CN117469089A - Control method and system for load reduction under condition of wind driven generator blade clamping - Google Patents
Control method and system for load reduction under condition of wind driven generator blade clamping Download PDFInfo
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- CN117469089A CN117469089A CN202311520093.6A CN202311520093A CN117469089A CN 117469089 A CN117469089 A CN 117469089A CN 202311520093 A CN202311520093 A CN 202311520093A CN 117469089 A CN117469089 A CN 117469089A
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- 238000000034 method Methods 0.000 title claims abstract description 78
- 230000009467 reduction Effects 0.000 title claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 54
- 238000005452 bending Methods 0.000 claims abstract description 51
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000010248 power generation Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000006870 function Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000004088 simulation Methods 0.000 description 7
- 230000002238 attenuated effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
-
- 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
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
-
- 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
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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
- F05B2270/32—Wind speeds
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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
-
- 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
- F05B2270/329—Azimuth or yaw angle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a control method and a system for load reduction under a blade clamping working condition of a wind driven generator, wherein in the shutdown process of the wind driven generator which operates near a cut-out wind speed and generates the blade clamping working condition, a blade speed compensation value of an unclamped blade is calculated according to an impeller azimuth angle, a nacelle wind speed or a front wind speed of the wind driven generator and a real-time angle of the unclamped blade, and the blade speed compensation value is overlapped on a sectional blade speed given value obtained based on the angle of the unclamped blade in the original blade clamping working condition scheme so as to reduce the bending moment asymmetry of three blade waving directions when the angle of the unclamped blade operates in a set range.
Description
Technical Field
The invention relates to the technical field of wind driven generator control, in particular to a control method, a system, a storage medium and computing equipment for load reduction under the condition of wind driven generator blade clamping.
Background
When the wind driven generator operates near the cut-out wind speed, due to unrecoverable faults of mechanical components or electrical subsystems in the pitch actuator, the blade angle of the corresponding blade is continuously maintained at a value at which the faults occur, which is generally called a pitch clamping working condition.
In the process that the wind driven generator monitors that the blade clamping working condition occurs and the shutdown is executed, the converter can output electromagnetic torque according to electromagnetic torque given values obtained by looking up a table according to the rotating speed of the generator. And the blade without clamping the blade increases the blade angle according to the set value of the segmented variable pitch rate obtained by looking up the real-time blade angle table of the blade.
When the blade angle of the non-clamped blade is increased to a range of 30-50 deg, the real-time bending moment of the clamped blade in the waving direction is still kept at a higher value, the real-time bending moment of the non-clamped blade in the waving direction is rapidly reduced, and the bending moment of the three blades in the waving direction is greatly asymmetric, so that the combined bending moment of the hub center and the combined bending moment load of the yaw bearing under a rotating coordinate system are easily caused to be larger. With the continuous increase of the length of the blades, the load of the hub center combined bending moment and the yaw bearing combined bending moment is larger, and the load can become the dominant limit load for determining mechanical components such as a main shaft or a yaw bearing.
Disclosure of Invention
The first aim of the invention is to overcome the defects and shortcomings of the prior art, and provide a control method for reducing load of a wind driven generator blade clamping working condition, which can attenuate the load of a hub center combined bending moment Myz under a rotating coordinate system in the blade clamping working condition stopping process, reduce the limit load of a main shaft and other parts when the working condition is dominant, attenuate the load of a yaw bearing combined bending moment Mxy in the blade clamping working condition stopping process, and reduce the limit load of the yaw bearing when the working condition is dominant.
The second aim of the invention is to provide a control system for reducing load under the condition of clamping the blade of the wind driven generator.
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: a control method for load reduction under the condition of blade clamping of a wind driven generator comprises the steps of calculating a blade speed compensation value of an unclamped blade according to an impeller azimuth angle, a nacelle wind speed or a front wind speed of the wind driven generator and a real-time angle of the unclamped blade in a shutdown process of the wind driven generator which runs near a cut-out wind speed and generates the blade clamping condition, and superposing the blade speed compensation value on a sectional blade speed given value obtained based on the angle of the unclamped blade in an original blade clamping condition scheme so as to reduce bending moment asymmetry of three blade waving directions when the angle of the unclamped blade runs in a set range.
