JP6581435B2 - Wind power generation system - Google Patents

Description

  The present invention relates to a wind power generation system, and more particularly to pitch dynamic characteristics of a wind power generation system having a plurality of blades.

  Conventionally, a wind power generation system has a plurality of blades that rotate by receiving wind and a pitch actuator for changing the pitch angle of each blade, and pitch angle control that changes each pitch angle based on wind speed or the like. Is generally done. When the pitch angle of the blade is changed, the conversion efficiency at the time of conversion into rotational torque by wind energy can be changed. The pitch angle with the highest conversion efficiency from wind power to torque is called fine, and the pitch angle with the lowest conversion efficiency is called feather. Since the aerodynamic performance for each pitch angle of the blade is determined by the relative wind speed flowing into the blade and the geometry of the blade elements that make up the blade, the amount of energy obtained from the wind is adjusted by changing the pitch angle, The rotational speed, power generation output, load, etc. of the power generation system can be controlled.

  On the other hand, since the wind power generation system is used for a long time (usually about 20 years) in a complicated and changing environment, the dynamic characteristics of the driving device such as a pitch actuator that changes the pitch angle are factors such as aging and failure. May change. The change in the dynamic characteristics of the pitch angle that adjusts the amount of energy acquired from the wind has the problem of deteriorating the control performance of the entire wind turbine power generation system and increasing output fluctuations and load fluctuations.

  In order to solve such a problem, Patent Document 1 discloses an identification unit that identifies a dynamic characteristic model of a windmill for each of a plurality of areas determined according to wind speed, and the dynamic characteristic model identified by the identification unit. A wind turbine dynamic characteristic monitoring device including a monitoring unit that monitors each time is disclosed. Further, the monitoring unit monitors a time series change of a predetermined dynamic characteristic parameter in the dynamic characteristic model identified by the identification unit for each operation region, and based on the time series change of the dynamic characteristic parameter, the wind turbine A wind turbine dynamic characteristic monitoring device that determines whether adjustment of a control parameter is necessary is disclosed. According to the present invention, even when a secular change or the like occurs, it is possible to adjust the control parameters of the windmill based on the time-series change of the dynamic characteristic parameters, and it is possible to maintain the control performance.

WO2009 / 153866

  In the wind power generation system, even when a time-series change occurs in the dynamic characteristics of the pitch angle, the wind power generation system may continue the power generation operation when the change is slight. At that time, it is preferable to take measures to ensure control performance capable of suppressing output fluctuations and load fluctuations.

  Here, in a wind power generation system having a plurality of blades, an independent pitch control technique is known in which a pitch actuator is provided for each blade and the pitch angle is individually controlled in order to suppress output fluctuation and load fluctuation. Yes. Specifically, for example, the wind speed flowing into the wind power generation system is the vertical speed difference (hereinafter referred to as wind shear characteristics) due to the influence of the ground surface, or the influence of the tower for supporting the blades at a predetermined height (hereinafter referred to as wind shear characteristics). Because the wind speed distribution is not uniform within the blade rotation plane due to the tower shadow characteristics), a technology is known that changes the pitch angle of each blade for each blade rotation angle (hereinafter referred to as the azimuth angle). ing.

  Independent pitch control for wind shear characteristics and tower shadow characteristics requires that the pitch angle be changed to the target angle with respect to the azimuth angle that changes from moment to moment. Therefore, pitch angular motion such as pitch angular velocity and pitch angular acceleration is required. Characteristics are important for improving control performance. In this regard, Patent Document 1 describes that the control parameters of the wind turbine are adjusted based on the time series change of the dynamic characteristic parameters such as the pitch angle, but the pitch angle between a plurality of blades in a single wind turbine is described. It does not focus on dynamic characteristics, and there is room for further improvement in control performance. Therefore, an object of the present invention is to provide a wind power generation system with high control performance.

  In order to solve the above problem, a wind power generation system of the present invention includes a plurality of blades that rotate by receiving wind, a plurality of pitch actuators that are provided for each blade and adjust the pitch angle of the blades, and the pitch. A pitch angle control device that calculates a pitch angle command value to be sent to the actuator, and the pitch angle control device has a pitch angle command for each blade so as to reduce variation in dynamic characteristics of the pitch angle between the blades. The value is adjusted.

  According to the present invention, it is possible to provide a wind power generation system with high control performance.

