CN117569972A - Novel attitude control system and method for wind generating set - Google Patents
Novel attitude control system and method for wind generating set Download PDFInfo
- Publication number
- CN117569972A CN117569972A CN202311636875.6A CN202311636875A CN117569972A CN 117569972 A CN117569972 A CN 117569972A CN 202311636875 A CN202311636875 A CN 202311636875A CN 117569972 A CN117569972 A CN 117569972A
- Authority
- CN
- China
- Prior art keywords
- wind
- main shaft
- angle
- blade
- attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005259 measurement Methods 0.000 claims abstract description 46
- 238000004364 calculation method Methods 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 238000012937 correction Methods 0.000 claims abstract description 19
- 230000000875 corresponding effect Effects 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000010354 integration Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 230000001052 transient effect Effects 0.000 claims description 8
- 238000011217 control strategy Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000010248 power generation Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 235000010931 Mesua ferrea Nutrition 0.000 description 1
- 235000005704 Olneya tesota Nutrition 0.000 description 1
- 206010034719 Personality change Diseases 0.000 description 1
- 240000007909 Prosopis juliflora Species 0.000 description 1
- 235000008198 Prosopis juliflora Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- 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
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—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
- F03D7/0224—Adjusting blade pitch
-
- 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
-
- 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
-
- 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
- F05B2270/33—Proximity of blade to tower
-
- 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
- F05B2270/60—Control system actuates through
- F05B2270/602—Control system actuates through electrical actuators
-
- 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
- F05B2270/60—Control system actuates through
- F05B2270/604—Control system actuates through hydraulic actuators
-
- 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
- F05B2270/60—Control system actuates through
- F05B2270/605—Control system actuates through pneumatic actuators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a novel attitude control system and method of a wind generating set, wherein the system comprises the following components: the data measurement part is used for realizing the attitude measurement of the unit structure based on the sensor and inputting an attitude variable to the processor; the processor is used for carrying out correction calculation on the control quantity based on the attitude variable input by the data measurement part and transmitting the calculation result to the execution mechanism; and the executing mechanism executes corresponding actions according to the calculation result transmitted by the processor. The invention can realize the functions of yaw of the engine room and blade pitch variation of the conventional wind generating set, and can additionally realize the cooperative control of the main shaft inclination angle and the wind wheel cone angle of the set, so that the novel wind generating set can more flexibly cope with various complex wind conditions, simultaneously maintain higher-efficiency power output, ensure the optimal wind capturing power and structural stability of the novel wind generating set in any wind speed section, and show obvious technical advantages and economic advantages in performance comparison with the conventional set.
Description
Technical Field
The invention relates to the technical field of wind generating set control systems, in particular to a novel attitude control system and method of a wind generating set.
Background
With the maturation of key technology and the gradual acceptance of markets, each big host manufacturer competitively pushes out a wind generating set with larger wind wheel diameter and larger installed capacity. The large-scale wind generating set brings a plurality of benefits for the cost reduction and gain of the whole wind generating set, but the problem of flexibility of the structure of the wind generating set is increasingly outstanding due to the large-scale wind generating set. The problem of large deformation of the tower barrel and the blade structure after the length is further increased, and the problem of uneven wind speed in the wind sweeping area caused by the increased diameter of the wind wheel lead the large megawatt unit to face a plurality of technical problems in structural design and engineering application. With the gradual application of new technologies, such as the introduction of structures of carbon wave mixing blades, steel mixing towers and the like, a large megawatt unit still shows strong economic advantages, but new ideas are also required to be explored to further reduce the operation and maintenance cost of the wind generating set.
As shown in fig. 1, in order to further excavate the economic potential of the large megawatt unit, improve the working efficiency of the unit, a structural implementation mode of a wind turbine generator set with an adjustable main shaft inclination angle (which can be called as a cabin inclination angle) and a wind wheel taper angle (hereinafter called as a novel wind turbine generator set) appears, and the overall power generation capacity of the unit and the structural safety under extreme environmental conditions are improved by further releasing the degree of freedom restriction on the main shaft inclination angle and the wind wheel taper angle on the basis of the conventional unit structure. The wind generating set is a complex technical device, and the development and application of a new set are accompanied with the solving of a series of key problems and the technological attack. Because the structural mode of the novel wind generating set is not found in the published technical data or in other manufacturers at present, the structural mode is further pushed to enter commercial application, and the matching technology is further required to be improved.