Further, the control method for the load reduction of the wind driven generator under the condition of blade clamping executes the following operations:
when the wind driven generator operates in a grid-connected power generation mode, collecting a cabin wind speed signal, and filtering by a low-pass filter to obtain a filtered cabin wind speed;
taking the filtered cabin wind speed, the impeller azimuth angle and the real-time angle of the non-clamped blade as the input of a non-clamped blade variable pitch rate compensation module;
in the process that the wind driven generator running near the cut-out wind speed monitors the blade clamping working condition and executes the shutdown, the blade pitch rate compensation module of the blade without the blade clamping calculates to obtain a blade pitch rate compensation value of the blade without the blade clamping according to the impeller azimuth angle, the filtered cabin wind speed and the real-time blade angle of the corresponding blade, and the blade pitch rate compensation value is used as one of the blade pitch rate given values of the blade without the blade clamping in the shutdown process of the blade clamping working condition;
in the process that the wind driven generator running near the cut-out wind speed monitors the blade clamping working condition and executes the stopping process, according to the real-time blade angle, the non-clamping blade inquires a corresponding variable-pitch rate given value in a segmented variable-pitch rate setting table to serve as a second variable-pitch rate given value of the non-clamping blade in the stopping process of the non-clamping blade;
superposing one of the variable pitch rate given values of the non-clamped blade on the second variable pitch rate given value of the non-clamped blade, and obtaining a variable pitch position given value in the stopping process of the non-clamped blade through integral operation;
and respectively executing given values of the variable pitch positions in the stopping process of the non-clamped blade by respective variable pitch execution mechanisms, and reducing the asymmetry of bending moments of the three blade in the flapping direction when the angle of the non-clamped blade runs in a set range so as to achieve the purpose of attenuating the maximum value of the combined bending moment of the hub center and the combined bending moment of the yaw bearing under a rotation coordinate system.
Further, the nacelle wind speed signal is provided by a mechanical anemometer mounted on top of the nacelle cover, wherein for a wind generator mounted with a nacelle lidar, the nacelle wind speed signal uses a front wind speed measured by the lidar.
Further, the impeller azimuth angle is provided by an absolute rotary encoder mounted within the hub.
Further, the transfer function of the low pass filter is as follows:
or->
Where s is complex variable, T is the time constant of the first-order low-pass filter, ζ is the damping ratio of the second-order low-pass filter, and ω is the cut-off frequency of the second-order low-pass filter.
Further, the setting range is a 30 to 50deg section.
The second object of the invention is achieved by the following technical scheme: a control system for reducing load under a wind driven generator blade clamping working condition is used for realizing the control method for reducing load under the wind driven generator blade clamping working condition, and comprises the following steps:
the data acquisition and processing module is used for acquiring a cabin wind speed signal when the wind driven generator operates in a grid-connected power generation mode, filtering the cabin wind speed signal through a low-pass filter to obtain a filtered cabin wind speed, and taking the filtered cabin wind speed, an impeller azimuth angle and a real-time angle of an unclamped blade as input of the unclamped blade pitch rate compensation module;
the first calculation module is used for calculating a variable pitch rate compensation value of the non-clamped blade according to the impeller azimuth angle, the filtered cabin wind speed and the real-time blade angle of the corresponding blade in the process that the wind driven generator running near the cut-out wind speed monitors the clamped blade working condition and executes the shutdown, and the variable pitch rate compensation value is used as one of the variable pitch rate given values of the non-clamped blade in the shutdown process of the clamped blade working condition;
the second calculation module is used for inquiring a corresponding variable pitch rate given value in the segmented variable pitch rate setting table according to the real-time blade angle when the wind driven generator running near the cut-out wind speed monitors the blade clamping working condition and executes the stopping process, and the second variable pitch rate given value is used as a second variable pitch rate given value of the non-blade clamping blade in the stopping process of the non-blade clamping blade;
the data processing module is used for superposing one of the variable pitch rate given values of the non-clamped blade on the second variable pitch rate given value of the non-clamped blade, and obtaining a variable pitch position given value in the stopping process of the non-clamped blade through integral operation;
the execution module is used for respectively executing given values of the variable pitch positions in the stopping process of the non-clamped blade by respective variable pitch execution mechanisms, reducing the asymmetry of bending moments of the three blade in the flapping direction when the angle of the non-clamped blade runs in a set range, and achieving the purpose of attenuating the maximum value of the combined bending moment of the hub center and the combined bending moment of the yaw bearing under the rotation coordinate system.
