DE2922972A1 - CONTROL SYSTEM FOR A WIND TURBINE GENERATOR - Google Patents

Description

The invention relates to the exploitation of wind energy to drive a wind turbine for the generation of electrical power and relates in particular to a control system which automatically influences the blade pitch angle of the wind turbine blades in order to regulate either the electrical output power, the shaft torque or the speed and the effects of To minimize gusts of wind and turbulence and to reduce stress on blades and other mechanical parts.

Attempts to tame the iiatiirkräfr ^ sun. * \ ^: -.;. h..ls ils-? People are in the earliest history "■"&: .- ■ 'iivh.:ist, Sine

90968 "/ 0653

the first practical application was the use of wind energy to drive windmills to generate power. Concern that the sources of energy available in the world finally coming to an end has interest in the generation of power from naturally occurring phenomena renewed and designed to develop various schemes to be economical, effective and reliable Generating this achievement led. As a result, the windmill has emerged as a partial solution to meeting the world's increasing demand for energy received considerable attention.

The basic problem with those generated by windmills or wind turbines Performance is not its total availability, but the taming of this performance in an efficient manner and the delivery the same in the appropriate form in which they can be used for public power supplies or for isolated stations is * In many places there are winds, at best, with regard to them Direction and speed unpredictable and the availability of usable output power to any given one Time is uncertain. The amount of available power changes with wind speed and gusts of wind cause temporary ones Changes in output power. The windmill output While it can be used directly to drive mechanical devices, it is most useful however, in electrical form in which it can be transferred to new or existing electricity networks in order to through To be used in industry and households. The rotary energy of the windmill is used to generate usable electrical power used to drive a dynamo that generates alternating or direct current as required. In some In some cases, the DC output is used to recharge large storage batteries, which are electric when needed Deliver performance. The use of storage batteries generally requires converting direct current to alternating current via static inverters or other devices. If instead of direct current power, alternating current power via a synchronous generator driven by a windmill

909881/0653

rator is used, the frequency and phase of the AC power as well as the AC power must be determined self-regulating before the AC power is supplied to commercial users or into existing power grids can be fed.

It has been shown that the regulation, which is used to generate electrical power from a wind turbine driven by a wind turbine Synchronous generator is required, can be done by adjusting the angle of attack of the wind turbine blades in a way is changed, which is analogous to the blade pitch control for an aircraft propeller. U.S. Patent 2,363,850 describes an alternator driven by a wind turbine with one controlled by a speed governor Mechanism for changing the angle of the wind turbine blades between full vane position and full power position. There are devices for regulating the electrical output frequency, the phase and the power and for Switching off the electrical generator at wind speeds that are too high or too high for generating the desired power are too low. The US-PS 2,547,636 describes an automatic speed control for a wind turbine for Regulating the charging speed of a storage battery, the speed regulation consisting of mechanical devices, which respond to the wind speed and change the blade pitch. U.S. Patent No. 2,583,369 describes a similar one Regulation for the mechanical adjustment of the blade pitch to a relatively constant speed of the electric generator and thereby maintain a relatively constant AC output frequency.

The US-PS 2,795,285 describes a control for changing the rate of change of the load, the speed or the voltage of a wind-driven motor by changing the angle of attack of the wind turbine blades in the manner of a closed

909881/0653

its control loop. US Pat. No. 2,832,895 describes another device for adjusting the blade angle of a Wind turbine, the device being responsive to a predetermined load on a battery or to sudden gusts of wind.

The basic problem with the known devices is that they are not fast enough or with sufficient accuracy respond in order to limit the stresses in the blades and other mechanical parts to permissible values. They are overly affected by gusts of wind and turbulence and cannot provide a satisfactory power control all in one sustained wide range of wind conditions to connect to a conventional utility grid or a power distribution system. At high wind speeds even weak turbulence creates considerable fluctuations in power and can cause the generator to run is disconnected from the network.

The invention overcomes the limitations of the prior art and creates a very responsive and fast acting angle of attack control for the blades of a wind turbine. The control keeps the electrical alternating current frequency, the phase, the speed, the torque and the power within the desired tolerances and also determines the blade pitch angle during start-up and shutdown according to a plan in order to prevent undesirable loads on the mechanical parts. The regulation is adaptive, since the blade pitch regulators respond to the wind speed size and to reductions in the wind speed and for a satisfactory performance? Torque and speed control ensure »The control system works preferably electronically _y is therefore fast acting and can be implemented inexpensively with digital computers or microprocessors»

The invention accordingly creates an improved blade pitch = ■ angle control system for a wind turbine, which the wind turbines = IsXattan angle of incidence taking into account a large aasalil

SQiSiI / QSSD

influenced by operating conditions.

The invention also provides an electronic blade pitch control for wind turbines, which determines the blade angle according to a plan, the blade stress and changes in shaft torque to minimize start-up and shutdown transitions.

The invention also provides an electronic blade pitch control for wind turbines that control the speed, torque and power output of a turbine-driven synchronous generator regulates in the manner of a closed control loop.

The invention also creates a closed blade pitch control loop for a wind turbine in which P, I and D control signals are generated and the loop or control gains can be changed continuously depending on the wind speed.

The invention further provides an electronic control that regulates the AC output power of a wind turbine-powered Synchronous generator at a predetermined value and at a predetermined frequency and phase and the feeding of the Automatically regulates AC power in a network.

The invention also provides a power generation system with a wind-powered turbine that adjusts the blade pitch compensated for rapid changes in the wind.

The control loop according to the invention for a wind turbine-driven one The generator contains an integrator that follows the blade angle of the wind turbine even when the control is inactive is.

Furthermore, the invention creates a wind turbine-driven generator system, in which the speed from system operating

909881/0653

meters is synthesized.

In the case of the wind turbine-driven generator, according to the invention the turbine blade angle as a function of either the generator speed or the generator power depending on the connection of the generator to a power transmission network regulated.

According to the invention, a wind turbine with a variable blade angle via a conventional transmission with a Synchronous generator connected to produce alternating current power which is used directly for supplying a load or for feeding a conventional power grid system can be used. During start-up and during shutdown of the wind turbine, the blade pitch angle is determined by closed-loop control devices as a function of the rotor speed and the wind speed as planned. If the generator is operated independently of a network, the Blade pitch angle determined by a closed rotor speed control loop, which in addition to lead compensation with P, I and D control signals works. When the generator is connected to a power supply network, the blade pitch will be determined by a closed torque or generator power control loop with P, I and D control signals is working. In the case of generator power or shaft torque control, the rotor speed control is modified in such a way that that it acts as a peak or overspeed protection. The gains in the closed control loops are dependent continuously changed by the wind speed in order to optimize the stability and the transient response. The wind speed can be sensed directly or synthesized as a function of system operating conditions. The control system for the blade pitch is very sensitive to gusts of wind and speaks via an anticipatory control signal quickly, which is added to the control loop signals during rapid changes in the wind conditions, in order to avoid mechanical To minimize stress. An integrator in the

909881/0653

closed control loops is controlled via a feedback loop in order to track the blade angle even then, when the closed control loops are inactive. The rule system is specifically designed to be implemented using suitable for digital electronics, but analog electronic circuits can also be used.