In summary, based on the structural form of the novel wind generating set, a control strategy suitable for the structural gesture movement of the novel wind generating set is provided, and the control strategy is used as the supplement and perfection of the technical principle framework of the novel wind generating set.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a feasible novel attitude control system of a wind generating set, so that the structure and the control strategy of the wind generating set are effectively combined, and the economic efficiency of the wind generating set is maximized.
The second object of the invention is to provide a novel attitude control method of the wind generating set.
The first object of the invention is achieved by the following technical scheme: novel attitude control system of wind generating set, novel wind generating set is wind generating set with adjustable main shaft inclination and wind turbine cone angle, includes:
the data measurement part is used for realizing the attitude measurement of the unit structure based on the sensor and inputting an attitude variable to the processor;
the processor is used for carrying out correction calculation on the control quantity based on the attitude variable input by the data measurement part and transmitting the calculation result to the execution mechanism;
and the executing mechanism executes corresponding actions according to the calculation result transmitted by the processor.
Further, the sensor comprises a main shaft attitude sensor, a blade attitude sensor, a wind speed and direction sensor for assisting angle correction, a main shaft power measuring sensor, a blade tip motion sensor and a tower clearance distance measuring sensor.
Further, the data measurement part comprises an anemoscope, a cabin gyroscope, a main shaft rotation speed measuring instrument, a motor main shaft rotation speed measuring instrument, a blade tip accelerometer and a tower clearance distance measuring instrument, wherein the anemoscope measures the wind speed and the wind direction of the inflow wind, the cabin gyroscope records the azimuth angle and the inclination angle of the cabin, the main shaft rotation speed measuring instrument is used for measuring the real-time rotation speed of the main shaft, the motor main shaft rotation speed measuring instrument is used for measuring the real-time rotation speed of the main shaft of the blade root bearing servo motor, the blade tip accelerometer is used for measuring the acceleration of the blade tip when the blade is deformed, and the tower clearance distance measuring instrument is used for measuring the horizontal distance between the blade tip and the tower barrel when the blade is 180 degrees azimuth angle.
Further, the actuating mechanism comprises a cabin lifting driving device for adjusting the inclination angle of the main shaft, a wind wheel cone angle rotating driving device for adjusting the wind wheel cone angle and a matched structure locking device thereof; the cabin lifting driving device and the wind wheel cone angle rotating driving device are hydraulically driven, servo motor driven or pneumatically driven, and the structure locking device adopts a mechanical locking mode and an electric locking mode.
Furthermore, the cabin lifting driving device is a cabin base height lifting hydraulic driving component, the wind wheel cone angle rotating driving device is a blade root bearing base angle control servo motor component, and the structure locking device is an electromagnetic band-type brake component for locking the base posture.
Further, the processor adopts an industrial computer to realize the input, processing and output of data; when the data measuring part inputs the measured data to the processor, the processor determines the main shaft inclination angle according to the cabin inclination angle, determines the azimuth angles of all blades through time integration according to the real-time rotating speed of the main shaft, determines the cone angle change of the wind wheel according to the rotating speed of the main shaft of the servo motor, calculates the blade tip deformation according to the blade tip acceleration, and corrects the blade tip deformation according to the tower clearance distance.
