JP2005155509A - Method and device for controlling wind power generation, wind power generator, and program of control method of wind power generation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a control method and the like for suppressing variation in the number of revolutions of a windmill, improving operation efficiency, and keeping constant the power-generation output as far as possible. <P>SOLUTION: The method for controlling wind power generation includes the following processes. A dispersion estimating device 31A computes dispersion of variation in wind speed which the windmill 1 undergoes in a specified time. A target number-of-revolution-correcting device 31B determines every specified time a value of the target number-of-revolution of a rotor 10 of the windmill 1 on the basis of the dispersion computed by the target number-of-revolution-correcting device 31B, and corrects the setting of the value. A PI controller 31C controls the angle of pitch of the blade of the windmill 1 so that the rotor 10 revolves at the corrected target number of revolution. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to control of a wind turbine that rotates by receiving wind power, for example, in wind power generation.

  In wind power generation, a rotating body (rotor) included in a windmill rotates by wind energy, and power is generated by driving a connected generator. For example, after AC power output from the generator is converted into DC power by a converter, it is further converted into AC power of commercial frequency by an inverter and supplied to the power system.

  Here, in order to keep the power generation at the rated output and to prevent damage due to excessive rotation of the windmill, generator, etc., the pitch angle (hereinafter referred to as pitch angle) of the blades of the windmill is operated, and the windmill rotation speed ( Here, the number of revolutions refers to the number of revolutions per unit time). In this method, in general, in the wind region of low wind speed where the rated output cannot be obtained, in order to receive wind energy as much as possible, the pitch angle is set to 0 ° at which the rotation efficiency is the highest, and the wind turbine rotation speed by the pitch angle operation is set. The maximum power output corresponding to the wind is obtained without controlling the power. On the other hand, in the wind power region where the rated output can be obtained (the rotational region of the rotating body of the windmill), the pitch angle is manipulated so that a constant rated output is always obtained, so that the windmill rotational speed becomes constant at the target rotational speed. To control. Normally, the control system is a PI control (proportional-integral control) system or a PID control (proportional-integral-derivative control) system (hereinafter referred to as these) that makes the deviation between the target rotational speed and the windmill rotational speed (actual) zero. (Also referred to as PI control) is used (see, for example, Patent Document 1).

JP 2002-48050 A (FIG. 1)

  However, in an environment where wind fluctuations are severe, such as in Japan, the control of the wind turbine rotation speed by the normal PI control system tends to delay the response, and the pitch angle control cannot follow the wind fluctuations. There may be a case where fluctuations in the wind turbine speed that are positively correlated with each other cannot be sufficiently controlled. In particular, even when the rated output of power generation cannot be obtained at the average wind speed, the instantaneous wind speed may reach a large value such as 20 m / s. In such a case, the wind turbine rotational speed is 0 ° in the blade pitch angle. In this state (uncontrolled state), it becomes a rotation region where the rated output is suddenly obtained, and the wind speed further increases, so even if the wind turbine speed is controlled after that, the sufficient speed can be suppressed. It may become impossible to reach the mechanical upper limit speed and stop the wind power generator.

  If the wind turbine stops after reaching the mechanical upper limit (hereinafter referred to as mechanical stop), the wind generator does not automatically restart power generation. A person visits the site to perform inspections and restarts. Here, the wind power generator is often installed in a mountainous area or an oceanic area where a lot of wind energy can be stably received. Such a place is a place where a burden is considerably large in terms of time, labor, etc. for people to go. In addition, since it takes a long time for a person to restart and the wind power generator cannot be operated during that time, once the machine is stopped, the operating rate is significantly reduced, and stable power supply cannot be achieved. .

  Accordingly, an object of the present invention is to obtain a control method that can suppress fluctuations in the number of rotations of the wind turbine, improve the operating rate, and make the power generation output as constant as possible in order to solve the above-described problems.

  In the wind power generation control method according to the present invention, the step of calculating variation in the wind speed received by the windmill over a certain period of time, and the target rotational speed value of the rotating body of the windmill based on the variation are determined every predetermined time, A step of correcting the setting of the value, and a step of transmitting a signal including a command value calculated so that the rotating body rotates at the corrected target rotational speed to a blade pitch angle operating mechanism that operates a pitch angle of the blade of the windmill. And have.