Several exemplary embodiments of the invention are described in more detail below with reference to the accompanying drawings. Show it:

1 shows an example of a wind turbine,

Fig. 2 is a circuit diagram showing the mutual

Relationship between the turbine blades, the electrical power generation system and the blade pitch control system shows

Fig. 3 is a circuit diagram of the blade pitch

control system of Fig. 2,

Fig. 4 is a diagram showing the acceleration rate

gel plan for the blade angle shows

Fig. 5 is a diagram showing the delay rule

shows plan for the blade pitch,

Fig. 6 is a block diagram of the rotor speed re

gel plan,

Fig. 7 is a block diagram of the wind anticipation

control plan,

Fig. 8 is a block diagram of the shaft torque

control plan,

909881/0653

Figure 9 is a block diagram of the gain

plans for the control loops of Fig. and 8,

Fig. 10 is a block diagram of a modification of the

Gain planning shown in Fig. 9 using a synthesized one Wind speed and

11 is a block diagram of alternative Re

gel circles for the blade pitch.

Fig. 1 shows an example of a wind turbine construction, which consists of two diametrically opposed, identical rotors or Propeller blades 10 consists, which are typically a total of 30.5 m to 91 m in diameter, and on an open Lattice tower 12 is mounted, which ensures a sufficient ground clearance of the leaves and this in one area brings relatively high wind speed. The rotor blades are generally made of aluminum, steel or fiberglass manufactured. The electrical power generation unit and other mechanical parts are contained in a cell 14 and mounted on a support plate, not shown. The rotor blades 10 are at the end of the cell 14, downstream of the tower arranged so that they cannot touch the tower if they hit under shock load. A yaw control (not shown) can be provided to rotate the airframe 14 and the rotor blades downwind in the event of slow changes in a weather front instead of allowing the rotor blades to move freely around the yaw axis and sudden displacements of the To follow wind direction. The cell 14 contains the hub for the rotor blades, a gearbox, and a hydraulic adjustment device for the rotor blades, a synchronous generator for generating electricity from the rotation of the rotor blades and the necessary gear drives and control devices.

Fig. 2 shows the turbine blades 10, which are loaded on a hub 16

909881/0653

are fixed, and the electrical power generation system and the blade pitch control system, which in the cell 14 of Fig. 1 are included. The electrical power generation system, which is shown as a synchronous generator 26, and the mechanical part of the angle of attack control device for the Turbine blades 10 are well known and will therefore not be described in detail.

A shaft 18 is connected at one end to the hub 16 and at the other end to a conventional transmission 20, which translates the rotary motion of the wind-driven turbine in a ratio that depends on the number of pole pairs in the synchronous generator 26 and depends on the desired output frequency of the synchronous generator. In a typical facility a wind turbine rotational speed of 40 rpm is converted in the transmission 20 into a rotational speed of 1800 rpm, to generate a 60 Hz alternating current with a standard synchronous generator.

The output shaft 22 of the transmission 20 is connected to the synchronous generator 26 at its other end. A conventional one Slip clutch can be inserted between the output shaft 22 and the synchronous generator. The synchronous generator 26 typically has a constant magnetic field and an armature carrying alternating current in synchronism with armature rotation and at a frequency which is the product of the number of pole pairs in the synchronous generator and the rotational speed in Revolutions per minute is. The electrical output power of the generator 26 is via a line 28, a switch 40 and a line 34 delivered to a load (not shown). The generator 26 may be single-phase or single-phase have three-phase output. The load can be a storage battery or some other energy storage device in which If conversion to direct current may be necessary, or the power can be delivered directly to a remote system in which case the frequency and phase of the output

909881/0653

performance can be critical. Typically, however, the alternating current power of generator 26 is fed into a network one public power supply, via which they are transmitted to a remote location by means of power transmission lines will. In this case, the phase relationship between the utility grid and the generator output power quite critical as the phase relationship is a measure of the power transmitted from one to the other and is a phase mismatch between the output of the synchronous generator 26 and the power transmission network not only the efficiency of the system reduced, but can actually lead to the power transmission network being drawn instead of supplied will. Changes in performance can lead to overheating and damage to the synchronous generator. That is why with the synchronous generator 26 is connected to an automatic frequency and phase synchronizing circuit 30, the structure of which is known. The synchronization circuit 30 ensures that the frequency and phase of the synchronous generator match those of the load or of the network must be adapted before the synchronous generator is switched "on line". Signals that the frequency and the Display phase at the synchronous generator output are fed to the synchronization circuit 30 via a signal line 32. A signal line 36 also provides the synchronization circuit 30 with the frequency and phase of the load or of the network, which appear on a line 34 when the switch 40 is open. The automatic synchronization circuit 30 compares the frequency and phase of the synchronous generator with those of the load and, if synchronism is present, a discrete signal is emitted by the synchronization circuit 30 via a line 38, which the switch 40 closes and connects the synchronous generator "on line" - i.e. directly. The discrete signal on line 38 is also supplied to the blade pitch controller 46 described below.

When the synchronous generator 26 is operating at the desired frequency but is not in phase with the load, from

909881/0653

the synchronization circuit 30 emits a signal via a signal line 42 to the blade pitch controller 46, which adjusts the rotor speed and thus the frequency and the phase at the output of the synchronous generator to the following synchronization described in connection with FIG.

Since the output frequency of the synchronous generator by the Rotational speed of the wind turbine is controlled, requires maintaining a predetermined electrical Output frequency, which can be for example 60 Hz, a precise regulation of the wind turbine speed of rotation. The most practical way of regulating the wind turbine speed and thus the generator speed and -output frequency consists in changing the angle of attack of the rotor blade in order to prevent the wind turbine from accelerate with increasing wind speed or slow down with decreasing wind speed. In order to prevent speed fluctuations that occur with unpredictable gusts of wind, the control for the Blade angle adjustment device be very responsive.

According to the invention, as shown in FIG. 2, there is an angle of attack actuator 44 provided the known hydraulic actuators and connections similar to those of them used in aircraft propellers, but on a larger scale. A control valve in the hydraulic part of the Angle of attack actuator 44 responds to an electrical signal from the blade angle of attack controller 46, which via a Line 48 is transmitted. The preferred control valve in the pitch actuator 44 is a two stage Hydraulic unit with a high adjustment speed that controls the angle of attack via conventional connections and lever moves. The signal on line 48

909881/0653

is proportional to the blade angle error ß ", which is the difference between the target or reference _{blade angle of attack} β Ώ, which is determined by the blade angle controller 46 (FIG. 3) according to a plan, and the actual blade angle of attack ß _Ä . The Istblattanstellwinkel ß _Ä is measured by a transducer 50 which is disposed in the Anstellwinkelstellantrieb 44, and an electrical signal representing the Istblattanstellwinkel is delivered to the Blattanstellwinkelregler 46 via a signal line 52nd

The blade pitch regulator 46 is used to adjust the pitch angle to influence the blades so that mechanical stresses during start-up and shutdown and while gusts of wind are minimized. It is also used as part of a closed loop to control the wind turbine rotor speed and thus the electrical output frequency in a control mode or the generator output power or to control the shaft torque in another control mode, depending on the type of load. if For example, the wind turbine and the generator are used as an isolated generator station is the wind turbine rotor speed control generally sufficient. However, when the generator is switched to a network, it is a Shaft torque or generator power control required. In any case, the control system must be based on wind turbulence respond to maintain a reasonably constant generator output. The blade pitch regulator 46 adds the target blade pitch angle β, taking into account selected operating states and reference signals a plan and ensures a quick adjustment of the blade angle from a full feathering position of + 90 ° to a full power position of 0 °. Since the rotor blades are not flat but have a certain twist, will the angle of attack in degrees related to the pitch of the blade at 3/4 of the outer distance along the blade from the hub.