The second object of the invention is achieved by the following technical scheme: based on the attitude control system, different control modes are adopted according to different inflow wind speed conditions, and the novel attitude control method of the wind generating set has the following conditions:
firstly, when the inflow wind speed is smaller than the cut-in wind speed and the wind condition is stable, the unit is in a stop state, the pitch angle of the blades is 90 degrees in a feathered state, the main shaft inclination angle and the wind wheel cone angle are both 0 degrees, and the attitude of the unit does not adjust the wind except normal yaw;
secondly, when the inflow wind speed is larger than the cut-in wind speed and meets the start standard, the unit is in a normal working state, the pitch angle of the blades is adjusted to be 0 degree, the main shaft inclination angle and the wind wheel cone angle are 0 degree under the cut-in wind speed, and gradually increase along with the inflow wind speed, according to the measurement result of the data measurement part, the processor analyzes and calculates the adjustment angles of the wind wheel cone angle and the main shaft inclination angle, the actuating mechanism adjusts the attitude of the unit according to the calculation result input by the processor, when the inflow wind speed reaches the rated wind speed, the main shaft inclination angle and the wind wheel cone angle reach the maximum value, and the unit power reaches the rated power;
thirdly, when the inflow wind speed exceeds the rated wind speed and is smaller than the cut-out wind speed, the unit is in a full-power state, the pitch angle of the blades is adjusted according to the size of the inflow wind speed, and the angle is in a 90-degree feathered state at the cut-out wind speed, and under the wind speed, the control strategy of the unit is unchanged without adjusting the inclination angle of a main shaft and the cone angle of a wind wheel; when the super-power requirement exists or the power generation requirement that the clearance is required to be further pressed exists, besides adjusting the pitch angle of the blades, the cone angle of the wind wheel and the inclination angle of the main shaft can be released according to the real-time power requirement;
fourthly, when the inflow wind speed exceeds the cut-out wind speed, the unit enters a shutdown state, the pitch angle of the blades is 90 degrees, under the wind speed, the load of the wind wheel is small, the unit releases the cone angle of the wind wheel and the inclination angle of the main shaft, and the unit is kept to the shutdown state to finish with the minimum wind load of the whole structure;
fifthly, when the wind condition is changed from steady-state wind to transient wind under any inflow wind speed, and the blade is greatly deformed or fluttered due to the transient wind condition, so that the tower clearance distance measuring sensor or the blade tip motion sensor alarms, the processor receives actual measurement data of the data measuring part and calculates gesture adjusting parameters of the engine room and the wind wheel, then the executing mechanism sends out executing parameters, and the executing mechanism adjusts the gesture according to the executing parameters until the target gesture or the alarm release is achieved.
Further, in the fifth case, there are two calculation processes:
firstly, the processor performs the calculation process of the attitude adjustment parameters according to the measured data of the data measurement part, specifically: the angular acceleration, the angular velocity and the angle value of the main shaft inclination angle and the wind turbine cone angle are respectively determined by the measurement data of the cabin gyroscope and the blade root bearing base gyroscope, but in order to prevent the measurement data from being lost or misplaced, a prediction-correction mode combining numerical calculation and the measurement data is selected, namely, the measurement value of the angular acceleration is adopted to carry out time integration to obtain the angular velocity, the angular velocity measurement value is used for correction, the angular value is obtained according to the angular velocity integration, and the correction is carried out through the measurement value.
Secondly, the calculation process of tower clearance data comprises the following specific steps: determining a wind wheel azimuth angle according to the main shaft rotation angle value and the cabin gyroscope measured value, further determining azimuth angles of all blades, calculating blade deformation according to the measured blade tip acceleration value by adopting a blade structure deformation numerical method, predicting whether the blade tip displacement can cause tower hitting when the blade reaches the azimuth angle of 180 degrees, and finally carrying out model correction according to tower clearance measured data.
When the blade structure calculation result analysis shows that the tower hitting risk exists in the blade, the processor calculates the change quantity of the main shaft inclination angle and the wind turbine cone angle, and the cabin lifting driving device and the wind turbine cone angle rotary driving device perform angle adjustment; when the blade reaches a 180-degree azimuth angle, the tower clearance distance measuring sensor measures real data of blade tip displacement and feeds the real data back to the processor, and the processor calculates and corrects the current main shaft inclination angle and the wind turbine cone angle until the tower clearance distance is in a reasonable interval.
Further, in a fifth case, the transient wind includes a gust and a gust, and the alarm is a headroom alarm or an acceleration value over-high alarm.
Further, in the second case, the variation of the main shaft inclination angle and the wind turbine cone angle follows a linear relationship, i.e. each time the wind turbine cone angle increases by a preset degree, the main shaft inclination angle increases by a corresponding preset degree.
Further, in the second case, the blade structure deformation numerical methods include a geometrically accurate beam theory, a ironwood octo-corbel theory, and an euler-bernoulli beam theory.
Further, in the fourth case, the unit releases the wind wheel cone angle and the main shaft tilt angle, and the angle value is adjusted to 0 degrees.
