JP5443629B1 - Offshore wind turbine generator and wind turbine controller - Google Patents

Abstract

In an offshore wind power generator installed on a floating structure or on the seabed, the swinging of the floating structure and the wind turbine due to disturbance is effectively suppressed.
Output basic control including PI (or PID) calculation for a generator based on the number of rotations of a rotor shaft of a generator provided in a wind turbine provided at the tip of a floating structure or a tower installed on the seabed. Is performed by the generator torque control unit 27. Based on the rotational speed of the rotor shaft 25, the pitch angle basic control including PI (or PID) calculation for the blade pitch angle of the wind turbine is performed by the blade pitch control unit 21. The correction control unit 22 generates a correction signal for correcting the basic output control based on the output of the generator 26 and / or correcting the basic pitch angle control based on the swing of the wind turbine and the like. Adaptive identification disturbance cancellation control is applied to the control of the correction control unit 22 or 47.
[Selection] Figure 2

Description

  The present invention relates to an offshore wind power generator, and more particularly to a floating offshore wind power generator and a floored offshore wind power generator using a floating structure.

  In horizontal axis wind turbine generators, when the wind speed exceeds the rated value and the output reaches the rated power, a control method is known that controls the blade pitch angle to keep the rotor rotation speed constant and keep the output constant. It has been. However, under such control, when the wind turbine provided at the tip of the tower swings in the direction in which the wind blows, the relative wind speed increases and the aerodynamic torque (and therefore the output) generated in the blades The pitch angle is adjusted to suppress the increase, and as a result, the pitch angle is controlled so as to reduce the thrust force applied to the blade, so that the damping effect by the blade is reduced and the oscillation does not attenuate easily ( Negative damping effect). For such a problem, a method of correcting the pitch angle so as to cancel the natural vibration component of the swinging tower has been proposed (Patent Document 1). In addition, in land wind turbines, a configuration is also known in which the acceleration of the nacelle is detected in order to reduce the vibration of the nacelle induced by fluctuations in wind speed, and a thrust force is generated on the windmill blade so as to cancel the vibration (patent) Reference 2).

Special table 2009-513881 Japanese Patent No. 4599350

  However, in the swing of a floating offshore wind power generator, not only the natural vibration component of the tower is large, but also fluctuation due to irregular disturbances such as waves and wind fluctuations is large. In particular, fluctuations in a frequency band having a large amplitude among disturbances and fluctuations in a band close to the natural frequency of the entire structure including the moored floating body are greatly affected, and are required to be suppressed. In addition, the tower of the offshore wind power generator tower extends from the bottom of the sea to the sea, so the overall length of the tower is longer and the natural frequency is lower than that of the land type, making it easier to shake, and fluctuations in wind speed such as gust and turbulence. Vibrations are likely to occur due to disturbances such as waves. As described above, since the offshore wind power generator tends to have greater vibrations and fluctuations than the land windmill, the configuration of Patent Document 2 cannot sufficiently increase the gain due to the stability of the control system or the influence of noise, and is sufficient. In addition, it cannot control the vibration and vibration of the wind turbine.

  An object of the present invention is to effectively suppress the oscillation and vibration of a wind turbine due to a disturbance in an offshore wind power generator, thereby extending the life of the entire apparatus or reducing the cost.

  An offshore wind power generator according to the present invention includes a tower installed on a floating structure or the seabed, a wind turbine provided at the tip of the tower, a sensor that detects the swing of the wind turbine, and a blade that controls the blade pitch angle of the wind turbine. A generator torque control unit that performs basic output control including PI calculation for the generator based on the pitch variable mechanism, the rotor shaft rotational speed of the generator provided in the wind turbine, and the blade pitch angle based on the rotor shaft rotational speed. Blade pitch control unit that performs basic pitch angle control including PI calculation, and correction control that corrects basic output control based on generator output, and / or corrects basic pitch angle control based on wind turbine oscillation And an adaptive identification disturbance canceling control is included in the control of the correction control unit.

  In order to obtain a high fluctuation attenuation effect, it is preferable that the adaptive identification disturbance cancellation control generates a cancellation signal targeting a fluctuation of at least one or more predetermined frequencies, and the adaptive identification disturbance cancellation control is performed based on the power generation output fluctuation. Are preferred. Further, it is preferable that the control of the correction control unit includes active damping control. The active damping control is performed based on, for example, swinging of a wind turbine. Disturbance that actually has a large influence or changes over time by including adaptive identification disturbance cancellation control based on the disturbance frequency specified by the frequency analysis algorithm, or general waveform type adaptive identification disturbance cancellation control. The oscillation attenuation effect can be obtained by specifying the frequency, and the frequency band for obtaining the oscillation attenuation effect can be expanded.

