CN116221013A - Method and system for identifying extreme horizontal wind shear and controlling load shedding of wind turbine generator - Google Patents
Method and system for identifying extreme horizontal wind shear and controlling load shedding of wind turbine generator Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
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- 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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a method and a system for identifying extreme horizontal wind shear and controlling load shedding of a wind turbine, wherein the method comprises the following steps: obtaining blade root bending moments in two directions of a blade root, namely a blade root waving bending moment and a blade root shimmy bending moment, and obtaining a blade root surface external bending moment through rotation transformation according to the current measured pitch angle; acquiring the azimuth angle of the current blade, carrying out coordinate transformation on the external bending moment of the blade root surface, and calculating to obtain the wind wheel shimmy bending moment; calculating a horizontal wind shear coefficient based on the wind wheel shimmy bending moment and the current average wind speed, and identifying the current wind condition as extreme horizontal wind shear when the horizontal wind shear coefficient exceeds a preset threshold value; when the current wind condition is identified as extreme horizontal wind shear, calculating and outputting an additional independent pitch command, and superposing the additional bending moment generated on the wind wheel and the wind wheel shimmy bending moment on the pitch command output by the pitch controller. Based on the measured blade root load, whether the current horizontal wind shear is extreme or not is identified, and the load is reduced by adding an independent pitch command.
Description
Technical Field
The invention relates to the technical field of wind turbine generator control, in particular to a method, a system, a storage medium and computing equipment for identifying and controlling extreme horizontal wind shear of a wind turbine generator.
Background
In the whole life operation process of the wind turbine, various extreme wind conditions are inevitably encountered. The wind turbine generator runs under extreme wind shear wind conditions and is an extreme working condition required to be considered in IEC design specifications. Extreme wind shear is divided into two types, namely extreme horizontal wind shear and extreme vertical wind shear, wherein the extreme horizontal wind shear refers to the average wind speed of a wind wheel plane, and the velocity gradient change is generated along the horizontal direction in a short time; extreme vertical wind shear refers to the average wind speed of the rotor plane, producing a velocity gradient change in the vertical direction in a short time. Extreme wind shear conditions can cause large unbalanced loading on the impeller plane, and extreme loads are generated on blade roots, hubs, yaw bearings and other components. For a large wind turbine, due to the fact that a larger wind wheel diameter is adopted, the influence of extreme wind shear on the extreme load of the component is more remarkable. Currently, existing control strategies are unable to identify extreme horizontal wind shear wind conditions and therefore are unable to effectively de-load extreme horizontal wind shear.
Disclosure of Invention
The first object of the present invention is to overcome the drawbacks and disadvantages of the prior art, and to provide a method for identifying and controlling load shedding of an extreme horizontal wind shear of a wind turbine generator, which identifies whether the current wind shear is the extreme horizontal wind shear based on a measured blade root load, and which realizes load shedding by adding an independent pitch command.
The second object of the present invention is to provide an extreme horizontal wind shear recognition and load shedding control system for a wind turbine.
A third object of the present invention is to provide a storage medium.
It is a fourth object of the present invention to provide a computing device.
The first object of the invention is achieved by the following technical scheme: the method for identifying and controlling the extreme horizontal wind shear of the wind turbine generator comprises the following steps:
obtaining blade root bending moments in two directions of a blade root, namely a blade root waving bending moment and a blade root shimmy bending moment, and obtaining a blade root surface external bending moment through rotation transformation according to the current measured pitch angle;
acquiring the azimuth angle of a current blade, carrying out coordinate transformation on the external bending moment of the blade root surface of the blade, and calculating to obtain the wind wheel shimmy bending moment;
calculating a horizontal wind shear coefficient based on the wind wheel shimmy bending moment and the current average wind speed, and identifying the current wind condition as extreme horizontal wind shear when the horizontal wind shear coefficient exceeds a preset threshold value;
when the current wind condition is identified as extreme horizontal wind shear, calculating and outputting an additional independent pitch command, and superposing the additional bending moment generated on the wind wheel and the wind wheel shimmy bending moment on the pitch command output by the pitch controller.
