JP2020020264A - Wind power generation device and control method therefor - Google Patents

Abstract

To provide a wind power generation device capable of suppressing mechanical consumption while reducing a yaw deviation angle and improving a power generation amount through yaw control corresponding to a wind turbulence degree that is calculated at low cost and accurately, and a control method therefor.SOLUTION: A wind power generation device 1 comprises: a rotor 4 which is rotated by receiving a wind; a nacelle 5 which supports the rotor 4 in a rotatable manner; a tower 7 which supports the nacelle 5 in a yaw rotatable manner; an adjustment device 8 for adjusting a yaw of the nacelle 5 based on a yaw control command; and a control device 9 which determines the yaw control command to be sent to the adjustment device 8. The control device 9 includes: a yaw deviation angle calculation part 301 for calculating a yaw deviation angle from a value measured by a wind direction/wind velocity measuring part and a direction of the rotor 4; a wind turbulence degree calculation part 302 for calculating a wind turbulence degree from the value measured by the wind direction/wind velocity measuring part; and a control command creation part 304 which determines the yaw control command based on the yaw deviation angle and the wind turbulence degree. In the case where the wind turbulence degree is high, the control command creation part 304 stops yaw rotation on early stage.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a wind power generator and a control method thereof, and more particularly to a wind power generator capable of improving power generation performance while minimizing an increase in mechanical wear of the wind power generator, and a control method thereof.

  The horizontal axis type wind power generator is provided with a yaw turning mechanism for turning a nacelle having a wind turbine rotor around a vertical axis. When a wind direction deviation (hereinafter, referred to as a yaw deviation angle) representing a deviation angle between an azimuth of a rotation axis of a wind turbine rotor (hereinafter, referred to as a nacelle azimuth) and a wind direction occurs, a wind power generator receives wind from a rotor. It is known that a yaw rotation mechanism is controlled so as to eliminate a yaw deviation angle in order to prevent a decrease in power generation efficiency due to a decrease in area. For example, techniques described in Patent Literature 1, Patent Literature 2, and Patent Literature 3 are known as methods of controlling the yaw.

JP 2010-106727 A US Patent No. 9273668 US Publication No. 2014/0152013

A wind condition representing a wind direction and a wind speed at a certain point has a fluctuation component having various periods. The characteristics of the periodic fluctuation component also differ depending on the time zone. Since these fluctuation components are randomly included in the wind condition, a general yaw control method is such that, for example, when the yaw deviation angle during a certain predetermined period exceeds a predetermined threshold, the yaw deviation angle becomes zero. And yaw the nacelle.
When the yaw deviation angle can always be maintained at zero by the yaw control, the amount of power generation becomes largest. However, when the speed of fluctuation of the wind direction is faster than the turning speed of the nacelle, the nacelle azimuth cannot follow the wind direction. In addition, when the degree of wind turbulence is high, that is, when the wind direction fluctuates greatly and the wind direction changes in the opposite direction during yaw rotation, the yaw rotation is excessively performed due to the response delay of the yaw control, and the nacelle is moved with the yaw deviation angle being high. Stop it. In these cases, it is difficult to maintain the yaw deviation angle at zero. However, if the turning speed of the nacelle is set too high, or if the yaw turning is performed too sensitively to the yaw deviation angle, mechanical wear of the nacelle turning mechanism and the brake mechanism for stopping the turning of the nacelle occurs. If the yaw deviation angle is actively suppressed by using this control method, mechanical wear may increase.

In the method disclosed in Patent Literature 1, especially when the degree of wind turbulence is high and the wind direction fluctuates severely, the yaw rotation is excessive, and the yaw deviation angle after the yaw rotation cannot be sufficiently suppressed. Therefore, the yaw deviation angle cannot be sufficiently reduced, so that not only the power generation performance is reduced, but also mechanical wear may be increased more than necessary due to excessive yaw rotation.
Therefore, it is preferable to adjust the parameters of the yaw control in accordance with the degree of wind turbulence, and to perform the yaw control so as to prevent the yaw rotation from being excessive. However, when calculating the degree of wind turbulence from the measured wind direction, if a general arrow feather anemometer is used for wind direction measurement, it is difficult to accurately calculate the degree of wind turbulence due to the inertia of arrow feathers. is there. Further, an anemometer such as an ultrasonic type having no influence of inertia is not preferable because of its high cost.

  Therefore, the present invention can suppress the unnecessarily increased mechanical consumption while reducing the yaw deviation angle and improving the power generation amount by the yaw control according to the wind turbulence degree accurately calculated at low cost. A wind power generator and a control method thereof are provided.