  Further, when the offshore wind power generator further includes a floating structure on which the tower is installed and a sensor for detecting the swing of the floating structure, the correction for the basic output control in the correction control unit is included in the output of the generator. Preferably, the correction is performed based on the pitch angle basic control, or based on the swing of the wind turbine and the swing of the floating structure. The adaptive identification disturbance canceling control is preferably performed based on the swing of the floating structure, and the active damping control is preferably performed based on the swing of the floating structure. Further, for example, a sensor for detecting stress or strain may be provided in a severe part of the structure such as the base of the tower, and correction by stress or strain may be added to the correction control by the correction control unit. As a result, stress or distortion due to rocking can be reduced and the durability of the tower can be further improved.

  The wind turbine control device of the present invention is a wind turbine control device provided at the tip of a floating structure or a tower installed on the sea floor, and performs PI calculation on the generator based on the rotor shaft rotational speed of the wind turbine generator. A generator torque control unit that performs basic output control including the blade pitch control unit that performs pitch angle basic control including PI calculation for the blade pitch angle of the wind turbine based on the rotor shaft rotational speed, and based on the output of the generator A correction control unit for correcting the output basic control and / or correcting the pitch angle basic control based on the fluctuation of the wind turbine, and the control of the correction control unit includes adaptive identification disturbance canceling control It is said.

  ADVANTAGE OF THE INVENTION According to this invention, the fluctuation | variation of a wind turbine's rocking | fluctuation and vibration and electric power generation output by a disturbance can be effectively suppressed in the offshore wind power generator installed in a floating structure or the seabed.

It is a side view which shows the external appearance of the floating type offshore wind power generator which is 1st Embodiment of this invention. It is a block diagram which shows the structure of the generator output / pitch angle control system in the wind turbine of 1st Embodiment. It is a block diagram which shows the structure of a correction | amendment control part in detail. It is a block diagram which shows the structure of the correction | amendment control part of a modification in detail. Variance value of rotational speed fluctuation, fluctuation of fluctuation of floating structure, fluctuation of power generation output in Comparative Examples (A) and (B) and Examples (CF) using the adaptive identification disturbance cancellation control of the first embodiment It is a graph which compares. It is a graph which shows the fluctuation | variation along the time axis | shaft of the rocking | swiveling angle (inclination angle), power generation output, and rotation speed of the floating structure in a comparative example (A) and an Example (D). It is a block diagram which shows the structural example of adaptive identification control. It is a model figure of adaptive identification disturbance cancellation control incorporating a frequency analysis algorithm. It is the spectrum of the response yd of the system to be identified under the disturbance d assumed in the simulation of the first embodiment. It is a simulation result of response yd. It is a simulation result of control object signal yCT. It is a side view which shows the external appearance of the landing type offshore wind power generator which is 2nd Embodiment of this invention. It is a block diagram which shows the structure of the generator output / pitch angle control system in the wind turbine of 2nd Embodiment. It is a graph which shows the mode of the fluctuation | variation wind speed as a disturbance given in the simulation of 2nd Embodiment. It is a spectrum distribution figure of the disturbance of FIG. It is a graph which shows the change of the displacement X of the nacelle part in the comparative examples (G) and (H) and Example (I) when the disturbance of FIG. 14 is given. It is a graph which shows the change of the acceleration A of the nacelle part in the comparative examples (G) and (H) and Example (I) when the disturbance of FIG. 14 is given. It is a graph which shows the mode of the fluctuation | variation of the rotor rotation speed in the comparative examples (G) and (H) and Example (I) when the disturbance of FIG. 14 is given, and an electric power generation output. It is a graph which compares the dispersion value of each physical quantity fluctuation | variation in Comparative Example (G) and (H) and Example (I) using the adaptive identification disturbance cancellation control of 2nd Embodiment.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
(First embodiment)
FIG. 1 is a side view showing the external appearance of a floating offshore wind turbine generator according to a first embodiment of the present invention.

  The floating offshore power generation apparatus 10 of the first embodiment includes a floating body (floating) structure 11, a tower 13 standing upright substantially at the center of the deck 12 of the floating body structure 11, and a wind turbine 14 provided at the tip of the tower 13. Mainly configured, the floating structure 11 is moored in a predetermined sea area using, for example, a mooring line 11M.