Further, the blade root position of each blade needs to be provided with a load sensor, which is called a blade root load sensor; the blade root load sensor can be used for measuring the bending moment of the blade root in two directions in real time, namely the blade root waving bending moment and the blade root shimmy bending moment; the blade root waving bending moment refers to a load generated by bending deformation of the blade from a pressure surface to a suction surface, the pressure surface is stretched while the suction surface is compressed, and the blade root waving bending moment is defined as a positive direction of the blade root waving bending moment; the blade root shimmy bending moment refers to a load generated by bending deformation of a blade from a tail edge to a front edge, and the tail edge is stretched while the front edge is compressed and defined as the positive direction of the blade root shimmy bending moment;
the blade root surface external bending moment refers to a blade root bending moment generated by bending deformation of a blade relative to a wind wheel plane and in the direction perpendicular to the wind wheel plane; the positive direction of the bending moment outside the blade root surface is defined as the direction in which the blade is perpendicular to the plane of the wind wheel and is bent along the tail part of the engine room; because the pitch control continuously acts in the running process of the wind turbine generator, in order to obtain the blade root surface external bending moment, the blade root waving bending moment and the blade root shimmy bending moment are required to be subjected to rotary transformation;
the calculation formula of the blade root surface external bending moment is as follows:
in the above formula, M out1 Representing the root out-of-plane loading of the first blade; m is M out2 Representing the root out-of-plane loading of the second blade; m is M out3 Representing the out-of-blade root load of a third blade; m is M flap1 Representing the first blade root waving bending moment measured by the sensor; m is M flap2 Representing the second blade root waving bending moment measured by the sensor; m is M flap3 Representing the third blade root waving bending moment measured by the sensor; m is M edge1 Representing the shimmy bending moment of the blade root of the first blade measured by the sensor; m is M edge2 Representing the shimmy bending moment of the blade root of the second blade measured by the sensor; m is M edge3 Representing the blade root shimmy bending moment of the third blade measured by the sensor;
representing a filtered average pitch angle;
the calculation formula of the filtering average pitch angle is as follows:
in the above formula, F β (s) represents a pitch angle filter including a low pass filter and a band reject filter;
representing the pitch angle of the first blade measured by the sensor; />
Representing the pitch angle of the second blade measured by the sensor; />
And the pitch angle of the third blade measured by the sensor is represented.
Further, acquiring a current blade azimuth angle through an azimuth angle sensor; the wind wheel shimmy bending moment reflects the stress unbalance of the wind wheel plane in the horizontal direction, and the wind speed of the left half plane and the wind speed of the right half plane of the wind wheel are unequal due to the existence of horizontal wind shear, so that the thrust of the left half plane and the right half plane of the wind wheel is unbalanced, and the wind wheel shimmy bending moment is generated;
the reference coordinate system of the wind wheel shimmy bending moment is a fixed coordinate system, and the coordinate system is fixed at the center of the hub and is static relative to the cabin and does not rotate together with the wind wheel; the reference coordinate system of the bending moment outside the blade root surface is a rotating coordinate system, and the coordinate system is fixed on the wind wheel and rotates together with the wind wheel; in order to obtain the wind wheel shimmy bending moment, the external bending moment of the blade root surface under a rotating coordinate system is required to be converted into a fixed coordinate system;
the formula of calculation of the wind wheel shimmy bending moment is as follows:
in the above formula, M Q Representing the wind wheel shimmy bending moment; m is M out1 Representing the root out-of-plane loading of the first blade; m is M out2 Representing the root out-of-plane loading of the second blade; m is M out3 Representing the out-of-blade root load of a third blade;
representing the azimuth angle measured by the first blade.
Further, when the wind turbine encounters extreme horizontal wind shear, the left half plane wind speed and the right half plane wind speed of the wind wheel are unequal, so that the left half plane thrust and the right half plane thrust of the wind wheel are unbalanced, and a large wind wheel shimmy bending moment is generated on the wind wheel; the wind wheel shimmy bending moment has an obvious linear relation with the horizontal wind shear coefficient, so that the horizontal wind shear coefficient can be deduced by applying the wind wheel shimmy bending moment;
considering the existence of yaw to wind errors, wherein part of the yaw error induced bending moment is the yaw error induced bending moment in the shimmy bending moment of the wind wheel, so that the influence of the yaw error is required to be deducted in the calculation process of the horizontal wind shear coefficient; the calculation formula of the horizontal wind shear coefficient is as follows:
in the above-mentioned description of the invention,
representing a horizontal wind shear coefficient; />
Representing the average wind speed, and carrying out moving average filtering on the measured wind speed to obtain the wind speed; />
A scale factor representing the wind rotor shimmy bending moment to the horizontal wind shear coefficient, by mean wind speed +.>
Obtaining by looking up a table; />
A bias factor representing the wind rotor shimmy bending moment to the horizontal wind shear coefficient, by mean wind speed +.>
Obtaining by looking up a table; phi yaw Representing an average yaw error angle; />
An influencing factor representing yaw error to horizontal wind shear by mean wind speed +.>
Obtaining by looking up a table;
if the horizontal wind shear coefficient exceeds the normal wind shear coefficient and reaches a specific value, the current wind condition is identified as the extreme horizontal wind shear; thus, an extreme horizontal wind shear threshold is set, when the horizontal wind shear coefficient is monitored to exceed the extreme horizontal wind shear threshold, the extreme horizontal wind shear state flag bit is set to true, otherwise, false is set; the extreme horizontal wind shear state flag bit is defined as follows:
in the above-mentioned description of the invention,
a marker bit representing an extreme horizontal wind shear state; />
Representing a horizontal wind shear coefficient; h max Representing an extreme horizontal wind shear threshold; if represents condition judgment, or represents logical operation OR, and other cases are represented by other.
