JP6933990B2 - Wind power generators and their control methods - Google Patents

Description

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

The horizontal axis type wind turbine generator is equipped with a yaw swivel mechanism that swivels the nacelle on which the wind turbine rotor is mounted around the vertical axis. The wind turbine generator receives wind from the rotor when a wind direction deviation (hereinafter referred to as yaw deviation angle) representing the deviation angle between the azimuth angle of the rotation axis of the wind turbine rotor (hereinafter referred to as nacelle azimuth) and the wind direction occurs. It is known that the yaw turning mechanism is controlled to eliminate the yaw deviation angle in order to prevent the power generation efficiency from decreasing due to the decrease in area. As a method of these yaw control, for example, the techniques described in Patent Document 1, Patent Document 2, and Patent Document 3 are known.

JP-A-2010-106727 U.S. Pat. No. 9273668 Published in the United States 2014/0152013

The wind conditions, which represent the wind direction and speed at a certain point, have variable components with various cycles. In addition, the characteristics of the cyclically fluctuating component differ depending on the time zone. Since these fluctuation components are randomly included in the wind condition, a general yaw control method is such that the yaw deviation angle becomes zero when the yaw deviation angle for a certain period exceeds a predetermined threshold value, for example. Yaw the nacelle.
When the yaw deviation angle can always be maintained at zero by yaw control, the amount of power generation is the largest. However, when the fluctuation speed of the wind direction is faster than the turning speed of the nacelle, the nacelle azimuth cannot follow the wind direction. Further, if the wind direction fluctuates frequently and the wind direction changes in the opposite direction during yaw turning, the nacelle is stopped with a high yaw deviation angle due to a delay in the yaw control response. In these cases, it is difficult to keep the yaw deviation angle at zero. However, if the turning speed of the nacelle is set too high or the yaw is turned sensitively to the yaw deviation angle, mechanical wear of the nacelle turning mechanism and the brake mechanism for stopping the turning of the nacelle occurs. If an attempt is made to positively suppress the yaw deviation angle using this control method, mechanical wear may increase.

In the method disclosed in Patent Document 1, especially when the degree of turbulence of the wind condition at a certain point is high, if the wind direction fluctuates greatly in a short period of time, the yaw turning speed cannot follow the wind direction and the yaw deviation angle during yaw turning becomes large. It gets bigger. Therefore, not only the yaw deviation angle cannot be suppressed and the power generation performance deteriorates, but also the yaw deviation angle becomes too large and the radial load generated by receiving the wind from the side or diagonal of the wind power generator increases more than necessary. However, mechanical wear may increase.
Therefore, the present invention provides a wind power generation device capable of suppressing mechanical consumption while reducing the yaw deviation angle to improve the amount of power generation and a control method thereof.

In order to solve the above problems, the wind power generator according to the present invention includes a rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, and yaw control. A wind power generator including an adjusting device that adjusts the yaw of the nacelle based on a command and a control device that determines the yaw control command sent to the adjusting device, and the control device is measured by a wind direction and speed measuring unit. It is provided with a yaw deviation angle calculation unit that calculates the yaw deviation angle from the wind direction and the direction of the rotor, and a control command creation unit that determines the yaw control command based on the yaw deviation angle. When the degree of turbulence is high, the drive speed of yaw turning is increased, and the control device frequency-analyzes the wind direction measured by the wind direction and wind speed measuring unit to obtain a frequency component, and sets the value of the frequency component in a predetermined frequency region. based on, characterized Rukoto a drive speed calculation unit for calculating a driving speed.
Further, the wind power generator according to the present invention includes a rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, and the yaw control command. A wind power generator including an adjusting device for adjusting the yaw of the nacelle and a control device for determining the yaw control command to be sent to the adjusting device, wherein the control device is a wind direction measured by a wind direction wind speed measuring unit and the rotor. A yaw deviation angle calculation unit that calculates the yaw deviation angle from the direction of , The driving speed of yaw turning is increased, and the control device obtains the standard deviation of the wind speed and the average value of the wind speed in a predetermined period from the wind speed measured by the wind direction and wind speed measuring unit, and sets the standard deviation of the wind speed as the wind speed. It is characterized by including a drive speed calculation unit that calculates the drive speed based on the turbulence intensity obtained by dividing by the average value of.
Further, the wind power generator according to the present invention includes a rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, and the yaw control command. A wind power generator including an adjusting device for adjusting the yaw of the nacelle and a control device for determining the yaw control command to be sent to the adjusting device, wherein the control device is a wind direction measured by a wind direction wind speed measuring unit and the rotor. A yaw deviation angle calculation unit that calculates the yaw deviation angle from the direction of , The driving speed of the yaw turning is increased, the control device obtains the standard deviation of the wind direction from the wind direction measured by the wind direction and wind speed measuring unit, and the driving speed calculation unit calculates the driving speed based on the standard deviation of the wind direction. It is characterized by having.
Further, the control method of the wind power generator according to the present invention includes a rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the navel, and a yaw control command. A control method for a wind power generator including an adjusting device for adjusting the yaw of the nacelle based on the yaw and a control device for determining the yaw control command sent to the adjusting device, wherein the yaw is determined from the measured wind direction and the direction of the rotor. The deviation angle is calculated, and when the degree of turbulence of the wind condition is high, at least based on the yaw deviation angle, the driving speed of the yaw rotation is increased, the measured wind direction is frequency-analyzed to obtain the frequency component, and the frequency component is obtained. The driving speed is calculated based on the value of the frequency component .
Further, the control method of the wind power generator according to the present invention includes a rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, and a yaw control command. It is a control method of a wind power generator including an adjusting device for adjusting the yaw of the nacelle based on the above, and a control device for determining the yaw control command to be sent to the adjusting device. The deviation angle is calculated, and if the degree of turbulence of the wind condition is high, at least based on the yaw deviation angle, the driving speed of the yaw turning is increased, and the standard deviation of the wind speed and the average value of the wind speed in a predetermined period from the measured wind speed are increased. The driving speed is calculated based on the turbulent flow intensity obtained by dividing the standard deviation of the wind speed by the average value of the wind speed.
Further, the control method of the wind power generator according to the present invention includes a rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the navel, and a yaw control command. A control method for a wind power generator including an adjusting device for adjusting the yaw of the nacelle based on the yaw and a control device for determining the yaw control command sent to the adjusting device, wherein the yaw is determined from the measured wind direction and the direction of the rotor. The deviation angle is calculated, and if the degree of turbulence of the wind condition is high, at least based on the yaw deviation angle, the driving speed of the yaw turning is increased, the standard deviation of the wind direction is obtained from the measured wind direction, and the standard deviation of the wind direction is obtained. The driving speed is calculated based on the above.