  In addition, the wind power generation control method according to the present invention calculates a control value for causing the blade pitch angle operation mechanism to operate the pitch angle of the blades included in the windmill based on fluctuations in the rotational speed of the rotating body included in the windmill. , A step of calculating a compensation value for estimating a disturbance due to wind based on a change in the pitch angle of the blade operated by the blade pitch angle operation mechanism and the rotational speed of the rotating body, and a command value obtained by adding the compensation value to the control value And a step of transmitting a signal including the above to a blade pitch angle operating mechanism.

  Further, the wind power generation control method according to the present invention is configured so that the rotating body of the windmill rotates at the target rotational speed value corrected every predetermined time based on the variation in the wind speed received by the windmill over a certain period of time. Based on the rotational speed and the deviation between the rotational speeds of the rotating body, a control value for causing the blade pitch angle operating mechanism to operate the pitch angle of the blade of the windmill is calculated, and the blade operated by the blade pitch angle operating mechanism A signal including a step of calculating a compensation value by estimating a disturbance due to wind based on the pitch angle of the rotor and the rotational speed of the rotating body, and a command value obtained by adding the compensation value to the control value is transmitted to the blade pitch angle operating mechanism. And a process of performing.

  In addition, the wind power generation control device according to the present invention includes a variation estimation unit that calculates variation of a wind speed received by the windmill over a certain period of time, and a target rotational speed value of the rotor included in the windmill based on the variation for a predetermined time. Target rotational speed correcting means that is determined and corrected every time, and pitch angle control means that calculates a command value for controlling the pitch angle of the blades of the wind turbine so that the rotating body rotates at the corrected target rotational speed. I have. According to the present invention, when the wind speed fluctuates severely, an uncontrolled state is avoided to suppress an abnormal increase in the wind turbine rotation speed due to a gust of wind, so that no mechanical stop occurs and the operating rate is significantly reduced. By avoiding this, an efficient power generation process and a wind power generator can be obtained. Furthermore, since the fluctuation | variation of a windmill rotational speed is also suppressed by suppressing a target rotational speed, the stable electric power generation output can be obtained.

  In addition, the wind power generation control device according to the present invention includes a pitch angle control unit that calculates a control value for controlling the pitch angle of the blades included in the windmill based on fluctuations in the rotational speed of the rotating body included in the windmill, and the windmill. Disturbance estimation means for calculating a compensation value for estimating a wind disturbance based on a pitch angle operated by a blade pitch angle operating mechanism for operating a fluctuation in the rotational speed of the blade and a pitch angle of the blade, a control value and a compensation value, Addition operation means for transmitting the added command value as a signal to the blade pitch angle operation mechanism.

  In addition, the wind power generation control device according to the present invention includes a variation estimation unit that calculates variation of a wind speed received by the windmill over a certain period of time, and a target rotational speed value of the rotor included in the windmill based on the variation for a predetermined time. Based on the target rotational speed correcting means that is determined and corrected every time, and the deviation between the corrected target rotational speed and the rotational speed of the rotating body, the blade pitch angle operating mechanism is configured to operate the blade pitch angle operating mechanism. A pitch angle control means for calculating a control value, a disturbance estimation means for calculating a compensation value for estimating a wind disturbance based on fluctuations in the rotational speed of the windmill and a pitch angle operated by a blade pitch angle operation mechanism, and a control Addition calculation means for transmitting a command value obtained by adding the value, the compensation value, and the blade signal to the blade pitch angle operation mechanism is provided.

  Further, the target rotational speed correction means of the wind power generation control device according to the present invention corrects so that the value of the target rotational speed decreases as the variation increases.

  The pitch angle control means of the wind power generation control device according to the present invention performs control based on PI (proportional-integral) control or PID (proportional-integral-derivative) control.

  A wind turbine generator according to the present invention includes the wind turbine controller described above, and is driven based on a rotating body that is rotated by a blade controlled by a pitch angle by the wind turbine controller and the rotation of the rotor. And a generator for generating electricity.

  Further, the program of the wind power generation control method according to the present invention includes a step of calculating a variation in the wind speed received by the windmill over a predetermined time every predetermined time, and a target rotational speed value of the rotating body of the windmill based on the variation. And a step of correcting the setting of the value and a step of controlling the pitch angle of the blades of the wind turbine based on the control value calculated so that the rotating body rotates at the corrected target rotational speed. This is performed by a control means such as a computer.