The third object of the invention is achieved by the following technical scheme: the storage medium stores a program, and when the program is executed by a processor, the control method for the load reduction of the wind driven generator under the condition of clamping the blade is realized.
The fourth object of the invention is achieved by the following technical scheme: the computing equipment comprises a processor and a memory for storing a program executable by the processor, wherein when the processor executes the program stored in the memory, the control method for the load reduction of the wind driven generator under the condition of clamping the blade is realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. and the load of the moment Myz of the center of the hub under the rotating coordinate system in the stopping process of the damping and paddle clamping working condition is reduced, and the limit load of the main shaft and other parts when the working condition is dominant is reduced.
2. And damping the load of the yaw bearing combined bending moment Mxy in the stopping process of the blade clamping working condition, and reducing the limit load of the yaw bearing when the working condition is dominant.
3. No additional hardware equipment is needed, and the economy is good.
Drawings
Fig. 1 is a schematic diagram of the operation of a blade 1 operating near cut-out wind speed with a stuck blade and a load shedding scheme during shutdown.
Fig. 2 is a schematic diagram showing a comparison of simulation time sequences of bending moment blade of blade 1 in the blade root waving direction when a load shedding scheme is opened and closed in the process of blade 1 paddle clamping and shutdown running near a cut-out wind speed.
Fig. 3 is a schematic diagram showing a comparison of simulation time sequences of bending moment blade of blade 2 in the blade root waving direction when a load shedding scheme is opened and closed in the process of blade 1 blocking and stopping running near the cut-out wind speed.
Fig. 4 is a schematic diagram showing a comparison of simulation time sequences of bending moment blade of blade 3 in the blade root waving direction when a load shedding scheme is opened and closed in the process of blade 1 being clamped and stopped near the cut-out wind speed.
Fig. 5 is a schematic diagram showing a comparison of simulation time sequences of a hub center bending moment blade of a rotating coordinate system when a load shedding scheme is opened and closed in a process of clamping a blade 1 running near a cut-out wind speed and stopping.
FIG. 6 is a schematic diagram showing a comparison of simulated timings of the yaw bearing bending moment blade when the load shedding scheme is turned on and off during the process of blade 1 pitching near the cut-out wind speed and shutdown.
Fig. 7 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 a control method for load reduction of a wind driven generator under a blade clamping working condition, wherein in the stopping process of the wind driven generator running near a cut-out wind speed and generating the blade clamping working condition, according to the impeller azimuth angle, the nacelle wind speed or the front wind speed of the wind driven generator and the real-time angle of an unclamped blade, a blade changing speed compensation value of the unclamped blade is calculated, and is overlapped on a sectional blade changing speed given value obtained based on the angle of the unclamped blade in the original blade clamping working condition scheme, so that the bending moment asymmetry of three blade waving directions when the angle of the unclamped blade runs in a set range is reduced, and the method specifically comprises the following steps:
when the wind driven generator operates in a grid-connected power generation mode, collecting a cabin wind speed signal, wherein the cabin wind speed signal is provided by a mechanical anemometer arranged at the top of a cabin cover, and for the wind driven generator provided with a cabin laser radar, the cabin wind speed signal adopts a front wind speed measured by the laser radar;
the wind speed signal measured by the mechanical anemometer or the front wind speed measured by the laser radar is filtered by a low-pass filter to obtain a filtered wind speed signal;
the transfer function of the low pass filter is as follows:
or->
Wherein s is a complex variable, T is a time constant of a first-order low-pass filter, ζ is a damping ratio of a second-order low-pass filter, and ω is a cut-off frequency of the second-order low-pass filter;
fig. 1 is a working schematic diagram of a wind driven generator operating near a cut-out wind speed, in which a blade 1 is subjected to a blade clamping condition and a load reduction scheme is started in a shutdown process. The invention will not be described again for similar cases where only blade 2 or blade 3 is stuck.