  In order to solve the above problems, a wind power generator according to the present invention includes a rotor that rotates by receiving wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, and a yaw control. An adjustment device that adjusts yaw of the nacelle based on a command, and a control device that determines the yaw control command to be sent to the adjustment device, wherein the control device is measured by a wind direction and wind speed measurement unit. A yaw deviation angle calculation unit that calculates a yaw deviation angle from the measured value and the direction of the rotor; a wind turbulence degree calculation unit that calculates a wind turbulence degree from a value measured by the wind direction / wind speed measurement unit; A control command creation unit that determines the yaw control command based on an angle and the degree of wind turbulence is provided, and the control device stops yaw turning quickly when the degree of wind turbulence is high.

  In addition, the control method of the wind turbine generator according to the present invention includes a rotor that rotates by receiving a wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, and a yaw control command. An adjustment device that adjusts the yaw of the nacelle based on the control device and a control device that determines the yaw control command to be sent to the adjustment device. When the yaw deviation angle is calculated from the direction of the rotor, the degree of wind turbulence is calculated from the value measured by the wind direction and wind speed measurement unit, and based on at least the yaw deviation angle and the degree of wind turbulence, the degree of wind turbulence is high. The yaw rotation is stopped early.

Advantageous Effects of Invention According to the present invention, it is possible to suppress unnecessarily increased mechanical wear while reducing the yaw deviation angle and improving the power generation amount by the yaw control according to the wind turbulence degree calculated accurately with low cost. It is possible to provide a wind power generator and a control method thereof.
Specifically, it is possible to accurately calculate the degree of wind turbulence at low cost and perform yaw control, suppress excessive yaw turning even when the wind direction fluctuates sharply, and set the nacelle azimuth angle with respect to the wind direction during yaw turning. Followability is improved. Further, by suppressing excessive yaw rotation, an unnecessary increase in mechanical wear of the yaw rotation mechanism is suppressed. That is, it is possible to provide a wind power generator and a control method for the wind power generator that can achieve both improvement in the power generation performance of the wind power generator and reduction in mechanical wear.
Problems, configurations, and effects other than those described above will be apparent from the following description of the embodiments.

1 is a side view illustrating an overall schematic configuration of a wind turbine generator according to a first embodiment of the present invention. FIG. 2 is a top view (plan view) of the wind turbine generator shown in FIG. 1. FIG. 2 is a block diagram illustrating functions of a yaw control unit included in the control device illustrated in FIG. 1. 4 is a flowchart illustrating an outline of a process performed by a yaw control unit illustrated in FIG. 3. FIGS. 5A and 5B are schematic diagrams illustrating an effect of the yaw control unit according to the first embodiment. FIG. 5A illustrates a time change of a wind speed and a degree of turbulence of a wind, and FIG. 5 (c) is a diagram showing a time change of the wind direction and the rotor shaft angle, and FIG. 5 (d) is a diagram showing a time change of the yaw deviation angle. FIG. 14 is a block diagram illustrating functions of a yaw control unit according to a second embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a side view showing an overall schematic configuration of a wind turbine generator according to a first embodiment of the present invention. As shown in FIG. 1, the wind turbine generator 1 includes a rotor 4 including a plurality of blades 2 and a hub 3 connecting the blades 2. The rotor 4 is connected to the nacelle 5 via a rotation shaft (omitted in FIG. 1), and can change the position of the blade 2 by rotating. The nacelle 5 rotatably supports the rotor 4. The nacelle 5 includes a generator 6, and the rotor 4 rotates when the blade 2 receives wind, and the rotating force rotates the generator 6 to generate electric power.

  The nacelle 5 is installed on a tower 7 and is capable of yaw rotation about a vertical axis by a yaw rotation mechanism 8 (also referred to as an adjusting device). The control device 9 controls the yaw rotation mechanism 8 based on the wind direction detected by the wind direction sensor 10 that detects the wind direction and the wind speed, and the wind speed Vw. The wind direction sensor 10 is assumed to be a low-cost general wind direction sensor having an arrow head type and an anemometer cup type in the present embodiment. However, the wind direction sensor 10 may be a lidar (for example, a Doppler lidar) or an ultrasonic wind direction sensor. It may be a meter or the like, may be attached to a wind power generator such as a nacelle or a tower, or may be attached to a mast or the like by a structure different from the wind turbine generator.

  The yaw rotation mechanism 8 includes a yaw bearing, a yaw gear (gear for yaw rotation), a yaw rotation motor, a yaw brake, and the like. Further, a pitch actuator that can change the angle of the blade 2 with respect to the hub 3, a power converter that controls the active power and the reactive power output by the generator 6, a sensor that detects an electric signal or a mechanical signal, and the like are appropriately located. In preparation. Although FIG. 1 shows a downwind type in which power is generated by wind in a direction from the nacelle 5 to the blade 2, an upwind type in which power is generated by wind in a direction from the blade 2 to the nacelle 5 may be used.