  In the present embodiment, the wind turbine 14 is of a horizontal axis type, and includes a nacelle portion 15 that houses a generator main body and a control unit, and a rotor 16 that is pivotally supported by the nacelle portion 15. The nacelle portion 15 is held at the tip of the tower 13 so as to be rotatable with respect to its axis, and the rotation axis of the rotor 16 is arranged perpendicular to the axis of the tower 13. The nacelle portion 15 includes an anemometer (not shown), and the nacelle portion 15 rotates so that the rotor 16 is positioned on the windward or leeward side of the nacelle portion 15.

  The floating structure 11 and the nacelle portion 15 are provided with acceleration sensors 17 and 18, respectively. For example, the acceleration of the floating structure 11 and the nacelle portion 15 with 6 degrees of freedom (rolling, pitching, yawing, surging, swaging, and heaving). Is detected. Further, for example, a strain gauge 19 is provided at the base of the tower 13. The acceleration sensor 18 provided in the nacelle portion 15 may be provided at the upper end portion of the tower 13.

  FIG. 2 is a block diagram showing the configuration of the generator output / pitch angle control system in the wind turbine 14.

  The wind turbine 14 includes a blade pitch variable mechanism 20 that controls the pitch angle of each blade (blade) in the rotor 16. The blade pitch variable mechanism 20 controls the pitch angle based on the pitch angle command value obtained by correcting the signal from the blade pitch control unit 21 with the signal from the correction control unit 22.

  In FIG. 2, a block 23 corresponds to the mooring structure including the floating structure 11 and the mooring line 11 </ b> M and represents the swing characteristics thereof, and waves, tidal currents, and the like are input as disturbances. The block 24 corresponds to the wind turbine structure including the tower 13 and the nacelle portion 15 and represents the swing characteristics thereof, and wind or the like is input as a disturbance. The mooring structure 23 and the wind turbine structure 24 standing on the deck 12 are coupled.

  The swinging of the mooring structure 23 due to the disturbance is detected as, for example, acceleration or displacement of a six-degree-of-freedom motion with respect to the floating structure 11 using the acceleration sensor 17 and input to the correction control unit 22. Further, the swing of the wind turbine structure 24 is detected by the acceleration sensor 18 and the strain gauge 19, and for example, the acceleration and displacement of the six-degree-of-freedom motion relating to the nacelle portion 15 and the stress and strain at the base portion of the tower 13 are calculated. And input to the correction control unit 22. That is, the correction control unit 22 calculates a signal for correcting the signal from the blade pitch control unit 21 based on these values.

  Further, the relative speed of the wind with respect to the rotor 16 changes due to the movement of the wind turbine 14 that swings in accordance with the swing of the wind and the mooring structure 23. Therefore, the torque applied to the rotor (windmill) 16 by the wind is such that the blade rotating at the pitch angle set by the blade pitch variable mechanism 20 receives the wind at a relative speed obtained by subtracting the nacelle moving speed from the (ground) wind speed. It fluctuates with. At this time, the torque from the rotor 16 and the torque from the generator 26 are applied to the rotor shaft 25 of the rotor 16 to determine the rotational speed. In addition, each blade receives a thrust force that varies from the wind, and affects the damping characteristics of the wind turbine structure.

  The generator 26 is controlled based on a torque command value obtained by correcting the signal from the generator torque control unit 27 with the signal from the correction control unit 22, and the power generation output from the generator 26 is input to the correction control unit 22. Is done. That is, the correction control unit 22 corrects the torque command value based on the fluctuation of the power generation output. The generator torque control unit 27 receives a deviation between the rotation speed command value and the rotation speed (angular velocity) of the rotor shaft 25. This deviation is also input to the blade pitch control unit 21 to calculate a basic pitch angle before correction.

  FIG. 3 is a block diagram showing the configuration of the correction control unit 22 in more detail. The correction control unit 22 performs active damping control applied to the acceleration (velocity) signal of the nacelle unit 15, the acceleration signal of the floating structure 11, and the base distortion signal of the tower 13, and the inclination angle (posture) of the floating structure 11. The signal or the base distortion signal of the tower 13 and the adaptive identification disturbance cancellation control applied to the power generation output of the generator 26 are combined.

  As described above, the generator torque control unit 27 has a deviation between the rotor angular speed (input 1) corresponding to the rotational speed of the rotor shaft 25 to be negatively fed back and the rotor angular speed (input 2) set as the rotational speed command. For example, PI (or PID) calculation is performed (output basic control). A correction signal from the second adaptive identification disturbance canceling control unit 28 of the correction control unit 22 is added to the output of the generator torque control unit 27 and input to the generator 26 as a torque command value. Under this torque command value, the generator torque (output 1) output from the generator 26 acts on the rotor shaft 25 as described above, and determines the rotational speed of the rotor shaft 25 together with the aerodynamic torque by the rotor 16. The power generation output obtained as the product of the generator torque and the rotor angular velocity is input to the second adaptive identification disturbance cancellation control unit 28, and a cancellation (correction) signal to be added to the power generation torque command value is generated.