Compared with the prior art, the invention has the following advantages and beneficial effects:
besides the yaw of the engine room and the pitch change of blades of the conventional wind generating set, the wind turbine generator system is mainly characterized in that the cooperative control of the main shaft inclination angle and the wind wheel cone angle of the wind generating set can be additionally realized, so that the novel wind generating set can more flexibly cope with various complex wind conditions, and meanwhile, the power output with higher efficiency is maintained, thereby ensuring the optimal wind capturing power and the structural stability of the novel wind generating set in any wind speed section, and the novel wind generating set shows obvious technical advantages and economic advantages in performance comparison with the conventional wind generating set.
Drawings
Fig. 1 is a schematic diagram of the attitude change of the novel wind generating set from the shutdown state (left) to the full-power state (right).
FIG. 2 is a block diagram of a system according to the present invention.
Fig. 3 is a graph comparing power curves of a new wind generating set (i.e., (1) in the figure) and a conventional new wind generating set (i.e., (2) in the figure) with the same installed capacity using the technology of 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
A wind generating set with adjustable main shaft inclination angle and wind turbine taper angle (can be called a novel wind generating set), the rated power of the wind generating set is 12MW, and a wind wheel adopts pre-bent blades. The main shaft inclination angle and the wind wheel cone angle of the machine set in a stop state are 0 degree, the tower is clear, the main shaft inclination angle in a rated state is 5 degrees, the wind wheel cone angle is 6 degrees, and the diameter of the wind wheel is 240 meters. The clearance distance of the tower of the unit in the stop state is 12 meters, and the clearance warning value of the tower is 5 meters.
As shown in fig. 2, this embodiment discloses a posture control system of a novel wind generating set, including:
the data measurement part is used for realizing the attitude measurement of the unit structure based on the sensor and inputting an attitude variable to the processor;
the processor is used for carrying out correction calculation on the control quantity based on the attitude variable input by the data measurement part and transmitting the calculation result to the execution mechanism;
and the executing mechanism executes corresponding actions according to the calculation result transmitted by the processor.
Specifically, the sensor comprises a main shaft attitude sensor, a blade attitude sensor, a wind speed and direction sensor for assisting angle correction, a main shaft power measuring sensor, a blade tip motion sensor, a tower clearance distance measuring sensor and the like; the data measurement part comprises an anemoscope, a cabin gyroscope, a main shaft rotation speed measuring instrument, a motor main shaft rotation speed measuring instrument, a blade tip accelerometer and a tower clearance distance measuring instrument, wherein the anemoscope measures the wind speed and the wind direction of the inflow wind, the cabin gyroscope records the azimuth angle and the inclination angle of the cabin, the main shaft rotation speed measuring instrument is used for measuring the real-time rotation speed of a main shaft, the motor main shaft rotation speed measuring instrument is used for measuring the real-time rotation speed of a main shaft of a blade root bearing servo motor, the blade tip accelerometer is used for measuring the acceleration of the blade tip when the blade deforms, and the tower clearance distance measuring instrument is used for measuring the horizontal distance between the blade tip and a tower barrel when the blade is 180 degrees in azimuth angle.
Specifically, the actuating mechanism comprises a cabin lifting driving device for adjusting the inclination angle of the main shaft, a wind wheel cone angle rotating driving device for adjusting the wind wheel cone angle and a matched structure locking device thereof; the cabin lifting driving device and the wind wheel cone angle rotating driving device can adopt hydraulic driving, servo motor driving or pneumatic driving and the like, and the structure locking device can adopt mechanical locking, electric locking and the like.
In this embodiment, the cabin lifting driving device is specifically a cabin base height lifting hydraulic driving component, the wind wheel cone angle rotation driving device is specifically a blade root bearing base angle control servo motor component, and the structure locking device is specifically an electromagnetic band-type brake component for locking the base posture.
Specifically, the processor adopts an industrial computer to realize the input, processing and output of data; when the data measuring part inputs the measured data to the processor, the processor determines the main shaft inclination angle according to the cabin inclination angle, determines the azimuth angles of all blades through time integration according to the real-time rotating speed of the main shaft, determines the cone angle change of the wind wheel according to the rotating speed of the main shaft of the servo motor, calculates the blade tip deformation according to the blade tip acceleration, and corrects the blade tip deformation according to the tower clearance distance.
