JP2019094886A - Floating type offshore wind power generation device - Google Patents

Abstract

To provide a floating type offshore wind power generation device capable of reducing influence on a floating body occurring due to waves.SOLUTION: A floating type offshore wind power generation device 1 comprises a wind power generation device 2 having: a rotor 5 having blades 4 rotating with wind; and a nacelle 6 housing a dynamo 7 for generating power using rotational energy of the rotor 5. The wind power generation device 2 is arranged on water, and installed in a floating body 14 to be moored. The floating type offshore wind power generation device comprises a control device 13 for inputting wave information from a wave information detection unit 9 installed in the floating body 14 or wind power generation device 2. The control device 13 outputs, based on the wave information from the wave information detection unit 9, a control command of the wind power generation device 2, and based on the control command, rotates the floating body 13.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a floating offshore wind power generator, and more particularly to a floating offshore wind power generator that rotates a floating body against waves.

In recent years, from the aspect of environmental protection, global warming due to the emission of carbon dioxide, the exhaustion of fossil fuels, and the like are regarded as problems. Therefore, a power generation device using renewable energy obtained from nature such as wind power and solar light attracts attention as a power generation device that does not use fossil fuel and can suppress the emission of carbon dioxide.
Among power generation devices using renewable energy, a solar power generation device is generally used, but since the output directly changes due to solar radiation, the output fluctuation is large and power can not be generated at night. On the other hand, by selecting and installing a wind power generation apparatus in a place where wind conditions such as wind speed and wind direction are stable, relatively stable power generation is possible regardless of day and night. It is also attracting attention because it can be installed on the ocean with high wind speed and less change in wind conditions than on land.

When installing a wind power generator on the ocean, there are a landing type that is installed on a foundation structure fixed to the seabed and a floating type that moors the floating body to the seabed and installs it on it. In the case of the landing type, the construction cost increases as the water depth increases, so the floating type is considered promising in areas with many deep water depths.
In the case of the floating type, it is always affected by waves, but depending on the structure of the floating body, the influence becomes large, and damage to the floating body or a structure attached to the floating body or control of the wind turbine becomes unstable. there is a possibility. In particular, in the case where the shape of the floating body that receives the waves is different depending on the direction of the waves, such as semi-sub type, depending on the direction of the waves, the influence of the waves is greatly influenced. Furthermore, if the draft is reduced by increasing the horizontal cross-sectional area of the floating body so that it can be installed in a relatively shallow water area, the surface of the floating body's waves will be wider, and the influence of the waves will increase Do. Further, in the spar (cylindrical) type floating body, the shape of the floating body receiving the waves does not change depending on the direction of the waves, but there is a structure attached to the floating body such as a pier for getting on and off the floating body from the ferry during maintenance. Depending on the direction of the waves, there is concern that the structure attached to the floating body may be broken, so it is necessary to consider the direction of the waves.

  In order to cope with the problem of the influence of such waves, for example, the technology described in Patent Document 1 has been proposed. In Patent Document 1, a floating offshore wind power generation facility having a rotor that is rotated by wind is provided with blade pitch control means for controlling the blade pitch of the rotor and floating body motion detection means for detecting the motion of the floating body, A control device of a floating offshore wind power generation facility is disclosed, in which the pitch control means performs feedforward control of the blade pitch of the rotor based on the detection result of the floating body motion detecting means or the sea state detecting means detecting the sea state around the floating body. There is.

WO 2013-065323

  However, in the configuration of the control device of the floating offshore wind power generation facility described in Patent Document 1, the floating body vibration generated by the waves is reduced by detecting the wave direction, wave height, period, etc. to control the blade pitch. Although it is possible, it is difficult to reduce the influence of waves other than the floating body vibration itself.

  Therefore, the present invention provides a floating offshore wind power generator capable of reducing the influence on the floating body generated by waves.

  In order to solve the above problems, a floating offshore wind turbine according to the present invention comprises at least a rotor having a blade that rotates in response to wind and a nacelle housing a generator that generates electric power using the rotational energy of the rotor. A floating offshore wind turbine generator comprising a wind turbine generator having a wind turbine generator, the wind turbine generator disposed on water, and being installed on a moored body, wherein the wave installed on the float body or the wind turbine generator The control device is configured to input wave information from the information detection unit, and the control device outputs a control command for the wind turbine generator based on the wave information, and rotates the floating body based on the control command. I assume.