  FIG. 2 is a top view (plan view) of FIG. The direction of the wind that forms the predetermined reference direction is defined as θw, the direction of the rotor rotation axis that forms the predetermined reference direction is defined as θr, and the yaw deviation angle that is the deviation angle from the wind direction θw to the rotor shaft angle θr is defined as Δθ. It is illustrated. Here, the “predetermined reference direction” is, for example, the north as 0 ° and the reference direction. Note that the reference direction is not limited to north and may be set arbitrarily. The wind direction θw may be a value acquired for each measurement cycle, may be an average direction for a predetermined period, or may be a direction through a filter that passes only a predetermined frequency region. Alternatively, the direction may be a direction calculated based on the surrounding wind condition distribution. In addition, the rotor shaft angle θr may be a direction facing the rotor rotation axis, a nacelle direction, a value measured by an encoder of the yaw turning unit, or the like.

The yaw control unit 300 included in the control device 9 of the wind turbine generator 1 according to the present embodiment will be described with reference to FIGS. 3 to 5.
FIG. 3 is a block diagram showing functions of a yaw control unit included in the control device shown in FIG. As shown in FIG. 3, the yaw control unit 300 includes a yaw deviation angle calculation unit 301 for calculating a yaw deviation angle Δθ, a yaw rotation stop threshold calculation unit 310 for calculating a yaw rotation stop threshold θy, a yaw deviation angle Δθ, and a yaw deviation angle Δθ. The control command generation unit 304 determines a yaw control command Cy for controlling the start / drive / stop of the yaw rotation based on the rotation stop threshold θy. The yaw rotation stop threshold calculation unit 310 includes a wind turbulence degree calculation unit 302 and a yaw rotation threshold calculation unit 303.

  The yaw deviation angle calculator 301 determines the yaw deviation angle Δθ based on the rotor shaft angle θr and the wind direction θw. As shown in FIG. 2, the yaw deviation angle Δθ is a difference between the wind direction θw and the rotor shaft angle θr, and indicates how much the rotor shaft deviates from the wind direction. Here, the wind direction θw is not limited to the value detected from the wind direction / wind speed sensor 10 installed in the nacelle 5, and may be a value installed on the ground or another place. Further, the yaw deviation angle calculation unit 301 includes a filter (a low-pass filter) that passes only a predetermined frequency region of the yaw deviation angle Δθ, represented by a low-pass filter, and a value of a value of the immediately preceding predetermined period, represented by a moving average. A statistical value using an average value may be used. Alternatively, it may perform Fourier transform.

The wind turbulence degree calculation unit 302 included in the yaw rotation stop threshold value calculation unit 310 in FIG. 3 is based on the wind condition measurement value Xw represented by the wind speed Vw detected from the wind direction wind speed sensor 10 and calculates the wind condition data for a predetermined period. Is output as the wind turbulence It representing the variation of the wind. In the present embodiment, utilizing the fact that the magnitude of wind turbulence in the direction of the rotor rotation axis and the magnitude of wind turbulence in the direction perpendicular to the rotor rotation axis have a positive correlation, the wind speed Vw is Used for calculating the degree of disturbance It. As an example of a method of calculating the wind turbulence It, a statistical analysis method is used here, and the turbulence intensity is set as shown in the following equation (1).
It = σv / Vwave (1)
Here, σv is a standard deviation of the wind speed in a predetermined period, and Vwave is an average value of the wind speed in a predetermined period. How the predetermined period should be set depends on the environmental conditions of the place where each wind power generation device is installed, the calculation capability of the yaw control unit 300, the set value of the filter used in the yaw deviation angle calculation unit 301, and the yaw rotation. It may be set as appropriate according to the driving speed, the yaw driving amount, and the like, but it is preferable to roughly set the range from 1 second to 1 hour so as to cope with the frequent fluctuation of the wind direction to some extent. Alternatively, the predetermined period is more preferably set in a range from 10 seconds to 10 minutes.

  This range of the predetermined period corresponds to a frequency range of the yaw deviation angle Δθ that can be reduced by the yaw control. That is, the upper limit of the range is preferably the above value for the purpose of removing a high-frequency component in which an error caused by the structure or noise of the wind direction / wind speed sensor 10 appears. The lower limit of the range is preferably the above value for the purpose of removing a low-frequency component that is less affected by a difference in the yaw rotation stop threshold value θy.

The yaw rotation threshold calculation unit 303 included in the yaw rotation stop threshold calculation unit 310 illustrated in FIG. 3 determines the threshold θy for stopping the yaw rotation based on the wind turbulence It.
Specifically, the yaw rotation threshold calculation section 303 adjusts the yaw rotation stop threshold θy so that the magnitude of the yaw rotation stop threshold θy is changed depending on whether the wind turbulence It is small or large. For example, when the wind turbulence degree It is small, the yaw rotation stop threshold value θy is lowered, and when the wind turbulence degree It is large, the yaw rotation stop threshold value θy is increased.