909881/0653

To supply the blade pitch controller 46 with the necessary data, the rotational speed of the wind turbine rotor can be sensed by a transducer 54 connected to the hub 16, which is, for example, a gear to which a magnetic pick-up is assigned, which is connected via a line 56 supplies an electrical signal proportional to the rotor speed N _0. A similar type of transducer 58 may be connected to the shaft in synchronous generator 26 to provide an electrical signal over line 60 _{proportional to the speed N Q of} the synchronous generator. A transducer 62, for example a strain gauge or several strain gauges with different orientations, can be connected to a shaft in the transmission 20 or to the shaft 18 or 22 in order to sense the shaft torque Q and to supply a signal proportional thereto to the blade pitch controller 46 via a line 64 . The output power (or the output current) P-, of the synchronous generator 26 can be measured and fed to the blade pitch controller 46 via a signal line 66 which is connected to the output line 28 of the synchronous generator. Further signal transmitters, amplifiers and / or attenuators may be required, but have not been shown for the sake of simplicity.

A plurality of sources for fixed or variable reference signals, which can be simple voltage levels in analog format or a digital word in digital format, are also connected to the blade pitch regulator 46. A rotor speed reference signal N_. REF is generated in a block 69 and fed to the controller 46 via a line 70. A torque reference signal Q REF is generated in a block 67 and fed to the controller 46 via a line 68. A reference signal denoted by AN _R REF, which is used for overspeed control, is generated in a block 71 and fed to the controller 46 via a signal line 72. A signal labeled FLAG POSITION that is used

909881/0653

to bring the wind turbine rotor blade into the feathered position, is generated in a block 73 and fed to the controller 46 via a signal line 74 and a switch 76.

The wind speed is sensed by a wind speed sensor 78 which is preferably attached to the cell 14 of Figure 1 or some other location where it is not affected by the rotation of the wind turbine. The wind speed sensor 78 measures the actual wind speed and outputs a signal indicating this via a signal line 80 to an averaging circuit 82, which is an electronic integrator or a digital or microelectronic unit, which carries out statistical processing and the mean wind speed over a selected period of time. _{The output signal V WA of} the averaging circuit 82, which represents the mean wind speed, is output to the controller 46 via a signal line 84.

For the purposes of the present description of an exemplary embodiment According to the invention, it is assumed that the synchronous generator 26 begins to generate usable power at wind speed of 8 mph, and its rated output of, for example, 100 kW at wind speed delivers at 18 mph. It is further assumed that the nominal rotor speed is 40 rpm at which is generated by the generator 26 an output alternating current with a frequency of 60 Hz.

The details of a preferred implementation of the blade pitch regulator 46 of FIG. 2 are shown in block diagram form in FIG. The regulator 46 consists of one Acceleration control plan (setpoint generator or schedule) 86, a rotor speed control plan 88, a wind anticipation control plan 90, a torque control plan 92 and a delay control plan 94. The operation of the Wind turbine can be divided into four modes of operation,

909881/0653

namely start-up, rotor speed control, torque control (or power control) when the wind turbine is connected to a public Power grid is connected, and flagging or shutdown. The controller 46 takes a no-feedback loop Scheduled control of the rotor blade angle of attack during start-up and shutdown and regulation the rotor blade pitch angle in a closed control loop (i.e. with feedback) for the speed and torque (or power) control. Furthermore the gains in the rotor speed control plan 88 and the torque control plan 92 are taken into account the wind speed is changed by a reinforcement plan 95 via a signal line 97.

Each of the five plans (setpoint generators or schedules) 86, 88, 90, 92 and 94 provides an output signal which represents a setpoint blade pitch angle for the particular operating conditions of the wind turbine and is referred to as a blade angle reference signal. The output signal of the acceleration control plan 86, that is to say an acceleration _{blade angle reference signal β c,} appears on a signal line 96 and is fed to a maximum value selection circuit 98 as an input signal. The output signal of the rotor speed control plan 88, ie a rotor speed control blade angle reference signal β appears on a signal line 100 and is fed to a summing point 102. The output signal of the wind anticipation control plan 90, ie a wind anticipation blade angle reference signal β _ANql appears on a signal line 104 and is also fed to the summing point 102, where it is added to the rotor speed regulation blade angle reference signal β. The output signal of the summing point 102 on a signal line 106 is therefore the sum of the rotor speed control blade angle reference signal ß _N and the wind anticipation blade angle reference signal ^ß ANT * ^{The signal on the} line 106 is also fed to the maximum value selection circuit 98 as an input signal.

909881/0653

The output signal of the torque _{control plan 92, ie a torque control blade angle reference signal β Q} appears on a line 108 and is fed to a summing point 110, where it is also added to the wind anticipation blade angle reference signal β _{A → T} on the line 104. The output signal of the summing point 110 is output via a line 112 as a third input signal to the maximum value selection circuit 98.

The maximum value selection circuit 98 selects the one signal on lines 96, 106 or 112 which requires the greatest blade angle, i.e. the signal that specifies the blade angle as planned to the vane position or 90 ° as close as possible, off and lets this signal through. During start-up of the wind turbine, the selected signal normally becomes the acceleration blade angle reference signal ß_ be on line 96 and when the rotor speed increases and the nominal speed approaches, the selected signal will normally be either the signal on line 106 or the signal on line 106 Line 112, depending on whether the synchronous generator is switched on is or not.

The output of the maximum value selection circuit 98 on line 114 is input to a summing point 116 fed. It also provides summing point 116 as an input the FLAG POSITION reference signal on the line 74 supplied. However, when switch 76 on line 74 is open, no signal appears on line 74 and that The output of the summing point on line 118 is identical to that on line 114, i.e., the output of the Maximum value selection circuit 98 identical.

The output of the delay control scheme 94, i.e., a delay blade angle reference signal β appears on a Signal line 120 and is used as the other input signal along with the signal on line 118 of a minimum value selection circuit 122 supplied. The minimum value selection circuit

909881/0653

selects the signal on lines 118 or 120 and leaves this signal, which requires the lowest blade angle, i.e. the blade position that is at full power or closest to 0 °. During normal operation, the signal selected by the minimum value selection circuit is the one on line 118. However, if the wind turbine is to be shut down quickly, the flag position switch is activated 76 closed and the FLAG POSITION reference signal appears on line 74. This signal is requested a very large blade angle. At this time, asserts the signal on line 120, i.e., the acceleration blade angle reference signal ß has a lower blade angle and is the signal that is generated by the smallest value selection circuit is selected. The selection of the signal ß allows the speed with which the blade angle in Fahnenstellunq in order to minimize the stresses on the blades during deceleration and that generated by the rotor limit negative torque.

The output signal of the smallest value selection circuit on line 124 is referred to as the resulting blade angle _{reference signal β o} and fed to a summing point 126 and compared with the actual blade pitch signal β- on line 52 to generate the blade angle error signal β "on line 48. The latter signal is fed to the angle of attack actuator 44 of FIG.

The resulting blade angle _{reference signal ß D} on the Leiis.

Device 124 is also used to track the integrator in the rotor speed control plan 88 and used in the torque control plan 92 and fed to both plans via a signal line 128.

The rule schedules 86, 88, 90, 92 and 94 are referenced 4-8 each described in detail.

The flag position switch is used to start the wind turbine

909881/0653

76 opened, causing the FLAG POSITION reference signal to open
the line 74 is switched off. The signal ß _g that on
the line 96 is generated by the acceleration control plan 86 is the signal selected at this time and it causes the angle of attack of the rotor blade 10 from a feathered position of + 90 °, in which no lift and
therefore no torque is generated, moved out and closed
the full power position is moved from 0 °. As the speed of the rotor increases, the torque delivered by the rotor decreases under certain conditions of the blade pitch
and the rotor speed. There are some rotor speed and blade pitch conditions where negative torque or deceleration occurs. As a result, the speed of the change in the blade pitch angle during start-up is not arbitrary, but rather has to be planned in accordance with the particular characteristics of the wind turbine. When the blade angle increases
can be changed quickly from the flag position
tear off the flow at the rotor blade. As a result, a controlled or scheduled change in the pitch angle is required. Changing the angle of attack at a fixed speed from the vane position
until the wind turbine rotor reaches its rated speed is an alternative that has been found useful as long as the pitch rate is changed quickly to keep the rotor blade from dwell at speeds that excite system resonances. The start-up time of the wind turbine decreases with increasing wind speed. A
Rotor with greater inertia needs to accelerate
more time. The acceleration of the blade increases rapidly with the speed of rotation.