According to the present invention, it is possible to provide a floating offshore wind turbine that can reduce the influence on the floating body generated by waves.
Problems, configurations, and effects other than those described above will be apparent from the description of the embodiments below.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole schematic block diagram of the floating offshore wind power generator of Example 1 which concerns on one Example of this invention. It is a block diagram which shows schematic structure of the control apparatus shown in FIG. It is a block diagram which shows schematic structure of the wave information detection part shown in FIG. It is the schematic which shows an example of the frequency component of a nacelle acceleration sensor output. It is the schematic which shows an example of the relationship between X axis wave origin vibration and Y axis wave origin vibration, and wave information. It is the schematic which shows an example of the state of the wind power generator and the floating body seen from the upper surface in the case where Example 1 as a comparative example is not applied, and the case where Example 1 is applied. It is the schematic which shows an example of the relationship of the azimuth angle and pitch angle in floating body rotation by independent pitch control. It is a whole schematic block diagram of the floating offshore wind power generator of Example 2 which concerns on the other Example of this invention. It is a block diagram which shows schematic structure of the wave information detection part shown in FIG. It is the schematic which shows an example of the state of the wind power generator and the floating body seen from the upper surface in the case where Example 2 as a comparative example is not applied, and the case where Example 2 is applied.

In this specification, a downwind type wind power generator is described as an example of a wind power generation device constituting a floating offshore wind power generator according to an embodiment of the present invention, but the same applies to an upwind type wind power generation device as well. Applicable to
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an overall schematic configuration diagram of a floating offshore wind turbine according to a first embodiment of the present invention. As shown in FIG. 1, the floating offshore wind turbine generator 1 comprises a floating body 14 moored at a predetermined position on the ocean by a plurality of mooring cords 16 extended in multiple directions, and wind power installed on the floating body 14 It comprises the power generation device 2.
The wind turbine generator 2 is a downwind type in which the rotor is on the downwind side, and is rotatable including a hub 3 having a rotation shaft (not shown) and a plurality of blades 4 attached to the hub 3 A rotor 5 is provided. The rotor 5 is rotatably supported by the nacelle 6 via a rotating shaft (not shown), and is configured to transmit the rotational force of the rotor 5 to the generator 7 accommodated in the nacelle 6. When the blades 4 receive wind, the rotor 5 is rotated, and the generator 7 is rotated by the rotational force of the rotor 5 to generate electric power. In the nacelle 6 is installed a speed increasing machine connected to a rotating shaft (not shown) to increase the rotational speed, and the generator is rotated by rotating the rotor at the rotational speed accelerated by the speed increasing machine. Power generation operation. In the present embodiment, the case where there is a speed increasing gear is shown as an example, but it is not limited to this. For example, a direct drive system without a speed increasing device may be used.

  A wind direction and speed sensor 8 for measuring the wind direction and the wind speed is provided on the nacelle 6, and a wave information detection unit 9 for detecting the direction of the wave and the influence of the wave on the floating body is provided in the nacelle 6. Further, in the generator 7, a rotational speed sensor (not shown) for detecting the rotational speed, a power sensor (not shown) for measuring the active power output by the generator 7, etc. are also installed. .

  In addition, the wind turbine generator 2 includes, for each of the blades 4, a pitch angle adjustment device 10 that adjusts an angle (pitch angle) of the blades 4 with respect to the wind. The pitch angle adjustment device 10 is configured to adjust the wind power (air volume) received by the blade 4 by changing the pitch angle of the blade 4 to change the rotational energy of the rotor 5 with respect to the wind. Thereby, it is possible to control the rotational speed and the generated power in a wide wind speed region.

  The wind turbine generator 2 includes a tower 11 that rotatably supports the nacelle 6. The direction of the nacelle 6 is referred to as a yaw angle, and the wind turbine generator 2 includes the yaw angle adjusting device 12 that controls the direction of the nacelle 6, that is, the direction of the rotation surface of the rotor 5. As shown in FIG. 1, the yaw angle adjustment device 12 is disposed between the bottom surface of the nacelle 6 and the tip of the tower 11 and is constituted of, for example, at least an actuator and a motor for driving the actuator. Based on a yaw angle target value (sometimes referred to as a yaw angle control command) output from the control device 13 described later via a signal line, the motor constituting the yaw angle adjustment device 12 is rotated and the actuator is displaced by a desired amount. By doing this, the nacelle 6 is pivoted to a desired yaw angle.

The tower 11 is configured to support the load of the blade 4 via the hub 3, the nacelle 6, and the yaw angle adjustment device 12, and is installed on the floating body 14. The floating body 14 is moored at a predetermined position on the ocean by a plurality of multidirectionally extended mooring lines 16.
Further, the control device 13 configuring the wind turbine 2 adjusts the generated power of the wind turbine 2 and the rotation speed of the rotor 5 by adjusting the pitch angle adjustment device 10 based on the rotation speed (rotor rotation speed). . Further, the control device 13 adjusts the yaw angle adjustment device 12 to adjust the yaw angle which is the angle with respect to the wind direction of the rotor 5, and can continue the power generation even if the wind direction changes.