  Further, the deviation (angular velocity deviation) of the inputs 1 and 2 is also input to the blade pitch control unit 21 to calculate the basic pitch angle (pitch angle basic control) as described above. On the other hand, the speed of the nacelle 15 (input 3) is the first floating body swing control unit 29, the acceleration of the floating structure 11 (input 4) is the second floating body swing control unit 30, and the base distortion of the tower 13 (input). 5) is input to the third floating body swing control unit 31, and a signal for active damping control is generated and added to the basic pitch angle signal. An extremely simple example of active damping includes P (proportional) control, but is not limited to P control, and a general control transfer function can be used.

  In the first embodiment, the tilt angle (input 6) of the floating structure 11 is input to the first adaptive identification disturbance cancellation controller 32, and a cancellation (correction) signal to be added to the basic pitch angle signal is generated. The The correction signals generated by the control units 29 to 32 are added to the basic pitch angle signal from the blade pitch control unit 21 and output to the blade pitch variable mechanism 20 to adjust the pitch angle of the blade. The input to the first adaptive identification disturbance canceling control unit 32 uses not only the floating body tilt angle (input 6) but also the nacelle speed (input 3), the floating body acceleration (input 4), the tower base distortion (input 5), and the like. You can also.

  In the present embodiment, the first and second adaptive identification disturbance cancellation control units use an adaptive identification method (see FIG. 7). In the adaptive identification method, n is the time step number in the discrete system, the input to the system u (n) to be identified is x (n), the output is d (n), and the target system u (n) is identified. Error signal e (n) = d (n) −y (n) is used, where y (n) is the output when x (n) is input to w (n) and w (n). By modifying the coefficient of w (n) as w (n + 1) = w (n) −μ · e (n) · x (n), e (n) is brought close to 0, and the target system u (n ) Is identified by w (n). Here, μ is a convergence parameter, and w and x are vector quantities.

  In the adaptive identification disturbance cancellation control of the first and second adaptive identification disturbance cancellation control units of the present embodiment, using the above-described adaptive identification method, for example, an angular frequency ω to be canceled is given, and a sine is input as disturbance input due to waves or the like. It is assumed that the waveform type disturbance A · sin (ωt + φ) = A1 · sin (ωt) + A2 · cos (ωt). Then, the amplitude A and the phase φ or the coefficients A1 and A2 are identified by the adaptive identification method, thereby generating a signal that cancels them.

For example, the coefficients of sin and cos of the cancellation signal are A1c and A2c, the control target signal (error) corresponding to the swing angle or generated power of the floating structure is ε, the convergence parameter matrix is Γ,
x = (sin (ωt), cos (ωt)) ^T
θ = (A1c, A2c) ^T
Then, the adaptive identification disturbance cancellation algorithm in the continuous system is dθ / dt = Γ · ε · x
It is expressed. That is, the cancellation signal y = A1c · sin (ωt) + A2c · cos (ωt) is obtained by gradually updating θ based on the above equation. Note that x and θ are vector quantities, and T represents transposition. As an extension of the above algorithm, the following is also possible.
dθ / dt = (γ1 · dε / dt + γ2 · ε + γ3 · ∫εdt−κ · y) · x
Here, γ1, γ2, γ3, and κ are convergence parameters.

  As the angular frequency given in advance, a frequency having a large amplitude among disturbances or a frequency close to the natural frequency of the mooring structure 23 or the wind turbine structure 24 is selected. In the present embodiment, a plurality of frequencies are set as cancellation targets, and a signal that cancels each frequency variation is generated. For example, as described above, the amplitude and phase of the oscillation corresponding to the natural frequency of the structure are identified at any time, and a signal that cancels this is generated, and the oscillation corresponding to the frequency of a wave external force having a particularly large amplitude variation. The amplitude and phase of the signal are identified as needed, and a signal that cancels this is generated. The target frequency is obtained, for example, by actual measurement in advance or calculated from the design value of the structure.

  It is also possible to specify a disturbance frequency having a large influence at any time using frequency analysis or the like, and to perform adaptive identification disturbance cancellation control for that frequency, which is combined with the adaptive identification disturbance cancellation control for the previously specified frequency. Is also possible.