  Further, the program for the wind power generation control method according to the present invention calculates a control value for causing the blade pitch angle operation mechanism to operate the pitch angle of the blade of the windmill based on the number of rotations of the rotating body of the windmill. , A step of calculating a compensation value by estimating a wind disturbance based on the pitch angle of the blade operated by the blade pitch angle operation mechanism and the rotational speed of the rotating body, and a command value signal obtained by adding the compensation value to the control value Is transmitted to the blade pitch angle operating mechanism, and the step of controlling the pitch angle of the blade is performed by a control means such as a computer.

  As described above, according to the present invention, even if the wind speed does not reach the rated output and is not controlled in the past, if the wind speed fluctuates severely, the uncontrolled state is avoided to suppress the abnormal increase in the wind turbine speed due to the gust. Since it did in this way, a mechanical stop does not generate | occur | produce, a remarkable fall of an operation rate can be avoided, and efficient power generation processing and a wind power generator can be obtained. Furthermore, since fluctuations in the wind turbine speed can be suppressed, a stable power generation output can be obtained.

  Further, according to the present invention, the fluctuation of the windmill speed that cannot be followed only by feedback control is predicted, and the pitch value of the blade is controlled by adding the compensation value. Therefore, the fluctuation of the windmill speed can be suppressed. No mechanical stop occurs. Furthermore, stable power generation output can be obtained by suppressing fluctuations in the wind turbine speed.

  Further, according to the present invention, when the fluctuation of the wind speed is severe, the target rotation speed is lowered to avoid the uncontrolled state so as to suppress the abnormal increase of the windmill rotation speed due to the gust of wind, and the fluctuation of the windmill rotation speed is further reduced. Predicting and adding the compensation value to control the pitch angle of the blade, so that mechanical stop does not occur, avoiding a significant reduction in operating rate, and obtaining an efficient power generation process and wind power generator it can. Furthermore, since fluctuations in the wind turbine speed can be suppressed, a stable power generation output can be obtained.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a wind turbine generator according to an embodiment of the present invention. In FIG. 1, a windmill 1 is composed of a rotor (rotary body) 10, a plurality of blades 11, and pitch angle operation means 12. The rotor 10 is provided at the center of the windmill 1 and is rotated by lift generated in the blade 11 that receives wind energy, and the torque generated by the rotation drives a generator 21 described later to generate power. The rotor 10 has pitch angle operation means 12 for controlling the blade pitch angle (hereinafter referred to as pitch angle) of each blade 11. The blade 11 is a blade for receiving wind energy for rotating the rotor 10, and usually one or a plurality of blades 11 are provided in the wind turbine 1. The blade 11 is operated by the pitch angle operation means 12, and the angle (pitch angle) facing the wind is controlled. The pitch angle operation means 12 is provided for each blade 11. Each pitch angle operation means 12 operates the blade 11 based on a pitch angle or a difference angle (hereinafter referred to as a command value) included in a pitch angle command signal from a pitch angle control calculation means 31 of the control calculation means 3 described later. And control the pitch angle.

  The nacelle 2 is a box for protecting each built-in device. The nacelle 2 includes a generator 21 and a yaw angle control means 22. The generator 21 generates electric power according to the driving by the rotation of the rotor 10. Here, although this embodiment demonstrates a generator as a synchronous generator, it is not necessary to specifically limit to a synchronous generator, For example, generators, such as an induction generator, can also be used. In some cases, a rotating shaft (not shown) is interposed between the rotor 10 and the generator 21. Furthermore, when it has a rotating shaft, the speed-up gear (not shown) for making the rotational drive by the side of the generator 21 faster based on the rotational speed (rotation speed) of the rotor 10 becomes a rotating shaft and the generator 21. It may be provided between. The yaw angle control means 22 controls the yaw angle based on the yaw angle command signal.