1 is a perspective view showing a schematic configuration of a wind power generation system 100 according to an embodiment of the present invention. It is a block diagram which shows the outline | summary of the pitch angle control mounted in the controller 108 of the wind power generation system 100 of Example 1 of this invention. It is the flowchart which showed the procedure which determines the pitch angle correction amount 206 of the wind power generation system 100 of Example 1 of this invention. It is a figure which shows an example of the basic signal used in order that the pitch angle dynamic characteristic detection means 202 in Example 1 of this invention may detect a dynamic characteristic, and the response of each pitch angle with respect to it. It is a block diagram which shows the outline | summary of the pitch angle control mounted in the controller 500 of the wind power generation system 100 of Example 2 of this invention. It is a figure for demonstrating the azimuth angle of the wind power generation system 100 which concerns on Example 2 of this invention. In Example 2 of this invention, the flowchart which represents the procedure of arrange | positioning each braid | blade to the substantially same azimuth angle and detecting a pitch angular dynamic characteristic is shown. It is the figure which showed the tower shadow characteristic of the wind speed which flows into the wind power generation system 100 of Example 2 of this invention. It is a block diagram which shows the outline | summary of the pitch angle control mounted in the controller 900 of the wind power generation system 100 of Example 3 of this invention. In Example 3 of this invention, the flowchart which represents the procedure of arrange | positioning each braid | blade to the substantially same azimuth angle and detecting a pitch angular dynamic characteristic is shown. In Example 3 of this invention, the blade 101a is the figure which showed the state arrange | positioned in the position whose azimuth angle is 0 deg. In Example 4 of this invention, it is the figure which showed the basic pitch angle command value with respect to the azimuth angle of each braid | blade. In Example 4 of this invention, it is a figure which shows the time series data of the pitch angle response of each braid | blade. In Example 4 of this invention, it is a figure which shows the average profile of the pitch angle with respect to the azimuth angle of each braid | blade.

  In a wind power generation system having a plurality of blades, in order to balance the average aerodynamic load in the plane of rotation of the blades, pitch angular motion represented by pitch angle, pitch angular velocity, pitch angular acceleration, etc. with respect to the azimuth angle is used. It is desirable that the characteristics be approximately the same between the blades. In order to suppress output fluctuations and load fluctuations when time-series changes occur in the pitch angle dynamic characteristics, it is possible to adjust the pitch angular dynamic characteristics between the blades to be small. It is preferable for improving the control performance.

  According to each embodiment described below, control performance can be improved even when variations occur in pitch angular dynamic characteristics between the blades. Thereby, load imbalance in the blade rotation surface can be suppressed, and for example, it is possible to reduce a fatigue load generated in a wind power generation system component.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. The following are only examples, and the embodiments of the present invention are not intended to be limited to the following examples.

(overall structure)
First, the overall configuration of the first embodiment of the wind power generation system according to the present application will be described with reference to FIG.

  FIG. 1 shows a schematic configuration of a wind turbine 100 according to the first embodiment. The windmill 100 of the present embodiment mainly includes a rotor 103, a nacelle 104, and a tower 105. The tower 105 rotatably supports the nacelle 104 and supports the load of the nacelle 104 and the rotor 103. The blade 101 is supported at a predetermined height by the tower 105. The rotor 103 includes three blades 101a to 101c and a hub 102 that connects and supports each blade. When the blades receive wind, the rotor 103 rotates and the generator 106 rotates to generate electric power from wind energy.

  The blades 101a to 101c are respectively provided with pitch actuators 107a to 107c (only 107a is shown in FIG. 1) that can change the positional relationship between the blades and the hub 102, that is, the angle of the blades. Thus, since the pitch actuator is provided for each blade, the pitch angle of each blade can be changed individually. That is, independent pitch control is possible. Specifically, the pitch actuator 107 is realized by, for example, a combination of an electric motor and a gear, or a hydraulic cylinder and a link mechanism. The pitch actuator changes the pitch angle of the blade based on a pitch angle command value from a controller serving as a pitch angle control device.

  When the blades and pitch actuators are not distinguished from each other, they are described as 101 and 107, and only when designated, 101a and 107a are distinguished using alphabets. Further, only when a pitch angle command value, which will be described later, is also distinguished, it is distinguished by adding an alphabet at the end of the code.

  By changing the pitch angle of the blade 101 using the pitch actuator 107, the amount of energy acquired from the wind can be changed. As a result, the generated power and load of the wind turbine 100 can be controlled while controlling the rotational speed of the rotor 103 in a wide wind speed region. Moreover, since it becomes possible to change a pitch angle separately, the load by a wind shear characteristic and a tower shadow characteristic can be reduced.