Further, if the extreme horizontal wind shear state flag bit is true, the current extreme horizontal wind shear wind condition is indicated, and at the moment, the blades, the hub, the yaw bearing and the tower top of the wind turbine generator are subjected to large loads; by superposing additional independent pitch instructions on the pitch angle of the wind turbine, additional bending moment can be generated on the wind wheel, and when the additional bending moment is opposite to the wind wheel shimmy bending moment caused by the extreme horizontal wind shear, the bending moment load generated by the extreme horizontal wind shear can be counteracted;
the calculation formula of the additional independent pitch command is as follows:
in the above-mentioned description of the invention,
an additional independent pitch command representing a first blade; />
An additional independent pitch command representing a second blade; />
Representing an additional independent pitch command for a third blade; a is that H,shear Representing additional pitch command amplitude gain; />
Representing the vertical wind shear coefficient; />
Representing the azimuth angle measured by the first blade; omega r Indicating the wind wheel measuring rotation speed; τ represents pitch system time delay;
the method comprises the steps that a variable pitch instruction output by a variable pitch controller is overlapped with an independent variable pitch instruction to obtain a final variable pitch instruction, the final variable pitch instruction is transmitted to a variable pitch executing mechanism, and blades execute variable pitch by taking the final variable pitch instruction as a target; the final pitch command is defined as follows:
in the above-mentioned description of the invention,
representing a final pitch command for the first blade; />
Representing a final pitch command for the second blade; />
Representing a final pitch command for the third blade; />
A pitch command of a first blade output by the pitch controller is represented; />
A pitch command of a second blade output by the pitch controller is represented; />
A pitch command of a third blade output by the pitch controller is represented; />
An additional independent pitch command representing a first blade; />
An additional independent pitch command representing a second blade; />
Representing an additional independent pitch command for a third blade; />
A marker bit representing an extreme horizontal wind shear state; if represents condition judgment, and other cases.
The second object of the invention is achieved by the following technical scheme: the extreme horizontal wind shear recognition and load shedding control system of the wind turbine generator is used for realizing the extreme horizontal wind shear recognition and load shedding control method of the wind turbine generator, and comprises the following steps:
the blade root out-of-plane bending moment acquisition module is used for acquiring blade root bending moments in two directions of a blade root, namely a blade root waving bending moment and a blade root shimmy bending moment, and acquiring the blade root out-of-plane bending moment through rotation transformation according to the current measured pitch angle;
the wind wheel shimmy bending moment calculation module is used for acquiring the azimuth angle of the current blade, carrying out coordinate transformation on the external bending moment of the blade root surface of the blade, and calculating to obtain the wind wheel shimmy bending moment;
the extreme horizontal wind shear identification module is used for calculating a horizontal wind shear coefficient based on the wind wheel shimmy bending moment and the current average wind speed, and identifying the current wind condition as the extreme horizontal wind shear when the horizontal wind shear coefficient exceeds a preset threshold value;
and the extreme horizontal wind shear control module is used for calculating and outputting an additional independent pitch command when the current wind condition is identified as extreme horizontal wind shear, and the additional independent pitch command is overlapped on the pitch command output by the pitch controller, so that the additional bending moment generated on the wind wheel is reduced with the wind wheel shimmy bending moment.
The third object of the invention is achieved by the following technical scheme: a storage medium storing a program which, when executed by a processor, implements the method for identifying and controlling extreme horizontal wind shear and load shedding of a wind turbine.
The fourth object of the invention is achieved by the following technical scheme: the computing device comprises a processor and a memory for storing a program executable by the processor, wherein the processor realizes the method for identifying and controlling the extreme horizontal wind shear of the wind turbine generator set when executing the program stored by the memory.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. aiming at the characteristic of horizontal wind shear, the invention constructs a horizontal wind shear coefficient by utilizing the linear relation between the wind wheel shimmy bending moment and the horizontal wind shear, and provides an extreme horizontal wind shear identification method.