  The control calculation means 3 includes a pitch angle control calculation means 31 that performs calculation processing for controlling the blade pitch angle, a yaw angle control calculation means 32 that performs calculation processing for causing the yaw angle operation means 22 to control the yaw angle, and storage. The means 33 is constituted. The configuration of the pitch angle control calculation means 31 will be described later. The yaw angle control calculation means 32 calculates a yaw angle that causes the windmill 1 to face the wind based on a wind direction signal transmitted from an anemometer (not shown), and transmits a yaw angle command signal to the yaw angle operation means 22. Process. Here, the yaw angle control calculation means 32 not only opposes the wind but also performs a calculation to avoid the rotation being biased in the same yaw direction in order to protect the wiring. The storage means 33 stores data necessary for stable control of wind speed rotation speed and power generation, such as wind speed data, wind turbine rotation speed data, command value data indicating the pitch angle of the blade 11, at least for the time required for each calculation ( (For example, 10 minutes) is memorized at regular intervals or every moment. Further, there may be a case where a program that describes a procedure for the pitch angle control calculation means 31 and the yaw angle control calculation means 32 to perform calculation processing or the like is stored.

  The anemometer 4 measures the wind speed. The measured wind speed value is sampled at, for example, an interval of 1 second by an A / D converter (not shown) or the like, converted into digital data, and stored in the storage means 33 as wind speed data. The anemometer 4 is preferably provided at a position where the wind speed of the wind actually received by the windmill 1 can be measured without being influenced by the blade 11 or the like. The BTB board 5 is an inverse conversion device that stabilizes the frequency of the generated power.

FIG. 2 is a diagram showing a configuration according to a signal flow for pitch angle control of the wind turbine generator, with the pitch angle control calculation means 31 as the center. The pitch angle control calculation means 31 further includes a variation estimator 31A, a target rotation speed corrector 31B, a PI controller 31C, a disturbance estimator 31D, a rotation speed detector 31E, and an addition calculator 31F. The variation estimator 31A calculates the standard deviation, variance, and the like of the wind speed at regular intervals (standard deviation σ or variance σ ² depending on the moving section) based on the wind speed data for a certain time included in the wind speed history signal. A variation signal including data indicating variation due to the estimated variation in wind speed is output. Here, the results such as the standard deviation and variance of the wind speed data are defined as variations. The target rotational speed corrector 31B corrects the target rotational speed data used for the control calculation by the PI controller 31C based on the data indicating the variation calculated by the variation estimator 31A, and outputs the target rotational speed signal. .

  The PI controller 31C performs arithmetic processing based on PI control (constant value control), calculates a control value for controlling the pitch angle of the blade 11, and outputs a pitch angle control signal including the control value. In order to stably control the wind turbine rotational speed, the target rotational speed used as a reference when the PI controller 31C performs calculation is included in the target rotational speed signal from the target rotational speed corrector 31B in the present embodiment. Use target rotation speed data. The disturbance estimator 31D calculates and estimates a wind disturbance based on the command value data for a fixed time included in the pitch angle history signal and the wind turbine rotation speed data for a fixed time included in the wind turbine rotation history signal. A signal including the compensation value data is output as a disturbance compensation signal. The rotation speed detector 31E detects the wind turbine rotation speed (rotation speed of the rotor 10), and outputs a rotation speed signal including data on the wind turbine rotation speed to the PI controller 31C and the storage unit 33. A signal including wind turbine rotation speed data stored in the storage means 33 for a certain period of time is output to the disturbance estimator 31D as a wind turbine rotation speed history signal. The addition computing unit 31F receives a pitch angle command signal including a value obtained by adding the control value included in the pitch angle control signal output from the PI controller 31C and the compensation value included in the disturbance compensation signal output from the disturbance estimator 31D. Output to the pitch angle operation means 12. The compensation value is added, and the pitch angle of the pitch angle command signal is controlled by the pitch angle operation means 12, whereby feedforward control is performed.

  In the present embodiment, conventionally, the pitch angle has been constant when performing PI control in order to suppress fluctuations in the wind turbine rotation speed, which fluctuates depending on the wind conditions, and in particular to prevent mechanical stoppage as much as possible. Using the correlation between the variation due to fluctuations in wind speed and the target rotation speed for the target rotation speed, the variation estimator 31A calculates the target rotation based on the variation data calculated based on the history of wind speed data for a certain period of time. The number corrector 31B corrects and resets the target rotational speed at regular intervals. The PI controller 31C performs PI control such that the deviation is zero based on the corrected target rotational speed data and the wind turbine rotational speed data detected by the rotation detector 31E, and outputs a pitch angle control signal. .

