CN207740117U - The magnetic suspension wind yaw device of main passive coordinated regulation - Google Patents

Abstract

The utility model discloses a kind of magnetic suspension wind yaw devices of the passive coordinated regulation of master applied to large and medium-sized Wind turbines, including cabin, yaw supporter, pitching adjustment suspension and suspension pylon, collaboration completion yaw supporter pitch stiffness is promoted, the fluctuation of high frequency air gap is stabilized, horizontal displacement passively adjusts, active levitation control and cabin yaw control；Yaw supporter engine room foundation, the aluminium sheet of 6mm thickness is set, generate eddy current damping power, the passive high-frequency fluctuation for stabilizing axial suspension air gap, cabin pitch stiffness is improved using pitching adjustment suspension, permanent magnet and the support of suspension column foot, reduce active levitation degree of freedom, yaws horizontal repulsion, passive equilibrium horizontal displacement between permanent magnet on the outside of supporter inside permanent magnet and suspension pylon；Active levitation and yaw realize that the active yawing under cabin stable suspersion is protected with crosswind windward respectively by BUCK unsteady flows, H bridges current transformer and three-phase inverter under the control of main control unit DSP28035.

Description

The magnetic suspension wind yaw device of main passive coordinated regulation

Technical field

The utility model is related to a kind of fan yaw devices of large and medium-sized Wind turbines, are realized by the passive coordinated regulation of master Yaw is protected with crosswind windward under cabin suspends, especially a kind of wind reducing active levitation control freedom degree and suspension power consumption Power magnetic suspension yaw system.

Background technology

As environmental pollution and energy crisis aggravate, wind-power electricity generation has been paid close attention to by countries in the world because it is completely pollution-free. Wind-force yaw system is the key component of large-scale horizontal shaft wind-power generating system, and the maximum capture and crosswind that wind energy can be improved are protected Shield.The conventional wind yaw system that generates electricity generally uses more motor multi-gear coupling techniques, there are complicated, high failure rate and The problems such as poor anti jamming capability, especially larger frictional dissipation make fan yaw power consumption larger, easily by external interference, seriously The stability of influence system, utility model patent 200910161406.7 and 201410143297.7 disclose two kinds of magnetic respectively Suspension wind-force yaw system, the yaw realized under cabin stable suspersion are protected with crosswind windward, greatly reduce yaw power consumption, But magnetic suspension system is in the nature that non-linear, the unstable system of underdamping, especially wind-force yaw system operating mode are severe, general to run In 80 meters of high pylons, wind speed random fluctuation easily causes suspend concussion or unstability, active levitation control to be to ensure that fan engine room Stable suspersion is crucial, but fan blade sweeping area is much larger than cabin fin area, and there are pitching for the resuspension procedure of fan engine room Movement, the control of multiple degrees of freedom active levitation are the key that improve wind-force magnetic suspension yaw system, but unquestionable is mostly freely Active control is spent while bringing high-precision suspendability, will also be increased the quantity of sensor, current transformer and controller, is led Suspension cabin volumes, weight increase and the increase of suspension power consumption are caused.Occur driven suspension bearing, suspension air gap in recent years It is passively completed by permanent magnet, has many advantages, such as that simple in structure, energy consumption is small, compact-sized and assisted without current transformer, but suspension gas Gap is easily influenced by external interference.

Utility model content

The technical assignment of the utility model be in view of the above technology present in it is insufficient, provide a kind of master and passively cooperate with tune The magnetic suspension wind yaw device of control, by promoting pitching angular rigidity, introducing three kinds of aluminium sheet eddy current damping and permanent magnet circle ring Measure, and active levitation winding and yaw winding are combined, realize the active yawing under cabin stable suspersion under wind speed random fluctuation Wind and crosswind are protected.