As a modification, as shown in FIG. 4, it is also possible to use general waveform type adaptive identification disturbance cancellation control that identifies a system characteristic corresponding to a general disturbance waveform and generates a signal for suppressing fluctuation. For example, the general waveform type adaptive identification disturbance cancellation control unit 34 performs adaptive identification using the swing acceleration of the floating structure as input x and the speed of the nacelle unit 14 as the control target signal (error) ε. Then, the cancellation signal is calculated and added to the basic pitch angle signal from the blade pitch control unit 21 in the same manner as other correction signals. In addition to the swing acceleration of the floating structure, the speed, tilt angle, wave disturbance, etc. of the floating structure may be adopted as the input x, and in addition to the nacelle speed as the error (control target) e, Nacelle acceleration, nacelle displacement, tower base distortion, and the like may be employed. In this case, the cancellation output signal is set to y = θ ^T · x, and the output coefficient θ is sequentially updated by dθ / dt = Γ · ε · x, so that the cancellation signal can be generated without specifying the frequency.

  It is also possible to provide a wave height meter, an anemometer, etc. and use information obtained by these measuring devices as the disturbance input x.

  As described above, according to the first embodiment, the swinging of the floating structure and the wind turbine due to the disturbance over a plurality of frequencies can be effectively suppressed. Further, in the present embodiment, not only suppressing the swing of the wind turbine but also considering the reduction of distortion generated in the tower base, in the wind power generator using a floating structure that applies a large load to the tower base The durability can be improved.

  In this embodiment, PI control is used for basic control of the blade pitch control unit and the generator torque control unit, but PID control may be used instead.

(Example of the first embodiment)
Next, FIGS. 5 and 6 show the simulation results of the fluctuation suppressing effect when each control method is applied. FIG. 5 shows an example (C to F) using adaptive identification disturbance canceling control of the present embodiment, and basic control (PI control) for the generator 26 and the blade pitch variable mechanism 20, that is, the generator torque control unit 27. In addition to the basic control (PI control) of the comparative example (A) and comparative example (A) using only the blade pitch control unit 21, the nacelle acceleration (velocity) is fed back to control the first floating body swing control unit 29. FIG. 6 is a graph showing a comparison of the magnitudes of fluctuations in the rotational speed of the rotor shaft 25, fluctuations in the swing angle of the floating structure 11, and fluctuations in power generation output (electric power) in each of the comparative examples (B) performing active damping control; The vertical axis shows the variance (root mean square) value of each physical quantity variation in each control method as a percentage with the variance value of Comparative Example (A) as 100.

  The embodiment (C) is obtained by adding adaptive identification disturbance cancellation control for the inclination angle of the floating structure 11 by the first adaptive identification disturbance cancellation control unit 32 to the configuration of the comparative example (B). The example (D) is obtained by adding adaptive identification disturbance cancellation control for the generator output by the second adaptive identification disturbance cancellation control unit 28 to the configuration of the embodiment (C). The embodiment (E) is obtained by removing the active damping control using the nacelle acceleration by the first floating body swing control unit 29 from the configuration of the embodiment (D). On the other hand, in the embodiment (F), the general waveform type adaptive identification disturbance canceling controller 34 in which the acceleration of the floating structure 11 is input x and the nacelle speed is error e in the basic control (PI control) of the comparative example (A). It adds adaptive identification disturbance cancellation control by.

  FIG. 6 shows fluctuations along the time axis of the swing angle (inclination angle) of the floating structure 11, the power generation output of the generator 26, and the rotational speed of the rotor shaft 25 in the comparative example (A) and the example (D). It is a graph which shows.

  As shown in FIG. 5, in Examples (C) to (E) in which the swing (tilt angle) of the specific frequency of the floating structure 11 is the target of adaptive identification disturbance cancellation control, all are comparative examples (A). The fluctuation of the swing angle was suppressed to 10%, and the fluctuation of the rotation speed of the rotor shaft was also reduced to less than 60%. Further, in Examples (D) and (E) in which the output fluctuation at the specific frequency of the generator 26 is also the target of the adaptive identification disturbance cancellation control, the fluctuation in the power generation output is reduced to 10%.

  In addition to the basic control (PI control), the output fluctuation of the generator 26 of the embodiments (D) and (E) is about 1 for the comparative example (B) using only the feedback of the nacelle acceleration (speed). / 6 and the fluctuation of the floating structure 11 was also reduced to about ３. Since the embodiment (E) is obtained by removing only the feedback control of the nacelle acceleration (velocity) from the configuration of the embodiment (D), the application identification canceling control has a high fluctuation reduction effect without using it together with the acceleration (velocity) feedback. It can be seen that However, active damping control using acceleration (velocity) feedback is effective not only for specific frequencies but also for disturbances having a wide frequency spectrum. desirable.