  In addition, the disturbance estimator 31D outputs a disturbance compensation signal including a compensation value obtained by estimating and predicting wind disturbance based on the wind turbine rotation speed data history and the command value data history. Then, the addition calculator 31F outputs a pitch angle command signal including a command value obtained by adding a compensation value to a control value included in the pitch angle control signal output by the above-described PI control or conventional PI control. Based on this pitch angle command signal (command value), the pitch angle operating means 12 controls the pitch angle of the blade 11 to perform feedforward control, which is likely to occur in a place where wind conditions fluctuate. Compensate for control delays that occur in the control system and increase the ability to suppress fluctuations in the wind turbine speed. Further, the disturbance estimation is performed with higher accuracy for the rotation of the rotor 10 (wind turbine 1) by using the wind turbine rotation speed data without using the generator power generation output data and the wind speed data. In the present embodiment, the target rotational speed correction process and the disturbance estimation process are performed together to perform the wind turbine rotational speed control by the obtained pitch angle operation. However, only one of the processes may be performed. .

  Here, in the present embodiment, the control calculation means 3 is composed of independent means and devices for performing each processing, and performs control by performing data communication with signals between the devices. However, for example, a single microprocessor such as a processing unit such as a computer centering on a CPU or a signal processing unit such as a DSP may be used to execute a program for operating each processing function of each unit.

  Next, the pitch angle control operation centered on the pitch angle control calculation means 31 will be further described. First, the data calculation procedure of the target rotational speed used for PI control will be described. The variation estimator 31A calculates variation data based on wind speed data for a certain time (for example, 10 minutes) included in the wind speed history signal, for example, every predetermined time (for example, 5 minutes). As described above, a result representing the degree of variation such as standard deviation and variance is used as variation data. A signal including the calculated variation data is output as a variation signal.

  The target rotational speed corrector 31B corrects and sets the target rotational speed every predetermined time (for example, 5 minutes) based on the variation data included in the variation signal. The setting of the target rotational speed uses the correlation between the magnitude of the wind speed fluctuation (wind speed variation) and the magnitude of the rotational speed fluctuation (variation in the rotational speed). A large variation in wind speed means that the torque generated in the windmill 1 fluctuates, and the disturbance fluctuation is large. Therefore, naturally, fluctuations in the wind turbine speed also increase under the same control system. For this reason, when the wind speed fluctuation is large, the probability of reaching the upper limit rotational speed decreases if the margin to the upper limit rotational speed is increased by lowering the target rotational speed. In a situation where the target rotational speed is not reached, the blade pitch angle of the blade 11 of the windmill 1 is normally 0 degrees, and the torque becomes the highest. However, if a gust occurs in this situation, the rotational speed increases at a stretch. It becomes. For this reason, even if the wind speed is low, if the wind speed fluctuation is large, if the target speed is set low, the speed control can be entered quickly, avoiding the problem of overspeeding. it can. Here, if the target rotational speed is lowered, the power generation amount is also lowered. Therefore, a lower limit value of the target rotational speed may be provided so as not to reduce too much. When the variation becomes smaller, the target rotational speed is returned to the initial state.

  The PI controller 31C performs PI control such that the deviation is zero based on the target rotational speed data included in the target rotational speed signal and the windmill rotational speed data included in the rotational speed signal. The procedure for performing the PI control is not different from the procedure used for the normal PI control including wind power generation, and the description thereof will be omitted. By performing the PI control after correcting the target rotational speed, it is possible to suppress variations and prevent an increase in the windmill rotational speed, thereby preventing a mechanical stop and increasing the operating rate.

  Next, compensation value calculation processing in the disturbance estimator 31D will be described. In order to estimate the disturbance and calculate the compensation value, the dynamic characteristic of the wind turbine 1 in wind power generation is necessary. This dynamic characteristic is expressed by the following equation (1).

here,
J: Moment of inertia of windmill 1 and generator ω: Mechanical angular velocity of rotor 10 k: Viscosity coefficient of windmill 1 T _g : Torque of power generation load T _w : Torque generated in windmill 1 by wind

Further, T _w is further described as the following equation (2) when the wind speed V is used.
_{T w = C t (λ,} β) ρV 2 πR 3/2 = C w C t (λ, β) V 2 ... (2)

here,
C _t (λ, β): torque coefficient of the wind turbine 1 R: distance from the rotor 10 center to the blade 11 tip lambda: tip speed ratio (= ωR / V)
beta: blade pitch angle [rho: density of air ^{_{C w = ρπR 3/2 (}} π: circular constant)
It is.