  The wind power generation system 100 includes a controller 108. The controller 108 adjusts the generator 106 and the pitch actuator 107 based on the outputs of sensors (not shown) that measure the wind speed, generator rotation speed, output, etc., respectively, thereby adjusting the rotation speed, output, and load of the wind power generation system. Control etc. That is, it functions as a pitch angle control device.

  In FIG. 1, the controller 108 is illustrated as being installed outside the nacelle 104 or the tower 105. However, the controller 108 is not limited to this, and the controller 108 is not limited to this. Or the form installed in the exterior of the windmill 100 may be sufficient. In FIG. 1, one controller 108 is shown for the wind power generation system 100, but a plurality of wind power generation systems may be controlled by one controller.

  The pitch angle control portion of the wind power generation system 100 according to the first embodiment of the present invention in the controller 108 will be described with reference to FIGS.

FIG. 2 is a block diagram showing an outline of the processing of the pitch angle control portion mounted on the controller 108 of the wind power generation system 100 in Embodiment 1 of the present invention. The controller 108
A basic pitch angle command value calculating unit 201, a pitch angle dynamic characteristic detecting unit 202, a pitch angle characteristic adjusting unit 203, and an adding unit 204 are provided.

  The basic pitch angle command value calculation means 201 is a command value common to the pitch angles of the blades so that the set target value matches the current control amount such as the power generation output, the generator rotational speed or the load of the wind turbine component. The basic pitch angle command value 205 is calculated. The calculation can be realized by, for example, known PID control.

  The pitch angular dynamic characteristic detecting means 202 detects the pitch angular dynamic characteristic of each blade. The detected pitch angular dynamic characteristics of each blade are output to the pitch angular dynamic characteristic adjusting means 203. In FIG. 2, the pitch angular motion characteristic detecting means for each blade is provided, but the pitch angular motion characteristics of each blade may be detected using a common pitch angular motion characteristic detecting means.

  The pitch angular dynamic characteristic adjusting means 203 compares the pitch angular dynamic characteristics of each blade detected by the pitch angular dynamic characteristic detecting means 202 and grasps the variation in pitch angular dynamic characteristics between the respective blades. Then, a pitch angle correction value 206 for correcting the pitch angle command value for each blade is calculated so as to reduce the variation, and is output to the adding unit 204.

  The adding unit 204 calculates a final individual pitch angle command value 207 by adding (or subtracting) the pitch angle correction value 206 to the basic pitch angle command value 205. Each pitch angle command value 207 is output to the pitch actuator 107 for changing the pitch angle, and the pitch actuator 107 changes the pitch angle based on the pitch angle command value 207.

  FIG. 3 is a flowchart showing a procedure in which the pitch angular dynamic characteristic detecting unit 202 detects the pitch angular dynamic characteristic of each blade, and the pitch angular dynamic characteristic adjusting unit 203 determines the pitch angle correction value 206 based on the dynamic characteristic. And consists of seven steps of steps S301 to S307.

  FIG. 4 shows a time-series change graph of the pitch angle with time on the horizontal axis and pitch angle on the vertical axis, and an example of a basic signal used by the pitch angular dynamic characteristic detecting means 202 to detect dynamic characteristics. It is a figure which shows the example of the response of each pitch angle with respect to it.

  As shown in FIG. 3, in order to obtain the pitch angular dynamic characteristic, the pitch angular dynamic characteristic detecting means 202 first inputs a basic signal to the pitch actuator 107 of each blade in step S301, and returns a response thereto in step S302. By measuring according to the above, the dynamic characteristics of the pitch angle of each blade are detected. Specifically, examples of the dynamic characteristics include a pitch angle with respect to an azimuth angle, a pitch angular velocity, a pitch angular acceleration, and the like.

  As an example of the basic signal, for example, a stepwise pitch angle target value as indicated by 401 is given at T1 in FIG. 4 shows 402a, 402b, and 402c in FIG. 4 as examples of responses of the blades 101a, 101b, and 101c to the basic signal 401. FIG. These responses can be measured using a sensor such as a pitch angle encoder for measuring the pitch angle.