The technical scheme in the invention for solving the above technical problem is：The steady of cabin is realized using main passive mode Fixed suspension and active yawing, including cabin, yaw supporter, pitching adjustment suspension and suspension pylon, it is common to complete to yaw branch The pitch stiffness of support body is promoted, the fluctuation of high frequency air gap is stabilized, horizontal displacement passively adjusts, suspension air gap active control and cabin Yaw control；Blade is placed in cabin front end, captures wind energy and drives electrical power generators, damping tailing axle, machine are arranged on rear side of generator 4mm thickness aluminium sheets are set on rear side of cabin, permanent magnet is installed on generator damping tailing axle, eddy current damping power is generated with aluminium sheet on rear side of cabin, The vibrations of generator horizontal direction and displacement are stabilized, wind speed wind direction sensor is arranged in cabin rear end；Yaw supporter, which is swung to, to be placed on On suspension pylon, support suspends and yaws cabin, and 4 air gap sensors are orthogonal to be mounted on yaw supporter lower end torus It is interior, the air gap variation of 4 quadrature positions is detected, the Effective Suspension air gap of yaw supporter barycenter is provided, yaw winding setting exists It yaws in the torus of supporter lower end, and the direct current through three-phase inverter, BUCK current transformers and wind-driven generator generator-side converter wear Busbar couples；Yaw vertical setting magnet ring band, the magnet ring band with the vertical setting on the outside of pylon, group in the middle part of supporter At the passive adjustment mechanism of cabin horizontal displacement；The circular ring shape aluminium sheet is embedded in yaw supporter upper surface engine room foundation, with The suspending windings installed on suspension pylon correspond to, and increase yaw supporter axial suspension damping；The pitching adjustment suspension installation In yaw supporter engine room foundation lower face, shape is T shape cylindrical structures, moves down yaw supporter and the entirety weight of cabin The heart promotes the pitch stiffness of yaw supporter, and axial permanent magnetic body is arranged in suspension lower end, the homopolarity permanent magnetism with the setting of pylon inner support Body cooperates, and passively stabilizes the fluctuation of axial suspension air gap；Suspension pylon is the support platform of cabin and yaw supporter, upper end Toroidal cavity is set, limitation yaw supporter level on suspension pylon corresponding with the convex ditch of annulus on yaw supporter 16 staggered suspending windings of N/S are arranged in movement, suspension pylon upper end, and at circular row, active levitation yaw branch Support body makes cabin stable suspersion in the suspension air gap 10mm of setting；Pylon inner support is arranged in suspending column frame, is arranged and bows on platform Face upward the permanent magnet of adjustment suspension opposite magnetic pole.

Pitch stiffness in cabin driven suspension is promoted to be total to by pitching adjustment suspension, yaw supporter and pylon inner support With completion, it is m that pitching, which adjusts suspension to increase pitch stiffness,₂gL₂, wherein m₂Sprung mass is adjusted for pitching, g is acceleration of gravity, L₂For the pitching arm of force；Column foot inner support generates repulsion with pitching adjustment two permanent magnet of suspension, increases pitch stiffness (k_z-k_x)L², Middle k_z、k_xIt is the two repulsive force of permanent magnets coefficients along Z axis and X-axis respectively, L is that pitching adjusts suspension height；High frequency in driven suspension Air gap fluctuation is completed by circular ring shape aluminium sheet and suspending windings collaboration, yaws the high frequency axial displacement wave of circular ring shape aluminium sheet on supporter It is dynamic so that suspending windings main field generates eddy current damping power in round aluminium sheet, passively stabilizes suspension air gap high-frequency fluctuation；It is described Passively adjustment is the magnet ring band by being fixed on the inside of yaw supporter and the magnet ring on the outside of suspension pylon for horizontal displacement Band collaboration is completed, and permanent magnet is arranged for S/N on the inside of yaw supporter, permanent magnet N/S settings, two magnet rings on the outside of suspension pylon Band generates horizontal repulsion, stabilizes the horizontal thrust of fan blade generation.

Active levitation control in cabin active levitation by DSP28035 main control units according to air gap sensors detect 4 just Position air gap height is handed over, yaw supporter barycenter axial direction hoverheight is calculated in real time, regulates and controls H bridge current transformer duty ratios, is changed outstanding The size of current of floating winding and direction, suspension support cabin；Suspending windings are through H bridges current transformer, BUCK current transformers and generator machine Side current transformer DC bus coupling, for BUCK current transformers by generator DC bus-bar voltage DC1050V, it is wind-force to be depressured as DC550V Yaw system is powered；Cabin yaw control is after axial suspension air gap stabilization, and yaw winding leads to three intersections by three-phase inverter Galvanic electricity, current control are the yaw angles measured according to wind speed wind direction sensor and speed probe by main control unit DSP28035 And rotating speed implements control, uses axis radial direction magnetic field decoupling that will yaw Current Decomposition as reactive current and torque current, and set It is zero to set reactive current, and eliminating reactive current influences yaw supporter hoverheight, and torque current is referred to and yawed according to wind-force Torque calculates acquisition in real time, and completes the quick tracking to reference current using conventional PI control.

