JP2017034914A - Control system of power generation windmill - Google Patents

Control system of power generation windmill Download PDF

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JP2017034914A
JP2017034914A JP2015154547A JP2015154547A JP2017034914A JP 2017034914 A JP2017034914 A JP 2017034914A JP 2015154547 A JP2015154547 A JP 2015154547A JP 2015154547 A JP2015154547 A JP 2015154547A JP 2017034914 A JP2017034914 A JP 2017034914A
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drive train
torque
generator
power generator
blade
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JP6538473B2 (en
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靖之 小川
Yasuyuki Ogawa
靖之 小川
成幸 中田
Nariyuki Nakada
成幸 中田
益士郎 久谷
Masujiro Hisatani
益士郎 久谷
純二 小野
Junji Ono
純二 小野
吉田　茂雄
Shigeo Yoshida
茂雄 吉田
宏之 梶原
Hiroyuki Kajiwara
宏之 梶原
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Kyushu University NUC
Mitsui Engineering and Shipbuilding Co Ltd
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Mitsui Engineering and Shipbuilding Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

PROBLEM TO BE SOLVED: To attain stabilization of output of a power generator and suppression of torsional vibration of a drive train at the same time.SOLUTION: Rotative force of a windmill blade is transmitted to a power generator by a windmill drive train 11. Blade pitch Δθ of the windmill blade is controlled based on rotating speed Δωof the power generator (a blade pith control part 12) so as to restrict input to a windmill. Torque Δq of the power generator is controlled based on the rotating speed Δωso as to suppress variation in a short cycle of output of the power generator (a torque proportional control part 13). In parallel with the torque proportional control part 13 is provided a drive train damper 14 having a highpass filter 14H combined with a bandpass filter 14B. By controlling a filter parameter of the drive train damper 14, a parallel feedback part is made to close to a single body state of the torque proportional control part 13 so as to stabilize the output of the power generator, at a low frequency side. While, output of the drive train damper 14 is added to the torque proportional control part 13 so as to stabilize a closed loop of the whole of a system fed back to reduce vibration in a low speed shaft and a blade surface, at a high frequency side.SELECTED DRAWING: Figure 1

Description

本発明は、ドライブトレインに生じる捩じり振動の抑制を行う発電用風車の制御システムに関する。   The present invention relates to a control system for a wind turbine for power generation that suppresses torsional vibration generated in a drive train.

風力発電システムでは、一般に複数の制御目的が存在する。例えば、発電効率の最大化を目的とする制御や、風からの入力エネルギーの制限を目的とする制御、発電機出力の安定化を目的とする制御、ドライブトレインの制振（安定化）を目的とする制御、タワーやナセルの制振を目的とする制御、風向に合わせた風車の向きの調整を目的とする制御などが挙げられる。   In wind power generation systems, there are generally multiple control objectives. For example, control aimed at maximizing power generation efficiency, control aimed at limiting input energy from wind, control aimed at stabilizing generator output, and drivetrain damping (stabilization) Control for the purpose of damping the tower and nacelle, and control for the purpose of adjusting the direction of the wind turbine according to the wind direction.

例えば、風からの入力エネルギーの制限は、発電機出力をフィードバックして翼ピッチを調整して発電機出力の一定化を図る（特許文献１参照）。また、発電機出力の安定化を目的とする制御では、回転数をフィードバックして発電機トルクを制御し、発電機出力の瞬間的な変動を抑制して発電出力の一定化を図る。また、ドライブトレインの捩じり振動を抑制する制御では、回転数をフィードバックして電流指令値を変更し、発電機トルクを制御することで捩じり振動を抑制する（特許文献２参照）。   For example, the input energy from the wind is limited by feeding back the generator output and adjusting the blade pitch to make the generator output constant (see Patent Document 1). Further, in the control aimed at stabilizing the generator output, the generator torque is controlled by feeding back the rotation speed, and the instantaneous fluctuation of the generator output is suppressed to make the generator output constant. In the control for suppressing the torsional vibration of the drive train, the rotational speed is fed back to change the current command value, and the generator torque is controlled to suppress the torsional vibration (see Patent Document 2).