Although FIG. 1 illustrates that the control device 13 is installed outside the nacelle 6 and the tower 11, the control device 13 may be disposed inside the nacelle 6 or the tower 11. For example, it is possible to install the control device 13 on the floating body 14 or inside the floating body 14.
The shape of the floating body 14 in the present embodiment is a rectangular solid, and the horizontal cross-sectional area is large in order to reduce the draft. Therefore, the area of the side surface of the rectangular parallelepiped floating body 14 (the area to receive the wave) is increased. Therefore, the surface which receives a wave becomes wide and it is easy to be influenced by a wave. Moreover, since the shape of the floating body 14 which receives a wave changes with directions of a wave, depending on the direction of a wave, it receives large influence of a wave.
On the side surface of the floating body 14, a pier 15 as a structure attached to the floating body 14 for getting on and off the floating body 14 from the ferry during maintenance is attached near the sea surface. In the floating offshore wind turbine 1, although the structure is various, the pier 15 as a structure attached to such a floating body 14 is necessary regardless of the type of the floating body 14, and the installation location is near the sea surface It becomes. Moreover, since the pier 15 as a structure attached to the floating body 14 basically has a structure protruding from the floating body 14, it is strongly affected by waves and may be broken in some cases.
FIG. 2 is a block diagram showing a schematic configuration of the control device shown in FIG. As shown in FIG. 2, the control device 13 includes a floating body rotation control unit 101, a pitch angle control unit 102, and a yaw angle control unit 103. The floating body rotation control unit 101, the pitch angle control unit 102, and the yaw angle control unit 103 temporarily store, for example, a processor such as a central processing unit (CPU) not shown, a ROM for storing various programs, and data of operation processes. And a processor such as a CPU reads and executes various programs stored in the ROM, and stores the calculation result as the execution result in the RAM or the external storage device. Although the functional blocks are shown separately for ease of explanation, the floating body rotation control unit 101, the pitch angle control unit 102, and the yaw angle control unit 103 may be one computing unit, or The configuration may be such that desired functional blocks are integrated.

The floating body rotation control unit 101 receives the wave information from the wave information detection unit 9 and the wind direction from the wind direction and wind speed sensor 8 via a signal line. Here, the wave information input from the wave information detection unit 9 includes the direction of the wave with respect to the floating body 14 and the amount of influence of the wave on the floating body 14 (also referred to as the influence of the wave). The floating body rotation control unit 101 controls the floating body 14 with respect to the direction of the wave when the amount of influence on the floating body 14 of the wave included in the wave information input from the wave information detection unit 9 (the influence of the wave) exceeds a predetermined threshold The pitch angle control command value or the yaw angle control command value is determined so as to rotate in the direction in which the influence of waves is reduced. The floating body rotation control unit 101 outputs the determined pitch angle control command value to the pitch angle control unit 102 via a signal line. Alternatively, the floating body rotation control unit 101 outputs the determined yaw angle control command value to the yaw angle control unit 103 via the signal line.
The floating body rotation control unit 101 normally outputs the yaw angle control command value to the yaw angle control unit 103 through a signal line because the floating body 14 can be easily rotated by using the yaw angle, but the fluctuation of the wind direction is large. If this is the case, the operation may become unstable. Therefore, when the fluctuation of the input wind direction becomes large, that is, when the fluctuation of the wind direction exceeds a predetermined threshold value, the floating body rotation control unit 101 transmits the signal line to the pitch angle control unit 102 where stable operation is expected. Switch to output through. In addition, since a response delay occurs in the floating body rotational operation, it is necessary to calculate the pitch angle control command value and the yaw angle control command value in consideration of the response delay.

  The pitch angle control unit 102 obtains a pitch angle for keeping the rotation speed, which is an original function, constant, based on the rotor rotation speed input through the signal line. Then, the pitch angle control unit 102 adds the pitch angle control command value input from the floating body rotation control unit 101 to the obtained pitch angle, and sends it to the pitch angle adjusting device 10 as a pitch angle target value (pitch angle control command). Output via the signal line. The pitch angle for keeping the rotational speed constant is the same value for the plurality of blades 4, and the pitch angle control command value from the floating body rotation control unit 101 is the rotational position of the blade 4 as described in detail later. Since the value changes, independent pitch control is performed with different values among the blades 4.

  The yaw angle control unit 103 obtains a yaw angle for aligning the direction of the nacelle 6 with the original wind direction based on the wind direction input from the wind direction and speed sensor 8 through the signal line. Then, the yaw angle control unit 103 adds the yaw angle control command value input from the floating body rotation control unit 101 to the calculated yaw angle to obtain a yaw angle target value (yaw angle control command) as the yaw angle adjustment device 12. Output to the signal line.