Advantageous effect caused by the utility model is：

1) the utility model is received supporter, pitching suspension and T-type structure bottom end permanent magnet is yawed and is integrated, and effectively carries The pitching angular rigidity for having risen yaw supporter and cabin, solves vibration problems in cabin resuspension procedure, enhances wind-force magnetcisuspension Floating system stability.

2) the utility model introduces aluminium sheet and eddy current damping in yaw supporter, can quickly stabilize random fluctuation wind speed pair Suspension gas influences, the high frequency section of passive regulation and control suspension air gap, while improving the underdamping characteristic of cabin suspension system, simultaneously The stable region for improving closed loop suspension system controller parameter, improves the anti-interference ability of wind-force magnetic suspension system.

3) the utility model introduces driven suspension structure and improves yaw suspension system suspension stiffness and stability, reduces The quantity of active levitation degree of freedom and sensor, current transformer and controller, greatly reduces equipment cost and equipment fault Rate；

4) the utility model realizes the active yawing under main driven suspension and is protected windward with crosswind, effectively reduces yaw Power consumption and suspension power consumption, improve to wind precision, power coefficient and service life of equipment.

Description of the drawings

The magnetic suspension wind yaw device basic block diagram of the passive coordinated regulation of Fig. 1 master.

The magnetic suspension wind yaw device xy sectional top views of the passive coordinated regulation of Fig. 2 master.

The magnetic suspension wind yaw device loop of power circuit figure of the passive coordinated regulation of Fig. 3 master.

The magnetic suspension wind yaw device control machine of the passive coordinated regulation of Fig. 4 master is charted.

In figure：1. blade, 2. cabins, 3. anemoclinographs, 4. generators, 5. engine room foundations, 6. circular ring shape aluminium sheets, 7. partially Navigate supporter, 8. suspending windings, 9. yaw windings, 10. yaw supporter vertical permanent magnet bodies, and 11. pitching adjust suspension, and 12. is outstanding Frame permanent magnet, 13. pylon inner supports, 14. suspension pylons, 15. suspension pylon grooves, 16. pitching confinement rings, 17. air gaps sensing Device, 18. damping tailing axles, 19. damping aluminium sheets, 20. suspending columns erection formula permanent magnet, 21. horizontal air gaps, 22. pitching offset displacements, 23. generator generator-side converter wear, 24. net side current transformers, 25. step-up transformers, 26. power grids, 27.H bridge current transformers, 28.BUCK Current transformer, 29. three-phase inverters, 30.DSP28035 main control units.

Specific implementation mode

The utility model is further illustrated with reference to the accompanying drawings and examples.

The magnetic suspension wind yaw device for the passive coordinated regulation of master that the utility model is announced, including cabin 2, yaw branch Support body 7, pitching adjustment suspension 11 and suspension pylon 14.Wherein cabin includes blade 1, generator 4, anemoclinograph 3, damping tail Axis 18, damping aluminium sheet 19 are yawed and are installed on supporter 7 by engine room foundation 5, circular ring shape aluminium sheet 6, yaw winding 9, yaw supporter Vertical permanent magnet body 10, suspension pylon 14 include suspending windings 8, suspending column erection formula permanent magnet 20, pylon inner support, cabin master Dynamic suspend is completed by suspending windings 8, H bridges current transformer 27, BUCK current transformers 28 under the action of DSP28035 main control units 30, Active yawing is completed by yaw winding 9, three-phase inversion 29 and BUCK current transformers 28 under the action of DSP28035 main control units 30.

The utility model announce the passive coordinated regulation of master magnetic suspension wind yaw device operating mechanism as shown in figure 4, Cabin suspension is completed under the passive coordinated regulation of master, wherein circular ring shape aluminium sheet 6, pitching adjustment be outstanding 11, suspension permanent magnet 12, The quilt of cabin is completed under pylon inner support 13, yaw supporter vertical permanent magnet body 10,20 collective effect of suspending column frame vertical permanent magnet The dynamic control that suspends, active levitation then generate suspension suction, driving by the suspending windings 8 on suspension pylon 14 with yaw supporter 7 Cabin active levitation yaws winding 9 and is passed through three-phase alternating current, the yaw of 9 rotary driving machine cabin of yaw winding at this time.Fan engine room is inclined Boat can be divided into system initialization, data acquire, yaw judgement, suspension prepares, cabin suspension, cabin yaws, cabin is landed and is tied Beam realizes that wind and lateral deviation are protected in the main driven suspension yaw of cabin.