According to the present invention, it is possible to provide a wind power generation device capable of suppressing mechanical consumption while reducing the yaw deviation angle and improving the amount of power generation, and a control method thereof.
Specifically, when there are many wind direction fluctuations with a high frequency to some extent, increasing the yaw drive speed improves the followability of the nacelle azimuth with respect to the wind direction during yaw turning. Further, when the wind direction fluctuation with a certain high frequency is small, the increase in mechanical wear of the yaw turning mechanism is suppressed by not increasing the yaw driving speed. Therefore, the power generation performance is improved by improving the followability to the wind direction while suppressing the increase in mechanical wear. Furthermore, by reducing the yaw deviation angle, the radial load on the wind power generator can also be reduced, and mechanical wear can be reduced. Therefore, it is possible to provide a wind power generation device and a control method thereof that can achieve both improvement of power generation performance of the wind power generation device and reduction of mechanical consumption.
Issues, configurations and effects other than those described above will be clarified by the description of the following embodiments.

It is a side view which shows the whole schematic structure of the wind power generation apparatus of Example 1 which concerns on one Example of this invention. It is a top view (plan view) of the wind power generation apparatus shown in FIG. It is a block diagram which shows the function of the yaw control part which constitutes the control device shown in FIG. It is a figure which shows an example of the result of frequency analysis of the accumulated data of the wind direction θw. It is a figure which shows another example of the result of frequency analysis of the accumulated data of the wind direction θw. It is a flowchart which shows the processing outline of the yaw control part shown in FIG. It is a schematic diagram which shows the effect of the yaw control part which concerns on Example 1. FIG. It is a block diagram which shows the function of the yaw control part of Example 2 which concerns on another Example of this invention. It is a block diagram which shows the function of the yaw control part of Example 3 which concerns on another Example of this invention. It is a block diagram which shows the function of the yaw control part of Example 5 which concerns on another Example of this invention.

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

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

The nacelle 5 is installed on the tower 7 and can be yaw swiveled around a vertical axis by a yaw swivel mechanism 8 (also referred to as an adjusting device). The control device 9 controls the yaw turning mechanism 8 based on the wind direction detected by the wind direction and wind speed sensor 10 that detects the wind direction and the wind speed, and the wind speed Vw. The wind direction anemometer 10 may be a Lidar (for example, Doppler lidar), an ultrasonic anemometer, a cup-type anemometer, or the like, may be attached to a wind power generator such as a nacelle or a tower, or a wind turbine. It may be attached to a mast or the like with a structure different from the power generation device.

The yaw turning mechanism 8 is composed of a yaw bearing, a yaw gear (yaw turning gear), a yaw turning motor, a yaw brake, and the like. Further, a pitch actuator capable of changing the angle of the blade 2 with respect to the hub 3 and a power sensor for detecting active power and inactive power output by the generator 6 are provided at appropriate positions. Further, FIG. 1 shows a downwind type in which power is generated by a wind in a wind direction from the nacelle 5 to the blade 2, but an upwind type in which power is generated by a wind in a wind direction from the blade 2 to the nacelle 5 may be used.