特開２００２−０４８０５０号公報JP 2002-048050 A 特開２００５−０４５８４９号公報JP 2005-045849 A

しかし、従来の発電機出力の一定化およびドライブトレインの捩じり振動の抑制は共に回転数フィードバックを用いた発電機トルクの制御であるため、互いにトレードオフの関係となる。このためこれらの制御を同時に達成することは困難であった。   However, since the conventional method of stabilizing the generator output and suppressing the torsional vibration of the drive train are both control of the generator torque using the rotational speed feedback, they are in a trade-off relationship. For this reason, it has been difficult to achieve these controls simultaneously.

本発明は、発電機出力の一定化およびドライブトレインの捩じり振動の抑制を同時に達成することを目的としている。   An object of the present invention is to simultaneously achieve a constant generator output and suppression of torsional vibration of a drive train.

本発明の発電用風車制御システムは、風車翼から発電機へと回転力を伝達するドライブトレインと、発電機の回転数を帰還して発電機トルクを制御し、発電機出力を一定に保つトルク比例制御部と、回転数をバンドパスフィルタとハイパスフィルタとを通して発電機トルクへと帰還するドライブトレインダンパとを備え、ドライブトレインの捩じり振動に関わる固有周波数より低周波側に設定した所定周波数をハイパスフィルタの遮断周波数とすることを特徴としている。   The wind turbine control system for power generation according to the present invention includes a drive train that transmits rotational force from the wind turbine blades to the generator, and torque that keeps the generator output constant by controlling the generator torque by returning the rotational speed of the generator. Providing a proportional control unit and a drive train damper that returns the rotational speed to the generator torque through a band-pass filter and a high-pass filter, a predetermined frequency set on the lower frequency side than the natural frequency related to the torsional vibration of the drive train Is the cut-off frequency of the high-pass filter.

発電用風車制御システムは、回転数に基づき風車翼のピッチ角を制御する翼ピッチ制御部を更に備えることが好ましい。   It is preferable that the wind turbine control system for power generation further includes a blade pitch control unit that controls the pitch angle of the wind turbine blades based on the rotational speed.

本発明によれば、発電機出力の一定化およびドライブトレインの捩じり振動の抑制を同時に達成することができる。   According to the present invention, it is possible to simultaneously achieve constant generator output and suppression of drive train torsional vibration.

本発明の一実施形態の発電用風車制御システムを搭載した風力システムの制御ブロック線図である。It is a control block diagram of the wind power system carrying the windmill control system for electric power generation of one Embodiment of this invention. 風車ドライブトレイン（制御対象）の開ループ、翼ピッチ制御部およびトルク制御部を含めた閉ループの周波数応答特性を示すボード線図である。It is a Bode diagram which shows the frequency response characteristic of the closed loop including the open loop of a windmill drive train (control object), a blade pitch control part, and a torque control part. 実施例および比較例で使用された風速（外乱）データのグラフである。It is a graph of the wind speed (disturbance) data used by the Example and the comparative example. 比較例および実施例における発電機出力［Ｗ］の経時変化のグラフである。It is a graph of the time-dependent change of the generator output [W] in a comparative example and an example. 比較例および実施例における発電機の回転数［ｒａｄ／ｓ］の経時変化のグラフである。It is a graph of the time-dependent change of the rotation speed [rad / s] of the generator in a comparative example and an Example.

以下、本発明の実施形態について添付図面を参照して説明する。
図１は、本発明の一実施形態である発電用風車制御システムの制御ブロック線図である。 Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a control block diagram of a wind turbine control system for power generation that is an embodiment of the present invention.