  Here, the reason for adjusting the yaw rotation stop threshold value θy will be described. First, when the yaw rotation stop threshold value θy is low, the yaw rotation is stopped when the nacelle azimuth substantially confronts the wind direction θw. Therefore, the yaw deviation angle Δθy at the moment when the yaw rotation is stopped is very small. However, if the wind direction θw greatly changes in the direction opposite to the yaw turning direction during or immediately after the yaw turning, the yaw turning will be excessive, and the yaw deviation angle Δθy in the direction opposite to the start of the yaw turning will increase. As a result, the amount of power generation is reduced. On the other hand, when the yaw rotation stop threshold value θy is high, the yaw rotation is stopped before the nacelle direction is directly opposed to the wind direction θw, and therefore, the yaw deviation angle Δθy at the moment when the yaw rotation is stopped still remains. However, if the wind direction θw fluctuates greatly in the direction opposite to the yaw rotation direction during or immediately after the yaw rotation, the excessive yaw rotation is suppressed, so that the yaw deviation angle in the direction opposite to that at the start of the yaw rotation Δθy is small and the amount of power generation is large. Further, since the yaw rotation amount is reduced, the mechanical consumption of the yaw rotation mechanism 8 is reduced.

  At this time, when the wind turbulence degree It is small, that is, when the wind direction fluctuates to some extent, the wind direction θw rarely fluctuates greatly in the direction opposite to the yaw rotation direction during or immediately after the yaw rotation. It is preferable to lower the stop threshold value θy. On the other hand, when the degree of wind turbulence It is large, that is, when the wind direction fluctuates to some extent, the wind direction θw often fluctuates greatly in the direction opposite to the yaw rotation direction during or immediately after the yaw rotation. It is preferable to increase the threshold value θy. The above is the reason for adjusting the yaw rotation stop threshold value θy.

As described above, in the present embodiment, the yaw rotation stop threshold calculation unit 310 calculates the degree of wind turbulence It based on the wind speed Vw detected from the wind direction / wind speed sensor 10 and creates the yaw rotation stop threshold θy based on this ( Calculation).
Here, the yaw rotation threshold calculation unit 303 does not have to sequentially output the yaw rotation stop threshold θy, and may output the yaw rotation stop threshold θy at any cycle or timing.

  The control command creation unit 304 determines the yaw control command Cy based on the yaw deviation angle Δθ and the yaw rotation stop threshold θy. When the yaw deviation angle Δθ increases, a yaw control command Cy for starting the yaw rotation is output to the yaw rotation mechanism 8. In response to this, the yaw rotation mechanism 8 operates so that the nacelle 5 performs yaw rotation in a direction to reduce the yaw deviation angle Δθ. Then, when the yaw deviation angle Δθ becomes smaller while the yaw rotation is being performed, a yaw control command Cy for stopping the yaw rotation is output to the yaw rotation mechanism 8.

FIG. 4 is a flowchart showing an outline of processing of the yaw control unit 300 shown in FIG.
As shown in FIG. 4, in step S401, the yaw deviation angle calculation unit 301 determines the rotor shaft angle θr, and proceeds to the next step S402. In step S402, the yaw deviation angle calculation unit 301 determines the wind direction θw, and proceeds to the next step S403. In step S403, the yaw deviation angle calculation unit 301 determines the yaw deviation angle Δθ based on the rotor shaft angle θr and the wind direction θw, and proceeds to the next step S406. As described above, the processing from step S401 to step S403 is performed by the yaw deviation angle calculation unit 301.

In parallel with the processing from step S401 to step S403, in step S404, the wind turbulence degree calculation unit 302 constituting the yaw rotation stop threshold value calculation unit 310 determines the wind based on the wind condition measurement value Xw represented by the wind speed Vw. Is determined, and the process proceeds to the next step S405. In step S405, the yaw rotation stop threshold calculator 303 constituting the yaw rotation stop threshold calculator 310 determines the yaw rotation stop threshold θy, and proceeds to the next step S406. As described above, the processing from step S404 to step S405 is performed by the yaw rotation stop threshold value calculation unit 310.
In step S406, after the control command creation unit 304 determines the yaw control command Cy based on the yaw deviation angle Δθ and the yaw rotation stop threshold θy, a series of processing ends.

Next, in order to clarify the effect of the present embodiment, an outline will be described together with the operation of the comparative example.
FIG. 5 is a schematic diagram illustrating the effect of the yaw control unit 300 according to the present embodiment, and the horizontal axis indicates a common time. The vertical axis in FIG. 5A is the wind speed Vw and the degree of wind turbulence It, the vertical axis in FIG. 5B is the yaw rotation stop threshold θy, and the vertical axis in FIG. 5C is the rotor axis angle θr and the wind direction θw. The vertical axis in FIG. 5D shows the yaw deviation angle Δθ. The broken line in FIG. 5 shows a result as a comparative example when the yaw control unit 300 according to the present embodiment is not applied, for example, when the yaw rotation stop threshold θy is always low. On the other hand, a solid line indicates a result when the yaw control unit 300 according to the first embodiment of the present invention is applied.