2. The method reduces the influence of yaw error on horizontal wind shear identification, and can effectively and accurately identify the extreme horizontal wind shear.
3. According to the invention, by superposing the independent pitch command on the pitch command and generating the additional bending moment on the impeller plane, the additional bending moment is opposite to the wind wheel shimmy bending moment generated by horizontal wind shear, and the extreme load of the extreme horizontal wind shear wind condition can be obviously reduced.
Drawings
FIG. 1 is a block diagram of a system according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Example 1
The embodiment discloses an extreme horizontal wind shear recognition and load shedding control method of a wind turbine, which specifically executes the following operations:
1) Obtaining blade root bending moments in two directions of the blade root, namely blade root waving bending moment and blade root shimmy bending moment, and obtaining blade root surface external bending moment through rotation transformation according to the current measured pitch angle.
The blade root position of each blade is required to be provided with a load sensor, which is called a blade root load sensor; the blade root load sensor can be used for measuring the bending moment of the blade root in two directions in real time, namely the blade root waving bending moment and the blade root shimmy bending moment; the blade root waving bending moment refers to a load generated by bending deformation of the blade from a pressure surface to a suction surface, the pressure surface is stretched while the suction surface is compressed, and the blade root waving bending moment is defined as a positive direction of the blade root waving bending moment; the blade root shimmy bending moment refers to a load generated by bending deformation of a blade from a tail edge to a front edge, and the tail edge is stretched while the front edge is compressed and defined as the positive direction of the blade root shimmy bending moment;
the blade root surface external bending moment refers to a blade root bending moment generated by bending deformation of a blade relative to a wind wheel plane and in the direction perpendicular to the wind wheel plane; the positive direction of the bending moment outside the blade root surface is defined as the direction in which the blade is perpendicular to the plane of the wind wheel and is bent along the tail part of the engine room; because the pitch control continuously acts in the running process of the wind turbine generator, in order to obtain the blade root surface external bending moment, the blade root waving bending moment and the blade root shimmy bending moment are required to be subjected to rotary transformation;
the calculation formula of the blade root surface external bending moment is as follows:
in the above formula, M out1 Representing the root out-of-plane loading of the first blade; m is M out2 Representing the root out-of-plane loading of the second blade; m is M out3 Representing the out-of-blade root load of a third blade; m is M flap1 Representing the first blade root waving bending moment measured by the sensor; m is M flap2 Representing the second blade root waving bending moment measured by the sensor; m is M flap3 Representing the third blade root waving bending moment measured by the sensor; m is M edge1 Representing the shimmy bending moment of the blade root of the first blade measured by the sensor; m is M edge2 Representing the shimmy bending moment of the blade root of the second blade measured by the sensor; m is M edge3 Representing the blade root shimmy bending moment of the third blade measured by the sensor;
representing a filtered average pitch angle;
the calculation formula of the filtering average pitch angle is as follows:
in the above formula, F β (s) represents a pitch angle filter including a low pass filter and a band reject filter;
representing the pitch angle of the first blade measured by the sensor; />
Representing the pitch angle of the second blade measured by the sensor; />
And the pitch angle of the third blade measured by the sensor is represented.
2) And acquiring the azimuth angle of the current blade through an azimuth angle sensor, carrying out coordinate transformation on the external bending moment of the blade root surface of the blade, and calculating to obtain the wind wheel shimmy bending moment.
The wind wheel shimmy bending moment reflects the stress unbalance of the wind wheel plane in the horizontal direction, and the wind speed of the left half plane and the wind speed of the right half plane of the wind wheel are unequal due to the existence of horizontal wind shear, so that the thrust of the left half plane and the right half plane of the wind wheel is unbalanced, and the wind wheel shimmy bending moment is generated;
the reference coordinate system of the wind wheel shimmy bending moment is a fixed coordinate system, and the coordinate system is fixed at the center of the hub and is static relative to the cabin and does not rotate together with the wind wheel; the reference coordinate system of the bending moment outside the blade root surface is a rotating coordinate system, and the coordinate system is fixed on the wind wheel and rotates together with the wind wheel; in order to obtain the wind wheel shimmy bending moment, the external bending moment of the blade root surface under a rotating coordinate system is required to be converted into a fixed coordinate system;
the formula of calculation of the wind wheel shimmy bending moment is as follows:
in the above formula, M Q Representing the wind wheel shimmy bending moment; m is M out1 Representing the root out-of-plane loading of the first blade; m is M out2 Representing the root out-of-plane loading of the second blade; m is M out3 Representing the out-of-blade root load of a third blade;
representing the azimuth angle measured by the first blade.