本実施形態の発電用風車制御システム１０は、風車翼（図示せず）と、これに連結される発電機（図示せず）とを含む風車ドライブトレイン（制御対象）１１を制御するためのシステムである。風車ドライブトレイン１１は、例えば、低速軸、増速機、高速軸（図示せず）等を介して風車翼と発電機とを連結し、風からの回転力を発電機へと伝達する。また風車翼は例えば翼ピッチ角が可変な可変ピッチ翼であり、ピッチ制御は、例えばＰＩ制御で行われる。   A wind turbine control system 10 for power generation according to this embodiment is a system for controlling a wind turbine drive train (control target) 11 including a wind turbine blade (not shown) and a generator (not shown) connected thereto. It is. The windmill drive train 11 connects windmill blades and a generator via, for example, a low-speed shaft, a speed increaser, a high-speed shaft (not shown), and transmits the rotational force from the wind to the generator. The wind turbine blade is a variable pitch blade having a variable blade pitch angle, for example, and the pitch control is performed by, for example, PI control.

風車ドライブトレイン１１の風車翼面には、風速Ｖで風が当たり、その変動によるトルクの変動などが外乱として風車ドライブトレイン１１に入力される。発電用風車制御システム１０は、発電機回転数ωGの作動点（目標値）からの偏倚ΔωGをＰＩ等のフィードバック制御により翼ピッチ角θの作動点（設定値）からの偏倚Δθに帰還する翼ピッチ制御部（Ｃｐ（ｓ））１２を備える。また、本実施形態の発電用風車制御システム１０は、トルク制御部１５を備え、トルク制御部１５は、偏倚ΔωGをＰ制御を通して発電機トルクｑの作動点（目標値）からの偏倚Δｑに帰還するトルク比例制御部（Ｃｑ（ｓ））１３と、トルク比例制御部１３に並列に設けられ、フィルタを通して偏倚ΔωGを発電機トルクｑの作動点（目標値）からの偏倚Δｑに帰還するドライブトレインダンパ（Ｃｑｐ（ｓ））１４とを備える。 Wind hits the windmill blade surface of the windmill drive train 11 at the wind speed V, and torque fluctuations due to the fluctuations are input to the windmill drivetrain 11 as disturbances. The wind turbine control system 10 for power generation feeds back the deviation Δω G from the operating point (target value) of the generator rotational speed ω G to the deviation Δθ from the operating point (setting value) of the blade pitch angle θ by feedback control such as PI. The blade pitch control unit (Cp (s)) 12 is provided. Further, the wind turbine control system 10 for power generation according to the present embodiment includes a torque control unit 15. The torque control unit 15 converts the deviation Δω G to the deviation Δq from the operating point (target value) of the generator torque q through P control. A feedback torque proportional control unit (Cq (s)) 13 and a torque proportional control unit 13 are provided in parallel, and the deviation Δω G is fed back to the deviation Δq from the operating point (target value) of the generator torque q through a filter. And a drive train damper (Cqp (s)) 14.

翼ピッチ制御部１２は、翼ピッチを調整して、風車翼が風から受ける揚力を調整し、風車ドライブトレイン１１へ入力されるパワーを制限する。翼ピッチ制御部１２の比例項の係数はＫp_p、積分項の係数はＫi_pで表される。トルク比例制御部１３は、発電機トルクを調整して外乱の影響による発電機出力の変動を抑制する。トルク比例制御部１３の比例項の係数はＫp_qで表される。すなわち、翼ピッチ制御部１２の伝達関数は、Ｃｐ（ｓ）＝Ｋp_p＋Ｋi_p／ｓ、トルク比例制御部１３の伝達関数は、Ｃｑ（ｓ）＝Ｋp_qとなる。   The blade pitch control unit 12 adjusts the blade pitch, adjusts the lift that the wind turbine blade receives from the wind, and limits the power input to the wind turbine drive train 11. The coefficient of the proportional term of the blade pitch control unit 12 is represented by Kp_p, and the coefficient of the integral term is represented by Ki_p. The torque proportional control unit 13 adjusts the generator torque to suppress fluctuations in the generator output due to the influence of disturbance. The coefficient of the proportional term of the torque proportional control unit 13 is represented by Kp_q. That is, the transfer function of the blade pitch control unit 12 is Cp (s) = Kp_p + Ki_p / s, and the transfer function of the torque proportional control unit 13 is Cq (s) = Kp_q.