  As described above, the control device 13 outputs the pitch angle control command value for rotating the floating body 14 so as to reduce the influence of waves by the floating body rotation control unit 101 to the pitch angle control unit 102 and the yaw angle control command. The value is output to the yaw angle control unit 103. Then, the pitch angle control unit 102 outputs a pitch angle target value (pitch angle control command) obtained by adding the pitch angle control command value from the floating body rotation control unit 101 to the pitch angle that is the original control target value. Also, the yaw angle control unit 103 outputs a yaw angle target value (yaw angle control command) obtained by adding the yaw angle control command value from the floating body rotation control unit 101 to the yaw angle that is the original control target value. It is configured.

FIG. 3 is a block diagram showing a schematic configuration of the wave information detection unit shown in FIG. As shown in FIG. 3, the wave information detection unit 9 includes a nacelle acceleration sensor 104 and a wave information calculation unit 105. The wave information calculation unit 105 is realized by, for example, a processor such as a CPU (Central Processing Unit) not shown, a ROM storing various programs, a RAM temporarily storing data of calculation processes, and a storage device such as an external storage device. At the same time, a processor such as a CPU reads and executes various programs stored in the ROM, and stores the calculation result as the execution result in the RAM or an external storage device.
The nacelle acceleration sensor 104 constituting the wave information detection unit 9 detects vibrations in two orthogonal directions of XY. In the wave information calculation unit 105 constituting the wave information detection unit 9, the direction and wave direction of the wave relative to the floating body 14 based on the detection values of the XY two-way vibration input from the nacelle acceleration sensor 104 and the input yaw angle. Amount of influence on the floating body 14 (influence of waves) is calculated, and is output to the control device 13 via signal lines as wave information.

The nacelle acceleration sensor 104 can measure acceleration in three orthogonal axes of X, Y, and Z, and the acceleration in the horizontal direction of the nacelle 6 is taken as the X axis, the direction orthogonal to the wind direction in the horizontal is taken as the Y axis, and the vertical direction is taken as the Z axis. Output a signal. In FIG. 3, for convenience of explanation, the nacelle acceleration sensor 104 outputs the X-axis acceleration signal as the X-direction vibration to the wave information calculation unit 105 among the X-axis acceleration signal, the Y-axis acceleration signal, and the Z-axis acceleration signal. The axis acceleration signal is illustrated as being output to the wave information calculation unit 105 as Y direction vibration.
The wave information calculation unit 105 uses the X-direction vibration (X-axis acceleration signal) and the Y-direction vibration (Y-axis acceleration signal) input from the nacelle acceleration sensor 104 as vibration data in each direction, from which vibration components caused by waves are The direction of the wave is calculated from the ratio of the X direction component (X axis wave induced vibration) and the Y direction component (Y axis wave induced vibration), and the X direction component (X axis wave induced vibration) and the Y direction component (Y The amount of influence of the wave on the floating body 14 (the influence of the wave) is calculated from the value obtained by combining the axial wave-induced vibration). However, since the direction of the wave calculated from the X direction component (X axis wave induced vibration) and the Y direction component (Y axis wave induced vibration) is the direction with respect to the nacelle 6, the yaw that is the angle of the nacelle 6 with respect to the floating body 14 The corners are added and converted to an angle with respect to the floating body 14.

Next, extraction of the vibration component caused by the wave by the wave information calculation unit 105 will be described.
FIG. 4 is a schematic view showing an example of frequency components of the nacelle acceleration sensor output. The horizontal axis in FIG. 4 is the frequency, and the vertical axis shows the acceleration amplitude at each frequency. Note that FIG. 4 exemplarily shows the X-axis acceleration signal among the X-axis acceleration signal and the Y-axis acceleration signal, and the waveform shown in FIG. 4 showing the relationship between the acceleration amplitude and the frequency is a wind. The vibrational component of the nacelle 6 and the vibrational component caused by waves are included depending on the situation. As shown in FIG. 4, a large peak of 0.05 Hz or less is a resonance due to the natural vibration of the floating body, and vibration due to waves (wave-induced vibration component) mainly occurs in the range of 0.05 Hz to 0.15 Hz. Therefore, the wave information calculation unit 105 can easily extract the vibration component caused by the wave in the X-axis direction by using, for example, a band pass filter that passes only the frequency band of 0.05 Hz to 0.15 Hz. it can. Here, it is confirmed in advance that vibration components caused by waves are generated in a frequency range of 0.05 Hz to 0.15 Hz based on actual data. The wave information calculation unit 105 calculates the X axis wave induced vibration by integrating the extracted vibration component caused by the wave in the X axis direction. Similarly, the wave information calculation unit 105 integrates the vibration component caused by the wave in the Y-axis direction obtained by extracting only the frequency band of 0.05 Hz to 0.15 Hz, and calculates the vibration caused by the Y axis wave. .