3) And calculating a horizontal wind shear coefficient based on the wind wheel shimmy bending moment and the current average wind speed, and identifying the current wind condition as extreme horizontal wind shear when the horizontal wind shear coefficient exceeds a preset threshold value.
When the wind turbine encounters extreme horizontal wind shear, the left half plane wind speed and the right half plane wind speed of the wind wheel are unequal, so that the left half plane thrust and the right half plane thrust of the wind wheel are unbalanced, and a larger wind wheel shimmy bending moment is generated on the wind wheel; the wind wheel shimmy bending moment has an obvious linear relation with the horizontal wind shear coefficient, so that the horizontal wind shear coefficient can be deduced by applying the wind wheel shimmy bending moment;
considering the existence of yaw to wind errors, wherein part of the yaw error induced bending moment is the yaw error induced bending moment in the shimmy bending moment of the wind wheel, so that the influence of the yaw error is required to be deducted in the calculation process of the horizontal wind shear coefficient; the calculation formula of the horizontal wind shear coefficient is as follows:
in the above-mentioned description of the invention,
representing a horizontal wind shear coefficient; />
Representing the average wind speed, and carrying out moving average filtering on the measured wind speed to obtain the wind speed; />
A scale factor representing the wind rotor shimmy bending moment to the horizontal wind shear coefficient, by mean wind speed +.>
Obtaining by looking up a table; />
A bias factor representing the wind rotor shimmy bending moment to the horizontal wind shear coefficient, by mean wind speed +.>
Obtaining by looking up a table; phi yaw Representing an average yaw error angle; />
An influencing factor representing yaw error to horizontal wind shear by mean wind speed +.>
Obtaining by looking up a table;
if the horizontal wind shear coefficient exceeds the normal wind shear coefficient and reaches a specific value, the current wind condition is identified as the extreme horizontal wind shear; thus, an extreme horizontal wind shear threshold is set, when the horizontal wind shear coefficient is monitored to exceed the extreme horizontal wind shear threshold, the extreme horizontal wind shear state flag bit is set to true, otherwise, false is set; the extreme horizontal wind shear state flag bit is defined as follows:
in the above-mentioned description of the invention,
a marker bit representing an extreme horizontal wind shear state; />
Representing a horizontal wind shear coefficient; h max Representing an extreme horizontal wind shear threshold; if represents condition judgment, or represents logical operation OR, and other cases are represented by other.
4) When the current wind condition is identified as extreme horizontal wind shear, calculating and outputting an additional independent pitch command, and superposing the additional bending moment generated on the wind wheel and the wind wheel shimmy bending moment on the pitch command output by the pitch controller.
If the extreme horizontal wind shear state zone bit is true, indicating that the current extreme horizontal wind shear state is the current extreme horizontal wind shear state, and at the moment, the blades, the hub, the yaw bearing and the tower top of the wind turbine generator are subjected to larger loads; by superposing additional independent pitch instructions on the pitch angle of the wind turbine, additional bending moment can be generated on the wind wheel, and when the additional bending moment is opposite to the wind wheel shimmy bending moment caused by the extreme horizontal wind shear, the bending moment load generated by the extreme horizontal wind shear can be counteracted;
the calculation formula of the additional independent pitch command is as follows:
in the above-mentioned description of the invention,
an additional independent pitch command representing a first blade; />
An additional independent pitch command representing a second blade; />
Representing an additional independent pitch command for a third blade; a is that H,shear Representing additional pitch command amplitude gain; />
Representing the vertical wind shear coefficient; />
Representing the azimuth angle measured by the first blade; omega r Indicating the wind wheel measuring rotation speed; τ represents pitch system time delay;
the method comprises the steps that a variable pitch instruction output by a variable pitch controller is overlapped with an independent variable pitch instruction to obtain a final variable pitch instruction, the final variable pitch instruction is transmitted to a variable pitch executing mechanism, and blades execute variable pitch by taking the final variable pitch instruction as a target; the final pitch command is defined as follows:
in the above-mentioned description of the invention,
representing a final pitch command for the first blade; />
Representing a final pitch command for the second blade; />
Representing a final pitch command for the third blade; />
A pitch command of a first blade output by the pitch controller is represented; />
A pitch command of a second blade output by the pitch controller is represented; />
Third branch blade for representing output of pitch controllerA pitch command for the blade; />
An additional independent pitch command representing a first blade; />
An additional independent pitch command representing a second blade; />
Representing an additional independent pitch command for a third blade; />
A marker bit representing an extreme horizontal wind shear state; if represents condition judgment, and other cases.