一方、ドライブトレインダンパ１４は、下記（１）式の伝達関数で表されるハイパスフィルタ（ＨＰＦ（ｓ））１４Ｈと、下記（２）式の伝達関数で表されるバンドパスフィルタ（ＢＰＦ（ｓ））１４Ｂを備え、ドライブトレインダンパ１４は、ＨＰＦ（ｓ）とＢＰＦ（ｓ）の伝達関数の積で表される。

Figure 2017034914
Figure 2017034914
 On the other hand, the drive train damper 14 includes a high-pass filter (HPF (s)) 14H represented by a transfer function of the following equation (1) and a bandpass filter (BPF (s) represented by a transfer function of the following equation (2). )) 14B, and the drive train damper 14 is represented by the product of the transfer functions of HPF (s) and BPF (s).
Figure 2017034914
Figure 2017034914

すなわち、ドライブトレインダンパ１４は、下記（３）式で表される。

Figure 2017034914
That is, the drive train damper 14 is expressed by the following equation (3).
Figure 2017034914

次に図２を参照して、翼ピッチ制御部１２、トルク比例制御部１３、ドライブトレインダンパ１４の設計方法について説明する。   Next, a design method for the blade pitch control unit 12, the torque proportional control unit 13, and the drive train damper 14 will be described with reference to FIG.

本実施形態の発電用風車制御システム１０では、定格域において同時に（Ａ）風からの入力エネルギーを制限し、回転数を安定化させて発電機出力を長周期で安定させ、（Ｂ）発電機出力の短周期（ｔ）の時間平均を安定させ、更に（Ｃ）系（発電用風車制御システム１０全体の閉ループ）を安定化させるとともに風車ドライブトレイン１１の低速軸・翼面内の固有値に起因する振動を小さく抑える(２つの振動根の減衰比を大きくする)ことを目的とするが、下記各制御部の係数およびフィルタパラメータの設計では、特に（Ｂ）、（Ｃ）に主眼を置いて設計が行われる。なお、ここで翼面内の振動とは、風車翼の回転軸周りの振動のことである。   In the wind turbine control system 10 for power generation of this embodiment, (A) the input energy from the wind is simultaneously limited in the rated range, the rotational speed is stabilized, the generator output is stabilized in a long cycle, and (B) the generator Due to the stabilization of the time average of the short cycle (t) of the output, and further stabilization of the system (C) (closed loop of the entire wind turbine control system 10 for power generation) and the inherent value in the low speed shaft and blade surface of the wind turbine drive train 11 The purpose is to reduce the vibration to be reduced (increase the damping ratio of the two vibration roots), but in the design of the coefficients and filter parameters of each control section below, the main points are (B) and (C). Design is done. In addition, the vibration in a blade surface here is a vibration around the rotating shaft of a windmill blade.

図２は、風車ドライブトレイン（制御対象）１１の開ループの周波数応答特性（実線Ｓ０）、翼ピッチ制御部１２およびトルク比例制御部１３を含めた閉ループの周波数応答特性（破線Ｓ１）を示すボード線図（図２（ａ）：ゲイン線図、図２（ｂ）：位相線図）である。図２（ａ）のゲイン線図において、ピークＰ１は、ドライブトレイン１１の低速軸の固有振動数に対応し、ピークＰ２は翼面内の振動の固有振動数に対応する。また、ピークＰ３は、翼ピッチ制御部１２とトルク比例制御部１３を含む閉ループにおける固有振動数に対応する。なお、図２は後述する実施例に対応するボード線図である。   FIG. 2 is a board showing an open loop frequency response characteristic (solid line S0) of the windmill drive train (control target) 11, a closed loop frequency response characteristic (broken line S1) including the blade pitch control unit 12 and the torque proportional control unit 13. Fig. 2 is a diagram (Fig. 2 (a): gain diagram, Fig. 2 (b): phase diagram). In the gain diagram of FIG. 2A, the peak P1 corresponds to the natural frequency of the low speed shaft of the drive train 11, and the peak P2 corresponds to the natural frequency of the vibration in the blade surface. The peak P3 corresponds to the natural frequency in the closed loop including the blade pitch control unit 12 and the torque proportional control unit 13. FIG. 2 is a Bode diagram corresponding to an embodiment described later.