1) data acquire.DSP28035 acquires wind speed, yaw angle θ, yaw rotational speed omega, suspension air gap in real time, receives and From in the generated output power P of cabin Wind turbines controlling transmission_w。

2) yaw judges.Fan yaw mainly realizes wind turbine front windward, or carries out lateral deviation protection to generator, it is ensured that Generated output power is less than its rated power, and yaw condition includes yaw angle θ and generated output power P_w.Work as wind speed and wind Yaw angle θ ＞ θ are detected to instrument 5_minMinimum yaw angle or generated output power P_w>P_NWind turbines rated power, wind Machine meets yaw condition.

3) it suspends and prepares.Since cabin quality is larger, floating velocity, suspended state and yawing velocity etc. seriously affect wind Electrical system safety must be suspended and be yawed preparation before cabin suspension thus.Pass through the wind speed and direction of acquisition, yaw angle Degree is preferred to calculate suspending power and fan yaw load torque needed for cabin, provides 9 institute of 8 levitating current of suspending windings and yaw winding Electric current need to be yawed.

4) cabin suspends.In the startup stage that suspends, H bridges current transformer is powered to suspending windings 8, and suspending windings electric current is remote at this time Much larger than electric current needed for stable suspersion, current regulation is completed based on the suspension air gap sensor 17 installed on yaw supporter 11 , suspension suction is generated between the main field that levitating current generates in suspending windings 8 and suspension pylon 14, floating cabin starts In the process, relative motion and velocity variations are generated between suspending windings 8 and circular ring shape aluminium sheet 6, generate eddy current damping power, hinder machine Floating velocity too fast variation in cabin improves suspending windings current control stability, realizes the stable suspersion of cabin；When cabin is suspended into When target air gap, extraneous RANDOM WIND interference easily makes cabin tremble, and circular ring shape aluminium sheet 6 will generate eddy current damping, stabilize suspension gas Gap high frequency section, while permanent magnet under the pitching adjustment suspension 14 and suspension of supporter 11 is yawed, passive regulation and control pitching suspends Stablize.

5) cabin yaws.After yaw supporter 11 drives cabin to be suspended into reference position, BUCK current transformers 28 will generate electricity The 1150V decompressions of machine DC bus-bar voltage, while three-phase inverter 29 is started, it is passed through symmetrical alternating current electricity for yaw winding 9, three is opposite Claim winding 9 under the effect of 8 excitation of suspending windings, generates electromagnetic torque driving yaw supporter 11 and rotate, cabin 2 is driven to yaw Wind or lateral deviation are protected, in During yaw, extraneous RANDOM WIND interference often makes cabin pitching occur or the fluctuation that suspends, annulus Shape aluminium sheet will generate eddy current damping power, quickly stabilize influence of the extraneous RANDOM WIND to cabin suspension air gap, and pitching adjusts on suspension Permanent magnet 12 and pylon support on permanent magnet 13 between the suspension magnetic force that generates, the fluctuation of assistant regulating and controlling axial suspension air gap, 11 inside vertical permanent magnet body 10 of supporter and the vertical permanent magnet body 20 on the outside of suspension pylon are yawed simultaneously, and it is passive to generate suspension repulsion It stabilizes and moves horizontally, yaw the rotation of supporter, be finally completed yaw under cabin stable suspersion and wind or crosswind are protected.

6) cabin is landed.When anemoclinograph 3 detects yaw angle θ≤θ_minOr P_w=P_N, cabin, which yaws, to be terminated, three-phase Inverter 29 stops powering to yaw winding 9 first, then regulates and controls 27 electric current of H bridges current transformer, and pitching adjusts suspension permanent magnet Under the action of slowly land, circular ring type aluminium sheet by generate eddy current damping power passively slow down cabin suspension land, prevent to suspend The impact of pylon, when the convex ditch of circular ring shape on yaw supporter enters in the groove of suspension pylon, cabin yaw terminates.