Example 2
The embodiment discloses an extreme horizontal wind shear recognition and load shedding control system of a wind turbine generator, which is used for realizing the extreme horizontal wind shear recognition and load shedding control method of the wind turbine generator in embodiment 1, and as shown in fig. 1, the system comprises the following functional modules:
the blade root out-of-plane bending moment acquisition module is used for acquiring blade root bending moments in two directions of a blade root, namely a blade root waving bending moment and a blade root shimmy bending moment, and acquiring the blade root out-of-plane bending moment through rotation transformation according to the current measured pitch angle;
the wind wheel shimmy bending moment calculation module is used for acquiring the azimuth angle of the current blade, carrying out coordinate transformation on the external bending moment of the blade root surface of the blade, and calculating to obtain the wind wheel shimmy bending moment;
the extreme horizontal wind shear identification module is used for calculating a horizontal wind shear coefficient based on the wind wheel shimmy bending moment and the current average wind speed, and identifying the current wind condition as the extreme horizontal wind shear when the horizontal wind shear coefficient exceeds a preset threshold value;
and the extreme horizontal wind shear control module is used for calculating and outputting an additional independent pitch command when the current wind condition is identified as extreme horizontal wind shear, and the additional independent pitch command is overlapped on the pitch command output by the pitch controller, so that the additional bending moment generated on the wind wheel is reduced with the wind wheel shimmy bending moment.
Example 3
The embodiment discloses a storage medium storing a program which, when executed by a processor, implements the method for identifying and controlling extreme horizontal wind shear and load shedding of a wind turbine generator set described in embodiment 1.
The storage medium in this embodiment may be a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a usb disk, a removable hard disk, or the like.
Example 4
The embodiment discloses a computing device, which comprises a processor and a memory for storing a program executable by the processor, wherein when the processor executes the program stored by the memory, the method for identifying and controlling the extreme horizontal wind shear of the wind turbine generator set in embodiment 1 is realized.
The computing device described in this embodiment may be a desktop computer, a notebook computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC, programmable Logic Controller), or other terminal devices with processor functionality.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (8)
1. The method for identifying and controlling the extreme horizontal wind shear of the wind turbine generator is characterized by comprising the following steps of:
obtaining blade root bending moments in two directions of a blade root, namely a blade root waving bending moment and a blade root shimmy bending moment, and obtaining a blade root surface external bending moment through rotation transformation according to the current measured pitch angle;
acquiring the azimuth angle of a current blade, carrying out coordinate transformation on the external bending moment of the blade root surface of the blade, and calculating to obtain the wind wheel shimmy bending moment;
calculating a horizontal wind shear coefficient based on the wind wheel shimmy bending moment and the current average wind speed, and identifying the current wind condition as extreme horizontal wind shear when the horizontal wind shear coefficient exceeds a preset threshold value;
when the current wind condition is identified as extreme horizontal wind shear, calculating and outputting an additional independent pitch command, and superposing the additional bending moment generated on the wind wheel and the wind wheel shimmy bending moment on the pitch command output by the pitch controller.