Admittedly, sufficient power can be achieved during the acceleration of the wind turbine in that the change of the rotor blade angle of attack from the vane position to full power takes place at a fixed speed, one considerably better performance, which means faster acceleration

909881/0653

ORfGiNAL! MSPECTED

inclination and less stress at all wind speeds can be achieved by setting the blade pitch angle as a function of the mean wind speed V 1 and the rotor speed N according to plan. 4 shows, in the form of a diagram, a bivariate acceleration control plan in which the optimal acceleration blade angle is plotted against the wind speed for various rotor speeds. The minimum starting blade angle is thus determined as a function of the mean wind speed V and the rotor speed N _R. The plan of Fig. 4 is 3 implemented in the acceleration control scheme 86 of FIG., In which the two input signals V _TTA and N on the signal lines 84 and 56 appear, and the output signal SS on line 96, the acceleration blade angle reference signal _o is that corresponding to the Plan of Fig. 4 is set. The simplest implementation is digital via a read-only memory, but analog circuits can also be used. According to FIG. 4, a blade angle of + 70 ° or more is set for the start or 0 o / min, depending on the wind speed. As the rotor speed increases and torque is supplied to the synchronous generator, the blade pitch angle is gradually reduced to 0 ° until the wind turbine rotor reaches its rated speed. The curves shown in Fig. 4 include minimum blade angle limits that prevent the wind turbine rotor from generating acceleration torques that are greater than approximately 200% (or any other desired limit) of the normal rated torque, so that the blade stresses and that via the arrangement of rotor shaft and Gear transmitted torque can be minimized. During the start-up of the wind turbine, the rotor blade angle of attack is thus determined exclusively by the acceleration control plan 86.

Although it is not shown in the figures, the rotor speed

9 09881/0653

output signal N _{n of} the acceleration control plan 86 of FIG. 3

rs.

can, however, be replaced by the generator _{speed signal N r} with only minor system changes, since there is a direct relationship between the rotor speed and the generator speed via the transmission 20. The overall shape of the curves of Figure 4 will not change.

When the wind turbine speed increases in accordance with the acceleration control plan 86, the rotor speed approaches the _{value established in the rotor speed control plan 88 by the signal N R} REF on the line 70. During start-up, the Istrotor speed N ₇ on the line 56 will always be less than the target _{rotor speed N R} REF and the output signal ß _{N of} the rotor speed control plan on the line 100 will require a low blade angle, that is, if an underspeed is sensed, the rotor speed control plan is 88 set a low blade angle in order to try to increase the speed and bring the rotor and the synchronous generator to the target speed. The maximum value selection circuit 98 will not let the signal on the line 106 through at this time, since a larger blade angle is _{required by the signal β g} on the line 96. When the rotor speed N _D increases and approaches the _{value selected by the signal N n} REF, the signal β _N requires a larger blade angle, while the signal β _g requires a smaller blade angle, and a point is reached at which the control of the Blade angle is taken over by the rotor speed control plan 88.

According to FIG. 3, the rotor speed control plan 88 receives the setpoint rotor speed N ₇ as input signals. REF on line 70,

the rotor speed N on line 56 and the peak speed reference signal AN_REF on line 72. Signals are also provided to the rotor speed control schedule 88 from the automatic synchronizing circuit 30 (FIG. 2) via lines 38 and 42. The blade angle reference signal β _R is fed back via the line 128 and amplifications for the control plan 88 are supplied via the line 97.

909881/0653

In principle, the rotor speed control plan 88 compares the actual rotor speed N_ with the target rotor speed N _n REF and

κ κ

generates a rotor speed error signal, on the basis of which the P, I and D controllers set the blade pitch angle ß _N according to plan, so that a stable, quickly responding system results, which deviates in the rotor speed and thus in the alternating current output frequency caused by gusts of wind or by Loss of electrical load caused is minimized. The rate of change of the rotor speed is also monitored for an additional lead compensation. The peak or overspeed signal ΔΝ _η REF is only used when the synchronous generator is switched on. The detailed implementation of the rotor speed control schedule 88 is shown in FIG. 6.

According to Fig. 6, the Istrotordrehzahlsignal N _n on the line 56 with the target rotor speed signal N REF on the line

device 70 is compared at a summing point 130 and a speed error signal proportional to the difference between the two signals is generated on a signal line 132. The signal on the line 42 can be added to the signal N _n REF on the line 70 by means of a summing point 131 in order to establish phase synchronism between the generator 26 and the load, which is described in more detail below. The signal N _n on line 56 is also applied to a differential or D circuit 134 and the output of D circuit 134, an advance signal, is applied to a gain multiplier circuit 138 via line 136. The gain of the multiplier circuit 138 is variable as a function of the wind speed and is shown as signal K · on a signal line 97a. The variable gain feature of the present invention is described in greater detail in conjunction with FIG. The output signal of the multiplier circuit 138 is applied to the summing point 130 via a signal line 142 in the same direction as the signal N _n , so that the signal appearing on the line 132 actually corresponds to the rotor rotation.

909881/0653

number error plus a constant times the rate of change of rotor speed is.

In line 72, a switch 144 is provided, which is normally is open and thereby prevents the ΔΝ_ REF overspeed signal is present at summing point 130. However, if the synchronous generator is connected to a power supply network is, the blade angle control is switched to the torque schedule 92 (FIG. 3) and the switch 144 is closed by the discrete signal on line 38 to apply the & N REF signal to summing point 130. The signal ΔΝ-, REF has such a size and direction that

XV

it is added to the signal N ₀ REF and thereby the setpoint

XV

nerator speed is increased to a value above the nominal speed of 1800 rpm, depending on the size of the signal £ N REF. However, since the signal AN REF is only used when the

. Xv

Synchronous generator is switched on and if the blade angle control has been switched to the torque control plan 92 of FIG. 3, the signal ΔΝ_ acts. REF as an overspeed

XV

payment protection.

A signal appears on line 42 when the synchronous generator is 26 of Fig. 2 has the desired frequency but is not in phase with the load, this signal being such The magnitude and direction is that the rotor reference speed N REF on line 70 increases or decreases temporarily will. The presence of the signal on line 42 which adds to the signal N REF at summing point 131

XV

the rotor speed will be adjusted slightly until phase synchronism is achieved, at which time the signal on line 42 becomes zero.

Assume that switch 144 is open and that no signal appears on line 42. The signal on line 132 which is the rotor speed error plus a constant times the rate of change of the rotor speed

909881/0653

ORIGINAL INSPECTED

represents, P, I and D controls are then applied, which together generate the β signal on line 100. the P control includes a gain multiplying circuit 146 which has a variable gain K, which is determined via a signal line 97b according to the plan. The output of the multiplier circuit 146 is considered to be a Input signal applied to summing point 150. The I control includes a multiplier circuit 152 which is a has variable gain K, which is determined via a line 97c according to the plan. The output of the multiplier circuit 152 is applied as an input to summing point 158 over line 156. The output signal of the summing point 158 is applied via a line 160 to an integrating circuit 162, the output signal of which is applied via a line 164 to the summing point 150, where it is added to the proportional control signal will.