It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but not to this practicality newly The limitation of type protection domain, those skilled in the art should understand that, based on the technical solution of the present invention, ability Field technique personnel need not make the creative labor the various modifications or changes that can be made still in the protection model of the utility model Within enclosing.

Claims (3)

1. a kind of magnetic suspension wind yaw device for leading passive coordinated regulation, feature includes cabin, yaw supporter, pitching tune Whole suspension and suspension pylon, the common pitch stiffness for completing yaw supporter is promoted, the fluctuation of high frequency air gap is stabilized, horizontal displacement quilt Dynamic adjustment, suspension air gap active control and cabin yaw control, realize that active yawing is windward under cabin stable suspersion；The machine Blade is placed in cabin front end, captures wind energy and drives electrical power generators, and damping tailing axle, cabin rear side setting are arranged on rear side of generator 4mm thickness aluminium sheets install permanent magnet on generator damping tailing axle, generate eddy current damping power with aluminium sheet on rear side of cabin, stabilize generator Horizontal direction shakes and displacement, and wind speed wind direction sensor is arranged in cabin rear end；The yaw supporter, which is swung to, is placed on suspending column On frame, support suspends and yaws cabin, and 4 air gap sensors are orthogonal to be mounted in the torus of yaw supporter lower end, detection The air gap variation of 4 quadrature positions, the setting of yaw winding in the torus of yaw supporter lower end, and through three-phase inverter, BUCK current transformers and the coupling of the DC bus of wind-driven generator generator-side converter wear；Yaw vertical setting magnet ring in the middle part of supporter The magnet ring band of vertical setting on the outside of band, with pylon forms the passive adjustment mechanism of cabin horizontal displacement；The circular ring shape Aluminium sheet is embedded in yaw supporter upper surface engine room foundation, corresponding with the suspending windings installed on suspension pylon, increases yaw branch Support body axial suspension damps；The pitching adjustment suspension is mounted on yaw supporter engine room foundation lower face, and shape is T shape cylinders Body structure moves down the whole center of gravity of yaw supporter and cabin, promotes the pitch stiffness of yaw supporter, and axis is arranged in suspension lower end It to permanent magnet, cooperates with the homopolarity permanent magnet of pylon inner support setting, passively stabilizes the fluctuation of axial suspension air gap；It is described outstanding Floating pylon is cabin and yaws the support platform of supporter, and toroidal cavity is arranged in upper end, convex with the annulus on yaw supporter Ditch corresponds to, and horizontal movement of the limitation yaw supporter on suspension pylon, it is staggered that 16 N/S are arranged in suspension pylon upper end Suspending windings, and at circular row, active levitation yaws supporter, makes cabin stable suspersion in the suspension air gap of setting 10mm；Pylon inner support is arranged in suspending column frame, and the permanent magnet with pitching adjustment suspension opposite magnetic pole is arranged on platform.

2. the magnetic suspension wind yaw device of the passive coordinated regulation of master according to claim 1, it is characterized in that the pitching Rigidity is promoted to be completed jointly by pitching adjustment suspension, yaw supporter and pylon inner support, and pitching suspension moves down cabin center of gravity； Column foot inner support generates repulsion with pitching adjustment two permanent magnet of suspension, increases pitch stiffness；High frequency air gap fluctuation stabilize by Circular ring shape aluminium sheet and suspending windings collaboration complete, yaw supporter on circular ring shape aluminium sheet under high frequency axial displacement wave action, It generates eddy current damping power and passively stabilizes suspension air gap high-frequency fluctuation；Passively adjustment is by being fixed on yaw support for the horizontal displacement The magnet ring band of internal side and the magnet ring band collaboration on the outside of suspension pylon are completed, and permanent magnet is S/ on the inside of yaw supporter N is arranged, and permanent magnet N/S settings on the outside of suspension pylon, two magnet rings generate horizontal repulsion, stabilize the level of fan blade generation Thrust.

3. the magnetic suspension wind yaw device of the passive coordinated regulation of master according to claim 1, it is characterized in that the suspension Air gap active control be by DSP28035 main control units, air gap sensors, H bridges current transformer and BUCK current transformer collective effects, Regulate and control what suspending windings electric current was completed；The cabin yaw control is after axial suspension air gap stabilization, and yaw winding is by three-phase Inverter leads to three-phase alternating current, and is measured according to wind speed wind direction sensor and speed probe by main control unit DSP28035 inclined Angle of navigating implements control to yaw rotating speed.