2. The method for identifying and controlling the load shedding of the extreme horizontal wind shear of the wind turbine according to claim 1, wherein a load sensor is required to be installed at the root position of each blade, which is called a root load sensor; the blade root load sensor can be used for measuring the bending moment of the blade root in two directions in real time, namely the blade root waving bending moment and the blade root shimmy bending moment; the blade root waving bending moment refers to a load generated by bending deformation of the blade from a pressure surface to a suction surface, the pressure surface is stretched while the suction surface is compressed, and the blade root waving bending moment is defined as a positive direction of the blade root waving bending moment; the blade root shimmy bending moment refers to a load generated by bending deformation of a blade from a tail edge to a front edge, and the tail edge is stretched while the front edge is compressed and defined as the positive direction of the blade root shimmy bending moment;
the blade root surface external bending moment refers to a blade root bending moment generated by bending deformation of a blade relative to a wind wheel plane and in the direction perpendicular to the wind wheel plane; the positive direction of the bending moment outside the blade root surface is defined as the direction in which the blade is perpendicular to the plane of the wind wheel and is bent along the tail part of the engine room; because the pitch control continuously acts in the running process of the wind turbine generator, in order to obtain the blade root surface external bending moment, the blade root waving bending moment and the blade root shimmy bending moment are required to be subjected to rotary transformation;
the calculation formula of the blade root surface external bending moment is as follows:
in the above formula, M out1 Representing the root out-of-plane loading of the first blade;M out2 representing the root out-of-plane loading of the second blade; m is M out3 Representing the out-of-blade root load of a third blade; m is M flap1 Representing the first blade root waving bending moment measured by the sensor; m is M flap2 Representing the second blade root waving bending moment measured by the sensor; m is M flap3 Representing the third blade root waving bending moment measured by the sensor; m is M edge1 Representing the shimmy bending moment of the blade root of the first blade measured by the sensor; m is M edge2 Representing the shimmy bending moment of the blade root of the second blade measured by the sensor; m is M edge3 Representing the blade root shimmy bending moment of the third blade measured by the sensor;
representing a filtered average pitch angle;
the calculation formula of the filtering average pitch angle is as follows:
in the above formula, F β (s) represents a pitch angle filter including a low pass filter and a band reject filter;
representing the pitch angle of the first blade measured by the sensor; />
Representing the pitch angle of the second blade measured by the sensor; />
And the pitch angle of the third blade measured by the sensor is represented.
3. The method for identifying and controlling the down load of the extreme horizontal wind shear of the wind turbine according to claim 2, wherein the current blade azimuth angle is acquired through an azimuth angle sensor; the wind wheel shimmy bending moment reflects the stress unbalance of the wind wheel plane in the horizontal direction, and the wind speed of the left half plane and the wind speed of the right half plane of the wind wheel are unequal due to the existence of horizontal wind shear, so that the thrust of the left half plane and the right half plane of the wind wheel is unbalanced, and the wind wheel shimmy bending moment is generated;
the reference coordinate system of the wind wheel shimmy bending moment is a fixed coordinate system, and the coordinate system is fixed at the center of the hub and is static relative to the cabin and does not rotate together with the wind wheel; the reference coordinate system of the bending moment outside the blade root surface is a rotating coordinate system, and the coordinate system is fixed on the wind wheel and rotates together with the wind wheel; in order to obtain the wind wheel shimmy bending moment, the external bending moment of the blade root surface under a rotating coordinate system is required to be converted into a fixed coordinate system;
the formula of calculation of the wind wheel shimmy bending moment is as follows:
in the above formula, M Q Representing the wind wheel shimmy bending moment; m is M out1 Representing the root out-of-plane loading of the first blade; m is M out2 Representing the root out-of-plane loading of the second blade; m is M out3 Representing the out-of-blade root load of a third blade;
representing the azimuth angle measured by the first blade.
4. The method for identifying and controlling load shedding of an extreme horizontal wind shear of a wind turbine according to claim 3, wherein when the wind turbine encounters the extreme horizontal wind shear, the left half plane wind speed and the right half plane wind speed of the wind turbine are unequal, resulting in unbalanced left half plane thrust and right half plane thrust of the wind turbine, thereby generating a large wind wheel shimmy bending moment on the wind turbine; the wind wheel shimmy bending moment has an obvious linear relation with the horizontal wind shear coefficient, so that the horizontal wind shear coefficient can be deduced by applying the wind wheel shimmy bending moment;
considering the existence of yaw to wind errors, wherein part of the yaw error induced bending moment is the yaw error induced bending moment in the shimmy bending moment of the wind wheel, so that the influence of the yaw error is required to be deducted in the calculation process of the horizontal wind shear coefficient; the calculation formula of the horizontal wind shear coefficient is as follows:
in the above-mentioned description of the invention,
representing a horizontal wind shear coefficient; />
Representing the average wind speed, and carrying out moving average filtering on the measured wind speed to obtain the wind speed; />
A scale factor representing the wind rotor shimmy bending moment to the horizontal wind shear coefficient, by mean wind speed +.>
Obtaining by looking up a table;
a bias factor representing the wind rotor shimmy bending moment to the horizontal wind shear coefficient, by mean wind speed +.>
Obtaining by looking up a table; phi yaw Representing an average yaw error angle; />
An influencing factor representing yaw error to horizontal wind shear by mean wind speed +.>
Obtaining by looking up a table;
if the horizontal wind shear coefficient exceeds the normal wind shear coefficient and reaches a specific value, the current wind condition is identified as the extreme horizontal wind shear; thus, an extreme horizontal wind shear threshold is set, when the horizontal wind shear coefficient is monitored to exceed the extreme horizontal wind shear threshold, the extreme horizontal wind shear state flag bit is set to true, otherwise, false is set; the extreme horizontal wind shear state flag bit is defined as follows:
in the above-mentioned description of the invention,
a marker bit representing an extreme horizontal wind shear state; />
Representing a horizontal wind shear coefficient; h max Representing an extreme horizontal wind shear threshold; if represents condition judgment, or represents logical operation OR, and other cases are represented by other.