According to a further aspect of the invention, an integrator readjustment is used in order to keep the integrator 162 close to the resulting reference blade angle β _R when the control is inactive. The integrator output on line 164 is applied to a summing point 166 and compared to the β _R feedback signal on line 128. The output of summing point 166, which is a blade angle error signal, is applied via line 168 to an amplification circuit 170 which has a dead zone as shown in FIG. The amplification circuit 170 has the task of forcing the integral control signal, the reference blade angle signal ß_. only then

to follow if the one determined by the integrator 162 according to the schedule Blade angle in the rotor speed control deviates considerably from the resulting reference blade angle ß_. The dead zone ensures that no tracking or readjustment will take place when the schedule is set Blade angle on line 164 is close to that which the resulting reference blade angle ß_ indicates. The initial

909881/0653

ORIGINAL INSPECTED

signal of the amplification circuit 170 is via a line 172 is applied to summing point 158 and to the integrator input signal on line 156, the signal on line 172 being zero if the pitch error is within the dead zone and is nonzero and added to or from the integrator input is subtracted if the blade angle error is outside the dead zone.

The D control comprises a multiplier circuit 174, which has a variable gain K _D , which is set according to the plan via a signal line 97d. The output signal of the multiplication circuit 174 is output to a differentiation circuit 180 via a signal line. The output signal of the differentiating circuit is applied via a line 182 to a summing point 184, where it is combined with the integral and proportional control signals from the summing point 150 which appear on a line 186. The output of summing point 184 is the rotor speed control blade angle reference signal β on line 100.

In some cases, D circuits 134 and 180 of Figure 6 are not required and can be omitted or the respective gains K ^ on line 97a and K _ND on line 97d can be reduced to zero. The need for lead compensation depends on the type of operating variable being sensed.

Torque control schedule 92 (FIG. 3) is used to track rotor shaft torque changes and to minimize rotor blade stresses due to wind gusts and turbulence when using the synchronous generator is connected to an electrical network. The preferred schedule feels the torque Q on the wind turbine with the synchronous generator connecting shaft as the main control variable. The actual shaft torque signal Q appears

909881/0653

on signal line 64 and the desired operating torque signal Q REF appears on signal line 68. Torque control plan 92 is similar to rotor speed control plan 88 in that that the actual torque Q is compared with the target torque Q REF and that the

resulting difference or error signal is used to calculate the rotor blade angle via proportional plus integral plus To influence differential controls, so that a stable, fast-responding control loop is available, which Changes in torque are minimized. The correct selection of the control gains in connection with a fast acting one Angle of attack control device ensures damping of the torsional resonance resulting from the inertia of the wind turbine and the spring constant of the wave results. The control gains are also selected so that there are gusts of wind torque deviations that can be traced back are minimized. Damping the torsional resonance of the wind turbine rotor helps Reduce blade loads, gear loads, and shaft torques, and allows the use of a faster responding torque control loop. The output of the torque control schedule 92 is the torque control blade angle reference signal ß_ appearing on line 108. The feedback of the pitch reference signal β takes place via line 128 and the planned gain is established via line 97.

The torque control plan 92 generates the torque control blade angle _{reference signal ß n} on the line 108 only when the synchronous generator is connected, that is, only when the output frequency and the phase of the synchronous generator with those of the power supply network within the limits established by the synchronizing circuit 3 0 of FIG are in synchronism. At the same time as the output of the synchronous generator is switched on, the rotor speed control plan 88 is converted into a speed peak or overspeed control. When the generator is switched on, the wind turbine is in fact with respect to the Sollrotordreh-

909881/0653

number, N "REF plus ΔΝ_. REF, always have underspeed and

R K

the rotor speed control blade angle reference signal β on the line 100 will require a lower blade angle so that the rotor speed is increased. The torque control schedule 92 limits the blade angle in accordance with the system's torque limits and will in most circumstances require a higher blade angle, that is, a blade angle closer to vane. Since the maximum value selector circuit 98 of Fig. 3 passes the highest blade angle signal, the torque control blade angle reference signal β will be the one that is passed and the rotor speed control schedule 88 will only be effective in emergency situations when the rotor reaches overspeed, at which time the rotor speed control blade angle reference _{signal β M will be} that signal that requires the higher blade angle.

8 shows the details of the torque control schedule 92 of FIG. 3. The measured torque signal Q on line 64 and the desired torque signal Q REF on line 68 are compared at summing point 188 and a torque error signal on signal line 190 is generated . The proportional control is carried out by a multiplier circuit 192, which has a variable gain K, which is determined via a line 97e according to the plan. The integral control is carried out by a multiplier circuit 196 which has a variable gain K, which is determined via a line 97f according to the plan. The output signal of the multiplier circuit 196 is applied via a line 198 to a summing point 200, the output signal of which is applied to an integrator 204 via a line 202. The integrator output signal is then applied to a summing point 208 via a line 206 _/ where it is added to the output signal of the multiplying circuit 192 on a line 210. As in the rotor speed control plan (FIG. 6), the integrator tracking takes place by means of the reference blade angle β_, on the line 128, the

909 881/0 6S3

ORIGINAL INSPECTED

2922S72

is compared with the integrator output signal at a summing point. The difference signal is applied to summing point 200 via a line 214 and an amplification circuit 216 as well as a line 218. The amplification circuit 216 has a dead zone, which is shown in FIG. 8, so that the integrator 204 is only tracked when its output signal deviates _{considerably from the reference blade angle β R.}

The differential control is carried out by a multiplier circuit 220, which has a variable gain K _β , which is determined via a line 97g according to the plan. The output signal of the multiplier circuit 220 is applied to a differentiating circuit 226 via a signal line 224 and the output signal of the differentiating circuit 226 is applied to a summing point 230 via a line 228, where it is combined with the P plus I output signal of the summing point 208 on a signal line 232 will.

The output of summing point 230 on line 108 which is the PID torque control blade angle reference signal ß acts, goes through a switch 234. The switch 234 is only closed to the reference blade angle signal ß to allow passage when the synchronous generator is switched on and a discrete one Signal by the synchronizing circuit 30 (Fig. 3) on the line 38 is generated. The signal on lines 38 closes switch 40 (FIG. 2), connects the synchronous generator to the power supply network and closes at the same time switches 144 (Fig. 6) and 234 (Fig. 8), causing the rotor speed control schedule 88 to be in overspeed control is converted as described above and thereby also energizes the torque control schedule 92 into the system will. If the synchronous generator is disconnected from the power supply network for any reason or if the frequency and / or the phase of the synchronous generator differs from that of the power supply network, becomes the discrete

909881/0653 ORIGINAL INSPECTED

Signal on line 38 is switched off, switches 40, 144 and 234 are opened and the wind turbine returns to Rotor speed control back.

When the generator is connected to the mains and therefore the blade angle is under the control of the torque control plan 92 stands, the generator speed and thus the output frequency through the power supply network are appropriate kept constant. After switching on, the power supply network keeps the speed of the synchronous generator at Mains frequency and in phase with the same. A lower rotor shaft stiffness will reduce the spring constant of the shaft connecting the wind turbine to the synchronous generator and help to reduce shaft torque disturbances.

According to yet another aspect of the invention, further support in reducing shaft torque deviations when the generator is switched on and in reducing speed deviations when the generator is disconnected from the grid is provided by the wind anticipation control plan 90 of FIG. 3, which is shown in detail in FIG. 7. The wind anticipation control map 90 produces a signal ^ ant ^au ^ ^ ^{he Le} i ~ tung 104 for rapidly changing wind conditions for a nominal schedule of the wind turbine blade angle, block 236, in response to the wind speed V ", which as an input signal to the block 236 on the line 84 appears, and by a differentiating overlay anticipation circuit in block 237. The wind anticipation schedule in block 236 is obtained by calculating the blade angle needed to produce a constant output for different wind speeds, assuming that the Generator speed is constant at the desired reference value. Two wind anticipation plans can be used, one of which is set up for 100% power if the torque control is also connected to the grid.