The calculation of the wave information, that is, the direction of the wave and the amount of influence of the wave on the floating body 14 (the influence of the wave) by the wave information calculation unit 105 will be described.
FIG. 5 is a schematic view showing an example of the relationship between X-axis wave-induced vibration and Y-axis wave-induced vibration and wave information. The horizontal axis in FIG. 4 represents X-axis wave-induced vibration, and the vertical axis represents Y-axis wave-induced vibration. The wave information calculation unit 105 calculates the influence P of the wave (the amount of influence of the wave on the floating body 14) by combining the X axis wave induced vibration Px and the Y axis wave induced vibration Py. When the value of the influence P (the amount of influence of the wave on the floating body 14) of the wave calculated by the wave information calculation unit 105 exceeds the predetermined threshold Pth, the control device 13 starts the rotation operation of the floating body 14 To control the pitch angle adjustment device 10 and / or the yaw angle adjustment device 12. Here, since the setting of the predetermined threshold value Pth depends on the machine difference and the wave condition of the floating offshore wind power generator 1, for example, the X axis wave at the start of rotation of the floating body 14 based on the performance data in advance. The threshold Pth is set by the induced vibration and the Y-axis wave induced vibration.

  Further, as shown in FIG. 5, the angle between the X-axis wave induced vibration Px and the Y-axis wave induced vibration Py is the wave direction θ. However, since both the X-axis wave-induced vibration Px and the Y-axis wave-induced vibration Py have positive values in calculation, the value of the direction θ of the wave which is actually 0 to 2π is 0 to π / 2 Converted to range. Generally, the direction of the wind and the wave are often the same, but when there is the influence of the wave from a distant place, the direction of the wave and the wind may not be the same, so the current and past wind direction and sea pattern The direction of the actual wave is determined based on the forecast, etc., and π / 2, π or 3π / 2 is added to the value of the direction θ of the wave as required. In addition, depending on the relationship between the structure of the floating body 14 and the direction of the waves, how the waves hit the floating body 14 may actually differ, and an error may occur in the direction θ of the detected wave. Alternatively, the error can be reduced by creating the correction table. As described above, the detection accuracy can be improved by calculating the direction of the wave from the influence of the wave actually received, and even when the rotation range of the floating body 14 is narrow, it can be rotated in a more effective direction. .

  As described above, the wave information calculation unit 105 calculates the influence P of the wave, which is the amount of influence of the wave on the floating body 14, and the wave based on the influence P of the wave, which is the amount of influence of the wave on the floating body 14. The direction θ is calculated, and these are output as wave information to the control device 13 via the signal line (FIG. 3).

FIG. 6 is a schematic view showing an example of the state of the wind turbine and the floating body viewed from the top in the case where the first embodiment as a comparative example is not applied and in the case where the first embodiment is applied.
The upper diagram of FIG. 6 shows the state of the wind turbine 2 and the floating body 14 when the present embodiment as a comparative example is not applied, and the lower diagram of FIG. 6 shows the wind turbine 2 and the floating body 14 when the present embodiment is applied. Indicates the state of

  As shown in the upper drawing of FIG. 6, in the comparative example, since the wave vertically strikes one side surface of the rectangular parallelepiped floating body 14, the influence is largely received. On the other hand, in the lower part of FIG. 6, by applying the present embodiment, the floating body 14 is rotated so that the waves enter the corners of the rectangular solid floating body 14, and the waves are released to the side and the effect thereof is It is reduced. In fact, by turning the blade 4 counterclockwise by yaw rotation, the wind is obliquely input to the blade 4 and the force generated in the clockwise direction on the wind turbine 2 by the rotational moment generated at that time. The floating body 14 integrated with the wind power generator 2 is also rotated clockwise.

  FIG. 7 is a schematic view showing an example of the relationship between azimuth angle and pitch angle in floating body rotation by independent pitch control. The horizontal axis in FIG. 7 is the azimuth angle (rotational position of the blade 4) when the azimuth angle when the blade 4 is at the top is 0, and the vertical axis is the pitch angle. In the rotation of the floating body 14 according to the pitch angle, the pitch angle control unit 102 (FIG. 2) constituting the control device 13 controls the plurality of blades 4 individually, so that different pitches are sent to the respective pitch angle adjusting devices 10 Independent pitch control is performed by outputting an angular target value (pitch angle control command). Specifically, the pitch angle control unit 102 of the control device 13 changes the pitches to the respective pitch angle adjusting devices 10 so as to increase or decrease the pitch angle according to the azimuth angle with respect to each blade 4. An angular target value (pitch angle control command) is output to generate a rotational moment due to the unbalance of the wind force received by the blade 4. In fact, as shown in FIG. 7, in the right half face where the azimuth angle is 0 to π, the pitch angle is on the feather side (wind is released) side, the wind force received by the blade 4 is lowered, and the azimuth angle is π to 2π. In the left half, the pitch angle is made fine (wind receiving) to increase the wind force received by the blade 4. By independently controlling the pitch angles of the individual blades 4 in this manner, it is possible to generate a difference between the wind forces received on the right and left planes, and the wind force difference generates a rotational moment to rotate the floating body 14. Let