As shown in FIG. 5A, the wind speed Vw fluctuates moderately until time T1, fluctuates drastically from time T1 to time T9, and fluctuates moderately after time T9. At this time, the wind turbulence It calculated in the present embodiment is high from time T1 to T9. Therefore, as shown in FIG. 5B, the yaw rotation stop threshold value θy of the comparative example is always low, whereas the yaw rotation stop threshold value θy of the present embodiment is high between time T1 and time T9.
At this time, the wind direction θw sharply changes to the + side after the time T1 while repeating a small change as shown in FIG. 5C. Accordingly, in this embodiment and the comparative example, the first yaw rotation is started from time T2, and the rotor shaft angle θr follows the wind direction θw. In the present embodiment, the yaw rotation stop threshold θy is high, so that the yaw rotation is stopped at the time T3. On the other hand, in the comparative example, the yaw rotation stop threshold θy is lower than in the present embodiment, so that the yaw rotation is later than the time T3. At time T4, the yaw rotation is stopped. At this time, since the wind direction θw has begun to change sharply to the negative side from the vicinity of the time T3, the comparative example is too yawed with respect to the wind direction θw as compared with the present embodiment. As a result, as shown in FIG. 5D, the yaw deviation angle Δθ of the comparative example is larger than that of the present embodiment after time T3.

Then, since the wind direction θw continues to change abruptly to the minus side even after the time T4, in the comparative example, the second yaw rotation is started at the time T5, and the yaw rotation is stopped at the time T8. In contrast, in the present embodiment, the second yaw rotation is started at time T6 later than time T5, and the yaw rotation is stopped at time T7 earlier than time T8. At this time, as shown in FIG. 5D, in the present embodiment, since the first yaw rotation is not excessive, the yaw deviation angle Δθ is smaller than that in the comparative example also in the second yaw rotation.
Therefore, the power generation output during this period (the period from time T3 to time T7) is greater in the present embodiment than in the comparative example. That is, this example indicates that the annual power generation amount is higher than the comparative example. Further, it is shown that the present embodiment can reduce the mechanical wear of the yaw rotation mechanism 8 because the yaw rotation amount is small. Further, since the degree of wind turbulence can be calculated with a configuration in which the influence of the inertia of the sensor is small, both low cost and high accuracy are realized.

  As described above, according to the present embodiment, the yaw control is performed in accordance with the wind turbulence calculated accurately at low cost, the yaw deviation angle is reduced, the power generation amount is improved, and mechanical consumption is required. It is possible to provide a wind turbine generator and a control method thereof that can suppress the above increase. Specifically, the degree of wind turbulence It is calculated using the wind speed Vw detected by the wind speed sensor, and when the degree of wind turbulence It is high, the yaw rotation stop threshold θy is increased to suppress excessive yaw rotation. Since the opportunity increases and the power generation amount increases, the yaw rotation stop threshold value θy is increased. Further, when the degree of wind turbulence It is low, the effect of lowering the yaw rotation stop threshold θy and following the wind direction θw is better than the effect of suppressing the excessive yaw rotation by increasing the yaw rotation stop threshold θy. Therefore, the yaw rotation stop threshold value θy is reduced. By varying the yaw rotation stop threshold value θy according to the wind conditions in this manner, it is possible to improve the power generation performance of the wind turbine generator while suppressing an increase in mechanical wear.

  In addition, the purpose of the wind power generator is to prevent an excessive load from being applied to the wind power generator, and when the yaw deviation angle Δθ becomes excessive, the wind power generator may be provided with a function of immediately suppressing or stopping power generation. is there. In the present embodiment, the yaw rotation speed is higher than in the comparative example, and the followability to the wind direction θw is good, so that the yaw deviation angle Δθ is unlikely to be excessive. Therefore, the chance of suppressing or stopping the power generation due to the excessive yaw deviation angle Δθ is reduced, which is effective in improving the power generation amount.

  FIG. 6 is a block diagram illustrating functions of a yaw control unit according to a second embodiment of the present invention. The present embodiment is different from the above-described first embodiment in that the yaw rotation stop threshold value θy is set in advance in the control device 9 as a fixed setting value obtained by past experience or calculation and is operated offline. Other configurations are the same as those in the first embodiment. In FIG. 6, the same components as those in the first embodiment are denoted by the same reference numerals.