909881/06 53

switched! Generator is used, and the second of which is set up for around 0% power when the generator is not switched on. In either case, signal B is on the

AIM -L

Line 104 only during rapidly changing non-zero wind conditions. The signal is to the rotor speed control blade angle reference signal ß "added at the summing point 102 and also ß to the torque control blade angle reference signal _n in the summing junction 110. If the wind speed changes, the anticipatory signal sets ß _ANT schedule a change of the blade angle determines the temporary variations in the rotor speed or minimized in torque, which would result from gusts of wind. However, strong gusts of wind will generally change the torque or speed sufficiently and cause the generator to be disconnected from the mains until the correct frequency and phase are restored.

Instead, shaft torque changes can also be achieved through a conventional slip clutch between the wind turbine and the synchronous generator can be reduced.

The use of a PID control, which is combined in an integrator with quadratic lead compensation, both in the generator speed control plan 88 as well as in the torque control plan 92 improves the stability and the responsiveness of the control loops considerably. The quadratic lead compensation leads to an underdamped anti-resonance in front of the main system resonance frequency, which results in an additional phase lead, by higher system gains and to allow a higher crossover frequency, which enables faster response and more precise control. Filtering may be necessary if the speed and / or torque sensors are too noisy.

The delay control plan 94 of FIG. 3 is shown in the form of a diagram in FIG. 5. In the case where the Wind turbine has to be shut down quickly, it is important

909881/0653

to limit the speed at which the blade angle is brought into the feathering position in order to minimize the stresses that occur on the blades when the wind turbine is slowed down. According to the invention, this limit is created in that a maximum blade angle limit value is provided, which is determined according to the plan _{as a function of the mean wind speed V r _ and the rotor speed N_.} The plan is shown for a typical wind turbine in FIG. 5, in which the delay control blade angle reference signal B _n is plotted against the wind speed V _{WA for selected rotor speeds N.} The plan of FIG. 5 is implemented in FIG. 3. Input signals of the mean wind speed, V,,

on line 84 and the rotor speed N "on line 56 to the delay control plan 94, which is typically an analog or digital generator for a bivariate function, which generates an output signal ß_ on line 120, which in turn as an input signal is applied to the minimum value selection circuit 122. During normal operation of the wind turbine, the delay control _{plan 94 generates a blade angle reference signal B n} , which requires a blade angle that is greater than that specified by the rotor speed control plan 88 or by the torque control plan 92 as planned. The signal which is passed by the minimum value selector circuit 122 will therefore be that which appears on the input line 118 and which calls for the smallest pitch angle. If the wind speed drops below the value required to produce the rated power or rated speed, the signal on line 118 will require an even smaller blade angle.

The delay control plan will only have control over the blade pitch when the wind turbine is shut down should be, i.e. when the switch 76 in the flag position signal line 74 is closed. By closing

90988170653

of switch 76 a FLAG POSITION signal appears the line 74 and is applied to the summing point 116, the FLAG SETTING signal being of such a magnitude that a signal is generated on line 118 which requires a very large pitch regardless of the signal on line 114, the other input of the Summing point 116. At this time, the signal on line 120 will always have a smaller blade angle than the signal on line 118 and the minimum select circuit 122 becomes the delay blade angle reference signal Let ß pass on line 120. The wind turbine is therefore decelerated and stopped according to the schedule of FIG. 5, which reduces the negative torque generated by the rotor is limited to a value which is approximately equal to twice the normal positive nominal torque.

It is clear that, as with the acceleration control plan 86, the generator _{speed N G can be used in} place of the rotor speed N _n in the acceleration plan.

The flag position switch 76 is shown as a hand switch, which actually works as an ON / OFF switch, since the FLAG POSITION signal is switched off by opening the switch and causing the wind turbine to accelerate. The flag position switch 76 can be closed automatically if a safety circuit is provided in the wind turbine, for example with overspeed, overcurrent or overtemperature sensors, and if this circuit is connected to switch 76 and its closure causes when an unsafe operating condition is sensed. Other mechanical devices, such as a shaft brake, can also be provided in a known manner.

Because of the non-linear aerodynamic performance of the wind turbine, it is desirable to have the control gains in the closed To change control loops depending on the operating conditions in order to improve the stability and the transient

909881/0653

optimize behavior. The preferred implementation is shown in FIG. 9, in which the mean wind speed signal V- on line 84 (FIG. 1) is fed to gain map 95 (FIG. 3) which includes a plurality of analog or digital function generators 238, 240, 242, 244 , 246, and 250, which in turn generate output signals on lines 97b, 97c, 97d, 97a, 97e, 97f and 97g, respectively, which control gains K, K, K, K ·, K ₀ , K _{Represent 0} or K 0n. The control gains are fed to the appropriate gain multiplier circuits in FIGS. 6 and 8 in order to determine the gain of the multiplier circuits as a function of the wind speed. The gain curves shown in the function generators of Fig. 9 are only given as an example, as the actual gains will depend on many factors and cannot be precisely determined without an analysis of the specific construction and components of the wind turbine.

Instead of the planned setting of the control gains as a function of the mean wind speed, as in FIG. 9, the control gains can be set as a function of a synthesized wind speed according to a plan, which is a function of the turbine blade angle of attack and the shaft torque. A preferred implementation corresponding to this aspect of the invention is shown in FIG. 10, in which signals representing the actual blade angle β and the shaft torque Q on lines 52 and 64, respectively (FIG. 1), the gain map 95 and therein an analog or Digital generator 252 are supplied to a bivariate function in which the shaft torque Q in dependence on a synthesized wind speed V _"q for multiple rotor blade angle ß _Ä is varied. The output of function generator 252, representing the synthesized wind speed V, appears on the line

909881/0653

260 and is applied to the function generators 262, 264, the rule reinforcements K or K on the lines Set 97b or 97g according to the plan. The other five gain function generators, which are shown in Fig. 9 have been omitted from Fig. 10 for the sake of simplicity. Even the curves shown in the function generators of FIG. 10 are for illustrative purposes only but are similar those shown in FIG.

Other combinations of wind speed, blade angle of attack and shaft torque, as well as others, can also be used Parameters can be used to schedule the variable control gains. Most of the known control systems use constant gains in the control loops, with the advent of inexpensive digital microcomputers but it has become easy and cheap to provide variable gains in the control system.

FIG. 11 shows a modification of the blade pitch angle controller 46 from FIG. 3, in which the rotor speed control plan 88 by a generator speed control plan 266 and the torque control plan 92 by a generator power control plan 268 has been replaced. In the generator speed control plan, the actual generator speed ISU is on the signal line 60 with a

\ j

ner setpoint generator speed KL, REF, which is generated in a block 269 and appears on signal line 270 is compared to produce an error signal and P- plus I- plus D-controls with variable gains are in the control schedule 266 in a similar manner as it is with reference to Fig. has been described, included to a generator speed blade angle reference signal ß "to generate on a signal line 272. The overspeed control takes place in that to a signal ΔΝ REF is added to the signal N_ REF, which in is generated in a block 273 and appears on a line 274 when the synchronous generator is switched on. The integrator tracking is also as in Fig. 6 using the reference blade angle signal ß_ on the line

909881/0653

128 made. The variable gain inputs to block 266 are not shown.