FIG. 2 is a top view (plan view) of FIG. The wind direction forming the predetermined reference direction is defined as θw, the direction of the rotor rotation axis forming the predetermined reference direction is defined as θr, and the yaw deviation angle, which is the deviation angle from the wind direction θw to the rotor axis angle θr, is defined as Δθ. It is shown in the figure. Here, the "predetermined reference direction" is defined as, for example, the north as 0 ° as the reference direction. The reference direction may be set arbitrarily, not limited to the north. The wind direction θw may be a value acquired for each measurement cycle, may be the average direction of a predetermined period, or may be a direction calculated based on the surrounding wind condition distribution. Further, the rotor shaft angle θr may be in the direction of the rotor rotation shaft, in the direction of the nacelle, or may be a value measured by the encoder of the yaw swivel portion.

The yaw control unit 300 constituting the control device 9 of the wind power generation device 1 according to the present embodiment will be described with reference to FIGS. 3 to 7.
FIG. 3 is a block diagram showing the functions of the yaw control unit constituting the control device shown in FIG. As shown in FIG. 3, the yaw control unit 300 includes a yaw deviation angle calculation unit 301 for calculating the yaw deviation angle Δθ, a drive speed calculation unit 310 for calculating the drive speed Vy of yaw turning, a yaw deviation angle Δθ and a drive speed. It is composed of a control command creating unit 305 that defines a yaw control command Cy that controls the start / drive / stop of yaw turning based on Vy. The drive speed calculation unit 310 includes a data storage unit 302, a data analysis unit 303, and a drive speed calculation unit 304.

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

The data storage unit 302 constituting the drive speed calculation unit 310 of FIG. 3 accumulates the data of the wind direction θw detected from the wind direction wind speed sensor 10 and outputs the accumulated data of the wind direction θw appropriately accumulated. In Example 3 described later, the wind speed Vw data is accumulated instead of the wind direction θw, and the accumulated wind speed Vw data is output as appropriate. In this embodiment, the accumulated data of the wind direction θw is mainly used for calculating the driving speed.

The data analysis unit 303 in the drive speed calculation unit 310 of FIG. 3 outputs feature data based on the accumulated data of the wind direction Θw. As a method for calculating feature data, a frequency analysis method for accumulated data is used here.
4 and 5 show an example of the result of frequency analysis of the accumulated data of the wind direction θw. The horizontal axis of FIGS. 4 and 5 indicates the frequency, and the vertical axis indicates the magnitude of the wind direction component θf, which represents the amount of fluctuation of the wind direction based on the frequency.
FIG. 4 shows an example of the frequency analysis result during the period when the wind direction fluctuation is relatively small, and is characterized in that the wind direction component θf shows a small value. FIG. 5 shows an example of the frequency analysis result during the period when the wind direction fluctuation is relatively larger than that of FIG. 4, and is characterized in that the wind direction component θf shows a large value.

How the frequency domain should be set depends on the environmental conditions of the place where each wind power generator is installed, the computing power of the yaw control unit 300, the set value of the filter used by the yaw deviation angle calculation unit 301, and the drive of yaw rotation. It may be appropriately set according to the speed, yaw drive amount, etc., but it is preferable that the frequency range is roughly in the range of 10 ^{-4 to 10-0} Hz so as to cope with wind direction fluctuations that occur frequently to some extent. Alternatively, the frequency domain is more preferably in the range ^{of 10 -3 to} 10 ^{-1 Hz.}

The range of this frequency domain is limited to the frequency domain of the yaw deviation angle Δθ that can be reduced by yaw control. That is, the upper limit of the range is preferably the above value for the purpose of removing high frequency components that are affected by errors due to the structure and noise of the wind direction and speed sensor 10. Further, the lower limit of the range is preferably the above value for the purpose of removing low frequency components that are less affected by the difference in the drive speed Vy value.
After frequency analysis of the accumulated data of the wind direction, the average value or the total value of the frequency components in the obtained predetermined period is calculated, and the characteristic data of the wind condition is obtained.

The drive speed calculation unit 304 constituting the drive speed calculation unit 310 shown in FIG. 3 determines the drive speed Vy of yaw turning based on the feature data.
Specifically, in the drive speed calculation unit 304, there are cases where the feature data showing the tendency of the wind direction component θf is small and FIG. 4 is small, and cases where the feature data showing the tendency of the wind direction component θf is large is large. The magnitude of the velocity Vy is adjusted to be changed. For example, in the case of FIG. 4 in which the wind direction component θf is small, the drive speed Vy is lowered, and in the case of FIG. 5 in which the wind direction component θf is large, the drive speed Vy is increased.