Example 2
The embodiment discloses a novel attitude control method of a wind generating set, based on the attitude control system described in embodiment 1, different control modes are adopted according to different inflow wind speed conditions, and the following conditions are adopted:
first, when the inflow wind speed is smaller than the cut-in wind speed and the wind condition is stable, the unit is in a stop state, the pitch angle of the blades is 90 degrees in a feathered state, the main shaft inclination angle and the wind wheel cone angle are both 0 degrees, and the attitude of the unit does not adjust the wind except normal yaw.
Secondly, when the inflow wind speed is greater than the cut-in wind speed and meets the starting standard, the unit is in a normal working state, the pitch angle of the blades is adjusted to be 0 degree, the main shaft inclination angle and the wind wheel cone angle are 0 degree under the cut-in wind speed, and gradually increase along with the inflow wind speed, according to the measurement result of the data measurement part, the processor analyzes and calculates the adjustment angles of the wind wheel cone angle and the main shaft inclination angle, the actuating mechanism adjusts the posture of the unit according to the calculation result input by the processor, the change amount of the main shaft inclination angle and the wind wheel cone angle follows a linear relation, namely, every 1.2 degrees of increase of the wind wheel cone angle, the main shaft inclination angle is increased by 1 degree, when the inflow wind speed reaches the rated wind speed, the main shaft inclination angle and the wind wheel cone angle reach the maximum value, and the unit power reaches the rated power.
Thirdly, when the inflow wind speed exceeds the rated wind speed and is smaller than the cut-out wind speed, the unit is in a full-power state, the pitch angle of the blades is adjusted according to the size of the inflow wind speed, and the angle is in a 90-degree feathered state at the cut-out wind speed, and under the wind speed, the control strategy of the unit is unchanged without adjusting the inclination angle of a main shaft and the cone angle of a wind wheel; when the super-power requirement exists or the power generation requirement that the clearance is required to be further pressed exists, besides adjusting the pitch angle of the blades, the cone angle of the wind wheel and the inclination angle of the main shaft can be released according to the real-time power requirement.
Fourth, when the inflow wind speed exceeds the cut-out wind speed, the unit enters a stop state, the pitch angle of the blades is 90 degrees, under the wind speed, the load of the wind wheel is very small, the unit releases the cone angle of the wind wheel and the inclination angle of the main shaft, the angle value is adjusted to 0 degrees, and the unit is kept to the stop state in a state with the minimum wind load of the whole structure.
Fifthly, under any inflow wind speed, the wind condition is changed from steady-state wind to transient wind such as gusts and gusts, and the blade tip large deformation or blade flutter is caused by the transient wind condition, so that the tower clearance distance measuring sensor or the blade tip motion sensor sends out clearance warning value warning or acceleration value overlarge warning, the processor receives actual measurement data of the data measuring part and calculates gesture adjusting parameters of the engine room and the wind wheel, then the executing mechanism sends out executing parameters, and the executing mechanism carries out gesture adjustment according to the executing parameters until the target gesture or warning release is achieved.
Specifically, in the fifth case, there are two calculation processes:
firstly, the processor performs the calculation process of the attitude adjustment parameters according to the measured data of the data measurement part, specifically: the angular acceleration, the angular velocity and the angle value of the main shaft inclination angle and the wind turbine cone angle are respectively determined by the measurement data of the cabin gyroscope and the blade root bearing base gyroscope, but in order to prevent the measurement data from being lost or misplaced, a prediction-correction mode combining numerical calculation and the measurement data is selected, namely, the measurement value of the angular acceleration is adopted to carry out time integration to obtain the angular velocity, the angular velocity measurement value is used for correction, the angular value is obtained according to the angular velocity integration, and the correction is carried out through the measurement value.
Secondly, the calculation process of tower clearance data comprises the following specific steps: according to the main shaft rotation angle value and the cabin gyroscope measured value, a wind wheel azimuth angle is determined, then each blade azimuth angle is determined, a blade structure deformation numerical method (including a geometric precise beam theory, a Ticauchy beam theory, an Euler-Bernoulli beam theory and the like is adopted, and the geometric precise beam theory is adopted in the embodiment), blade deformation is calculated according to the measured blade tip acceleration value, whether the blade tip displacement causes tower hitting when the blade reaches 180 degrees azimuth angle is predicted, and finally model correction is carried out through tower clearance measurement data.