  In the present embodiment, when the fluctuation of the wind direction exceeds the predetermined threshold value, the floating body rotation control unit 101 of the control device 13 is switched to output the pitch angle control command value to the pitch angle control unit 102. However, it is not necessarily limited to this. For example, when the floating body rotation control unit 101 constituting the control device 13 constantly outputs the yaw angle control command value to the yaw angle control unit 103 and the fluctuation of the wind direction exceeds a predetermined threshold, the pitch angle control unit 102 controls the pitch angle. The command value may be additionally output. In other words, the control device 13 outputs the pitch angle control command, which is the pitch angle target value, to the pitch angle adjustment device 10 and / or the yaw angle control command, which is the yaw angle target value, to the yaw angle adjustment device 12. Also good.

  Further, in the present embodiment, the current and past wind directions and sea conditions are converted in order to convert the wave direction θ in the range of 0 to π / 2 detected in FIG. 5 into the actual wave direction of 0 to 2π. Although the direction of the actual wave is determined based on the forecast etc., it is not necessarily limited to this. For example, it is also possible to analyze the movement of the sea surface with an imaging device and analyze the traveling direction of the wave, install directional microphones in multiple directions and float the wave from the magnitude relationship of their measurement sounds. The direction of the sound generated when hitting 14 may be detected to estimate the actual direction of the wave.

  As described above, according to the present embodiment, it is possible to provide a floating offshore wind turbine capable of reducing the influence on the floating body generated by waves.

  Further, according to the present embodiment, since the floating body is rotated by yaw control and independent pitch control, a device for specially rotating the floating body is not necessary, and the effect of reducing the influence on the floating body generated by waves is improved. It becomes possible.

  FIG. 8 is a whole schematic block diagram of a floating offshore wind turbine generator according to a second embodiment of the present invention. The present embodiment is different from the first embodiment in that the floating body is of a spar (cylindrical) type and the wave information detection unit is installed in the tower. The other configuration is the same as that of the above-described first embodiment, and in the following, the same components as those of the first embodiment are denoted by the same reference numerals, and the description overlapping with the first embodiment is omitted.

As shown in FIG. 8, the floating offshore wind turbine 1a has a spar (cylindrical) floating body 34 and a floating body 34 moored in place on the ocean by a plurality of mooring cords 36 extended in multiple directions. It consists of a wind power generator 2a installed on top.
The wind turbine generator 2 a is a downwind type in which the rotor is on the downwind side, and the wave information detection unit 29 is installed in the tower 10. A pier 35 as a structure attached to the floating body 34 is attached at a predetermined position on the outer peripheral surface of the cylindrical floating body 34. Further, the floating body 34 is moored at a predetermined position on the ocean by a plurality of mooring cords 36 extended in multiple directions. The control device 13 drives the yaw angle adjustment device 12 and the pitch angle adjustment device 10 based on the wave information from the wave information detection unit 29 to rotate the floating body 34, as in the first embodiment described above. Omit.

FIG. 9 is a block diagram showing a schematic configuration of the wave information detection unit shown in FIG. As shown in FIG. 9, the wave information detection unit 29 includes a tower displacement sensor 106 and a wave information calculation unit 107. The wave information calculation unit 107 is realized by, for example, a processor such as a CPU (Central Processing Unit) not shown, a ROM storing various programs, a RAM temporarily storing data of calculation processes, and a storage device such as an external storage device. At the same time, a processor such as a CPU reads and executes various programs stored in the ROM, and stores the calculation result as the execution result in the RAM or an external storage device.
The tower displacement sensor 106 that constitutes the wave information detection unit 29 detects vibrations in two orthogonal XY directions. In the wave information calculation unit 107 constituting the wave information detection unit 9, the direction of the wave on the floating body 34 and the influence of the wave on the floating body 34 based on the detected values of the XY two-direction vibration input from the tower displacement sensor 106 The amount (the influence of the wave) is calculated and output to the control device 13 as wave information through the signal line.