翼ピッチ制御部１２、トルク比例制御部１３、ドライブトレインダンパ１４の設計は以下の手順（ａ）〜（ｅ）を通して行われる。
（ａ）翼ピッチ制御部１２の比例項の係数Ｋp_pと積分項の係数Ｋi_pを、ゲイン交差周波数や減衰比等を考慮した周知の手法で設計する。
（ｂ）制御対象である風車ドライブトレイン１１に対して、トルク比例制御部１３の比例項の係数Ｋp_qを決定する。ここでＫp_qは、瞬間的な回転数変動を発電機トルクで相殺し、発電機出力に変動が出ないように周知の手法で決定される。
（ｃ）図２のボード線図から、ドライブトレインダンパ１４を設計するために、ハイパスフィルタ１４Ｈの遮断周波数ｆ［Ｈｚ］を決定する。遮断周波数ｆは、ピークＰ１、Ｐ２より低周波側に設定され、遮断周波数ｆを目安に周波数領域が２つの領域に区切られる。このとき、ハイパスフィルタ１４Ｈの時定数ｔ（＝１／τ）は（２πｆ）-1［ｓ］に設定され、これは発電機の出力の安定性の基準となる時間に対応する。
（ｄ）（ｃ）で決定された遮断周波数ｆ（ハイパスフィルタ１４Ｈの時定数ｔ（＝１／τ））以外のＣｑｐ（ｓ）の各パラメータを決定する。これらのパラメータは、２つの領域のうち低周波側ではゲインを大きく低下させて発電機出力を安定化させ、並列のフィードバック部分（Ｃｑ（ｓ）＋Ｃｑｐ（ｓ））がＣｑ（ｓ）単体の状態に近づくような特性を持たせ、また高周波側では、制御対象である風車ドライブトレイン１１にＣｐ（ｓ）、Ｃｑ（ｓ）、Ｃｑｐ（ｓ）をフィードバックした系全体の閉ループを安定化させ、低速軸・翼面内振動の低減する特性を持たせるように決定される。τ以外のパラメータ（Ｇq,ωq,ζq,τq,ｎ）は、例えば、従来周知の最適化手法を用い、例えば一番小さい減衰比が最大化するように求められる。なお目的関数は上記低周波側、高周波側の特性が得られればこれに限定されない。
（ｅ）系の固有値や外乱応答特性などを見て、必要に応じて（ａ）に戻って翼ピッチ制御部１２のＣｐ（ｓ）の係数を調整し、（ａ）〜（ｄ）の制御設計を繰り返す。Ｃｐ（ｓ）の係数の調整の仕方は、「長周期の出力安定化」を主な目的とする。 The blade pitch control unit 12, the torque proportional control unit 13, and the drive train damper 14 are designed through the following procedures (a) to (e).
(A) The coefficient Kp_p of the proportional term and the coefficient Ki_p of the integral term of the blade pitch control unit 12 are designed by a known method in consideration of the gain crossover frequency, the attenuation ratio, and the like.
(B) The coefficient Kp_q of the proportional term of the torque proportional control unit 13 is determined for the wind turbine drive train 11 to be controlled. Here, Kp_q is determined by a well-known method so that instantaneous fluctuations in the rotational speed are canceled out by the generator torque so that the generator output does not fluctuate.
(C) In order to design the drive train damper 14 from the Bode diagram of FIG. 2, the cutoff frequency f [Hz] of the high-pass filter 14H is determined. The cut-off frequency f is set on the lower frequency side than the peaks P1 and P2, and the frequency region is divided into two regions using the cut-off frequency f as a guide. At this time, the time constant t (= 1 / τ) of the high-pass filter 14H is set to (2πf) −1 [s], which corresponds to a time that is a reference for the stability of the output of the generator.
(D) Each parameter of Cqp (s) other than the cutoff frequency f (time constant t (= 1 / τ) of the high-pass filter 14H) determined in (c) is determined. In these parameters, on the low frequency side of the two regions, the gain is greatly reduced to stabilize the generator output, and the parallel feedback portion (Cq (s) + Cqp (s)) is a state in which Cq (s) is single. On the high frequency side, the closed loop of the entire system in which Cp (s), Cq (s), and Cqp (s) are fed back to the wind turbine drive train 11 to be controlled is stabilized on the high frequency side. It is determined so as to have the characteristic of reducing the vibration in the shaft / blade surface. The parameters (G q , ω q , ζ q , τ q , n) other than τ are obtained using, for example, a conventionally known optimization method so that the smallest attenuation ratio is maximized, for example. The objective function is not limited to this as long as the characteristics on the low frequency side and the high frequency side can be obtained.
(E) Look at the eigenvalues and disturbance response characteristics of the system, return to (a) as necessary, adjust the coefficient of Cp (s) of the blade pitch control unit 12, and control (a) to (d) Repeat design. The main method of adjusting the coefficient of Cp (s) is “long-period output stabilization”.