When the blade structure calculation result analysis shows that the tower hitting risk exists in the blade, the processor calculates the change quantity of the main shaft inclination angle and the wind turbine cone angle, and the cabin lifting driving device and the wind turbine cone angle rotary driving device perform angle adjustment; when the blade reaches a 180-degree azimuth angle, the tower clearance distance measuring sensor measures real data of blade tip displacement and feeds the real data back to the processor, and the processor calculates and corrects the current main shaft inclination angle and the wind turbine cone angle until the tower clearance distance is in a reasonable interval.
As shown in fig. 3, the comparison of the power curves of the novel wind generating set adopting the technology and the conventional novel wind generating set with the same installed capacity is shown, and it can be seen from the graph that the novel wind generating set adopting the technology can keep higher-efficiency power output, so that the optimal wind capturing power and structural stability of the novel wind generating set in any wind speed section are ensured, obvious technical advantages and economic advantages are presented in the comparison of the performance of the novel wind generating set and the conventional novel wind generating set, and the novel wind generating set is worthy of popularization.
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 (10)
1. Novel wind generating set's gesture control system, novel wind generating set is wind generating set with adjustable main shaft inclination and wind turbine cone angle, its characterized in that includes:
the data measurement part is used for realizing the attitude measurement of the unit structure based on the sensor and inputting an attitude variable to the processor;
the processor is used for carrying out correction calculation on the control quantity based on the attitude variable input by the data measurement part and transmitting the calculation result to the execution mechanism;
and the executing mechanism executes corresponding actions according to the calculation result transmitted by the processor.
2. The attitude control system of a novel wind turbine generator system of claim 1, wherein the sensors include a main shaft attitude sensor, a blade attitude sensor, and wind speed and direction sensor for aiding angle correction, a main shaft power measurement sensor, a tip motion sensor, and a tower clearance ranging sensor.
3. The attitude control system of a novel wind generating set according to claim 1, wherein the data measuring section includes an anemometer, a nacelle gyroscope, a main shaft rotational speed measuring instrument, a motor main shaft rotational speed measuring instrument, a tip accelerometer and a tower clearance distance measuring instrument, wherein the anemometer measures wind speed and wind direction of the incoming wind, the nacelle gyroscope records a nacelle azimuth angle and an inclination angle, the main shaft rotational speed measuring instrument is used for measuring real-time rotational speed of a main shaft, the motor main shaft rotational speed measuring instrument is used for measuring real-time rotational speed of a blade root bearing servo motor main shaft, the tip accelerometer is used for measuring acceleration of a blade tip when the blade is deformed, and the tower clearance distance measuring instrument is used for measuring horizontal distance between the blade tip and a tower barrel when the blade is 180 degrees azimuth angle.
4. The attitude control system of a novel wind generating set according to claim 1, wherein the actuating mechanism comprises a cabin lifting driving device for adjusting the inclination angle of a main shaft, a wind wheel cone angle rotating driving device for adjusting the wind wheel cone angle and a matched structure locking device thereof; the cabin lifting driving device and the wind wheel cone angle rotating driving device are hydraulically driven, servo motor driven or pneumatically driven, and the structure locking device adopts a mechanical locking mode and an electric locking mode.
5. The attitude control system of a novel wind turbine generator system according to claim 4, wherein the nacelle lifting drive is a nacelle base height lifting hydraulic drive component, the rotor cone angle rotation drive is a blade root bearing base angle control servo motor component, and the structural locking device is an electromagnetic band brake component for base attitude locking.
6. The attitude control system of a novel wind generating set according to claim 1, wherein the processor adopts an industrial computer to realize the input, processing and output of data; when the data measuring part inputs the measured data to the processor, the processor determines the main shaft inclination angle according to the cabin inclination angle, determines the azimuth angles of all blades through time integration according to the real-time rotating speed of the main shaft, determines the cone angle change of the wind wheel according to the rotating speed of the main shaft of the servo motor, calculates the blade tip deformation according to the blade tip acceleration, and corrects the blade tip deformation according to the tower clearance distance.