The generator power control plan / shown in block 268 in FIG. 11 is similar in its operation to the torque control plan 92 of FIG. 8. The electrical output P 1 of the synchronous generator on line 66 in FIG. 1 (or instead just the output current ) is compared to a generator setpoint or generator power reference signal P- REF, which is generated in a block 279 and appears on a line 280 (or instead with a generator setpoint or generator current reference signal) to generate an error signal, and proportional plus integral plus differential controls, variable gains, and integrator tracking are provided, similar to the control of FIG. 8, to produce a generator power (or current) pitch reference signal βp on line 282. Adding the wind anticipation control blade angle _{reference signal β ANT} to the reference _{signals β Wf} , and β and using a switch to turn the generator power control plan into the system only when the generator is turned on can be implemented in the manner described above.

In cases where more electrical power is required than can be supplied by a single wind turbine, several wind turbines are arranged in parallel, but the relevant synchronous generators are the same electrical Have to generate frequency and phase. The entry is not made by changing the size of the generated Voltages, as in the case of direct voltage generation, but by changing the input power of the wind turbines Scheduled setting of the rotor blade angle.

The operation of the control system is mainly with reference to block diagrams and function generators with no specific reference Descriptions of the structure of the same have been

909881/0653

ORIGINAL INSPECTED

the. It will be understood that the control system can be built entirely in analog format, with the different ones being used Lines appearing signals are voltage levels. However, it is also clear that the preferred implement The control system is digital, with existing microprocessors and / or digital computers for executing the necessary control functions can be used. In the digital embodiment, the conversion can be sensed Parameter signals from the analog format into digital format and the reconversion of the actuator control signals from the Digital format to analog format may be required.

909881/0653

ORIGINAL INSPECTED

Claims (43)