FIG. 3 is a diagram showing the relationship between the torque coefficient, the peripheral speed ratio, and the blade pitch angle. Since the equation (2) has C _t (λ, β), it changes depending on the blade pitch angle operation. It also changes depending on the wind speed.

Here, the compensation of the disturbance by the estimation of the disturbance estimator 31D is limited to the fluctuation compensation in the vicinity of the wind turbine rotation speed. After that, disturbance estimation is performed based on the linearized model around the rated rotational speed of the equations (1) and (2). For example, when the rated operating state is wind V _w0 and blade pitch angle β ₀ , the above-described T _w can be expressed by the following equation (3).

At this time, when the rotor 10 is a variation region of the wind turbine rotational speed which is obtained by rotating (angular velocity), and limiting the surrounding target speed omega _ref, representing the difference by the following equation (4).
Δω = ω−ω _ref (4)

It can also be approximated by the following equation (5) Changes in torque T _g of the power generation load.
T _g ≈T _g (ω _ref ) + k ₂ · Δω (5)

  Then, from the formulas (3), (4), and (5), the formula (1) is expressed by a linear approximation model like the following formula (6).

  Further, when variation due to wind is added as a disturbance term d to the equation (6), the following equation (7) is obtained. Then, the linear approximation model of the equation (7) is used for disturbance estimation.

When the expression (7) is transformed by a transfer function, the following expression (8) is obtained.
_{Δω = (k 1 · Δβ +} d) / (Js + k 2) ... (8)

Here, put the G (s) = 1 / ( Js + k 2), the disturbance term d is represented by the following formula (9).
d = Δω / G (s) -k 1 · Δβ ... (9)

  Since 1 / G (s) includes a completely differential component, a high frequency component that adversely affects the accuracy of the compensation value (increases the error) is amplified. Therefore, after applying a low-pass filter F (s) = 1 / (Ts + 1), the disturbance term estimated value is calculated based on the following equation (10). Here, T is, for example, the product of a capacitor and a resistor of a capacitor constituting a low-pass filter.

The compensation value (feed forward input) u _d is obtained by multiplying the equation (10) by the gain K _d = −k _d (kg ⁻¹ m ⁻¹ s ² ) and obtaining the following equation (11).

And it outputs a disturbance compensation signal including the calculated compensation value u _d. Adders 31F adds the compensation value u _d to the control value included in the pitch angle control signal outputted from the PI controller 31C, and outputs the value to the pitch angle operation section 12 as a pitch angle command signal.

  FIG. 4 is a diagram comparing the wind turbine rotation speed with and without the wind speed substitution into the wind turbine power generation model and the compensation by disturbance estimation. FIG. 4A shows the time lapse of the wind speed, and FIG. 4B shows the time lapse of the wind turbine rotation speed at that time. As shown in FIG. 4B, the pitch angle of the blade 11 is controlled by adding the compensation value calculated and estimated by the disturbance estimator 31D as compared with the conventional wind turbine speed fluctuation of only PI control. It can be seen that the fluctuation range of the wind turbine rotation speed can be suppressed.

  FIG. 5 is a diagram comparing the wind turbine rotational speed and power situation with and without compensation by disturbance estimation and when the rotational speed target value is corrected in PI control. FIG. 5A shows the passage of time of the wind speed, and FIG. 5B shows the correction of the target rotational speed. Further, FIG. 5C shows the wind turbine rotation speed at that time, and FIG. 5D shows the elapsed time of the power generation output.

  As shown in FIG. 5A, here, the wind speed fluctuation is so large that the rated rotational speed for generating the rated output (in this case, 27 rpm is assumed) cannot be maintained. Further, in the case where the target rotational speed is corrected in FIG. 5, the variation data is calculated every 5 minutes with the standard deviation of the wind speed data as the variation. Here, as shown in FIG. 5B, correction of the target rotational speed is performed at a set interval of 0.25 rpm.

