equipment to a balance state, and recording the liquid level height of each adjusting cabin in the state;

the method comprises the following steps:

s31, respectively setting three columns on the floating foundation as an A column, a B column and a C column, wherein the corresponding liquid level changes into A column liquid level change delta A, B column liquid level change delta B and C column liquid level change delta C, and the following relations exist: Δ a + Δb + Δc =0; when delta is larger than 0, the upright post adjusting cabin is loaded, when delta =0, the upright post adjusting cabin is kept unchanged, when delta is smaller than 0, the upright post adjusting cabin is arranged and loaded, wherein delta A is positive, and at least one of delta B and delta C is negative;

s32, opening deck valves on deck plates corresponding to the three columns, and opening the valves of the corresponding columns with negative numbers in the delta A, the delta B and the delta C and the pumping device to pump ballast water into the corresponding columns with positive numbers;

if Δ A is positive and Δ B and Δ C are negative numbers, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The second valve A of the column A is opened, the pumping device of the column B is started, the operation time hb = [ Delta ] B/rated flow of the pumping device, and the liquid level sensor of the load regulating cabin of the column B feeds back a liquid level B2';

(3) When the liquid level | B-B' | is less than or equal to a set error, the second valve A of the column A is closed, and the pumping device of the column B stops; when the absolute value of B-B 'is larger than a set error, the system adopts a PID control algorithm, starts the A upright post pumping device or the B upright post pumping device and cooperates with the loading and discharging corresponding valve opening and closing combination of the B upright post adjusting cabin, finally the liquid level absolute value of B-B' is smaller than or equal to the set error, the corresponding valve is automatically closed and the pumping device stops;

(4) The method comprises the following steps that a first valve A of an A column is opened, a pumping device of a C column is started, the operation time hc = Delta C/rated flow of the pumping device, and a liquid level sensor of a load regulation cabin of the C column feeds back a liquid level C2';

(5) When the liquid level | C-C' | is less than or equal to a set error, closing a first valve A of the column A, and stopping the pumping device of the column C; when the absolute value of C-C 'is larger than the set error, the system adopts a PID control algorithm, starts the A column pumping device or the C column pumping device and cooperates with the loading and discharging corresponding valve opening and closing combination of the C column adjusting cabin, finally the liquid level absolute value of C-C' is smaller than or equal to the set error, the corresponding valve is automatically closed, and the pumping device stops.

If Δ A is positive, Δ B is 0, and Δ C is a negative number, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The method comprises the following steps that a first valve A of an A column is opened, a pumping device of a C column is started, the operation time hc = Delta C/rated flow of the pumping device, and a liquid level sensor of a load regulation cabin of the C column feeds back a liquid level C2';

(3) When the liquid level | C-C' | is less than or equal to a set error, closing a first valve A of the column A, and stopping the pumping device of the column C; when the absolute value of C-C 'is larger than the set error, the system adopts a PID control algorithm, starts the A column pumping device or the C column pumping device and cooperates with the loading and discharging corresponding valve opening and closing combination of the C column adjusting cabin, finally the liquid level absolute value of C-C' is smaller than or equal to the set error, the corresponding valve is automatically closed, and the pumping device stops.

If Δ a is positive, Δ B is positive, and Δ C is negative, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The method comprises the following steps that A, a first valve A of an A column is opened, B, a first valve of a B column is opened, a C column pumping device is started, the operation time hc = Delta C/rated flow of the pumping device, and a C column load regulation cabin liquid level sensor feeds back a liquid level C2';

(3) When the liquid level | A-A '| is less than or equal to the set error, the first valve A of the column A is closed, and when the liquid level | B-B' | is less than or equal to the set error, the first valve B of the column B is closed, and the pumping device of the column C is closed.

S33, monitoring and feeding back the ballast water liquid level in the pumped ballast tank through a liquid level meter, and closing a corresponding valve to stop pumping until the difference value between the liquid level and the original liquid level is less than or equal to a set error;

s34, automatically closing deck valves corresponding to the three upright columns.

The ballast water of each adjusting cabin is internally redistributed through the pumping device through the adjusting cabins arranged at the bottom of the floating type platform, the inclination of the floating type platform caused by different yawing positions of a floating type fan nose (cabin + wind wheel) is reduced or eliminated, the complexity of the movement of the floating type wind power equipment is reduced, the operation stability of the floating type wind power equipment is indirectly improved, meanwhile, the simulation working condition number of the floating type wind power equipment in an integrated design stage is also reduced, and the design period of the floating type wind power equipment is shortened. The difference value of the discharging amount obtained by the running time of the pumping system and the discharging amount calculated by the liquid level meter feedback is used for accurately controlling the discharging amount of the load regulation cabin by utilizing a PID control algorithm.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (7)

1. The utility model provides a floating wind power equipment transfers system of carrying based on driftage influence which characterized in that: including floating basis, transfer and carry cabin, pumping installations and level gauge, it is triangle-shaped on the floating basis and is provided with three stand, and floating fan installs on one of them stand or through the support mounting at floating basis center, is provided with on every stand and transfers and carry cabin and pumping installations, transfer and carry and be provided with the level gauge in the cabin, transfer and carry the bottom plate in cabin and be provided with the delivery port, delivery port and the pumping installations intercommunication on the corresponding stand, every transfer and carry the top in cabin and all be provided with two water inlets, two water inlets respectively with the pumping installations intercommunication on other two stands, be provided with first valve and second valve on two water inlets respectively.