次に図３〜図５を参照して本実施形態の発電用風車制御システム１０の実施例（シミュレーション結果）を参照して、本発電用風車制御システム１０で用いられるドライブトレインダンパ（フィルタＣｑｐ（ｓ））１４の作用・効果について説明する。   Next, with reference to FIGS. 3 to 5, an example (simulation result) of the wind turbine control system 10 for power generation according to the present embodiment is referred to, and a drive train damper (filter Cqp ( s)) The action and effect of 14 will be described.

実施例のシミュレーションでは、５［ＭＷ］クラスの風車を想定し、定格域にある動作点（回転数×トルク）周りで線形化した風車モデルを用いた。翼ピッチ制御部（Ｃｐ（ｓ））１２、トルク比例制御部（Ｃｑ（ｓ））１３の各係数Ｋp_p、Ｋi_p、Ｋp_qは、上記手順（ａ）、（ｂ）を適用して決定し、Ｋp_p＝＋０．０１５［Ｎｍｓ／ｒａｄ］、Ｋi_p＝＋０．０１５［Ｎｍ／ｒａｄ］、Ｋp_q＝−２．１８３［Ｎｍｓ／ｒａｄ］とした。   In the simulation of the example, a wind turbine model linearized around an operating point (number of revolutions × torque) in a rated range was used assuming a wind turbine of 5 [MW] class. The coefficients Kp_p, Ki_p, and Kp_q of the blade pitch control unit (Cp (s)) 12 and the torque proportional control unit (Cq (s)) 13 are determined by applying the above steps (a) and (b), and Kp_p = + 0.015 [Nms / rad], Ki_p = + 0.015 [Nm / rad], and Kp_q = −2.183 [Nms / rad].

次に手順（ｃ）に基づき、図２のボード線図から、遮断周波数ｆに対応する角周波数ωｃとして、ｔ＝５［ｓ］（τ＝０．２［Ｈｚ］＝０．４π［ｒａｄ／ｓ］）を選択し、ｎに関してはｎ＝３とした。また、手順（ｄ）に従い、低速軸・翼面内の振動を小さく抑える（２つの振動根の減衰比を大きくする）ような係数（Ｇq,ωq,ζq,τq）を探索し、それぞれＧq＝２０，０００［Ｎｍｓ／ｒａｄ］、ωq＝１２［ｒａｄ／ｓ］、ζq＝１、τq＝０［ｓ／ｒａｄ］に設定した。なお、図２に、実施例のドライブトレインダンパ１４のフィルタＣｑｐ（ｓ）の開ループの周波数特性を１点鎖線Ｓ２で示し、翼ピッチ制御部１２、トルク比例制御部１３、ドライブトレインダンパ１４を含めた閉ループの周波数応答特性を２点鎖線Ｓ３で示す。 Next, based on the procedure (c), from the Bode diagram of FIG. 2, as the angular frequency ωc corresponding to the cutoff frequency f, t = 5 [s] (τ = 0.2 [Hz] = 0.4π [rad / s]), and for n, n = 3. Also, according to the procedure (d), search for coefficients (G q , ω q , ζ q , τ q ) that suppress the vibration in the low-speed shaft / blade surface to a small extent (increase the damping ratio of the two vibration roots). G q = 20,000 [Nms / rad], ω q = 12 [rad / s], ζ q = 1, and τ q = 0 [s / rad], respectively. In FIG. 2, the open loop frequency characteristic of the filter Cqp (s) of the drive train damper 14 of the embodiment is indicated by a one-dot chain line S2, and the blade pitch control unit 12, the torque proportional control unit 13, and the drive train damper 14 are The closed loop frequency response characteristic is shown by a two-dot chain line S3.