  Next, by comparing the measured dynamic characteristics of each pitch angle in step S303 in FIG. 3, the variation of the pitch angular dynamic characteristics between the blades is examined. In step S304, the correction amount 206 of the pitch angle command value is determined so as to reduce the variation in the pitch angular dynamic characteristics. In step S305 and step S306, the basic signal is input and the dynamic characteristics are detected again using the correction amount 206. In step S307, the reduction in variation in pitch angular dynamic characteristics between the blades is confirmed. If the variation cannot be reduced, the process returns to step S303, the pitch angle command value correction amount determination method in step S304 is changed, and the correction amount 206 that finally reduces the variation is determined. Then, by correcting the basic pitch angle command value 205 using the correction amount 206, it is possible to reduce variations in the pitch angle dynamic characteristics between the blades.

  Here, a method for selecting a pitch angular dynamic characteristic as a reference when further reducing variations in pitch angular dynamic characteristics between the blades will be described.

  In this embodiment, since there are three blades, the pitch angular dynamic characteristics between the blades can be obtained by combining the other two pitch angular dynamic characteristics with one of the three pitch angular dynamic characteristics. The variation in the size may be reduced. As a result, the amount of calculation in the pitch angular dynamic characteristic adjusting means 203 is reduced, and the adjustment is further facilitated.

  Further, the other two dynamic characteristics may be matched with the one having the slowest pitch angular dynamic characteristics among the pitch angular dynamic characteristics of the three blades. Here, “the pitch angular dynamic characteristic is the slowest” includes, for example, that the response to the basic signal is the worst when detecting the dynamic characteristic. More specifically, “the pitch angular dynamic characteristic is the dullest” can be determined by the magnitude of the physical quantity representing the pitch angular dynamic characteristic. For example, when the pitch angular velocity is used as a physical quantity representing the dynamic characteristics with respect to the basic signal of FIG. "

  When the dynamic characteristics are detected, the slowest of the pitch angular dynamic characteristics of each blade is that the cause is mechanical deterioration or failure of the drive device such as the pitch actuator. ("Good" here is an antonym for "dull") is usually difficult. From this point, it is possible to efficiently reduce the dynamic characteristics of the pitch angle between the blades by matching the other two dynamic characteristics with the slowest pitch angular dynamic characteristics among the pitch angular dynamic characteristics.

  In addition, the physical quantities representing the dynamic characteristics of the pitch angle of each blade are compared, and the difference between the physical quantities of the blade pitch angle having the maximum or minimum physical quantity and the pitch angle of other blades is reduced. The pitch angle command value may be adjusted.

  Thereby, for example, it is possible to cope with a case where the larger the physical quantity representing the dynamic characteristic is, the slower the dynamic characteristic is. Further, it is possible to cope with the case where the pitch angular dynamic characteristics change in a “good” direction with age (for example, the mass decreases due to breakage of the blade component or the like, and the pitch angular velocity increases).

  Calculate the average value of physical quantities representing the dynamic characteristics of the pitch angle of each blade, and the difference between the average value and the physical quantity of the blade with the smallest difference between the physical quantity and the difference between the physical quantities of the pitch angles of the other blades is reduced. As described above, the pitch angle command value of another blade may be adjusted.

  The basic signal used above may be changed by itself. Further, the response used for detecting the pitch angular movement characteristic may be designated according to the type and characteristic of the basic signal. In addition, the position at which the pitch angle response is referenced may be changed when the difference between the current pitch angle θs, which is the change start position of the pitch angle, and the target pitch angle θe is large and small. For example, when attention is paid to the characteristics of 402a in FIG. 4, when the pitch angle changes from θs to θ1, the pitch angular velocity is accelerated, and when the pitch angle changes from θ1 to θ2, the pitch angular velocity is increased. Is relatively constant, and when the pitch angle changes from θ2 to θe, the pitch angular velocity decreases. In this way, by changing the interval between the predetermined pitch angles of interest, it is possible to grasp the characteristics of different physical quantities and to detect a plurality of dynamic characteristics for one basic signal. Then, it is possible to accurately grasp variations in pitch angular dynamic characteristics between the blades.

  When the change amount (movement distance) of the pitch angle is large, the interval between θ1 and θ2 shown in FIG. 4 is long, and it is determined in advance that attention should be paid to the above acceleration / deceleration regions (θs to θ1, θ2 to θe). Thus, the pitch angular dynamic characteristics can be grasped more simply. “When the change amount of the pitch angle is large” specifically refers to a time when the pitch angle changes from full fine or full feather.