Here, the reason for the method of adjusting the drive speed Vy will be described. First, when the drive speed Vy is low, the yaw turning speed is low, so that the mechanical wear of the yaw turning mechanism 8 is reduced. However, since the nacelle direction's followability to wind direction fluctuations deteriorates, if the fluctuation is faster than the yaw turning speed and a large wind direction fluctuation occurs, the yaw deviation angle Δθ during yaw turning becomes large, so the amount of power generation decreases and wind power generation The radial load on the device 1 increases. On the other hand, when the drive speed Vy is high, the nacelle direction follows the wind direction fluctuation better, so that the yaw deviation angle Δθ during yaw turning becomes small even if the fluctuation is faster than the yaw turning speed and a large wind direction fluctuation occurs. As the amount of power generation increases, the radial load on the wind power generation device 1 decreases. However, since the yaw turning speed becomes high, the mechanical wear of the yaw turning mechanism 8 increases.
At this time, when the wind direction component θf is small, that is, when the wind direction fluctuation with a certain high frequency is small, the effect of increasing the mechanical consumption is higher than the effect of improving the amount of power generation by increasing the drive speed Vy. It is preferable to lower the drive speed Vy. On the other hand, when the wind direction component θf is large, that is, when there are many wind direction fluctuations with a certain frequency, the effect of improving the amount of power generation by increasing the drive speed Vy is higher than the effect of increasing the mechanical consumption, so that the drive speed It is preferable to increase Vy. The above is the reason for the method of adjusting the drive speed Vy.

As described above, in the present embodiment, the drive speed calculation unit 310 performs frequency analysis of the wind direction data from the wind direction wind speed sensor 10 to obtain a frequency component in a predetermined frequency region, and obtains a total value or an average value of the frequency components. Based on this, the drive speed Vy is created (calculated).

Here, the drive speed calculation unit 304 does not have to output the drive speed Vy sequentially, and may output the drive speed Vy at an arbitrary cycle or timing.

The control command creation unit 305 determines the yaw control command Cy based on the yaw deviation angle Δθ and the drive speed Vy. When the yaw deviation angle Δθ becomes large, the yaw control command Cy for starting the yaw turning is output to the yaw turning mechanism 8. In response to this, the yaw swivel mechanism 8 operates so as to swivel the nacelle 5 in the direction of reducing the yaw deviation angle Δθ. At this time, yaw turning is performed at a turning speed based on the driving speed Vy. Then, when the yaw deviation angle Δθ becomes large in the yaw turning state, the yaw control command Cy for stopping the yaw turning is output to the yaw turning mechanism 8.

FIG. 6 is a flowchart showing a processing outline of the yaw control unit 300 shown in FIG.
As shown in FIG. 6, in step S601, the yaw deviation angle calculation unit 301 determines the rotor axis angle θr, and the process proceeds to the next step S602. In step S602, the yaw deviation angle calculation unit 301 determines the wind direction θw, and the process proceeds to the next step S603. In step S603, the yaw deviation angle calculation unit 301 determines the yaw deviation angle Δθ based on the rotor shaft angle θr and the wind direction θw, and proceeds to the next step S604. In this way, the yaw deviation angle calculation unit 301 executes the processes from step S601 to step S603.

In step S604, the data storage unit 302 constituting the drive speed calculation unit 310 accumulates the value of the wind direction θw corresponding to the time, and proceeds to the next step S605. In step S605, the data analysis unit 303 constituting the drive speed calculation unit 310 determines the feature data based on the accumulated data, and proceeds to the next step S606. In step S606, the drive speed calculation unit 304 constituting the drive speed calculation unit 310 determines the drive speed Vy, and the process proceeds to the next step S607. In this way, the drive speed calculation unit 310 executes the processes from step S604 to step S606.
In step S607, after the control command creation unit 305 determines the yaw control command Cy based on the yaw deviation angle Δθ and the drive speed Vy, a series of processes is completed.

Next, in order to clarify the effect of this embodiment, an outline will be described together with the operation of the comparative example.
FIG. 7 is a schematic view showing the effect of the yaw control unit 300 according to the first embodiment, and the horizontal axis shows a common time. The vertical axis in the upper part of FIG. 7 shows the rotor axis angle θr and the wind direction θw, the vertical axis in the middle part of FIG. 7 shows the yaw deviation angle Δθ, and the vertical axis in the lower part of FIG. 7 shows the power generation output Pe. The broken line in FIG. 7 shows, for example, the result when the drive speed Vy is always low as a comparative example when the yaw control unit 300 according to the present embodiment is not applied. On the other hand, the solid line shows the result when the yaw control unit 300 according to the first embodiment of the present invention is applied.

In calculating the comparison result of FIG. 7, it was assumed that the wind direction fluctuates frequently faster than the turning speed as the wind condition. That is, as shown in FIG. 5 described above, there are many wind direction components θf. Therefore, the drive speed Vy of this embodiment takes a higher value than that of the comparative example.