一方、比較例として、上記実施例からトルク比例制御部（Ｃｑ（ｓ））１３およびドライブトレインダンパ（Ｃｑｐ（ｓ））１４を除いたＣｐ（ｓ）のみを備えた発電用風車制御システムのシミュレーション結果も示す。   On the other hand, as a comparative example, a simulation of a wind turbine control system for power generation provided with only Cp (s) excluding the torque proportional control unit (Cq (s)) 13 and the drive train damper (Cqp (s)) 14 from the above embodiment. Results are also shown.

実施例、比較例のシミュレーションでは、図３で示される風速（外乱）の風を風車に与えた。なお、発電機の定格速度（角速度）ωrefは、４８.５９０［ｒａｄ／ｓ」、定格トルクＱrefは、１０９，０７３［Ｎｍ］、定格出力Ｐrefは、５．３［ＭＷ］とした。また、発電機のトルクリミットの最大値としては定格トルクＱrefの１１０％の値、最小値としては０を設定し、翼ピッチ角の可動範囲は０°〜９０°に設定した。   In the simulation of the example and the comparative example, the wind speed (disturbance) shown in FIG. 3 was given to the windmill. The rated speed (angular speed) ωref of the generator was 48.590 [rad / s], the rated torque Qref was 109,073 [Nm], and the rated output Pref was 5.3 [MW]. Further, the maximum value of the generator torque limit was set to 110% of the rated torque Qref, the minimum value was set to 0, and the movable range of the blade pitch angle was set to 0 ° to 90 °.

図４（ａ）、図４（ｂ）は、上記条件の下で計算された比較例および実施例における発電機出力［Ｗ］の経時変化であり、図５（ａ）、図５（ｂ）は、上記条件の下で算出された比較例および実施例における発電機の回転数［ｒａｄ／ｓ］の経時変化である。   4 (a) and 4 (b) show the change over time in the generator output [W] in the comparative example and the example calculated under the above conditions. FIG. 5 (a) and FIG. 5 (b) Is the change over time of the rotational speed [rad / s] of the generator in the comparative example and the example calculated under the above conditions.

図４（ａ）、図４（ｂ）に示されるように、実施例では比較例に比べ発電機出力の長周期および短周期の変動が共に大幅に抑制されていることが分かる。図４（ａ）、図４（ｂ）の比較から実施例において上記目的（Ａ）、（Ｂ）が達成されたことが示される。また図５（ａ）、図５（ｂ）に示されるように、実施例では、比較例に比べて発電機回転数から高周波の振動成分が取り除かれていることが分かる。このことから本実施例において上記目的（Ｃ）が達成されたことが示される。   As shown in FIG. 4A and FIG. 4B, it can be seen that both the long-cycle and short-cycle fluctuations of the generator output are significantly suppressed in the example compared to the comparative example. Comparison of FIG. 4A and FIG. 4B shows that the above objects (A) and (B) have been achieved in the examples. Further, as shown in FIGS. 5A and 5B, it can be seen that in the example, the high-frequency vibration component is removed from the generator rotational speed as compared with the comparative example. This shows that the object (C) has been achieved in the present embodiment.