  The selection method of the reference pitch angular dynamic characteristic described above may be changed when it is determined in step S307 that the variation is not reduced by the first variation correction and the process returns to step S304. Thereby, it is possible to reduce the variation of the pitch angular dynamic characteristics between the blades in accordance with the change state of the pitch angular dynamic characteristics and the factor thereof.

  Next, a wind power generation system 100 according to Embodiment 2 of the present invention will be described with reference to FIGS.

  FIG. 5 shows a controller 500 according to the second embodiment. The controller 500 is obtained by adding azimuth angle detection means 501 to the controller 108 of the first embodiment. Further, a pitch angular dynamic characteristic storage unit 502 constituted by a recording medium or the like is further provided. Since other configurations are the same, description thereof is omitted.

  Here, the azimuth angle means a rotation angle of the blade, and means an angle between the blade and the vertical direction (z direction in the drawing) of the wind power generation system as shown in FIG. In the present embodiment, as shown in the figure, the azimuth angle φ when the blade reaches the top is 0 deg, and the azimuth angle φ when the blade reaches the bottom is 180 deg.

  In the second embodiment, the azimuth angle detection unit 501 detects the azimuth angle of each blade and outputs the detected azimuth angle to the pitch angle dynamic characteristic detection unit 202. Specifically, the azimuth angle can be detected by, for example, providing a rotary encoder on the rotating shaft and outputting the rotary encoder. Then, the pitch angular dynamic characteristic detecting means 202 arranges each blade at substantially the same azimuth angle and detects the pitch angular dynamic characteristic of each blade. In order to arrange each blade at a desired azimuth angle, specifically, it is possible to control the energy of wind by the pitch angle. In addition, the blade can be fixed at a desired azimuth angle by providing a brake or the like on the rotating shaft.

  Further, the pitch angular dynamic characteristic storage unit 502 can store a plurality of pitch angular dynamic characteristics acquired at the same time and / or at different times for each blade.

  FIG. 7 shows a flowchart illustrating a procedure in which the controller 500 sequentially arranges each blade at a predetermined azimuth angle and detects the pitch angular dynamic characteristics of each blade in the second embodiment.

  Here, the procedure for detecting the pitch angular dynamic characteristics will be described with reference to FIG. First, in step S701, the azimuth angle φi for detecting the pitch angular dynamic characteristics of each blade is determined. Next, in step S702, the blade 101a is disposed at the azimuth angle φi. In step S703, with the blade 101a disposed at the azimuth angle φi, the pitch angular dynamic characteristics of each blade are detected by inputting the basic signal. Similarly, in step S704, the blade 101b is arranged at the azimuth angle φi, and in step S705, the pitch angular dynamic characteristics of each blade are detected. Finally, in step S706, the blade 101c is arranged at the azimuth angle φi, and in step S707, the pitch angular dynamic characteristics of each blade are detected. The detected pitch angular dynamic characteristic is stored in the pitch angular dynamic characteristic storage unit 502, and the pitch angular dynamic characteristic adjusting unit 203 compares the stored pitch angular dynamic characteristic to obtain the pitch angle correction value 206. Calculate.

  In addition, the expression “arranged at the azimuth angle φi” does not mean that the blade is strictly disposed at the azimuth angle φi. It suffices to be within a predetermined angle range.

  In the second embodiment, by specifying the azimuth angle for detecting the pitch angular dynamic characteristics, even when the dynamic characteristics of the same blade are detected a plurality of times, the load generated on the blade by gravity or the like becomes substantially the same for each detection. The detection error of the pitch angular dynamic characteristic due to the influence of gravity can be reduced. Furthermore, since the three blades are arranged at substantially the same azimuth angle φi and the pitch angular dynamic characteristics of each blade are detected, detection errors due to the influence of gravity are detected when detecting the pitch angular dynamic characteristics between the blades. Can be reduced. Thereby, it is possible to grasp the variation in the pitch angular dynamic characteristics between the blades with higher accuracy.

  Here, a method for selecting the azimuth angle φi for detecting the dynamic characteristics will be described with reference to FIG.

  FIG. 8 is a cross-sectional view of a plane orthogonal to the z-axis A-A ′ shown in FIG. 6. In FIG. 8A, when a blade that is a pitch angular dynamic characteristic detection target is arranged on the windward side of the tower, FIG. 8B is a pitch angular dynamic characteristic detection target on the leeward side of the tower. It is the schematic which shows the wind speed distribution which flows in into a braid | blade, ie, the above-mentioned tower shadow characteristic when the blade which is is. At this time, the blade 101 shown in FIG. 8 is at a position where the azimuth angle φ is approximately 180 deg. The white arrow in the figure represents the wind direction, and the black arrow represents the wind speed distribution in the vertical section indicated by 801a and 801b in the figure.