As shown in the upper part of FIG. 7, the wind direction θw repeatedly changes small and suddenly changes to the + side. At this time, in this embodiment, the yaw turning is started from the time T1, the rotor shaft angle θr follows the wind direction θw, and the yaw turning is stopped at the time T2. On the other hand, in the comparative example, the yaw turning is started at the time T1, but since the yaw turning speed is lower than that of the present embodiment, the yaw turning is stopped at the time T3 later than the time T2. Therefore, while the yaw is turning, this embodiment has better followability to the wind direction θw than the comparative example. Therefore, as shown in the middle part of FIG. 7, the yaw deviation angle Δθ in the period from time T1 to time T3 is , This example is smaller than the comparative example. Therefore, as shown in the lower part of FIG. 7, the power generation output Pe in this period (the period from time T1 to time T3) is larger in this embodiment than in the comparative example. That is, this example shows that the annual power generation amount is higher than that of the comparative example. Further, it is shown that in this embodiment, since the period in which the yaw deviation angle Δθ is small is long, the radial load applied to the wind power generation device 1 is small, and the mechanical wear can be reduced.

As described above, according to the present embodiment, it is possible to provide a wind power generation device capable of suppressing mechanical consumption while reducing the yaw deviation angle to improve the amount of power generation and a control method thereof. Specifically, when there are many wind direction fluctuations with a high frequency to some extent, increasing the drive speed Vy is more effective in improving the amount of power generation than increasing mechanical consumption, so the drive speed Vy is increased. Further, when the wind direction fluctuation with a certain high frequency is small, increasing the drive speed Vy is more effective in increasing the mechanical consumption than in improving the amount of power generation, so the drive speed Vy is decreased. By varying the drive speed Vy according to the wind conditions in this way, it is possible to improve the power generation performance of the wind power generation device while suppressing an increase in mechanical wear.

In addition, for the purpose of preventing an excessive load from being applied to the wind power generation device, the wind power generation device is equipped with a function of immediately suppressing or stopping power generation when the yaw deviation angle Δθ becomes excessive. be. In this embodiment, the yaw turning speed is higher than that in the comparative example, and the yaw deviation angle Δθ is unlikely to become excessive because the followability to the wind direction θw is good. Therefore, the yaw deviation angle Δθ becomes excessive and the chance of suppressing or stopping power generation is reduced, which is effective in improving the amount of power generation.

FIG. 8 is a block diagram showing the function of the yaw control unit of the second embodiment according to another embodiment of the present invention. The present embodiment is different from the above-described first embodiment in that the drive speed Vy is set in the control device 9 in advance as a fixed set value obtained by past experience or calculation and is operated offline. Other configurations are the same as those in the first embodiment described above. Further, in FIG. 8, the same components as those in the first embodiment are designated by the same reference numerals.

In the first embodiment described above, as shown in FIGS. 3 and 6, the drive speed calculation unit 310 calculates and updates the drive speed Vy at each control cycle or at an appropriate timing. On the other hand, the yaw control unit 800 of the present embodiment shown in FIG. 8 starts / drives / drives the yaw rotation based on the yaw deviation angle calculation unit 301 for obtaining the yaw deviation angle Δθ, the yaw deviation angle Δθ and the drive speed Vy. It is composed of a control command creation unit 305 that defines a yaw control command Cy that controls stop, and does not include a drive speed calculation unit 310 that calculates a drive speed Vy. The drive speed Vy given to the control command creation unit 305 is preset in the control command creation unit 305 constituting the yaw control unit 800 in advance, or is set externally by the drive speed input unit 806 at an appropriate timing. The drive speed input unit 806 is an input device such as a keyboard, and may be input by an operator.

The function of the drive speed calculation unit 310 shown in the above-described first embodiment is configured in an analyzer provided in a place different from the wind power plant, for example, in the research and design stages before the construction of the wind power plant. The drive speed Vy under typical wind conditions of the wind power plant is calculated in advance from the obtained environmental conditions, and is incorporated as a preset value in the yaw control unit 800. The typical wind conditions are prepared for each season, for example, in the evening or in the morning, and may be switched and used under appropriate conditions.

Alternatively, the function of the drive speed calculation unit 310 shown in the above-described first embodiment is configured in an analysis device provided in a place different from the wind power plant, for example, the operation stage after the wind power plant is installed. In, the drive speed Vy in the typical wind condition of the wind power plant is calculated from the observed environmental conditions, and the control command creation unit in the yaw control unit 800 via the drive speed input unit 806 provided with the communication unit. It is given to 305. In this case, the drive speed Vy is not set in a format that immediately responds online according to the wind conditions at the site, but is operated by giving a value obtained offline at an appropriate timing.

As described above, according to the present embodiment, it is not necessary to provide an analysis device on the wind turbine, the existing wind turbine can be updated to be equipped with the control of the present invention without major modification, and the control is based on the optimized drive speed. It can be performed.