The impeller azimuth angle (provided by an absolute value rotary encoder arranged in the hub), the filtered cabin wind speed and the blade 2 and blade 3 blade angles of the non-clamped blade are used as inputs of a non-clamped blade variable pitch rate compensation module. The output of the variable pitch rate compensation module of the blade without clamping, namely the variable pitch rate compensation value of the blade 2 and the blade 3 is used as one of the given variable pitch rate values of the blade without clamping in the stopping process of the clamping working condition.
According to the real-time blade angles of the blades 2 and 3, inquiring a corresponding variable pitch rate given value in a sectional variable pitch rate setting table to serve as a second variable pitch rate given value of the non-clamped blade in the non-clamped blade stopping process;
superposing one of the variable pitch rate given values of the non-clamped blade on the second variable pitch rate given value of the non-clamped blade, and obtaining a variable pitch position given value in the stopping process of the non-clamped blade through integral operation; namely, the given values of the variable pitch positions of the blades 2 and 3;
and respectively executing given values of the variable pitch positions in the stopping process of the non-clamped blade by respective variable pitch actuators, and reducing the asymmetry of bending moments of the three blades in the flapping direction when the angle of the non-clamped blade runs in a range of 30-50 deg, so as to achieve the purpose of attenuating the maximum value of the combined bending moment of the hub center and the combined bending moment of the yaw bearing under the rotation coordinate system.
Fig. 2 is a schematic diagram of a wind driven generator running near the cut-out wind speed, in which the blade 1 is subjected to a blade clamping condition and a dead-time process is executed, and when the load-shedding scheme is started and closed, the blade root waving direction bending moment of the blade 1 is compared with a blade root waving direction bending moment loaded simulation time sequence, and the blade root waving direction bending moment of the blade is still kept at a higher value in the interval of 60-70 s.
Fig. 3 is a schematic diagram of a wind driven generator running near the cut-out wind speed, in which the blade 1 is subjected to a blade clamping condition and a shutdown process is performed, when the load shedding scheme is started and closed, the bending moment in the blade 2 blade root waving direction is reduced more when the load shedding scheme is closed in a 60-70 s interval, the bending moment in the blade 2 blade root waving direction is increased to some extent, and the asymmetry between the bending moment in the blade 1 blade root waving direction and the load shedding scheme is reduced.
Fig. 4 is a schematic diagram of a wind driven generator running near the cut-out wind speed, in which the blade 1 is subjected to a blade clamping condition and a shutdown process is performed, when the load shedding scheme is started and closed, the bending moment in the blade 3 blade root waving direction is reduced more when the load shedding scheme is closed in a 60-70 s interval, the bending moment in the blade 3 blade root waving direction is increased to some extent, and the asymmetry between the bending moment in the blade 1 blade root waving direction and the load shedding scheme is reduced.
FIG. 5 shows a schematic diagram of a wind turbine running near the cut-out wind speed, in which the maximum value of the hub center bending moment in the turn-on load-off scheme is greatly attenuated compared with the simulation time sequence of the hub center bending moment in the rotation coordinate system when the load-off scheme is turned on and turned off during the condition that the blade 1 is clamped and the shutdown is performed.
FIG. 6 shows a wind turbine operating near the cut-out wind speed, in which the blade 1 is subjected to a blade clamping condition and a yaw bearing closing bending moment loaded simulation time sequence is compared with that of the yaw bearing closing bending moment when the load shedding scheme is started and closed, and the maximum value of the yaw bearing closing bending moment of the load shedding scheme is greatly attenuated.