According to FIG. 8, when the azimuth angle is at a position of about 180 deg due to the tower shadow characteristic due to the influence of the tower 105, in both cases of FIG. 8 (a) and (b), the blades have other azimuth angles. The wind speed flowing into the blade is smaller than when it is arranged. Therefore, when the blade 101 to be detected overlaps the tower 105 in the wind direction (that is, when the azimuth angle is positioned at approximately 180 degrees), the pitch angular dynamic characteristic is detected, thereby detecting the pitch angular dynamic characteristic. The effect of wind speed can be particularly suppressed. Furthermore, as shown in FIG. 8B, when the blade 101 is arranged on the leeward side of the tower 105, the blade 101 is located in the dead water area of the tower 105, and the influence of the wind speed can be further suppressed. Then, in step S701 in FIG. 7, the azimuth angle φi for detecting the dynamic characteristics is 180 degrees and located on the leeward side of the tower 105, so that the influence of the wind speed can be further suppressed, and between the blades with higher accuracy. It is possible to grasp the variation of the pitch angular dynamic characteristics.
Further, the wind power generation system of the present embodiment has three blades, and each blade is arranged at equal intervals in the surface of the rotor 103. Therefore, when the pitch angular dynamic characteristics are detected by the procedure of FIG. 7, since each of the three blades is detected when each of the three blades becomes φi, three azimuth angles φi, φi + 120 deg, and φi + 240 deg are detected. It is possible to obtain the pitch angle dynamic characteristics at the place. More generally, assuming that the number of blades is N, when the dynamic characteristics are detected by moving the blade N times every 360 ÷ N deg, each blade can detect the pitch angular dynamic characteristics at the same position.

  And since the controller 500 is provided with the pitch angular dynamic characteristic memory | storage means 502, the acquired several pitch angular dynamic characteristics can be memorize | stored. Moreover, the pitch angular dynamic characteristic adjusting means 203 can grasp the variation of the pitch angular dynamic characteristics between the blades more accurately by a plurality of pitch angular dynamic characteristics.

  The pitch angular dynamic characteristic detection method shown in the second embodiment is performed with the blade 101 fixed at a predetermined azimuth angle, and therefore the wind power generation system 100 must stop the power generation operation when the pitch angular dynamic characteristic is detected. However, the wind power generation system is not always in operation, and there is a waiting time without performing the power generation operation depending on the wind condition or the like. Accordingly, it is conceivable that the pitch angular dynamic characteristic detection method described in the second embodiment detects the pitch angular dynamic characteristic when the power generation operation is not performed due to factors such as wind conditions. Accordingly, the pitch angular dynamic characteristic can be detected without stopping the power generation operation to detect the pitch angular dynamic characteristic and without reducing the power generation amount.

  Next, a wind power generation system 100 according to Embodiment 3 of the present invention will be described with reference to FIGS. 9 to 11.

  FIG. 9 shows a controller 900 according to the third embodiment. The controller 900 further includes a wind speed detecting unit 901 in addition to the controller 500 in the second embodiment. Since other configurations are the same, description thereof is omitted.

  The wind speed detection means 901 can estimate the wind speed flowing into the wind power generation system. As a specific example, the wind speed can be estimated by a laser Doppler anemometer or the like. Here, the wind speed detecting means 901 is described as a part of the controller 900, but the present invention is not limited to this. For example, the wind speed may be estimated by an anemometer mounted in another wind power generation system.

  In FIG. 10, in the third embodiment, when the controller 900 arranges the blades at substantially the same azimuth angle, and the wind speed detected by the wind speed detecting means 901 is within a certain wind speed range (Va <Vi <Vb). The flowchart showing the procedure for detecting the pitch angular dynamic characteristics of each blade is shown.