2. The floating wind power equipment load adjusting system based on yaw influence as claimed in claim 1, wherein a fourth pipeline is further arranged on the top of the load adjusting cabin, the fourth pipeline is communicated with the deck surface of the corresponding upright column, and a deck valve is arranged on the fourth pipeline on the deck surface.

3. A control method of a floating wind power equipment load regulation system based on yaw influence is characterized by comprising the following steps:

s1, when a machine head of a floating type fan faces to the center of a connecting line of two stand columns, a yaw counter is set to be zero;

s2, equally dividing 360-degree yaw positions of a machine head of the floating type fan into n parts, feeding back the yaw positions by a yaw counter when the machine head yaws to different equally divided positions, and dynamically adjusting ballast water of each upright post load adjusting cabin according to different yaw positions;

and S3, adjusting the floating wind power equipment to a balance state, and feeding back the liquid level height before and after load adjustment in each load adjustment cabin by a liquid level meter.

4. The control method of claim 4, wherein the adjusting the floating wind power plant to a state of equilibrium comprises the steps of,

s31, setting three columns on the floating foundation as an column A, a column B and a column C respectively, wherein the corresponding liquid level changes are that the liquid level of the column A changes into delta A, the liquid level of the column B changes into delta B, and the liquid level of the column C changes into delta C, and the following relations exist: Δ a + Δb + Δc =0; when delta is larger than 0, the upright post adjusts the cabin to load, when delta =0, the upright post adjusts the cabin to keep unchanged, when delta is smaller than 0, the upright post adjusts the cabin to arrange load, wherein, delta A is positive, and at least one of delta B and delta C is negative;

s32, opening deck valves on deck plates corresponding to the three columns, and opening the valves of the corresponding columns with negative numbers in the delta A, the delta B and the delta C and the pumping device to pump ballast water into the corresponding columns with positive numbers;

s33, monitoring and feeding back the ballast water liquid level in the pumped ballast tank through a liquid level meter, and closing a corresponding valve to stop pumping until the difference value between the liquid level and the original liquid level is less than or equal to a set error;

s34, automatically closing deck valves corresponding to the three upright columns.

5. The control method according to claim 4, wherein step S32 further includes,

if Δ A is positive and Δ B and Δ C are negative numbers, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The second valve A of the column A is opened, the pumping device of the column B is started, the operation time hb = [ Delta ] B/rated flow of the pumping device, and the liquid level sensor of the load regulating cabin of the column B feeds back a liquid level B2';

(3) When the liquid level | B-B' | is less than or equal to a set error, the second valve A of the column A is closed, and the pumping device of the column B stops; when the absolute value of B-B 'is larger than a set error, the system adopts a PID control algorithm, starts the A upright post pumping device or the B upright post pumping device and cooperates with the loading and discharging corresponding valve opening and closing combination of the B upright post adjusting cabin, finally the liquid level absolute value of B-B' is smaller than or equal to the set error, the corresponding valve is automatically closed and the pumping device stops;

(4) The method comprises the following steps that a first valve A of an A column is opened, a pumping device of a C column is started, the operation time hc = Delta C/rated flow of the pumping device, and a liquid level sensor of a load regulation cabin of the C column feeds back a liquid level C2';

(5) When the liquid level | C-C' | is less than or equal to a set error, closing a first valve A of the column A, and stopping the pumping device of the column C; when the absolute value of C-C 'is larger than the set error, the system adopts a PID control algorithm, starts the A column pumping device or the C column pumping device and cooperates with the loading and discharging corresponding valve opening and closing combination of the C column adjusting cabin, finally the liquid level absolute value of C-C' is smaller than or equal to the set error, the corresponding valve is automatically closed, and the pumping device stops.

6. The control method according to claim 4, wherein step S32 further includes,

if Δ a is positive, Δ B is 0, and Δ C is negative, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The method comprises the following steps that a first valve A of an A column is opened, a pumping device of a C column is started, the operation time hc = Delta C/rated flow of the pumping device, and a liquid level sensor of a load regulation cabin of the C column feeds back a liquid level C2';

(3) When the liquid level | C-C' | is less than or equal to a set error, a first valve A of the column A is closed, and the pumping device of the column C stops; when the | C-C '| > is larger than a set error, the system adopts a PID control algorithm, starts the A-column pumping device or the C-column pumping device, and matches with the loading and discharging of the C-column adjusting cabin to form a corresponding valve opening and closing combination, so that the liquid level | C-C' | is smaller than or equal to the set error finally, the corresponding valve is automatically closed, and the pumping device stops.

7. The control method according to claim 4, wherein step S32 further includes,

if Δ a is positive, Δ B is positive, and Δ C is negative, then:

(1) Firstly, the deck valves corresponding to the three upright posts are automatically opened;

(2) The method comprises the following steps that A, a first valve A of an A column is opened, B, a first valve of a B column is opened, a C column pumping device is started, the operation time hc = Delta C/rated flow of the pumping device, and a C column load regulation cabin liquid level sensor feeds back a liquid level C2';

(3) When the liquid level | A-A '| is less than or equal to the set error, the first valve A of the column A is closed, and when the liquid level | B-B' | is less than or equal to the set error, the first valve B of the column B is closed, and the pumping device of the column C is closed.

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