  In the above-described first embodiment, as shown in FIGS. 3 and 4, the yaw rotation stop threshold calculation unit 310 calculates and updates the yaw rotation stop threshold θy in each control cycle or at an appropriate timing. . On the other hand, the yaw control unit 600 of the present embodiment shown in FIG. 6 includes a yaw deviation angle calculation unit 301 for obtaining the yaw deviation angle Δθ, and a yaw rotation start / stop based on the yaw deviation angle Δθ and the yaw rotation stop threshold θy. It comprises a control command creation unit 304 that determines a yaw control command Cy for controlling driving / stopping, and does not include a yaw rotation stop threshold calculation unit 310 that calculates a yaw rotation stop threshold θy. The yaw rotation stop threshold value θy given to the control command generation unit 304 is preset in the control command generation unit 304 constituting the yaw control unit 600 in advance, or is set externally by the yaw rotation stop threshold input unit 605 at an appropriate timing. . The yaw rotation stop threshold input unit 605 is an input device such as a keyboard, and may be input by an operator.

  The function of the yaw rotation stop threshold value calculation unit 310 shown in the above-described first embodiment is configured in an analysis device provided in a location different from the wind power plant. A yaw rotation stop threshold value θy in a typical wind condition of the wind power plant is calculated in advance from the environmental conditions obtained in the stage, and is incorporated in the yaw control unit 600 as a preset value. The typical wind condition is prepared, for example, for each season, for each evening or morning, or for each degree of wind turbulence, and may be switched and used under appropriate conditions.

  Alternatively, the function of the yaw rotation stop threshold value calculation unit 310 shown in the above-described first embodiment is configured in an analysis device provided in a location different from the wind power plant, for example, after the wind power plant is installed. In the operation stage, a yaw rotation stop threshold θy in a typical wind condition of the wind power plant is calculated from the observed environmental conditions, and the yaw rotation stop threshold input unit 605 including a communication unit is used to calculate the yaw rotation stop threshold θy. This is given to the control command creation unit 304 in the inside. In this case, the setting of the yaw rotation stop threshold value θy is not of a type that immediately responds online on the basis of the wind conditions at the site, but is performed by giving a value obtained offline at an appropriate timing.

  As described above, according to the present embodiment, it is not necessary to provide an analysis device in a wind turbine, and it is possible to update an existing wind turbine to incorporate the control of the present invention without major modification, and control based on an optimized driving speed. It can be performed.

Next, a wind turbine generator 1 according to a third embodiment of the present invention will be described.
The wind turbine generator 1 of the present embodiment has the same configuration as the yaw control unit 300 of the above-described first embodiment, but differs from the first embodiment in the processing in the yaw rotation stop threshold value calculation unit 310.

  In the yaw rotation stop threshold value calculation unit 310 of this embodiment, the wind speed Vw is input as the wind condition measurement value Xw in the same manner as in the above-described first embodiment. Calculate Vwave. Here, when the average wind speed Vwave is high, the yaw rotation stop threshold value θy is set low even when the wind turbulence It is high. This is because the effect of improving the power generation amount is improved in consideration of the case where the wind speed Vw is high and the wind turbulence degree It is high, and the wind conditions in which the yaw turns too much depending on the terrain are small. Similarly, when the average wind speed Vwave is low, the yaw rotation stop threshold value θy is reduced when the wind turbulence degree It is high.

As described above, according to the present embodiment, the same effect of improving the power generation amount as in the first embodiment can be applied to various terrains.
The average wind speed Vwave uses a filter (low-pass filter) such as a low-pass filter that passes only a predetermined frequency region of the wind speed Vw, or an average value of values in the immediately preceding predetermined period, such as a moving average. The calculation may be performed using a statistical value or may be performed by performing a Fourier transform. Alternatively, the average wind speed Vwave may be calculated before inputting to the yaw rotation stop threshold value calculation unit 310.

Next, a wind turbine generator 1 according to a fourth embodiment according to another embodiment of the present invention will be described.
The wind turbine generator 1 of the present embodiment has the same configuration as the yaw control unit 300 of the above-described first embodiment, but differs from the first embodiment in the processing in the yaw rotation stop threshold value calculation unit 310.

  Unlike the first embodiment, the yaw rotation stop threshold calculation unit 310 of this embodiment calculates the wind turbulence It2 based on the wind direction θw instead of the wind speed Vw as the wind condition measurement value Xw, and calculates the wind turbulence The yaw rotation stop threshold value θy is calculated based on It2. As an example of a method of calculating the wind turbulence It2 of this embodiment, a standard deviation σw of the wind direction θw in a predetermined period is used here using a statistical analysis method. At this time, in order to reduce the adverse effect of the inertia of the arrow feather anemometer, which is the subject of the present invention, on the calculation accuracy of the wind turbulence, a correction value for removing the influence of the inertia from the wind turbulence It2 is added, or It is preferable that the relationship between It2, at which the amount of generated power is improved, and the yaw rotation stop threshold value θy be determined in advance. Accordingly, the degree of wind turbulence is calculated based on the wind direction standard deviation based on the wind direction θw which is more directly related to the yaw deviation angle Δθ, as compared with the turbulence intensity based on the wind speed Vw. , The yaw deviation angle Δθ can be reduced, and the amount of power generation can be increased.