  Here, according to FIG. 10, the procedure of the detection of the pitch angular dynamic characteristic in the third embodiment will be described. First, in step S1001, the azimuth angle φi for detecting the pitch angular dynamic characteristics of each blade is determined. Next, in step S1002, the blade 101a is arranged at the azimuth angle φi. Next, in step S1003, it is determined whether or not the wind speed Vi detected by the wind speed detecting means 901 is within a certain wind speed range (Va <Vi <Vb). When the condition Va <Vi <Vb is satisfied, the pitch angular dynamic characteristic detecting unit 202 acquires the pitch angular dynamic characteristic of each blade. In a similar operation, in step S1005, the blade 101b is arranged at the azimuth angle φi, and in step S1008, the blade 101c is arranged at the azimuth angle φi, and the pitch angular dynamic characteristics are detected. The detected pitch angular dynamic characteristics are stored in the pitch angular dynamic characteristic storage means 502, and the pitch angular dynamic characteristic adjusting means 203 compares the stored pitch angular dynamic characteristics to calculate the pitch angle correction value 206. To do.

  FIG. 11 shows a state in which the azimuth angle φi for detecting the dynamic characteristics is determined as φi = 0 deg in step S1001, and the blade 101a is arranged at the azimuth angle φi = 0 deg.

  In the present embodiment, there is a wind speed detecting means 901, and when the wind speed detected by the wind speed detecting means 901 satisfies the condition of a certain wind speed range, the blade is detected in a predetermined wind speed range in order to detect the pitch angular dynamic characteristics. The pitch angular dynamic characteristic can be detected in a state where an aerodynamic load is applied. As a result, the pitch angular dynamic characteristics can be detected in a state closer to the actual control use. Furthermore, as shown in FIG. 11, since the azimuth angle φi for detecting the dynamic characteristics is set to 0 deg, each blade is positively arranged at a position that is greatly affected by the wind when detecting the pitch angular dynamic characteristics. In the present embodiment, the wind speed detecting means 901 is provided, and the blade is arranged at an azimuth angle at which the blade is more influenced by the wind and an aerodynamic load is generated according to the wind speed. Detection accuracy can be improved.

  In addition, since the wind speed detecting means 901 is provided, the influence of the wind is reduced by detecting the pitch angular motion characteristics of each blade at a timing close to no wind, because the wind is weak. It is also possible to detect the characteristics.

  Next, a wind power generation system 100 according to Embodiment 4 of the present invention will be described with reference to FIGS.

  In the first to third embodiments, the focus is on detecting the pitch angle dynamic characteristics of each blade when the power generation operation of the wind power generation system 100 is stopped. However, in this embodiment, the wind power generation system 100 is used. Suppose that the pitch angle dynamic characteristic is detected during the power generation operation.

  In the wind power generation system 100 according to the first to third embodiments described above, in this embodiment, the basic pitch angle command value calculation unit 201 takes into account characteristics such as wind shear characteristics, for example, as shown in FIG. Is output as a pitch angle command value 207 for each blade. Then, the basic pitch angle command value is output without changing for a predetermined time.

  FIG. 13 shows an example of a time-series response of each blade pitch angle of the pitch angle command value 207 corresponding to FIG. Since the pitch angle command value of each blade is fixed to be the same at an arbitrary time, the change in the time series of the pitch angle of each blade is equal to the angle while each blade is mounted on the radiation. Only (in this embodiment, since there are three blades, it is 120 deg.), And the phase difference is substantially the same. The fact that these waveforms are not exactly the same is due to variations in the blade pitch angular dynamic characteristics.

  Therefore, as shown in FIG. 13, the time-series change of the pitch angle of each blade is observed for a predetermined time, and the average profile of the pitch angle with respect to the azimuth angle is obtained using this time-series data. FIG. 14 shows an example of an average profile of the pitch angle with respect to the azimuth angle of each blade. Since the variation in the average profile of the pitch angle with respect to the azimuth angle of each blade corresponds to the variation in the pitch angular dynamic characteristics between the blades, the wind power generation system 100 generates power by obtaining these profiles. Even during the process, variation in pitch angular dynamic characteristics between the blades can be detected, and the variation can be reduced by the above-described pitch angular dynamic characteristic adjusting means.

DESCRIPTION OF SYMBOLS 100: Wind power generator 101: Blade 102: Hub 103: Rotor 104: Nacelle 105: Tower 106: Generator 107: Pitch actuator 108: Controller 201: Basic pitch angle command value calculation means 202: Pitch angle dynamic characteristic detection means 203: Pitch angle dynamic characteristic adjusting means 204: Adder 205: Basic pitch angle command value 206: Pitch angle correction value 207: Pitch angle command value

Claims (12)