Patent claims: (1.) Wind turbine generator control system for an electricity generation system with an energy source driven by a wind turbine, the wind turbine being a wind-driven one Multi-blade rotor with adjustable pitch angle, characterized by: means for sensing and generating an operating variable of the electricity generation system representing the first signal, means for sensing the speed of the wind driving the rotor and producing an indicative thereof second signal, a planning (scheduling) facility, which is based on the first and the second Signal responds and generates a blade pitch signal as a function of the same, and 909881/0653 ORiGlNAL INSPECTED a blade pitch control device responsive to the pitch signal responds and adjusts the angle of attack of the rotor blades. 2. Control system according to claim 1, characterized by: a device for sensing the actual angle of attack of the rotor blades and for generating a third representative thereof Signals, and comparing means for comparing the blade pitch signal with the third signal and for generating a blade pitch error signal which the blade pitch control device is supplied to adjust the angle of attack of the rotor blades. 3. Control system according to claim 1 or 2, characterized in that the operating variable is the speed of the rotor and that the first signal is a rotor speed signal. 4. Control system according to claim 3, characterized in that the planning device contains: means for generating a wind turbine rotor speed reference signal, means for comparing the rotor speed signal with the wind turbine rotor speed reference signal to determine a wind turbine rotor speed error signal to generate, and a variable gain means for modifying the wind turbine rotor speed error signal in dependence from the second signal to generate the pitch reference signal. 909881/0653 ORIGINAL INSPECTED 5. Control system according to claim 4, characterized / that the variable gain device includes: a first multiplier circuit derived from the wind turbine ■ rotor speed error signal generates a proportional control signal as a function of the second signal, a second multiplier circuit and an integrator that converts the wind turbine rotor speed error signal into an integral control signal generate as a function of the second signal, a third multiplier circuit and a differentiator circuit, derives from the wind turbine rotor speed error signal a differential control signal as a function of the second Generate signal, and a device for combining the proportional, integral and differential control signals. 6. Control system according to claim 4 or 5, characterized by: a device for generating a detection speed signal, which indicates the rate of change of the rotor speed signal, a multiplier circuit for modifying the sense rate signal as a function of the second signal, and means for combining the modified rate of change signal with the wind turbine rotor speed error signal. 7. Control system according to claim 2, characterized in that the planning device contains: means for generating a reference signal for the 909881 / 06S3 Operating variable, means for comparing the first signal with the reference signal for the operating variable and for generating an error signal proportional to the difference therebetween, and a signal processing device for modifying the error signal in dependence on the second signal to the Generate blade pitch reference signal. 8. Control system according to claim 7, characterized in that the signal handling device contains: a first multiplier circuit, variable as a first function of the second signal, to generate a proportional control signal, a second multiplier circuit variable as a second function of the second signal and an integrating circuit in series therewith for generating an integral control signal, a third multiplier circuit variable as a third function of the second signal and a differentiator circuit in series therewith for generating a differential control signal, and a device for linking the proportional, integral and differential control signals, 9. Control system according to claim 2 _ characterized gei-e'.uizsichnr-t that the planning device entliälr; a device for lir ^ -tv-ven ν αϊ.-rcpv -. 'c:; - ^ ,.:. ^.! -, int-poral-
and Differentialregelsigii ^ liv .. vi il2h ^ ::,: -; \: ii ~ ve :: den; first 8 1/0682 Signal, means for modifying each of these control signals as a function of the second signal, and a device for linking the modified control signals. 10. Control system according to claim 9, characterized in that in that the means for generating a first signal includes means for sensing the speed of rotation of the rotor and for generating a rotor speed signal indicative thereof. 11. Control system according to claim 9, characterized in that that the generator is an electrical generator which is connected to the rotor via a shaft, and that the device, for generating a first signal means for sensing the torque of the shaft and for generating one of the same indicating torque signal contains. 12. Control system according to claim 9, characterized in that the generator is an electrical generator and that the means for generating a first signal comprises means for sensing the output power of the electrical generator and generating a generator power signal indicative thereof contains. 13. Control system according to claim 9, characterized in that the generator is connected to the rotor by a shaft, that the speed of the generator is related to the speed of rotation of the rotor and that the means for generating of the first signal contains a device which senses the speed of the generator and a generator speed signal indicating this generated" 14. Control system according to claim 9? characterized by <äa8 iöäSi1 / 0611 the generator is an electrical generator and that the means for generating a first signal comprises means for sensing the electrical current generated by the generator and for generating a generator current signal indicative thereof contains. 15. Control system according to claims 1, 2, 7 and 8 for an electrical alternating current power generating generator, characterized by: means for comparing the integral control signal with the blade pitch control signal to obtain an integral error signal therefrom to create, a dead zone tracker that contains the integral error signal receives and it attenuates when the integral error signal is outside a preselected range, determined by the dead zone, and passes the integral error signal without attenuation if it is within the preselected range, and a device that ad- * dated, thereby the integral control signal within a certain relationship to the blade pitch control signal to keep that is determined by the dead zone. 16. Control system according to claim 15, characterized in that the device for generating the first signal comprises a device which is responsive to the speed of the rotor and generates a rotor speed signal, and that the device for generating the reference signal contains a device for generating a rotor speed reference signal. 17. Control system according to claim 15, characterized. 909881 / 06S that the wind turbine rotor is connected to the generator by a shaft, that the means for generating the first Signal includes means for sensing the torque of the shaft and that means for generating the reference signal means for generating a shaft torque reference signals. 18. Control system according to claim 15, characterized in that the wind turbine rotor is connected to the generator by a shaft is that the speed of the generator is related to the speed of rotation of the rotor that the device for generating the first signal includes means for sensing the speed of the generator and that the Device for generating the reference signal, a device for generating a generator speed reference signal contains. 19. Control system according to claim 15, characterized in that the means for generating the first signal means means for sensing the electrical generated by the generator Contains power and that the means for generating the reference signal includes means for generating a Contains generator power reference signal. 20. Control system according to claim 15, characterized in that the means for generating the first signal means means for sensing the current generated by the generator and that the means for generating the reference signal includes means for generating a generator current reference signal contains. 21. Control system according to one of claims 1 to 20, characterized in that the operating variable is a speed of rotation of the electricity generation system. 22. Control system according to claim 21, characterized in that the planning facility contains a facility that is responsible for the 903881 / 06Si Acceleration phase of the rotor a minimum target blade angle of attack signal relative to the blade angle at which the blade is set to full power. 23. Control system according to claim 21 or 22, characterized in that that the planning device contains a device which a maximum target blade angle of attack signal for the deceleration phase of the rotor relative to the blade pitch signal at which the blade is set to full power is generated. 24. Control system according to one of claims 21 to 23, characterized in that the blade pitch control device contains: a device for measuring the actual blade angle of attack of the rotor blades and for generating a third indicative thereof Signals, a comparison device which compares the desired blade pitch angle signal with the actual blade pitch angle signal, and generates a blade pitch error signal, and an actuator that adjusts the blade pitch in response to the blade pitch error signal. 25. Control system according to one of claims 21 to 24, characterized characterized in that the means for sensing a speed of rotation of the electricity generation system means for measuring the speed of rotation of the rotor. 26. Control system according to one of claims 21 to 24, characterized in that the energy source is a through the rotor powered electric generator and that the. Device for sensing a speed of rotation, des 909881/0653 Electricity generating system a device for measuring contains the speed of the generator. 27. Control system according to claim 1 and 2, for a wind turbine-driven Synchronous generator that generates electrical alternating current power and for feeding this electrical power Power is provided in a power supply network, marked by: means responsive to a second operating variable of the electricity generating system and speed of the wind driving the rotor responds and generates a second blade pitch signal, a blade pitch control device that controls the blade pitch signal and receives the second blade pitch signal, wherein the blade pitch control means said blade pitch signal selects when the AC electric power generated by the synchronous generator does not match the power is synchronized in the network, and the second blade pitch signal selects when the alternating current electric power generated by the synchronous generator with the Performance in the network is synchronized, and wherein said comparing means said selected blade pitch control signal compares with the actual blade pitch signal and generates the blade pitch error signal. 28. Control system according to claim 27, with one between the synchronous generator and the mains switched switching device, characterized by a device which keeps the switching device closed, whereby the synchronous generator generated electrical alternating current power only after synchronization between the generated by the synchronous generator 909881 / 06S3 th electrical alternating current power and the power in the network is fed into the network. 29. Control system according to claim 27 or 28, characterized in that that the means responsive to a first operating variable of the electricity generating system is a Includes means responsive to system rotation speed and that means responsive to the second Operational variable of the electricity generation system responds, includes a device that is based on the performance of this Systems appeals. 30. Control system according to claim 1, for a wind turbine driven Synchronous generator that generates an electrical alternating current power, characterized by: means responsive to the operating variable of the electricity generation system responds and generates a blade angle reference signal, means responsive to changes in the speed of the wind driving the rotor and an anticipatory blade angle reference signal generated depending on, and means that receive the anticipatory leaf angle reference signal and adds the pitch reference signal, wherein the blade pitch control device is responsive to the sum of the pitch reference signals and the pitch angle adjusts the rotor blades. 31. Control system according to claim 30, characterized in that the means for generating an anticipatory leaf angle reference signal contains: 909881/0653 means responsive to the speed of the wind driving the rotor for providing a desired blade angle anticipation signal set according to plan, and a differentiator that receives the desired blade angle anticipation signal receives and therefrom the anticipatory leaf angle reference signal depending on the rate of change of the same generated. 32. Wind turbine generator control system for a wind turbine driven one Generator that produces AC electrical power, where the wind turbine has a wind-powered rotor with several blades, the angle of which is variable, characterized by: means for sensing the speed of the wind driving the rotor and generating an indicative thereof Wind speed signal, means for generating a first blade angle reference signal , which defines a minimum blade angle compared to a blade angle at which the blade is at full Power is set when the rotor accelerates, means responsive to an operating variable of the electricity generation system responds and generates a second blade angle reference signal, a device which selects one of the blade angle reference signals, a device for generating a signal which represents the actual value of the blade angle indicates means for comparing the actual blade angle signal with the selected blade angle reference signal in order to obtain therefrom generate a blade angle error signal, and 909881 / 06S3 a blade actuator that generates the blade angle error signal and, in response to this, the angle of attack of the rotor blades adjusts. 33. Control system according to claim 31, characterized in that the device for selecting one of the blade angle reference signals a maximum value selector that receives the first and second pitch reference signals and lets through that reference signal which defines the maximum blade angle. 34. Control system according to claim 33, characterized in that the device for selecting one of the blade angle reference signals further includes: a device for generating a third blade angle reference signal, which defines a maximum blade angle when the rotor is decelerated, a minimum value selection device, and means which transmit the blade angle reference signal passed through the maximum value selection means and the third Blade angle reference signal is applied to the smallest value selection device, which lets through that reference signal that the Specifies the minimum blade angle. 35. Control system according to claim 32, characterized by means responsive to changes in the wind speed signal responds and generates a wind anticipation blade angle reference signal, and a device that receives the wind anticipatory blade angle reference signal and adding the second pitch reference signal. 36. Control system according to claim 32, characterized in jsk 909881/0653 that the means for generating the second blade angle reference signal includes means for sensing the speed of rotation of the electricity generating system. 37. Control system according to claim 32, characterized in that the device for generating the second blade angle reference— signals means for sensing the power of the electricity generating system contains. 38. Wind turbine generator control system for a wind turbine powered generator that produces AC electrical power, the wind turbine having a wind powered rotor
with several blades, the angle of which is variable, characterized by: means for generating a first signal which indicates the wind speed, a device responsive to an operational state of the electricity generation system responds to generate proportional, integral and differential control signals, means responsive to the first signal and
generates individual proportional, integral and differential gain signals, a device that controls the proportional, integral and differential control signals multiplied by the proportional, integral or differential gain signals, means which control the proportional, integral and differential control signals generated by the gain signals
have been modified, linked to generate a pitch reference signal, and means responsive to the pitch reference signal, to adjust the angle of the blades. 909881/0683 39. Control system according to claim 38, characterized in that the means for generating the first signal is a wind speed sensor contains. 40. Control system according to claim 39, characterized in that that the means for generating the first signal includes means associated with the wind speed sensor is connected in order to average its output signals over a preselected period of time. 41. Control system according to claim 38, characterized in that the device for generating the first signal is a Contains function generator that generates the first signal as a bivariate function of the rotor blade angle of attack and the in the power generated by the electricity generation system according to plan. 42. Wind turbine generator control system for a wind turbine driven one Energy source, the wind turbine being a wind-powered rotor with multiple blades with variable speed Has angle of attack and wherein an actuator for changing the angle of attack of the blades as a function of operating conditions of the electricity generation system and means for synthesizing the speed of the the wind turbine driving wind are provided, characterized by: a device connected to the actuator for measuring the actual pitch angle of the blades and for generating a this indicating first signal, a device associated with the energy source for measuring the amount transmitted to the energy source by the wind turbine Power and for generating a second signal indicating this, and 909881/0653 means responsive to and as a bivariate function of the first and second signals is variable in order to generate a wind speed signal from them, which shows the speed of the wind turbine driving wind. 43. Control system according to claim 42, characterized by: a control device responsive to an operating variable of the electricity generation system for a control signal to generate, which indicates a selected blade angle, the control device proportional, integral and contains differential multiplier circuits, a device which applies the control signal to the actuator to adjust the blade pitch in accordance with the control signal to be determined according to plan, a device which responds to the wind speed signal and is variable as a function of the same, a gain signal for each of the multiplier circuits to generate, and means for adjusting the gain of each multiplier circuit corresponding to the amplification signal thereof. 909881 / 06S3