The tower displacement sensor 106 can measure displacement of three orthogonal axes of X, Y, and Z, and the displacement signal of the nacelle in the horizontal direction is the X axis, the direction orthogonal to the wind direction in the horizontal is the Y axis, and the vertical direction is the Z axis. Output In FIG. 9, for convenience of explanation, the tower displacement sensor 106 outputs an X-axis displacement signal as an X-direction vibration to the wave information calculation unit 107 among the X-axis displacement signal, the Y-axis displacement signal, and the Z-axis displacement signal. The axis displacement signal is illustrated as being output to the wave information calculation unit 107 as Y direction vibration. The tower displacement sensor 106 is, for example, a gyro sensor.
The wave information calculation unit 107 uses the X-direction vibration (X-axis displacement signal) and the Y-direction vibration (Y-axis displacement signal) input from the tower displacement sensor 106 as vibration data in each direction, from which the vibration component caused by the wave is The direction of the wave is calculated from the ratio of the X direction component (X axis wave induced vibration) and the Y direction component (Y axis wave induced vibration), and the X direction component (X axis wave induced vibration) and the Y direction component (Y The amount of influence of the wave on the floating body 34 (the influence of the wave) is calculated from the value obtained by combining the axial wave-induced vibration). In the present embodiment, the wave information detection unit 29 is installed in the tower 11 and can directly detect the direction of the wave with respect to the floating body 34. Therefore, the wave with the yaw angle as described in the first embodiment There is no need to make a change in direction. Also, from the X-direction component (X-axis wave-induced vibration) and Y-direction component (X-axis wave induced vibration) of the wave-induced vibration, the direction of the wave to the floating body 34 and the amount of influence of the wave on the floating body 34 (wave influence) The calculation method is the same as that of the first embodiment described above, and thus the description thereof is omitted here.

FIG. 10 is a schematic view showing an example of the state of the wind turbine and the floating body viewed from the top in the case where the second embodiment as a comparative example is not applied and in the case where the second embodiment is applied.
The upper diagram of FIG. 10 shows the state of the wind turbine 2a and the floating body 34 when the present embodiment as a comparative example is not applied, and the lower diagram of FIG. 6 shows the wind turbine 2a and the floating body 34 when the present embodiment is applied. Indicates the state of

  As shown in the upper drawing of FIG. 10, in the comparative example, the shape of the floating body 34 is cylindrical, so the influence does not change depending on the direction of the wave, but the pier 35 as a structure attached to the floating body 34 Because they are on the receiving side, they may be affected. On the other hand, in the lower part of FIG. 10, by applying the present embodiment, the floating body 34 is rotated so that the pier 35 as a structure attached to the floating body 34 falls in the shadow of the floating body 34 That is, the pier 35 is positioned on the outer peripheral surface opposite to the outer peripheral surface of the floating body 34 which receives the waves. Thereby, the influence of the wave with respect to the pier 35 as a structure attached to the floating body 34 can be reduced.

As described above, according to this embodiment, in addition to the effects of the first embodiment, it is possible to reduce the influence of waves on the pier as a structure attached to the floating body.
Further, in the present embodiment, the wave information detection unit is installed in the tower, and the direct detection of the direction of the wave relative to the floating body is possible. It is possible to reduce the calculation load of the unit.

In addition, in the above-mentioned Example 1 and Example 2, although the case where the shape of a floating body is a rectangular parallelepiped or a spar (cylinder) was demonstrated to an example, it is not restricted to these. For example, the shape of the floating body may be a complex floating body structure such as a semi-sub type. Furthermore, although it was set as the structure by which a wave information detection part is installed in a nacelle or a tower, it is not restricted to this. For example, it is good also as composition provided in other places, such as a floating body.
Moreover, in the above-mentioned Example 1 and Example 2, although it is set as the structure which uses the displacement measured by the acceleration measured by a nacelle acceleration sensor or a tower displacement sensor for detection of wave-induced vibration, it is not restricted to this . As long as it is a signal that can detect vibration, for example, a nacelle velocity sensor or a tower tilt angle sensor may be used to detect wave-induced vibration.

  Further, the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the embodiments described above are described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.

1, 1a: floating offshore wind power generator 2, 2a: wind power generator 3: hub 4: blade 5: rotor 6: nacelle 7: generator 8: wind direction and wind speed sensor 9, 29: wave information detection unit 10: pitch angle Adjustment device 11 ... Tower 12 ... Yaw angle adjustment device 13 ... Control device 14, 34 ... Floating body 15, 35 ... Pier 16, 36 ... Mooring cord 101 ... Floating body rotation control section 102 ... Pitch angle control section 103 ... Yaw angle control section 104 ... nacelle acceleration sensor 105, 107 ... wave information calculation unit 106 ... tower displacement sensor

Claims (13)