FIG. 9 is a block diagram showing the function of the yaw control unit of the third embodiment according to another embodiment of the present invention. This embodiment is different from the first embodiment in that the data storage unit 902 constituting the drive speed calculation unit 910 of the yaw control unit 900 stores the data of the wind speed Vw instead of the wind direction θw. Other configurations are the same as those in the first embodiment described above. Further, in FIG. 8, the same components as those in the first embodiment are designated by the same reference numerals.

As shown in FIG. 9, the yaw control unit 900 includes a yaw deviation angle calculation unit 301 for obtaining the yaw deviation angle Δθ, a drive speed calculation unit 910 for calculating the drive speed Vy for the yaw deviation angle Δθ, and a yaw deviation angle Δθ. It is composed of a control command creating unit 305 that defines a yaw control command Cy that controls the start / drive / stop of yaw turning based on the drive speed Vy. The drive speed calculation unit 910 includes a data storage unit 902, a data analysis unit 903, and a drive speed calculation unit 904.

In the yaw control unit 900 of this embodiment, the yaw deviation angle calculation unit 301 and the control command creation unit 305 are the same as those of the first embodiment, but the input of the data storage unit 902 constituting the drive speed calculation unit 910 is the wind speed Vw. Is different from the first embodiment.

The data storage unit 902 constituting the drive speed calculation unit 910 outputs the accumulated data of the wind speed Vw based on the wind speed Vw detected from the wind direction wind speed sensor 10. The wind speed Vw measured here is detected from the wind direction wind speed sensor 10 fixed to the nacelle 5, and is the wind speed in the direction in which the nacelle 5 is facing at that time.

The data analysis unit 903 constituting the drive speed calculation unit 910 outputs feature data based on the accumulated data of the wind speed Vw. The characteristic data in this case is the turbulent intensity Iref in a predetermined period. The turbulent flow intensity Iref is determined by the ratio of the standard deviation Vv of the wind speed and the average value Vave of the wind speed in a predetermined period. That is, the data analysis unit 903 outputs the turbulent flow intensity Iref as feature data by calculating the following equation (1).
Iref = Vv / Vave ・ ・ ・ (1)
The drive speed calculation unit 904 constituting the drive speed calculation unit 910 determines the drive speed Vy based on the turbulent flow intensity Iref which is the characteristic data. Here, when there are many wind condition fluctuations with a certain frequency, that is, when the turbulent flow intensity Iref is high, the drive speed Vy is increased. Further, when the wind condition fluctuation with a certain high frequency is small, that is, when the turbulent flow intensity Iref is low, the drive speed Vy is lowered.

This is because there is a positive correlation between the average value and the total value of the frequency components of the wind direction θw in Example 1 described above and the turbulent flow intensity Iref in this example, and the turbulent flow intensity Iref is large when the wind direction fluctuation is severe. This is because the turbulent intensity Iref becomes smaller when the wind direction fluctuation is gentle.

As described above, according to the present embodiment, by applying the processing of the yaw control unit 900, the same effect as that of the first embodiment can be realized by a simpler processing.

Next, the wind power generation device 1 of the fourth embodiment according to another embodiment of the present invention will be described.
The wind power generation device 1 of this embodiment has the same configuration as the yaw control unit 300 of the above-described first embodiment, but the processing in the data analysis unit 303 and the drive speed calculation unit 304 is different.

The data analysis unit 303 constituting the drive speed calculation unit 310 of this embodiment calculates the standard deviation σ of the wind direction θw in a predetermined period by statistical analysis based on the wind direction θw, and outputs it as characteristic data of the wind condition.

The drive speed calculation unit 304 constituting the drive speed calculation unit 310 determines the yaw control drive speed Vy based on the standard deviation σ which is the feature data. Here, when the standard deviation σ of the wind direction θw is relatively large, the drive speed Vy is increased. When the standard deviation σ of the wind direction θw is relatively small, the drive speed Vy is lowered.
This is because there is a positive correlation between the average value and the total value of the frequency components of the wind direction θw in Example 1 and the standard deviation σ of the wind direction θw in this example, and when the wind direction fluctuation is severe, the standard deviation σ of the wind direction θw. This is because the standard deviation σ of the wind direction θw becomes small when the wind direction fluctuation is large and the wind direction fluctuation is gentle.

As described above, according to the present embodiment, it is possible to realize the same effect as that of the first embodiment by a simpler process.

FIG. 10 is a block diagram showing the function of the yaw control unit of the fifth embodiment according to another embodiment of the present invention. This embodiment is different from the first embodiment in that the data storage unit 1002 constituting the drive speed calculation unit 1010 of the yaw control unit 1000 accumulates the data of the wind speed Vw in addition to the wind direction θw. Other configurations are the same as those in the first embodiment described above. Further, in FIG. 10, the same components as those in the first embodiment are designated by the same reference numerals.