  On the other hand, in the example (F), the swing reduction effect of the floating structure 11 is about 35% of the comparative example (A), which is about the same as the comparative example (B), and an example (targeting a specific frequency) It was low compared with C)-(E). However, since the frequency information of the disturbance is not required in the embodiment (F), it can cope with the disturbance over a wide frequency range. Therefore, the adaptive identification disturbance cancellation control of the embodiments (C) to (E) targeting the specific frequency is used in combination with the general waveform type adaptive identification disturbance cancellation control of the embodiment (F), so that the specific frequency is obtained. In contrast, while providing a strong attenuation effect, a configuration that provides a moderate attenuation effect for other frequencies can be obtained.

  Next, simulation results of an embodiment using adaptive identification disturbance cancellation control incorporating a frequency analysis algorithm will be described with reference to FIGS.

  FIG. 8 is a model diagram of adaptive identification disturbance cancellation control incorporating a frequency analysis algorithm. As shown in FIG. 8, the adaptive identification disturbance cancellation control of the present embodiment incorporating the frequency analysis algorithm applies the response yd of the identification target system 40 due to the disturbance d to the FFT frequency analysis (FFT frequency analysis algorithm 41), and the disturbance. In addition to detecting the frequency fi included in d, the detected frequency fi is given to the sinusoidal adaptive identification system W (sin, cos) 42 to generate the control signal uBP from the control target signal yCT, and this is used as the drive control system By canceling the response yd with the output yBP obtained by inputting the signal to the output 43, the fluctuation of the final response yCT is suppressed.

  FIG. 9 is a spectrum of the response yd of the identification target system 40 under the disturbance d assumed in this simulation, and is obtained by applying the signal yd to the FFT frequency analysis algorithm 41. In the example of FIG. 9, three peak frequencies f <b> 1 to f <b> 3 included in the response yd are detected by the FFT frequency analysis algorithm 41.

  10 and 11 show simulation results of the response yd and the control target signal yCT. The first 50 seconds is a data collection period for FFT analysis, and the disturbance suppression function is not working. After the end of the data collection period, the adaptive identification disturbance cancellation system worked from the obtained frequency information, and the control target signal yCT rapidly decreased.

  As described above, according to the adaptive identification disturbance cancellation method incorporating the frequency analysis algorithm of the present embodiment, even when information on the frequency included in the disturbance cannot be obtained in advance, the suppression function can be finally activated. Further, even when the frequency distribution of the disturbance changes, it is possible to suppress the fluctuation following the change.

(Second Embodiment)
Next, an offshore wind power generator according to a second embodiment of the present invention will be described with reference to FIGS. The offshore wind power generator according to the second embodiment is a landing type, and FIG. 12 shows its appearance and FIG. 13 shows its system block diagram. In the following description, the same reference numerals are used for the same configurations as those in the first embodiment, and the description thereof is omitted.

  In the first embodiment, the tower 13 is installed on the deck 12 of the floating structure 11, but the tower 44 of the second embodiment is a foundation (or a jacket, Pod etc.). That is, the tower 44 is cantilevered on the seabed SB and is installed substantially vertically. The wind turbine 14 is installed at the tip of the tower 44 as in the first embodiment. In the present embodiment, the acceleration sensor 18 is provided in the nacelle portion 15, or the acceleration sensor 45 is provided near the tip of the tower 44.

  The block diagram of FIG. 13 corresponds to FIG. 2 of the first embodiment. As described above, in the second embodiment, since the tower 44 is fixed to the seabed SB, the wind turbine structure is not coupled with the mooring structure. That is, the block 46 in FIG. 13 corresponds to the wind turbine structure composed of the tower 44 and the nacelle portion 15 and shows the vibration (swing) characteristics of the wind turbine structure when affected by wind, waves, and tidal currents as disturbances. Represent.

  The configuration of the control system of the wind turbine 14 is basically the same as that of the first embodiment, but there is no configuration related to the input from the mooring structure 23 in the correction control unit 22 of FIG. Therefore, in FIG. 13, the correction control unit 22 excluding the input from the mooring structure 23 is shown as the correction control unit 47. That is, the active damping in the correction control unit 47 includes only feedback control using, for example, the output of the acceleration sensor 18 or 45, and P (proportional) control with respect to the acceleration signal or the speed signal is used. Note that active damping is not limited to P control, and a general control transfer function may be used.