Multiple blades that rotate in response to the wind;
A plurality of pitch actuators that are provided for each blade and adjust the pitch angle of the blade;
A pitch angle control device that calculates a pitch angle command value to be sent to the pitch actuator;
The pitch angle control device adjusts the pitch angle command value of each blade so as to reduce the variation in the dynamic characteristics of the pitch angle between the blades,
The pitch angle control device adjusts the pitch angle command value of the other blade so that the difference between the dynamic characteristics of the pitch angle of the blade having the slowest dynamic characteristic and the pitch angle of the other blade becomes small. Wind power generation system. Multiple blades that rotate in response to the wind;
A plurality of pitch actuators that are provided for each blade and adjust the pitch angle of the blade;
A pitch angle control device that calculates a pitch angle command value to be sent to the pitch actuator;
The pitch angle control device adjusts the pitch angle command value of each blade so as to reduce the variation in the dynamic characteristics of the pitch angle between the blades,
The pitch angle control device calculates an average value of physical quantities representing the dynamic characteristics of the pitch angle of each blade, and determines the pitch angle of the blade with the smallest difference between the average value and the physical quantity, and the pitch angle of other blades. A wind power generation system, wherein a pitch angle command value of the other blade is adjusted so that the difference between the physical quantities is small. Multiple blades that rotate in response to the wind;
A plurality of pitch actuators that are provided for each blade and adjust the pitch angle of the blade;
A pitch angle control device that calculates a pitch angle command value to be sent to the pitch actuator;
The pitch angle control device adjusts the pitch angle command value of each blade so as to reduce the variation in the dynamic characteristics of the pitch angle between the blades,
The wind power generation system according to claim 1, wherein the dynamic characteristic is any one of a pitch angle, a pitch angular velocity, and a pitch angular acceleration with respect to an azimuth angle. The wind power generation system according to any one of claims 1 to 2,
The wind power generation system according to claim 1, wherein the dynamic characteristic is any one of a pitch angle, a pitch angular velocity, and a pitch angular acceleration with respect to an azimuth angle. Multiple blades that rotate in response to the wind;
A plurality of pitch actuators that are provided for each blade and adjust the pitch angle of the blade;
A pitch angle control device that calculates a pitch angle command value to be sent to the pitch actuator;
The pitch angle control device adjusts the pitch angle command value of each blade so as to reduce the variation in the dynamic characteristics of the pitch angle between the blades,
A tower for supporting the blade at a predetermined height;
The pitch angle control device detects the dynamic characteristic when a blade to be detected overlaps the tower in a wind direction. The wind power generation system according to any one of claims 1 to 4,
A tower for supporting the blade at a predetermined height;
The pitch angle control device detects the dynamic characteristic when a blade to be detected overlaps the tower in a wind direction. The wind power generation system according to any one of claims 5 to 6,
The pitch angle control device detects the dynamic characteristic when the blade to be detected is located on the leeward side of the tower. Multiple blades that rotate in response to the wind;
A plurality of pitch actuators that are provided for each blade and adjust the pitch angle of the blade;
A pitch angle control device that calculates a pitch angle command value to be sent to the pitch actuator;
The pitch angle control device adjusts the pitch angle command value of each blade so as to reduce the variation in the dynamic characteristics of the pitch angle between the blades,
The said pitch angle control apparatus detects the said dynamic characteristic when the pitch angle of the said blade changes between predetermined angles, The wind power generation system characterized by the above-mentioned. The wind power generation system according to any one of claims 1 to 7,
The said pitch angle control apparatus detects the said dynamic characteristic when the pitch angle of the said blade changes between predetermined angles, The wind power generation system characterized by the above-mentioned. The wind power generation system according to any one of claims 8 to 9,
The pitch angle control device detects the dynamic characteristic between predetermined angles when the pitch angle of the blade changes from a full feather to a fine direction and / or from a full fine to a feather direction. Wind power generation system. Multiple blades that rotate in response to the wind;
A plurality of pitch actuators that are provided for each blade and adjust the pitch angle of the blade;
A pitch angle control device that calculates a pitch angle command value to be sent to the pitch actuator;
The pitch angle control device adjusts the pitch angle command value of each blade so as to reduce the variation in the dynamic characteristics of the pitch angle between the blades,
The pitch angle control device acquires an average profile of the pitch angle with respect to the azimuth angle of each blade as the dynamic characteristic, and a pitch angle command value of each blade so as to reduce variation in the average profile between the blades. Wind power generation system characterized by adjusting. The wind power generation system according to any one of claims 1 to 11, wherein the pitch angle control device detects the dynamic characteristic when the wind has a wind speed less than a wind speed for rotating the blade. A featured wind power generation system.

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