5. The method for identifying and controlling load shedding of an extreme horizontal wind shear of a wind turbine according to claim 4, wherein if the extreme horizontal wind shear state flag bit is true, indicating that the wind condition is the current extreme horizontal wind shear wind condition, the blades, the hub, the yaw bearing and the tower top of the wind turbine are all subjected to a large load; by superposing additional independent pitch instructions on the pitch angle of the wind turbine, additional bending moment can be generated on the wind wheel, and when the additional bending moment is opposite to the wind wheel shimmy bending moment caused by the extreme horizontal wind shear, the bending moment load generated by the extreme horizontal wind shear can be counteracted;
the calculation formula of the additional independent pitch command is as follows:
in the above-mentioned description of the invention,
an additional independent pitch command representing a first blade; />
An additional independent pitch command representing a second blade; />
Representing an additional independent pitch command for a third blade; a is that H,shear Representing additional pitch command amplitude gain; />
Representing the vertical wind shear coefficient; />
Representing the azimuth angle measured by the first blade; omega r Indicating the wind wheel measuring rotation speed; τ represents pitch system time delay;
the method comprises the steps that a variable pitch instruction output by a variable pitch controller is overlapped with an independent variable pitch instruction to obtain a final variable pitch instruction, the final variable pitch instruction is transmitted to a variable pitch executing mechanism, and blades execute variable pitch by taking the final variable pitch instruction as a target; the final pitch command is defined as follows:
in the above-mentioned description of the invention,
representing a final pitch command for the first blade; />
Representing a final pitch command for the second blade; />
Representing a final pitch command for the third blade; />
A pitch command of a first blade output by the pitch controller is represented; />
A pitch command of a second blade output by the pitch controller is represented; />
A pitch command of a third blade output by the pitch controller is represented; />
An additional independent pitch command representing a first blade; />
An additional independent pitch command representing a second blade; />
Representing an additional independent pitch command for a third blade; />
A marker bit representing an extreme horizontal wind shear state; if represents condition judgment, and other cases.
6. An extreme horizontal wind shear identification and load shedding control system of a wind turbine, characterized in that it is configured to implement the method for identifying and load shedding of an extreme horizontal wind shear of a wind turbine according to any one of claims 1 to 5, and it comprises:
the blade root out-of-plane bending moment acquisition module is used for acquiring blade root bending moments in two directions of a blade root, namely a blade root waving bending moment and a blade root shimmy bending moment, and acquiring the blade root out-of-plane bending moment through rotation transformation according to the current measured pitch angle;
the wind wheel shimmy bending moment calculation module is used for acquiring the azimuth angle of the current blade, carrying out coordinate transformation on the external bending moment of the blade root surface of the blade, and calculating to obtain the wind wheel shimmy bending moment;
the extreme horizontal wind shear identification module is used for calculating a horizontal wind shear coefficient based on the wind wheel shimmy bending moment and the current average wind speed, and identifying the current wind condition as the extreme horizontal wind shear when the horizontal wind shear coefficient exceeds a preset threshold value;
and the extreme horizontal wind shear control module is used for calculating and outputting an additional independent pitch command when the current wind condition is identified as extreme horizontal wind shear, and the additional independent pitch command is overlapped on the pitch command output by the pitch controller, so that the additional bending moment generated on the wind wheel is reduced with the wind wheel shimmy bending moment.
7. A storage medium storing a program, wherein the program, when executed by a processor, implements the method for extreme horizontal wind shear identification and load shedding control of a wind turbine as claimed in any one of claims 1 to 5.
8. A computing device comprising a processor and a memory for storing a program executable by the processor, wherein the processor, when executing the program stored in the memory, implements the method for extreme horizontal wind shear identification and load shedding control of a wind turbine according to any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310166970.8A CN116221013A (en) | 2023-02-24 | 2023-02-24 | Method and system for identifying extreme horizontal wind shear and controlling load shedding of wind turbine generator |
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| CN202310166970.8A CN116221013A (en) | 2023-02-24 | 2023-02-24 | Method and system for identifying extreme horizontal wind shear and controlling load shedding of wind turbine generator |
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