As shown in FIG. 10, the yaw control unit 1000 includes a yaw deviation angle calculation unit 301 for obtaining the yaw deviation angle Δθ, a drive speed calculation unit 1010 for calculating the drive speed Vy for the yaw deviation angle Δθ, and a yaw deviation angle Δθ. It is composed of a control command creating unit 305 that defines a yaw control command Cy that controls the start / drive / stop of yaw turning based on the drive speed Vy. The drive speed calculation unit 1010 includes a data storage unit 1002, a data analysis unit 1003, and a drive speed calculation unit 1004.

In the yaw control unit 1000 of this embodiment, the yaw deviation angle calculation unit 301 and the control command creation unit 305 are the same as those of the first embodiment, but the wind speed Vw is input to the data storage unit 1002 constituting the drive speed calculation unit 1010. Is different from Example 1.

The data storage unit 1002 constituting the drive speed calculation unit 1010 outputs the storage data of the wind direction θw and the wind speed Vw based on the wind direction θw and the wind speed Vw detected from the wind direction wind speed sensor 10. The wind speed Vw measured here is detected from the wind direction wind speed sensor 10 fixed to the nacelle 5, and is the wind speed in the direction in which the nacelle 5 is facing at that time.

The data analysis unit 1003 constituting the drive speed calculation unit 1010 outputs the feature data based on the accumulated data of the wind direction θw. Further, based on the accumulated data of the wind speed Vw, the average wind speed Vwave in a predetermined period is output.
The drive speed calculation unit 1004 constituting the drive speed calculation unit 1010 determines the drive speed Vy based on the feature data as in the first embodiment, but when the average wind speed Vwave is low and the power is not generated, and / or When the average wind speed Vwave is high and reaches the rated output, the drive speed Vy is set to a low value. This is because when the average wind speed Vwave is low and the power is not generated, and when the average wind speed Vwave is high and the rated output is reached, the drive speed Vy is increased to increase the followability of the nacelle azimuth with respect to the wind direction θw. This is because the amount does not improve or the improvement is small, but the mechanical consumption increases as the yaw turning speed increases.

As described above, according to the present embodiment, the amount of power generation can be improved to the same extent as in the first embodiment, and the mechanical consumption can be reduced as compared with the first embodiment.

Next, the wind power generation device 1 of the sixth embodiment according to another embodiment of the present invention will be described.
The wind power generation device 1 of this embodiment has the same configuration as the yaw control unit 1000 of the above-described fifth embodiment, but the processing in the drive speed calculation unit 1004 is different from that of the fifth embodiment.

In the drive speed calculation unit 1004 of this embodiment, the drive speed Vy is determined based on the total value or average value of the wind direction component θf, which is the feature data, and the average wind speed Vwave, as in the case of the fifth embodiment. Here, when the average wind speed Vwave is high, the drive speed Vy is increased even when the total value or the average value of the wind direction components θf is small. This is because as the wind speed Vw increases, the radial load with respect to the yaw deviation angle Δθ increases, and the mechanical consumption of the wind power generator 1 is suppressed from increasing.

As described above, according to the present embodiment, in addition to the effect of improving the amount of power generation as in the first embodiment, it is possible to suppress the mechanical consumption caused by the increase in the radial load as compared with the first embodiment.

The present invention is not limited to the above-described embodiment, and various modifications are possible. The above-described examples are exemplified for the purpose of explaining the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, the control lines and information lines shown in the figure show what is considered necessary for explanation, and do not necessarily show all the control lines and information lines necessary for the product. In practice, it can be considered that almost all configurations are interconnected.

Possible variations of the above embodiment include, for example, the following.
(1) The data storage unit 302, the data analysis unit 303, and the drive speed calculation unit 304 in the yaw control units 300, 800, 900, and 1000 may be provided in an external device instead of the control device 9.
(2) The yaw-controlled drive speed Vy calculated in the present invention may be applied to another wind power generation device 1 at the same site or a wind power generation device 1 at another site with similar wind conditions.
(3) The data storage unit 302 in the yaw control units 300, 800, 900, 1000 does not sequentially input wind condition data such as the wind direction θw, and holds only the wind condition data accumulated in the past. good.
(4) In each of the above-described embodiments, the wind direction and wind speed sensor 10 is installed on the nacelle 5, but instead of this location, it may be installed in the nacelle 5 or in the vicinity of the wind power generation device 1.
(5) In each of the above-described embodiments, the drive speed Vy may be set to a value stepwise, or may be continuously set to a value like a straight line or a curved line.