Example 2
The embodiment discloses a control system for reducing load under a wind driven generator blade clamping working condition, which is used for realizing the control method for reducing load under the wind driven generator blade clamping working condition in embodiment 1, and as shown in fig. 7, the system comprises the following functional modules:
the data acquisition and processing module is used for acquiring a cabin wind speed signal when the wind driven generator operates in a grid-connected power generation mode, filtering the cabin wind speed signal through a low-pass filter to obtain a filtered cabin wind speed, and taking the filtered cabin wind speed, an impeller azimuth angle and a real-time angle of an unclamped blade as input of the unclamped blade pitch rate compensation module;
the first calculation module is used for calculating a variable pitch rate compensation value of the non-clamped blade according to the impeller azimuth angle, the filtered cabin wind speed and the real-time blade angle of the corresponding blade in the process that the wind driven generator running near the cut-out wind speed monitors the clamped blade working condition and executes the shutdown, and the variable pitch rate compensation value is used as one of the variable pitch rate given values of the non-clamped blade in the shutdown process of the clamped blade working condition;
the second calculation module is used for inquiring a corresponding variable pitch rate given value in the segmented variable pitch rate setting table according to the real-time blade angle when the wind driven generator running near the cut-out wind speed monitors the blade clamping working condition and executes the stopping process, and the second variable pitch rate given value is used as a second variable pitch rate given value of the non-blade clamping blade in the stopping process of the non-blade clamping blade;
the data processing module is used for superposing one of the variable pitch rate given values of the non-clamped blade on the second variable pitch rate given value of the non-clamped blade, and obtaining a variable pitch position given value in the stopping process of the non-clamped blade through integral operation;
the execution module is used for respectively executing given values of the variable pitch positions in the stopping process of the non-clamped blade by respective variable pitch execution mechanisms, reducing the asymmetry of bending moments of the three blade in the flapping direction when the angle of the non-clamped blade runs in a set range, and achieving the purpose of attenuating the maximum value of the combined bending moment of the hub center and the combined bending moment of the yaw bearing under the rotation coordinate system.
Example 3
The embodiment discloses a storage medium storing a program, which when executed by a processor, implements the control method for the wind turbine blade clamping condition load reduction 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 executable programs of the processor, wherein when the processor executes the programs stored in the memory, the control method for the load shedding of the wind driven generator under the condition of clamping paddles of the wind driven generator 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 (9)
1. A control method for load reduction under a blade clamping working condition of a wind driven generator is characterized in that in the stopping process of the wind driven generator which operates near the cut-out wind speed and generates the blade clamping working condition, according to the impeller azimuth angle, the nacelle wind speed or the front wind speed of the wind driven generator and the real-time angle of an unclamped blade, a blade changing speed compensation value of the unclamped blade is calculated and obtained, and then the blade changing speed compensation value is overlapped on a sectional variable speed given value obtained based on the angle of the unclamped blade in the original blade clamping working condition scheme, so that the bending moment asymmetry of three blade waving directions when the angle of the unclamped blade operates in a set range is reduced.
2. The method for controlling load shedding under a wind driven generator blade clamping condition according to claim 1, wherein the following operations are performed:
when the wind driven generator operates in a grid-connected power generation mode, collecting a cabin wind speed signal, and filtering by a low-pass filter to obtain a filtered cabin wind speed;
taking the filtered cabin wind speed, the impeller azimuth angle and the real-time angle of the non-clamped blade as the input of a non-clamped blade variable pitch rate compensation module;
in the process that the wind driven generator running near the cut-out wind speed monitors the blade clamping working condition and executes the shutdown, the blade pitch rate compensation module of the blade without the blade clamping calculates to obtain a blade pitch rate compensation value of the blade without the blade clamping according to the impeller azimuth angle, the filtered cabin wind speed and the real-time blade angle of the corresponding blade, and the blade pitch rate compensation value is used as one of the blade pitch rate given values of the blade without the blade clamping in the shutdown process of the blade clamping working condition;
in the process that the wind driven generator running near the cut-out wind speed monitors the blade clamping working condition and executes the stopping process, according to the real-time blade angle, the non-clamping blade inquires a corresponding variable-pitch rate given value in a segmented variable-pitch rate setting table to serve as a second variable-pitch rate given value of the non-clamping blade in the stopping process of the non-clamping blade;
superposing one of the variable pitch rate given values of the non-clamped blade on the second variable pitch rate given value of the non-clamped blade, and obtaining a variable pitch position given value in the stopping process of the non-clamped blade through integral operation;
and respectively executing given values of the variable pitch positions in the stopping process of the non-clamped blade by respective variable pitch execution mechanisms, and reducing the asymmetry of bending moments of the three blade in the flapping direction when the angle of the non-clamped blade runs in a set range so as to achieve the purpose of attenuating the maximum value of the combined bending moment of the hub center and the combined bending moment of the yaw bearing under a rotation coordinate system.