  As shown in FIGS. 5 (c) and 5 (d), the target rotational speed as described in the present embodiment is corrected as compared with the wind turbine rotational speed fluctuation that has been conventionally performed only by PI control. By controlling the pitch angle of the blade 11 by adding the compensation value by the calculation and estimation by the disturbance estimator 31D to the pitch angle value calculated by the PI controller 31C above, the fluctuation range of the wind turbine rotation speed is suppressed. I understand that I can do it. Further, it can be seen that the fluctuation of the power generation output is also reduced accordingly.

  Table 1 shows a comparison of the average windmill speed, the maximum windmill speed, and the average power generation output based on the above results.

  When the wind turbine rotational speed is controlled by the pitch angle operation described in the present embodiment, the maximum rotational speed is reduced by about 2 rpm as compared with the normal PI control. In addition, since the target rotational speed is set to be lowered according to the wind conditions, the wind speed rotational speed is lowered accordingly, and the power generation output is also reduced. However, the addition of the compensation value estimated and calculated by the disturbance estimator 31C has the effect of suppressing fluctuations in the wind turbine rotation speed. Therefore, efficient power generation can be performed. Only about 5% decrease in power generation output. The long-term power generation efficiency is high considering the significant decrease in operating rate due to the inability to resume power generation for a long time due to mechanical stoppage, and the amount of workmanship loss.

  As described above, according to the present embodiment, based on the variation data calculated by the variation estimator 31A, when the variation due to the variation in the wind speed is large, the target rotational speed is decreased and the variation due to the variation in the wind velocity is reduced. The PI controller 31C performs PI control based on the target rotational speed corrected so as to return the target rotational speed to the initial state, determines the pitch angle or difference value of the blade 11, and controls the wind turbine rotational speed of the wind turbine 1. Therefore, a mechanical stop does not occur by avoiding an uncontrolled state when the wind speed fluctuates greatly and suppressing an abnormal increase in the wind turbine rotation speed due to a gust of wind. For this reason, considering the labor required for a person to start and restart, the time spent on it, and the inability to resume power generation work, it is possible to avoid a significant decrease in the operating rate and to obtain an efficient power generation process and wind power generator. And since the fluctuation | variation of a windmill rotational speed is also suppressed, the stable electric power output is obtained and an operation rate improves.

  Further, according to the present embodiment, the pitch estimator 31D calculates the compensation value obtained by estimating and predicting the wind disturbance based on the wind turbine rotation speed history and the pitch angle history by the PI control. Alternatively, in addition to the difference value, the pitch angle of the blade 11 is controlled to control the wind turbine rotational speed of the wind turbine 1. Therefore, by controlling the wind turbine rotational speed that cannot be followed only by feedback control, the fluctuation is predicted. In addition, fluctuations in the rotational speed of the windmill can be suppressed and no mechanical stop occurs. And by suppressing the fluctuation | variation of a windmill rotation speed, the stable electric power generation output can be performed and an operation rate improves. Further, by using the wind turbine rotation speed data for calculating the compensation value for controlling the wind turbine rotation speed, it is possible to estimate the disturbance with higher accuracy with respect to the rotation of the rotor 10.

It is a lineblock diagram of a wind power generator concerning an embodiment of the invention. It is a figure showing the structure by the flow of the signal for pitch angle control of a wind power generator. It is a figure showing the relationship between a torque coefficient, a peripheral speed ratio, and a blade pitch angle. It is the figure which compared the condition of the windmill rotation speed with the case where it does not compensate with disturbance estimation, and the case where it does not. It is the figure which compared with the case where the compensation by disturbance estimation is performed, and also the rotational speed target value is corrected in PI control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Windmill 10 Rotor 11 Blade 12 Pitch angle operation means 2 Nacelle 21 Generator 22 Yaw angle operation means 3 Control calculation means 31 Pitch angle control calculation means 31A Variation estimator 31B Target rotational speed corrector 31C PI controller 31D Disturbance estimator 31E Rotational speed detector 31F Addition calculator 32 Yaw angle control calculation means 33 Storage means 4 Anemometer 5 BTB board

Claims (11)