1 ... Wind power generator 2 ... Blade 3 ... Hub 4 ... Rotor 5 ... Nasser 6 ... Generator 7 ... Tower 8 ... Yaw swivel mechanism 9 ... Control device 10 ... Wind direction and wind speed sensor 300, 800, 900, 1000 ... Yaw control unit 301 ... Yaw deviation angle calculation unit 302,902,1002 ... Data storage unit 303,903,1003 ... Data analysis unit 304,904,1004 ... Drive speed calculation unit 305 ... Average processing unit 306 ... Control command creation unit 310,910, 1010 ... Drive speed calculation unit 806 ... Drive speed input unit

Claims (7)

A rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that supports the nacelle in a yaw swivel manner, an adjusting device that adjusts the yaw of the nacelle based on a yaw control command, and the above. A wind power generator including a control device that defines the yaw control command to be sent to the adjustment device.
The control device includes a yaw deviation angle calculation unit that calculates the yaw deviation angle from the wind direction measured by the wind direction and wind speed measurement unit and the direction of the rotor, and a control command creation unit that determines the yaw control command based on the yaw deviation angle. Prepare,
When the wind condition is highly turbulent, the control command creating unit increases the driving speed of yaw turning .
The control device is
Obtains a frequency analysis by the frequency components of the measured wind direction by the wind speed and direction measuring unit, based on the value of the frequency components in a predetermined frequency range, and wherein the Rukoto a drive speed calculation unit for calculating a driving speed Wind power generator. A rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that supports the nacelle in a yaw swivel manner, an adjusting device that adjusts the yaw of the nacelle based on a yaw control command, and the above. met wind turbine generator and a control device for determining the yaw control command being sent to the adjusting device,
The control device includes a yaw deviation angle calculation unit that calculates the yaw deviation angle from the wind direction measured by the wind direction and wind speed measurement unit and the direction of the rotor, and a control command creation unit that determines the yaw control command based on the yaw deviation angle. Prepare,
When the wind condition is highly turbulent, the control command creating unit increases the driving speed of yaw turning.
The control device is
Based on the turbulence intensity obtained by obtaining the standard deviation of the wind speed and the average value of the wind speed in a predetermined period from the wind speed measured by the wind direction and wind speed measuring unit and dividing the standard deviation of the wind speed by the average value of the wind speed. Te, wind turbine generator according to claim Rukoto a drive speed calculation unit for calculating a driving speed. A rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that supports the nacelle in a yaw swivel manner, an adjusting device that adjusts the yaw of the nacelle based on a yaw control command, and the above. met wind turbine generator and a control device for determining the yaw control command being sent to the adjusting device,
The control device includes a yaw deviation angle calculation unit that calculates the yaw deviation angle from the wind direction measured by the wind direction and wind speed measurement unit and the direction of the rotor, and a control command creation unit that determines the yaw control command based on the yaw deviation angle. Prepare,
When the wind condition is highly turbulent, the control command creating unit increases the driving speed of yaw turning.
The control device is
Wherein the standard deviation of the wind direction from the measured wind direction by wind speed and direction measuring unit, based on the standard deviation of the wind direction, wind turbine generator according to claim Rukoto a drive speed calculation unit for calculating a driving speed. In the wind power generator according to claim 1,
The driving speed calculating unit, a wind turbine generator according to claim Rukoto using one of the low-pass filter or Fourier transform for frequency analysis. A rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that supports the nacelle in a yaw swivel manner, an adjusting device that adjusts the yaw of the nacelle based on a yaw control command, and the above. It is a control method of a wind power generator including a control device that defines the yaw control command to be sent to the adjustment device .
The yaw deviation angle is calculated from the measured wind direction and the direction of the rotor.
If the degree of turbulence of the wind condition is high, at least based on the yaw deviation angle, the driving speed of yaw turning is increased.
Before Kihaka determined constant to wind direction and frequency analysis frequency components, based on the value of the frequency components in a predetermined frequency range, the control method of a wind power generator and calculates the driving speed. A rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that supports the nacelle in a yaw swivel manner, an adjusting device that adjusts the yaw of the nacelle based on a yaw control command, and the above. It is a control method of a wind power generation device including a control device that defines the yaw control command to be sent to the adjustment device .
The yaw deviation angle is calculated from the measured wind direction and the direction of the rotor.
If the degree of turbulence of the wind condition is high, at least based on the yaw deviation angle, the driving speed of yaw turning is increased.
An average value of the standard deviation and the wind speed of the wind speed at a predetermined time period from the measurement wind speed, based on the turbulence intensity obtained by dividing the standard deviation of the wind speed at an average value of the wind speed, the driving speed A control method for a wind power generator, which is characterized by calculation. A rotor that rotates in response to wind, a nacelle that rotatably supports the rotor, a tower that supports the nacelle in a yaw swivel manner, an adjusting device that adjusts the yaw of the nacelle based on a yaw control command, and the above. It is a control method of a wind power generator including a control device that defines the yaw control command to be sent to the adjustment device .
The yaw deviation angle is calculated from the measured wind direction and the direction of the rotor.
If the degree of turbulence of the wind condition is high, at least based on the yaw deviation angle, the driving speed of yaw turning is increased.
Before determining the standard deviation of the wind direction from Kihaka constant by wind direction, based on the standard deviation of the wind direction, the control method of a wind power generator and calculates the driving speed.

Images