7. A novel attitude control method of a wind generating set, which is characterized in that based on the attitude control system of any one of claims 1-6, different control modes are adopted according to different inflow wind speed conditions, and the following conditions are adopted:
firstly, when the inflow wind speed is smaller than the cut-in wind speed and the wind condition is stable, the unit is in a stop state, the pitch angle of the blades is 90 degrees in a feathered state, the main shaft inclination angle and the wind wheel cone angle are both 0 degrees, and the attitude of the unit does not adjust the wind except normal yaw;
secondly, when the inflow wind speed is larger than the cut-in wind speed and meets the start standard, the unit is in a normal working state, the pitch angle of the blades is adjusted to be 0 degree, the main shaft inclination angle and the wind wheel cone angle are 0 degree under the cut-in wind speed, and gradually increase along with the inflow wind speed, according to the measurement result of the data measurement part, the processor analyzes and calculates the adjustment angles of the wind wheel cone angle and the main shaft inclination angle, the actuating mechanism adjusts the attitude of the unit according to the calculation result input by the processor, when the inflow wind speed reaches the rated wind speed, the main shaft inclination angle and the wind wheel cone angle reach the maximum value, and the unit power reaches the rated power;
thirdly, when the inflow wind speed exceeds the rated wind speed and is smaller than the cut-out wind speed, the unit is in a full-power state, the pitch angle of the blades is adjusted according to the size of the inflow wind speed, and the angle is in a 90-degree feathered state at the cut-out wind speed, and under the wind speed, the control strategy of the unit is unchanged without adjusting the inclination angle of a main shaft and the cone angle of a wind wheel; when the super-power requirement exists or the power generation requirement that the clearance is required to be further pressed exists, besides adjusting the pitch angle of the blades, the cone angle of the wind wheel and the inclination angle of the main shaft can be released according to the real-time power requirement;
fourthly, when the inflow wind speed exceeds the cut-out wind speed, the unit enters a shutdown state, the pitch angle of the blades is 90 degrees, under the wind speed, the load of the wind wheel is small, the unit releases the cone angle of the wind wheel and the inclination angle of the main shaft, and the unit is kept to the shutdown state to finish with the minimum wind load of the whole structure;
fifthly, when the wind condition is changed from steady-state wind to transient wind under any inflow wind speed, and the blade is greatly deformed or fluttered due to the transient wind condition, so that the tower clearance distance measuring sensor or the blade tip motion sensor alarms, the processor receives actual measurement data of the data measuring part and calculates gesture adjusting parameters of the engine room and the wind wheel, then the executing mechanism sends out executing parameters, and the executing mechanism adjusts the gesture according to the executing parameters until the target gesture or the alarm release is achieved.
8. The attitude control method for a new wind turbine generator system according to claim 7, wherein in a fifth case, there are two calculation processes:
firstly, the processor performs the calculation process of the attitude adjustment parameters according to the measured data of the data measurement part, specifically: the angular acceleration, the angular velocity and the angle value of the main shaft inclination angle and the wind turbine cone angle are respectively determined by the measurement data of the cabin gyroscope and the blade root bearing base gyroscope, but in order to prevent the measurement data from being lost or misplaced, a prediction-correction mode combining numerical calculation and the measurement data is selected, namely, the measurement value of the angular acceleration is adopted to carry out time integration to obtain the angular velocity, the angular velocity measurement value is used for correction, the angular value is obtained according to the angular velocity integration, and the correction is carried out through the measurement value.
Secondly, the calculation process of tower clearance data comprises the following specific steps: determining a wind wheel azimuth angle according to the main shaft rotation angle value and the cabin gyroscope measured value, further determining azimuth angles of all blades, calculating blade deformation according to the measured blade tip acceleration value by adopting a blade structure deformation numerical method, predicting whether the blade tip displacement can cause tower hitting when the blade reaches the azimuth angle of 180 degrees, and finally carrying out model correction according to tower clearance measured data.