  For the adaptive identification disturbance cancellation control of the second embodiment, for example, the adaptive identification disturbance cancellation control incorporating the frequency analysis algorithm shown in FIG. 8 of the first embodiment is used and added to the result of the active damping. It is output to the blade pitch variable mechanism 20. That is, in the second embodiment, adaptive identification disturbance canceling control is performed using the nacelle acceleration (velocity) as the main input (yCT) instead of the swing acceleration of the floating structure in the first embodiment. That is, in the adaptive identification disturbance cancellation control of the second embodiment, the dominant frequency component ω (rad / s) in the vibration (oscillation) waveform of the wind turbine structure 46 is analyzed in the FFT frequency analysis algorithm 41 (FIG. 8). The disturbance input to the wind turbine structure 46 is d = A1 · sin (ωt) + A2 · cos (ωt), and a signal uBP = A1c · sin (ωt) + A2c · cos (ωt) that cancels this is identified. The In the second embodiment, the identification target system 40 corresponds to the block 46 in FIG. As in the first embodiment, in the second embodiment, the power generation output obtained as the product of the generator torque and the rotor angular speed is input to the second adaptive identification disturbance canceling control unit 28 shown in FIG. An offset (correction) signal to be added to the torque command value is generated.

(Example of the second embodiment)
Next, with reference to FIG. 14 to FIG. 19, simulation results of fluctuation suppression effects by the landing-type offshore wind turbine generator of the second embodiment are shown. FIG. 14 shows the time fluctuation of the wind (disturbance d) given to the system of the example and the comparative example in the simulation, and the curve V shows the wind speed (m / s).

  FIG. 15 is a spectrum of the response yd of the identification target system 40 (FIG. 8) under the disturbance d shown in FIG. In the example of FIG. 15, the peak frequency f4 included in the response yd is detected by the FFT frequency analysis algorithm 41.

16 (a) to 16 (c) show the displacement amount X () of the nacelle portion 15 in the systems of the comparative examples (G) and (H) and the system of the embodiment (I) when the fluctuations in FIG. 14 are given, respectively. FIG. 17A is a graph showing time variation of m), and FIGS. 17A to 17C are graphs showing time variation of acceleration A (m / s ² ). 18 (a) to 18 (c) show the rotational speed N (rpm) and the power generation output (electric power) P () of the rotor shaft 25 in Comparative Examples (G), (H) and Example (I) at this time, respectively. It is a graph which shows the time fluctuation of (MW). Here, the comparative example (G) has a configuration in which only basic control (PI control) for the generator 26 and the blade pitch variable mechanism 20 in FIG. 13, that is, the generator torque control unit 27 and the blade pitch control unit 21 are used for control. Yes, Comparative Example (H) corresponds to a configuration in which active damping for performing proportional feedback of nacelle acceleration is added to the configuration of Comparative Example (G). In Example (I), the adaptive identification disturbance cancellation control of the present embodiment is further used in the configuration of Comparative Example (H).

  As shown in FIGS. 16 and 17, the variation of the displacement amount X and the acceleration A of the nacelle portion 15 is reduced to about 60% of the comparative example (G) in the comparative example (H). ) Was reduced to about 50% of Comparative Example (H), that is, about 30% of Comparative Example (G). Further, as shown in FIG. 18, the rotor rotational speed and the power generation output that are not directly controlled objects are not increased, but rather are reduced to about 80%.

  Next, FIG. 19 shows the magnitudes of fluctuations in the rotor rotational speed N, power generation output (electric power) P, nacelle acceleration A, nacelle speed V, and nacelle displacement X in Comparative Examples (G) and (H) and Example (I). Comparison is shown. The vertical axis represents the dispersion (root mean square) value of each physical quantity variation in each comparative example and example as a percentage with the dispersion value of comparative example (G) being 100.

  As shown in FIG. 19, it can be seen that the fluctuation amounts of the nacelle acceleration A, the nacelle velocity V, and the nacelle displacement X are greatly reduced in the embodiment (I) compared to the comparative examples (G) and (H). It can also be seen that the variation in the rotor rotational speed N and the power generation output (electric power) P is lower in the embodiment (I).

  As described above, by applying the adaptive identification disturbance canceling control according to the present invention to the landing type offshore wind power generator as in the second embodiment, the wind speed due to the disturbance is not affected without affecting the rotor rotational speed and the power generation output. The vibration (swing) of the turbine can be effectively suppressed, the life of the entire apparatus can be extended, and the cost can be reduced. In addition, in this embodiment, by incorporating a frequency analysis algorithm, even if the information of the frequency included in the disturbance cannot be obtained in advance or the frequency distribution of the disturbance changes, the vibration (fluctuation) suppression function is activated. Can do.