A wind power generator comprising at least a rotor having a blade that rotates in response to wind and a nacelle containing a generator that generates power using the rotational energy of the rotor, the wind power generator being disposed on water And a floating offshore wind power generator installed on a floating body to be moored,
A controller for inputting wave information from a wave information detection unit installed in the floating body or the wind turbine generator;
The control device outputs a control command of the wind turbine generator based on the wave information,
A floating offshore wind power generator characterized by rotating the floating body based on the control command. In the floating offshore wind power generator according to claim 1,
The wave information includes the direction of the wave and the amount of influence of the wave on the floating body,
The control device determines a control command of the wind turbine to rotate the floating body in a direction to reduce the influence of waves on the floating body when the amount of influence of waves on the floating body exceeds a predetermined threshold. A floating offshore wind power generator characterized by In the floating offshore wind power generator according to claim 1,
The wind power generator includes a pitch angle adjusting device that adjusts a pitch angle of the blades, and a yaw angle adjusting device that adjusts an angle of the rotor with respect to the wind direction.
The control device outputs a pitch angle control instruction to the pitch angle adjustment device and / or a yaw angle control instruction to the yaw angle adjustment device based on the wave information, and a pitch angle control instruction and / or the yaw angle control instruction. A floating offshore wind turbine generator, comprising controlling rotation of the floating body based on the above. The floating offshore wind turbine according to claim 2, wherein
The wind power generator includes a pitch angle adjusting device that adjusts a pitch angle of the blades, and a yaw angle adjusting device that adjusts an angle of the rotor with respect to the wind direction.
The control device outputs a pitch angle control instruction to the pitch angle adjustment device and / or a yaw angle control instruction to the yaw angle adjustment device based on the direction of the wave included in the wave information and the influence amount of the wave on the floating body. A floating offshore wind power generator, comprising controlling rotation of the floating body based on a pitch angle control command and / or the yaw angle control command. In the floating offshore wind power generator according to claim 3,
It has a wind condition measurement unit installed on the nacelle and measuring wind conditions including the wind direction,
The control apparatus outputs a pitch angle control command to the pitch angle adjusting device only when the fluctuation of the wind direction input from the wind condition measuring unit exceeds a predetermined threshold value. apparatus. In the floating offshore wind power generator according to claim 4,
It has a wind condition measurement unit installed on the nacelle and measuring wind conditions including the wind direction,
The control apparatus outputs a pitch angle control command to the pitch angle adjusting device only when the fluctuation of the wind direction input from the wind condition measuring unit exceeds a predetermined threshold value. apparatus. In the floating offshore wind power generator according to claim 5,
The wave information detection unit
A vibration detection unit that detects vibrations in different directions orthogonal to each other;
The vibration component of the wave origin in each direction is extracted from the vibration in different directions orthogonal to each other detected by the vibration detection unit, and the direction of the wave as the wave information based on the vibration component of the wave origin in each extracted direction And a wave information calculation unit that calculates an amount of influence of waves on the floating body and outputs the calculated amount to the control device. In the floating offshore wind power generator according to claim 6,
The wave information detection unit
A vibration detection unit that detects vibrations in different directions orthogonal to each other;
From the vibration in different directions orthogonal to each other detected by the vibration detection unit, the vibration component caused by the wave in each direction is extracted, and based on the vibration component caused by the wave in each direction extracted, the direction of the wave and the floating body And a wave information calculating unit that calculates the amount of influence of waves and outputs the calculated amount to the control device. The floating offshore wind turbine generator according to claim 7 or 8, wherein
The wave information calculation unit extracts vibration of a frequency band of 0.05 Hz to 0.15 Hz among vibration in different directions orthogonal to each other detected by the vibration detection unit as vibration component caused by wave in each direction. A floating offshore wind power generator characterized by The floating offshore wind turbine generator according to claim 7 or 8, wherein
The vibration detection unit is a nacelle acceleration sensor or a nacelle speed sensor installed in the nacelle,
The wave information calculation unit extracts a vibration component caused by a wave from an acceleration signal or a velocity signal in each direction detected by the nacelle acceleration sensor or the nacelle velocity sensor, and extracts the vibration component caused by the wave in each direction extracted. A floating offshore wind power generator characterized in that the direction of the wave is calculated by adding a yaw angle which is an angle with respect to the wind direction of the rotor to a combined and combined value. The floating offshore wind turbine generator according to claim 7 or 8, wherein
The vibration detection unit is a tower displacement sensor or a tower tilt angle sensor installed in a tower that rotatably supports the nacelle,
The wave information calculation unit extracts vibration components caused by waves from displacement signals or tilt angle signals in each direction detected by the tower displacement sensor or tower tilt angle sensor, and the vibration caused by waves in each direction extracted A floating offshore wind power generator characterized by synthesizing components and calculating the direction of the wave. The floating offshore wind turbine generator according to claim 7 or 8, wherein
The wind power generator comprises a plurality of blades and a pitch angle adjustment device installed for each blade,
A floating offshore wind power generator characterized in that the control device outputs different pitch angle control commands to each pitch angle adjusting device, and the pitch angle control command is determined according to an azimuth angle. The floating offshore wind turbine generator according to claim 7 or 8, wherein
A floating offshore wind power generator characterized in that the amount of influence of waves on the floating body includes the effect on a structure attached to the floating body.

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