Calculating the variation of the wind speed received by the windmill over a certain period of time;
Determining the value of the target rotational speed of the rotating body of the wind turbine based on the variation for each predetermined time, and correcting the setting of the value;
Transmitting a signal including a command value calculated so that the rotating body rotates at a corrected target rotational speed to a blade pitch angle operating mechanism that operates a pitch angle of a blade of the windmill. Wind power generation control method. Based on fluctuations in the rotational speed of the rotating body of the windmill, a control value for causing the blade pitch angle operation mechanism to operate the blade pitch angle of the windmill is calculated, and the blade pitch angle operation mechanism is operated. A step of calculating a compensation value for estimating a disturbance due to wind based on the pitch angle of the blade and the fluctuation of the rotational speed of the rotating body;
And a step of transmitting a signal including a command value obtained by adding the compensation value to the control value to the blade pitch angle operation mechanism. Deviation between the target rotational speed and the rotational speed of the rotating body so that the rotating body of the windmill rotates at the target rotational speed value corrected every predetermined time based on the variation of the wind speed received by the windmill over a certain period of time. And calculating a control value for causing the blade pitch angle operation mechanism to operate the blade pitch angle of the windmill, and the blade pitch angle operated by the blade pitch angle operation mechanism and the rotating body. A step of calculating a compensation value for estimating the disturbance due to wind based on the fluctuation of the rotational speed of
And a step of transmitting a signal including a command value obtained by adding the compensation value to the control value to the blade pitch angle operation mechanism. Variation estimating means for calculating variation of the wind speed received by the windmill over a certain period of time;
Based on the variation, target rotational speed correction means for determining and correcting a target rotational speed value of the rotating body of the wind turbine every predetermined time;
A wind power generation control device comprising pitch angle control means for calculating a command value for controlling a pitch angle of a blade of the wind turbine so that the rotating body rotates at the corrected target rotational speed. Pitch angle control means for calculating a control value for controlling the pitch angle of the blades of the windmill based on fluctuations in the rotational speed of the rotating body of the windmill;
A disturbance estimation unit that calculates a compensation value for estimating a wind disturbance based on the pitch angle operated by a blade pitch angle operating mechanism that operates the fluctuation of the rotational speed of the windmill and the pitch angle of the blade;
A wind power generation control device comprising: an addition operation unit that transmits a command value obtained by adding the control value and the compensation value as a signal to the blade pitch angle operation mechanism. Variation estimating means for calculating variation of the wind speed received by the windmill over a certain period of time;
Based on the variation, target rotational speed correction means for determining and correcting a target rotational speed value of the rotating body of the wind turbine every predetermined time;
Pitch angle control means for calculating a control value for causing the blade pitch angle operation mechanism to operate the pitch angle of the blade of the wind turbine based on the corrected target rotational speed and the deviation of the rotational speed of the rotating body;
A disturbance estimation unit that calculates a compensation value for estimating a disturbance due to wind based on the fluctuation of the rotational speed of the windmill and the pitch angle operated by the blade pitch angle operation mechanism;
A wind power generation control device comprising: an addition operation unit that transmits a command value obtained by adding the control value and the compensation value as a signal to the blade pitch angle operation mechanism.   7. The wind power generation control device according to claim 4, wherein the target rotational speed correction unit corrects the target rotational speed so as to decrease as the variation increases.   The wind power generation control device according to any one of claims 4 to 6, wherein the pitch angle control unit performs control based on PI (proportional-integral) control or PID (proportional-integral-derivative) control. The wind power generation control device according to any one of claims 4 to 8,
The rotating body rotated by a blade controlled at a pitch angle by the wind power generation control device;
A wind power generator comprising: a generator that generates power by driving based on rotation of the rotating body. Calculating the variation of the wind speed received by the windmill over a certain period of time at a predetermined time;
Determining the value of the target rotational speed of the rotating body of the wind turbine based on the variation for each predetermined time, and correcting the setting of the value;
And a step of controlling a pitch angle of a blade of the wind turbine based on a control value calculated so that the rotating body rotates at a corrected target rotational speed. program. Based on the number of rotations of the rotating body of the windmill, the blade operated by the blade pitch angle operating mechanism is calculated while calculating a control value for causing the blade pitch angle operating mechanism to operate the pitch angle of the blade of the windmill. A step of calculating a compensation value for estimating a disturbance due to wind based on the pitch angle and the rotational speed of the rotating body;
A wind power generation control method characterized by causing a control means to transmit a command value signal obtained by adding the compensation value to the control value to the blade pitch angle operation mechanism and to control the pitch angle of the blade. Program.

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