  As described above, according to the present embodiment, it is possible to more accurately achieve the same effect of improving the amount of power generation as in the first embodiment.

Next, a wind turbine generator 1 according to a fifth embodiment of the present invention will be described.
The wind turbine generator 1 of the present embodiment has the same configuration as the yaw control unit 300 of the above-described first embodiment, but differs from the first embodiment in the processing in the yaw rotation stop threshold value calculation unit 310.

Unlike the first embodiment, the yaw rotation stop threshold value calculation unit 310 of the present embodiment calculates the wind turbulence It3 based on the wind speed Vw and the wind direction θw as the wind condition measurement value Xw, and calculates the wind turbulence It3. The yaw rotation stop threshold θy is calculated based on the yaw rotation stop threshold θy. The wind turbulence It3 of the present embodiment is a value of the following equation (2) obtained by combining the wind turbulence It2 calculated by the equation (1) and the wind turbulence It2 shown in the fourth embodiment. Used.
It3 = α × It + β × It2 (2)
Here, α and β are specific gravity coefficients for calculating It3, and determine the size according to the wind condition of the site where the wind turbine generator 1 is installed. By calculating the yaw rotation stop threshold value θy using It3, it is possible to calculate the degree of wind turbulence that is more suitable for the wind conditions at the site. Therefore, it is possible to accurately suppress excessive yaw rotation, reduce the yaw deviation angle Δθ, and generate power. The amount can be increased. Moreover, even if either the anemometer or the anemometer fails, the degree of wind turbulence can be calculated, so that the redundancy is high.
As described above, according to this embodiment, even if one of the wind direction and wind speed sensors fails, the same power generation amount improvement effect as that of the first embodiment can be realized, so that the redundancy can be increased.

Next, a wind turbine generator 1 according to a sixth embodiment of the present invention will be described.
The wind turbine generator 1 of the present embodiment has the same configuration as the yaw control unit 300 of the above-described first embodiment, but differs from the first embodiment in the processing in the yaw rotation stop threshold value calculation unit 310.

  In the yaw rotation stop threshold value calculation unit 310 of this embodiment, unlike the first embodiment, instead of the wind condition measurement value Xw, the power generation output Po of the wind power generator 1, the blade pitch angle γp, the generator torque Tg, or One or more parameters of the wind power generator 1 that fluctuate when the wind conditions change, such as the rotor rotation speed ωr, are set as input values. Then, the fluctuation amount of this parameter in a predetermined period is calculated, and the yaw rotation stop threshold value θy is calculated using the calculated fluctuation amount as the wind turbulence degree. Thus, even when the wind direction / speed sensor fails, the effects of the present invention can be realized.

  As described above, according to the present embodiment, the same power generation amount improving effect as that of the first embodiment can be realized regardless of the state of the wind direction and wind speed sensor, so that the redundancy can be increased.

  The present invention is not limited to the embodiments described above, and various modifications are possible. The above-described embodiments are illustrated for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described above. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of one embodiment can be added to the configuration of another embodiment. Further, the control lines and information lines shown in the figure indicate those which are considered necessary for the description, and do not necessarily indicate all the control lines and information lines necessary for the product. In fact, almost all components may be considered to be interconnected.

Possible modifications to the embodiment described above include, for example, the following.
(1) The wind turbulence degree calculation unit 302 and the yaw rotation stop threshold calculation unit 304 in the yaw control unit 300 may be provided in an external device instead of the control device 9.
(2) The yaw rotation stop threshold value θy of the yaw control calculated in the present invention may be applied to another wind power generator 1 at the same site or to a wind power generator 1 at another site where the wind condition is close.
(3) The wind turbulence degree calculation unit 302 in the yaw control unit 300 may be configured not to sequentially input the wind condition measurement values Xw including the wind speed Vw but to calculate only with the wind condition measurement data accumulated in the past. Good.
(4) In each of the embodiments described above, the wind direction and wind speed sensor 10 is installed on the nacelle 5, but may be installed in the nacelle 5 or around the wind power generator 1 instead of this location.
(5) In each of the above-described embodiments, the value of the yaw rotation stop threshold value θy may be set stepwise, or may be set continuously like a straight line or a curve.