3. The method for controlling load shedding under a condition of a wind driven generator with a clamped-rotor according to claim 2, wherein the cabin wind speed signal is provided by a mechanical anemometer installed at the top of a cabin cover, and the cabin wind speed signal is a front wind speed measured by a laser radar for the wind driven generator with the cabin laser radar.
4. The method for controlling load shedding under a stuck condition of a wind turbine according to claim 2, wherein the impeller azimuth angle is provided by an absolute rotary encoder installed in a hub.
5. The method for controlling load shedding under the condition of a wind driven generator blade according to claim 2, wherein the transfer function of the low-pass filter is as follows:
or->
Where s is complex variable, T is the time constant of the first-order low-pass filter, ζ is the damping ratio of the second-order low-pass filter, and ω is the cut-off frequency of the second-order low-pass filter.
6. The method for controlling load shedding under the condition of a wind driven generator blade according to claim 2, wherein the setting range is 30-50 deg.
7. A control system for load shedding under a wind turbine blade clamping condition, which is used for realizing the control method for load shedding under a wind turbine blade clamping condition according to any one of claims 1 to 6, and comprises the following steps:
the data acquisition and processing module is used for acquiring a cabin wind speed signal when the wind driven generator operates in a grid-connected power generation mode, filtering the cabin wind speed signal through a low-pass filter to obtain a filtered cabin wind speed, and taking the filtered cabin wind speed, an impeller azimuth angle and a real-time angle of an unclamped blade as input of the unclamped blade pitch rate compensation module;
the first calculation module is used for calculating a variable pitch rate compensation value of the non-clamped blade according to the impeller azimuth angle, the filtered cabin wind speed and the real-time blade angle of the corresponding blade in the process that the wind driven generator running near the cut-out wind speed monitors the clamped blade working condition and executes the shutdown, and the variable pitch rate compensation value is used as one of the variable pitch rate given values of the non-clamped blade in the shutdown process of the clamped blade working condition;
the second calculation module is used for inquiring a corresponding variable pitch rate given value in the segmented variable pitch rate setting table according to the real-time blade angle when the wind driven generator running near the cut-out wind speed monitors the blade clamping working condition and executes the stopping process, and the second variable pitch rate given value is used as a second variable pitch rate given value of the non-blade clamping blade in the stopping process of the non-blade clamping blade;
the data processing module is used for superposing one of the variable pitch rate given values of the non-clamped blade on the second variable pitch rate given value of the non-clamped blade, and obtaining a variable pitch position given value in the stopping process of the non-clamped blade through integral operation;
the execution module is used for respectively executing given values of the variable pitch positions in the stopping process of the non-clamped blade by respective variable pitch execution mechanisms, reducing the asymmetry of bending moments of the three blade in the flapping direction when the angle of the non-clamped blade runs in a set range, and achieving the purpose of attenuating the maximum value of the combined bending moment of the hub center and the combined bending moment of the yaw bearing under the rotation coordinate system.
8. A storage medium storing a program, wherein the program when executed by a processor implements the method for controlling load shedding under a wind turbine blade clamping condition according to any one of claims 1 to 6.
9. 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 a method for controlling a wind turbine blade-stuck condition load shedding according to any one of claims 1 to 6.
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| CN202311520093.6A CN117469089A (en) | 2023-11-15 | 2023-11-15 | Control method and system for load reduction under condition of wind driven generator blade clamping |
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