以上のように、本実施形態の発電用風車制御システムによれば、定格域において同時に（Ａ）風からの入力エネルギーを制限し、回転数を安定化させて発電機出力を長周期で安定させ、かつ（Ｂ）発電機出力の短周期（ｔ）の時間平均を安定させ、更に（Ｃ）系（発電用風車制御システム全体の閉ループ）を安定化させるとともに風車ドライブトレインの低速軸・翼面内の固有値に起因する振動を小さく抑える（２つの振動根の減衰比を大きくする）ことができる。すなわち、発電機出力の一定化およびドライブトレインの捩じり振動の抑制を同時に達成できる。   As described above, according to the wind turbine control system for power generation of this embodiment, (A) the input energy from the wind is simultaneously limited in the rated range, the rotational speed is stabilized, and the generator output is stabilized in a long cycle. And (B) stabilize the time average of the short cycle (t) of the generator output, further stabilize the (C) system (closed loop of the entire wind turbine control system for power generation) and the low-speed shaft / blade surface of the wind turbine drive train It is possible to suppress the vibration caused by the eigenvalues of the two (increase the damping ratio of the two vibration roots). That is, the generator output can be made constant and the torsional vibration of the drive train can be suppressed at the same time.

また、バンドパスフィルタとハイパスフィルタを組み合わせた（３）式のフィルタを用いることで、フィルタ設計手順が明確になり、手順（ａ）〜（ｆ）に従って容易に設計が行える。   Further, by using the filter of the expression (3) combining the band pass filter and the high pass filter, the filter design procedure becomes clear, and the design can be easily performed according to the procedures (a) to (f).

なお、本実施形態の説明では省略したが、風車システムは、定格域以外（例えば低速域）では、一般に他の運転モードで制御されている。また、風車システムは、風向変化に対応したナセルのヨー制御なども行い、更に風車タワーの制振のための制御など他の制御を備えていてもよい。   Although omitted in the description of the present embodiment, the wind turbine system is generally controlled in other operation modes outside the rated range (for example, the low speed range). The windmill system may also perform nacelle yaw control corresponding to a change in wind direction, and may include other controls such as control for damping the windmill tower.

１０ 発電用風車制御システム
１１ 風車ドライブトレイン
１２ 翼ピッチ制御部
１３ トルク比例制御部
１４ ドライブトレインダンパ
１４Ｂ バンドパスフィルタ
１４Ｈ ハイパスフィルタ
１５ トルク制御部 DESCRIPTION OF SYMBOLS 10 Windmill control system for electric power generation 11 Windmill drive train 12 Blade pitch control part 13 Torque proportional control part 14 Drivetrain damper 14B Band pass filter 14H High pass filter 15 Torque control part

Claims (2)

風車翼から発電機へと回転力を伝達するドライブトレインと、
前記発電機の回転数を帰還して発電機トルクを制御し、発電機出力を一定に保つトルク比例制御部と、
前記回転数をバンドパスフィルタとハイパスフィルタとを通して発電機トルクへと帰還するドライブトレインダンパとを備え、
前記ドライブトレインの捩じり振動に関わる固有周波数より低周波側に設定した所定周波数を前記ハイパスフィルタの遮断周波数とする
ことを特徴とする発電用風車制御システム。 A drive train that transmits rotational force from the wind turbine blades to the generator,
A torque proportional control unit that feeds back the rotational speed of the generator to control the generator torque and keeps the generator output constant;
A drive train damper that returns the rotational speed to a generator torque through a band-pass filter and a high-pass filter;
A wind turbine control system for power generation, wherein a predetermined frequency set to a lower frequency side than a natural frequency related to torsional vibration of the drive train is set as a cutoff frequency of the high-pass filter. 前記回転数に基づき前記風車翼のピッチ角を制御する翼ピッチ制御部を更に備えることを特徴とする請求項１に記載の発電用風車制御システム。   The wind turbine control system for power generation according to claim 1, further comprising a blade pitch control unit that controls a pitch angle of the wind turbine blades based on the number of rotations.
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