DESCRIPTION OF SYMBOLS 1 ... Wind power generator 2 ... Blade 3 ... Hub 4 ... Rotor 5 ... Nacell 6 ... Generator 7 ... Tower 8 ... Yaw turning mechanism 9 ... Control device 10 ... Wind direction / wind speed sensor 300, 600 ... Yaw control unit 301 ... Yaw deviation angle Calculation unit 302: Wind turbulence degree calculation unit 303: Yaw rotation stop threshold calculation unit 304: Control command creation unit 310: Yaw rotation stop threshold calculation unit 605: Yaw rotation stop threshold input unit

Claims (14)

A rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, an adjusting device that adjusts yaw of the nacelle based on a yaw control command, A control device that determines the yaw control command to be sent to the adjustment device,
The control device calculates a yaw deviation angle calculating unit that calculates a yaw deviation angle from a value measured by a wind direction and wind speed measuring unit and the direction of the rotor, and calculates a degree of wind turbulence from a value measured by the wind direction and wind speed measuring unit. A wind turbulence degree calculation unit, and a control command creation unit that determines the yaw control command based on the yaw deviation angle and the wind turbulence degree,
The wind turbine generator according to claim 1, wherein the controller stops the yaw rotation quickly when the degree of wind turbulence is high. The wind power generator according to claim 1,
The wind power generation device is characterized in that the wind turbulence degree is set in the control command creation unit in advance. The wind power generator according to claim 1,
The wind power generator is characterized in that the degree of wind turbulence is set from outside the wind power generator via a communication unit. The wind power generator according to claim 1,
The wind power generator, wherein the control device includes a yaw rotation stop threshold calculation unit that calculates a yaw rotation stop threshold based on the wind turbulence degree. The wind power generator according to claim 4,
The wind turbulence degree calculation unit obtains a standard deviation of the wind speed and an average value of the wind speed in a predetermined period from the wind speed measured by the wind direction and wind speed measurement unit, and divides the standard deviation of the wind speed by the average value of the wind speed. A wind turbulence intensity obtained by performing the wind turbulence intensity. The wind power generator according to claim 4,
The wind power generation device, wherein the wind turbulence degree calculation unit obtains a standard deviation of the wind direction from the wind direction measured by the wind direction / wind speed measurement unit, and uses the standard deviation of the wind direction as the wind turbulence degree. The wind power generator according to claim 5,
The wind turbulence degree calculation unit determines the standard deviation of the wind direction from the wind direction measured by the wind direction and wind speed measurement unit,
The yaw rotation stop threshold calculation unit obtains a parameter obtained by combining a value obtained by multiplying the turbulence intensity by a predetermined coefficient and a value obtained by multiplying the standard deviation of the wind direction by a predetermined coefficient, and calculates the parameter as the wind turbulence. A wind power generator characterized by a degree. The wind power generator according to any one of claims 5 to 7,
The yaw rotation stop threshold calculation unit uses one of a low-pass filter and a Fourier transform for frequency analysis. The wind power generator according to claim 4,
The yaw rotation stop threshold calculation unit,
At least, a power generation output, a blade pitch angle, a generator torque, and one of the rotor rotation speed, using a state parameter of the wind turbine generator that fluctuates when a wind condition changes, a predetermined period of the state parameter The wind power generation device according to claim 1, wherein the amount of fluctuation is obtained, and the amount of fluctuation is used as the degree of wind turbulence. A rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, an adjusting device that adjusts yaw of the nacelle based on a yaw control command, A control device that determines the yaw control command to be sent to the adjustment device,
Calculate the yaw deviation angle from the value measured by the wind direction and wind speed measurement unit and the direction of the rotor,
Calculate the degree of wind turbulence from the value measured by the wind direction and wind speed measurement unit,
A method for controlling a wind power generator, comprising: stopping yaw rotation quickly when wind turbulence is high based on at least the yaw deviation angle and wind turbulence. In the control method of the wind turbine generator according to claim 10,
Based on the turbulence intensity obtained by calculating the standard deviation of the wind speed and the average value of the wind speed in a predetermined period from the wind speed measured by the wind direction and wind speed measurement unit, and dividing the standard deviation of the wind speed by the average value of the wind speed. And calculating the degree of wind turbulence. In the control method of the wind turbine generator according to claim 10,
A method for controlling a wind power generator, comprising: obtaining a standard deviation of a wind direction from a wind direction measured by the wind direction and wind speed measuring unit; and calculating a degree of wind turbulence based on the standard deviation of the wind direction. In the control method of the wind turbine generator according to claim 11,
Determine the standard deviation of the wind direction from the wind direction measured by the wind direction and wind speed measurement unit,
A method for controlling a wind power generator, comprising calculating a degree of wind turbulence based on the turbulence intensity and the standard deviation of the wind direction. In the control method of the wind power generator according to claim 13,
A parameter obtained by combining a value obtained by multiplying the turbulence intensity by a predetermined coefficient and a value obtained by multiplying the standard deviation of the wind direction by a predetermined coefficient, wherein the parameter is the degree of wind turbulence. A control method for a power generator.

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