  In the description of the second embodiment, the frequency analysis algorithm is incorporated in the adaptive identification disturbance cancellation control. However, as in the first embodiment, when the frequency of the disturbance is specified in advance, the frequency analysis algorithm is omitted and specified. May be given in advance to identify the cancellation signal. Further, various disturbances other than the swinging of the floating structure described in the first embodiment can be incorporated into the control. It is also possible to incorporate general waveform type adaptive identification disturbance cancellation control instead of the frequency analysis algorithm.

  Moreover, the correction control part of 1st and 2nd embodiment is the 1st adaptive identification disturbance cancellation control part 32 which inputs the fluctuation | variation of a wind turbine, and the 2nd which correct | amends a torque command value using the output of a generator. Although the adaptive identification disturbance canceling control unit 28 is included, it is possible to omit one adaptive identification disturbance canceling control in both embodiments.

DESCRIPTION OF SYMBOLS 10 Floating type offshore power generator 11 Floating structure 11M Mooring line 13 Tower 14 Wind turbine 15 Nacelle part 17 Acceleration sensor 18 Acceleration sensor 19 Strain gauge 20 Blade pitch variable mechanism 21 Blade pitch control part 22 Correction control part 25 Rotor shaft 26 Generator 27 generator torque control unit 28 second adaptive identification disturbance canceling control unit 29 first floating body swing control unit 30 second floating body swing control unit 31 third floating body swing control unit 32 first adaptive identification disturbance canceling control unit 44 tower 45 Acceleration sensor 46 Wind turbine structure 47 Correction control unit SB Submarine

Claims (12)

A floating structure or a tower installed on the sea floor;
A wind turbine provided at the tip of the tower;
A sensor for detecting the oscillation of the wind turbine;
A blade pitch variable mechanism for controlling a blade pitch angle of the wind turbine;
A generator torque control unit that performs basic output control including PI calculation on the generator based on the rotor shaft rotational speed of the generator provided in the wind turbine;
A blade pitch control unit that performs pitch angle basic control including PI calculation of the blade pitch angle based on the rotor shaft rotational speed;
A correction control unit that corrects the basic output control based on the output of the generator, and / or corrects the basic pitch angle control based on the swing of the wind turbine,
The offshore wind power generator, wherein the control of the correction control unit includes adaptive identification disturbance cancellation control.   2. The offshore wind turbine generator according to claim 1, wherein the adaptive identification disturbance canceling control generates a canceling signal with a fluctuation of at least one predetermined frequency as a target.   The offshore wind power generator according to claim 1, wherein the adaptive identification disturbance canceling control is performed based on a power generation output fluctuation.   The offshore wind power generator according to any one of claims 1 to 3, wherein active damping control is included in the control of the correction control unit.   The offshore wind power generator according to claim 4, wherein the active damping control is performed based on swinging of the wind turbine.   The offshore wind power generator according to any one of claims 1 to 5, wherein the control of the correction controller includes a disturbance frequency specified by a frequency analysis algorithm and adaptive identification disturbance cancellation control based on the specified disturbance frequency. .   The offshore wind power generator according to claim 1, wherein the control of the correction control unit includes general waveform type adaptive identification disturbance cancellation control.   The offshore wind power generator further includes a floating structure on which the tower is installed, and a sensor that detects a swing of the floating structure, and the correction control unit corrects the basic output control by the generator. 8. The correction according to claim 1, wherein the correction is performed based on an output and / or correction for the pitch angle basic control is performed based on a swing of the wind turbine and a swing of the floating structure. The offshore wind power generator according to one item.   The offshore wind power generator according to claim 8, wherein the adaptive identification disturbance canceling control is performed based on swinging of the floating structure. The correction to the control of the control unit, offshore wind power generator according to any one of claims 8 or claim 9, characterized in that includes based rather active damping control to the rocking of the floating construction.   11. The sensor according to claim 8, wherein a sensor for detecting stress or strain is provided at a base of the tower, and correction control by the correction control unit is performed based on the stress or strain. Offshore wind power generator. A wind turbine control device provided at the tip of a floating structure or a tower installed on the sea floor,
A generator torque control unit that performs basic output control including PI calculation on the generator based on the rotor shaft rotational speed of the generator of the wind turbine;
A blade pitch control unit that performs basic pitch angle control including PI calculation for the blade pitch angle of the wind turbine based on the rotor shaft rotational speed;
A correction control unit that corrects the basic output control based on the output of the generator, and / or corrects the basic pitch angle control based on the swing of the wind turbine,
The wind turbine control apparatus, wherein the control of the correction control unit includes adaptive identification disturbance cancellation control.

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