When the blade structure calculation result analysis shows that the tower hitting risk exists in the blade, the processor calculates the change quantity of the main shaft inclination angle and the wind turbine cone angle, and the cabin lifting driving device and the wind turbine cone angle rotary driving device perform angle adjustment; when the blade reaches a 180-degree azimuth angle, the tower clearance distance measuring sensor measures real data of blade tip displacement and feeds the real data back to the processor, and the processor calculates and corrects the current main shaft inclination angle and the wind turbine cone angle until the tower clearance distance is in a reasonable interval.
9. The method for controlling the attitude of a novel wind turbine generator system according to claim 7, wherein in a fifth case, the transient wind includes gusts and gusts, and the alarm is a headroom alarm or an acceleration value overload alarm.
10. The attitude control method of a novel wind turbine generator set according to claim 7, wherein in the second case, the variation of the main shaft inclination angle and the wind turbine cone angle follows a linear relationship, that is, each time the wind turbine cone angle increases by a preset degree, the main shaft inclination angle increases by a corresponding preset degree, and the blade structure deformation numerical methods include a geometrically accurate beam theory, a ironwork-corbel theory and an euler-bernoulli beam theory; in the fourth case, the unit releases the wind wheel cone angle and the main shaft inclination angle, and the angle value is adjusted to be 0 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311636875.6A CN117569972A (en) | 2023-12-01 | 2023-12-01 | Novel attitude control system and method for wind generating set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311636875.6A CN117569972A (en) | 2023-12-01 | 2023-12-01 | Novel attitude control system and method for wind generating set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117569972A true CN117569972A (en) | 2024-02-20 |
Family
ID=89884271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311636875.6A Pending CN117569972A (en) | 2023-12-01 | 2023-12-01 | Novel attitude control system and method for wind generating set |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117569972A (en) |
-
2023
- 2023-12-01 CN CN202311636875.6A patent/CN117569972A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8123477B2 (en) | Control of rotor during a stop process of a wind turbine | |
| US7772713B2 (en) | Method and system for controlling a wind turbine | |
| AU2014200423B2 (en) | Method and apparatus for wind turbine noise reduction | |
| US8979492B2 (en) | Methods and systems for determining a pitch angle offset signal and for controlling a rotor frequency of a rotor of a wind turbine for speed avoidance control | |
| EP2877742B1 (en) | Wind turbine tilt optimization and control | |
| EP2570657B1 (en) | Wind turbine sound management | |
| US11242841B2 (en) | System and method for controlling a wind turbine based on a collective pitch-offset | |
| EP2712403B1 (en) | Power management system for yaw controlled wind turbines | |
| EP3179097A1 (en) | Wind power generating system and method for controlling wind power generating system | |
| US9835134B2 (en) | Method and computing module for determining pitch angle adjustment signals of a wind turbine based on the maximum rotational speed | |
| CN112196735B (en) | Variable pitch control method based on doubly-fed wind generator set | |
| WO2011157271A2 (en) | A method and control unit for controlling a wind turbine in dependence on loading experienced by the wind turbine | |
| US20120027589A1 (en) | Method and apparatus for control of asymmetric loading of a wind turbine | |
| CN111058995B (en) | Yaw bearing limit load reduction method of wind generating set based on engine room attitude | |
| CN108488035A (en) | The stall of permanent magnet direct-driving aerogenerator group and variable pitch mixing control method | |
| WO2019238187A1 (en) | Velocity feedfoward control of a hydraulic pitch system | |
| KR20150019461A (en) | Wind-Electric Power Generation System and Driving Stop Method Thereof | |
| CN202483794U (en) | Electro-mechanical coordination restraining device for chattering of rotary spindle of vertical axis wind turbine | |
| CN117569972A (en) | Novel attitude control system and method for wind generating set | |
| CN113494418A (en) | System and method for mitigating loads acting on rotor blades of a wind turbine | |
| CN112610411B (en) | Control method and module for solving clearance problem of tower of wind generating set | |
| CN101832229A (en) | Motion controller-based wind-power generation variable propeller servo control system | |
| CN115199471B (en) | Power control method and system for controlling load reduction based on yaw variable pitch linkage | |
| US11421653B2 (en) | Systems and methods for multivariable control of a power generating system | |
| CN114962150A (en) | Method and system for improving energy efficiency of wind turbine generator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |