JPWO2013065323A1 - Control device for floating offshore wind power generation facility - Google Patents

Abstract

To provide a control device for a floating offshore wind power generation facility capable of reducing the swing of a floating body with a simple configuration and stabilizing the output of a generator and obtaining the maximum efficiency. In a floating offshore wind power generation facility having a rotor that rotates by wind, blade driving means for changing a blade pitch of a blade provided in the rotor, and a swing for detecting the movement of the floating body. And a dynamic angle sensor 15, and based on the swing detected by the swing angle sensor 15, the blade 13 is driven by the blade driving means 14 so as to suppress the swing, thereby reducing the swing of the floating body 12. By doing so, the maximum efficiency is obtained while suppressing the change in the power generation output. [Selection] Figure 1

Description

  The present invention relates to a control device for a floating offshore wind power generation facility that suppresses the movement of the floating offshore wind power generation facility that occurs in response to a change in wind speed or a wave external force.

As a power generation method using natural energy, offshore wind power generation that generates power using offshore wind has attracted attention. Among them, floating wind power generation is attracting attention as a power generation method that can use strong and stable winds in the open ocean.
However, this floating offshore wind power generation is performed on a floating body floating on the ocean. For this reason, the change of the load concerning a floating body arises according to a wind speed change or a wave external force. And the change of the relative wind speed with respect to the windmill currently used for electric power generation is induced by the motion of the floating body which generate | occur | produces with this change of load. As a result of the change in the relative wind speed, the output of the generator of the floating offshore wind power generation facility changes. In addition, the movement of the floating body in the floating offshore wind power generation facility is a large movement (oscillation) having a long cycle, unlike the onshore wind power generation facility.

Various proposals have been made for the purpose of controlling various changes that occur in wind power generation facilities (Patent Documents 1 to 4).
In Patent Document 1, a generator and a generator are analyzed so that the frequency and phase of a detected vibration component are analyzed for the purpose of suppressing or controlling the vibration of the windmill, and a frequency change in the opposite phase to the analyzed phase is generated in the windmill. The configuration for controlling the value of the current flowing through the stator coil and the pitch angle of the blade is described. However, this relates to onshore wind power generation facilities and not to floating offshore wind power generation facilities.

  Patent Document 2 discloses that in a wind power generator, wind, wind direction, wave propagation direction, wave propagation speed, wave Based on the measured values of the height and the posture of the floating structure, identify the wind turbine that causes the floating structure to tilt or twist, and determine the rotor brake or tilt angle of the rotor of the identified wind turbine. The configuration to be controlled is described.

Patent Document 3 discloses that in a marine wind power plant fixed on the seabed, the critical natural frequency of the plant is always determined for the purpose of avoiding premature failure of the plant, and the forbidden resonance range according to the change in fixed strength. The structure which replaces is described.
Further, in Patent Document 4, in the wind turbine system for power generation, the primary resonance frequency of the tower to which the wind turbine is attached can be attenuated, and the turbulent flow is caused so as to maintain the rated torque or force. A configuration for adjusting the blade angle for the purpose of minimizing a change in torque or power is disclosed. However, Documents 3 and 4 do not relate to changes in the output of the generator that occur as a result of floating body motion.

JP 2007-205225 A Japanese Patent Laid-Open No. 2005-351087 Special table 2003-530518 JP 58-17884 A

The surface wind power generator described in Patent Document 2 relates to a floating wind power generator including a plurality of windmills, and it is necessary to measure many factors in order to identify the cause of the swing and vibration of the floating structure. There is. Further, stabilization of the output of the generator is indirect as a result of damping the swinging and vibration of the floating structure, and the wind turbine adjusting means is not directly related to the control of the generator.
Accordingly, the present invention provides a control device for a floating offshore wind power generation facility that can obtain the maximum efficiency while reducing the swing of the floating body with a simple configuration and stabilizing the output of the generator. It is an object.

  The floating offshore wind power generation facility control apparatus according to claim 1 of the present invention is a floating offshore wind power generation facility having a rotor that is rotated by wind, blade pitch control means for controlling the blade pitch of the rotor, Floating body motion detection means for detecting the motion of the floating body, and the blade pitch control means controls the blade pitch of the rotor based on the detection result of the floating body motion detection means. According to this configuration, the force generated by the rotation of the rotor can be changed by controlling the blade pitch, so that the floating body motion caused by the wind speed change and the wave external force can be suppressed, and the output of the generator can be stabilized.

  According to a second aspect of the present invention, in the control apparatus for a floating offshore wind power generation facility according to the first aspect, the floating body motion detecting means is an inclination detecting means for detecting an inclination of the floating body. To do. According to this configuration, it is possible to reduce the fluctuation of the output of the generator due to the inclination of the floating body without amplifying the inclination of the floating body due to the wind speed change and the wave external force.

  According to a third aspect of the present invention, in the control device for a floating offshore wind power generation facility according to the first or second aspect, the floating body motion detecting means detects two or more degrees of freedom. To do. According to this configuration, in a floating offshore wind power generation facility that swings with 6 degrees of freedom in some cases, by controlling the blade pitch with respect to the movement of the floating body with at least 2 degrees of freedom, the wind speed change and the wave external force The movement of the floating body caused by the above can be suppressed, and the output of the generator can be stabilized.

  According to a fourth aspect of the present invention, there is provided the control apparatus for a floating offshore wind power generation facility according to any one of the first to third aspects, further comprising wind speed detecting means for detecting a wind speed, wherein the blade pitch The control means controls the blade pitch of the rotor based on the detection result of the wind speed detection means. According to this configuration, the blade pitch can be controlled using the detection result of the wind speed detection means in addition to the movement of the floating body.

  According to a fifth aspect of the present invention, in the control device for a floating offshore wind power generation facility according to one of the first to fourth aspects, the generator output control means for controlling the output of the generator is further provided. It is characterized by having. According to this configuration, the output of the generator can be controlled in addition to the blade pitch.

  A sixth aspect of the present invention is the control apparatus for a floating offshore wind power generation facility according to one of the first to fifth aspects, further comprising a nacelle that houses a rotating shaft of the rotor. Yawing detection means for detecting yawing of the nacelle is further provided, wherein the blade pitch control means controls the blade pitch of the rotor according to the rotational position based on the detection result of the yawing detection means. According to this configuration, it is possible to suppress nacelle yawing. Here, “the blade pitch is controlled according to the rotational position” means that each blade is controlled to have a predetermined blade pitch when it reaches a predetermined position, or each blade has a predetermined position at a predetermined position. This refers to controlling the blade pitch in advance.

  According to a seventh aspect of the present invention, in the control device for a floating offshore wind power generation facility according to one of the first to sixth aspects, the blade pitch control means includes the floating body motion detection means. It has a target setting unit for setting a control target value of the blade pitch control means based on a detection result. According to this configuration, the control target value of the blade pitch control means can be set in consideration of the floating body motion.

  The present invention according to claim 8 is the control device for a floating offshore wind power generation facility according to one of claims 1 to 7, wherein the blade pitch control means is the one of the floating body motion detection means. It has a control gain adjusting unit for adjusting the control gain of the blade pitch control means based on the detection result. According to this configuration, the control gain of the blade pitch control means can be adjusted according to the floating body motion.

  According to a ninth aspect of the present invention, in the control device for a floating offshore wind power generation facility according to one of the first to eighth aspects, the blade pitch control means is provided in a weak wind region where the wind is weak. The blade pitch of the rotor is controlled based on the detection result of the floating body motion detection means. According to this configuration, it is possible to suppress the movement of the floating offshore wind power generation facility in the low wind region where conventionally only the rotational speed control of the generator is used as the control target value.

According to a tenth aspect of the present invention, in the control device for a floating offshore wind power generation facility according to one of the fifth to eighth aspects, the blade pitch control means is provided in a weak wind region where the wind is weak. The blade pitch of the rotor is controlled based on the detection result of the floating body motion detection means, and the generator output control means controls the output of the generator based on the rotation state of the rotor in the low wind region. It is characterized by that.
According to this configuration, the output of the generator can be controlled based on the rotation state such as the rotation speed and the cycle.

  The present invention according to claim 11 is the control apparatus for a floating offshore wind power generation facility according to one of claims 1 to 8, wherein the blade pitch control means is the detection of the floating body motion detection means. The blade pitch of the rotor is controlled based on the result and the detection result of the rotation state of the rotor. According to this configuration, a plurality of detection results can be used for blade pitch control.

  According to a twelfth aspect of the present invention, in the control device for a floating offshore wind power generation facility according to the eleventh aspect, the blade pitch control means is configured to detect the detection result of the floating body motion detection means and the rotational state of the rotor. The blade pitch of the rotor is controlled by weighting detection results. According to this configuration, blade pitch control can be made more appropriate.

  According to a thirteenth aspect of the present invention, in the control device for a floating offshore wind power generation facility according to one of the seventh to twelfth aspects, the target setting unit is configured to detect the detection of the floating body motion detection unit. The target rotational speed of the generator output control means is set and changed based on the result. According to this configuration, it is possible to appropriately set and change the target rotational speed in accordance with the floating body motion, so that the rotational speed at which the output efficiency of the generator is maximized in a state where the floating body motion is occurring.

  According to a fourteenth aspect of the present invention, in the control apparatus for a floating offshore wind power generation facility according to one of the seventh to thirteenth aspects, the target setting unit is configured to detect the floating body motion detecting unit. The target output set value of the generator output control means is set and changed based on the result. According to this configuration, the target output set value can be appropriately set and changed according to the floating body motion, so that the rotational speed at which the generator is maximized can be achieved.

  According to a fifteenth aspect of the present invention, in the control device for a floating offshore wind power generation facility according to the thirteenth or fourteenth aspect, the target is determined in accordance with the swing angle as the detection result of the floating body motion detection means. The rotational speed or the target output set value is changed. According to this configuration, the rotational speed or output of the generator can be controlled in consideration of the swing angle due to the floating body motion.

  According to a sixteenth aspect of the present invention, in the control apparatus for a floating offshore wind power generation facility according to one of the first to fifteenth aspects, the blade pitch control means is the floating body motion detecting means or the floating body. The blade pitch of the rotor is feedforward controlled based on a detection result of a sea state detection means provided for detecting a sea state around the rotor. According to this configuration, the blade pitch can be controlled based on a sudden change in the sea state.

  According to the control device for a floating offshore wind power generation facility of the present invention, it is possible to suppress the movement of the floating body caused by wind speed change and wave external force, and to improve the efficiency while stabilizing the output of the generator of the floating offshore wind power generation facility. It is possible to get to the maximum.

  When the floating body motion detection means is an inclination detection means for detecting the inclination of the floating body, it does not amplify the inclination of the floating body due to changes in wind speed and wave external force, and also reduces fluctuations in the output of the generator due to the inclination of the floating body. Can do.

  When the floating body motion detecting means detects two or more degrees of freedom, in some cases, in a floating offshore wind power generation facility that swings with six degrees of freedom, the blade pitch with respect to the movement of the floating body with at least two degrees of freedom. By controlling, the movement of the floating body caused by the change in wind speed and the wave external force can be suppressed, and the output of the generator can be stabilized.

  When the blade pitch is controlled based on the detection result of the wind speed detection means, the wind speed can be used for blade pitch control in addition to the floating body motion. It can be elaborate.

  When the generator output control means is further provided, since the generator output can be controlled in addition to the blade pitch, the number of revolutions and the output of the generator can be controlled more precisely.

  When the nacelle and yawing detection means are further provided, and the rotor blade pitch is controlled according to the rotational position, it is possible to suppress the nacelle yawing and stabilize the generator output, thereby improving the efficiency. is there.

  When a target setting unit that sets the control target value based on the detection result of the floating body motion detection means is provided, control can be performed based on the control target value based on the floating body motion. While the output is stabilized, the efficiency can be improved by more appropriate control.

  When the control gain adjustment unit is provided, the control gain of the blade pitch control means can be adjusted according to the floating body movement, so that the floating body movement is suppressed and the efficiency is improved while the generator output is stabilized. Is possible.

  When controlling the blade pitch of the rotor in the weak wind region, suppress the swinging of the floating body even in the weak wind region, and improve the efficiency and improve the power generation quality while stabilizing the generator output. Is possible. If the generator output is controlled based on the rotation state of the rotor, power generation efficiency will be improved based on the rotation state of the rotor, in addition to suppression of floating body movement and improvement of power generation quality by suppressing swinging. It is possible.

  When weighting detection results in blade pitch control, more precise control can be performed by weighting control of floating body movement suppression and power generation quality improvement.

  When changing the setting of the target rotational speed or the target output set value, it is possible to improve efficiency while stabilizing the output of the generator. In this case, if the target rotational speed or the target output set value is set and changed according to the swing angle, the movement of the floating body can be detected with a simple configuration, and the movement of the floating body can be suppressed and the power generation quality can be improved.

  When feedforward control is performed based on the detection result of the sea state detection means, the blade pitch can be controlled in response to an abrupt change in the sea state. The efficiency can be maximized while the output is stabilized.

The front view which shows schematic structure of the floating body type offshore wind power generation facility provided with the control apparatus by the 1st Embodiment of this invention (A) Side view of floating offshore wind power generation facility explaining floating body swing of wind power generation facility, (b) Graph showing change in generator output accompanying swing shown in (a) Graph of generator turbine performance curves showing the relationship between wind speed and generator output and wind speed and generator speed Among the turbine performance curves in the region (1) of FIG. 3, (a) a graph of the target rotational speed when the swing angle is less than a predetermined value, and (b) the target rotational speed when the swing angle is greater than or equal to the predetermined value. Graph showing The block diagram which shows the outline of the control system in the area | region (1) of FIG. Among the turbine performance curves in the region (2) of FIG. 3, (a) a graph of the target rotational speed when the swing angle is less than a predetermined value, and (b) the target rotational speed when the swing angle is greater than or equal to the predetermined value. Graph showing The block diagram which shows the outline of the control system in the area | region (2) of FIG. (A) Graph of target output in region (3) of FIG. 3, (b) Graph showing change in generator output accompanying target output and oscillation The block diagram which shows the outline of the control system in the area | region (3) of FIG. The block diagram which shows schematic structure of the floating body type offshore wind power generation facility provided with the control apparatus by the 1st Embodiment of this invention FIG. 10 is a detailed block diagram of the main part of the block diagram The perspective view which shows schematic structure of the floating type offshore wind power generation facility by the 2nd Embodiment of this invention The principal part side view which shows the structure of the floating type offshore wind power generation facility by the 2nd Embodiment of this invention The perspective view which shows schematic structure of the floating type offshore wind power generation facility by the 3rd Embodiment of this invention. The top view which shows schematic structure of the floating type offshore wind power generation facility by the 4th Embodiment of this invention

10, 40, 50 Floating offshore wind power generation facility 11 Rotor 12 52 Floating body 13 Blade 14 Blade driving means (blade pitch control means)
15 Floating body motion detection means (tilt detection means)
16 Wave height sensor (sea state detection means)
17 Anemometer (wind speed detection means)
18, 51 Nacelle 19 Rotating shaft 20 Generator control means 21 Blade pitch control means 22 Target scheduler (target setting unit)
23 Gain Scheduler (Control Gain Adjuster)
24 Feed forward control means 25 Generator 31 Sea state detection means (sea state detection means)
46, 48, 55 Yawing detection means

(First embodiment)
A first embodiment of the present invention will be described below with reference to FIGS.
FIG. 1 is a front view showing a schematic configuration of a floating offshore wind power generation facility equipped with a control device according to the present embodiment. The floating offshore wind power generation facility 10 of the present embodiment is a spar type that floats a so-called floating body on the sea surface, and includes a rotor 11 and a floating body 12 as shown in FIG. The rotor 11 includes a plurality of blades 13, blade driving means 14 for changing the pitch of the blades 13, a nacelle 18 having a rotary shaft 19 therein, and a generator (not shown) to which the rotary shaft 19 is connected.
The floating offshore wind power generation facility 10 includes a floating body motion detection means 15 that detects the motion of the floating body 12, a wave height sensor (sea state detection means) 16, and an anemometer (wind speed detection means) 17.

  The plurality of blades 13 are attached to the rotary shaft 19 via the blade driving means 14. The rotor 11 according to the present embodiment includes three blades 13. When the blade 13 receives wind, the rotating shaft 19 rotates and power is generated by a generator provided in the nacelle 13. By changing the pitch of the blades 13, the force in the front-rear direction (front and back in FIG. 1) generated by the rotation of the rotor 11 can be changed.

  Here, the pitch of the blade 13, that is, the blade pitch, refers to the angle of the blade 13 with respect to the rotating surface. The blade pitch is changed by driving the blade 13 by the blade driving means 14 provided in the nacelle 18 and changing the attachment angle of the blade 13 to the rotating shaft 19. As the blade driving means 14, for example, a commonly used actuator powered by electricity or hydraulic pressure can be cited.

  In the present embodiment, a so-called horizontal axis type windmill having a rotation shaft 19 that is horizontal to the ground is shown as the rotor 11, but a so-called vertical windmill having a rotation axis that is perpendicular to the ground may be used. it can.

  A part of the floating body 12 is located below the sea surface P, and the floating offshore wind power generation facility 10 is installed on the sea surface P by its buoyancy. The floating body 12 includes a sea surface portion 12A that is entirely located below the sea surface P, and a tower portion 12B that is partly located below the sea surface and most of the portion is located on the sea surface P. Although not shown in FIG. 1, the floating body 12 is moored to an anchor on the seabed via a mooring line.

The floating body motion detection means 15 detects the motion (swing) of the floating body 12, and detects at least two degrees of freedom among the six degrees of freedom of rolling, pitching, yawing, heaving, surging, and swaying. Is preferred. In particular, the floating body motion detection means 15 detects the tilt (swing angle θ) of the floating body 12 as at least the tilt detection means, and detects the tilt motion of the floating body 12 from its temporal change. The time measurement and processing means necessary for detecting the tilt motion can be provided integrally with the floating body motion detection means (tilt detection means) 15 or can be provided as a separate circuit.
Here, the inclination detecting means detects at least pitching as an inclination movement of the floating body 12 directly or indirectly. The general floating body motion detection means 15 can be constituted by, for example, a gyro sensor, an inclinometer, an accelerometer, and a GPS alone, or a combination of the same or different types. In addition, by using the two-dimensional sensor as the floating body motion detection means 15, not only pitching but also rolling as the tilting motion of the floating body 12 can be detected directly or indirectly. In order to detect this two-dimensional floating body motion, two one-dimensional sensors can be combined. Also, to detect other floating body movements such as yawing, heaving, surging, and swaying, use dedicated floating body movement detection means, or use a gyro sensor that can also function as a tilt detection means, for example. You can also.
In the present embodiment, the floating body motion detection means 15 is attached to three positions of the center of gravity of the floating body 12 (under the sea surface portion 12A), the vicinity of the work entrance of the floating body 12 (tower portion 12B), and the nacelle 18. By attaching to the vicinity of the work entrance, maintenance of the floating body motion detection means 15 is facilitated.

When an accelerometer is used as the floating body motion detection means 15, for example, the swing angle of the floating body 12 can be detected based on accelerations measured by a plurality of accelerometers attached at different heights.
Specifically, by measuring the temporal change of the detection value detected by the floating body motion detection means 15 and using it directly as a control input, or by multiplying it by the distance between the center of gravity position and the mounting position of the floating body motion detection means 15. The swing level (swing angle) of the floating body 12 is estimated and used for control.

  The wave height sensor 16 measures the wave height on the sea surface P. For example, a laser wave height meter, an ultrasonic wave height meter, a capacitive wave height meter, a radar wave height meter, or the like can be used. In the present embodiment, the configuration in which the wave height sensor 16 is provided on the floating body 12 has been described. However, the wave height sensor 16 does not necessarily have to be attached to the floating body 12. For example, a configuration may be adopted in which a wave height sensor separate from the floating offshore wind power generation facility 10 is used, and a measurement result is transmitted to the floating offshore wind power generation facility 10 using wired or wireless communication means.

  The anemometer 17 detects the wind speed as a vector with the wind direction. For example, a cup-type anemometer, a windmill-type anemometer, an ultrasonic anemometer, or the like can be used.

  FIG. 2 (a) is a side view of a floating offshore wind power generation facility explaining floating body swing of the wind power generation facility, and FIG. 2 (b) shows changes in the output of the generator accompanying the swing shown in (a). It is a graph to show. As shown in FIG. 2 (a), the load applied to the floating body 12 is changed by the change in wind speed and the external force caused by the waves on the sea surface P, and the floating offshore wind power generation as shown by the double-sided arrow in the figure. Movement (swing) occurs before and after the facility 10 (left and right in the figure).

  When the floating body 12 swings, the relative wind speed of the wind that hits the rotor 11 changes due to the swing. For example, even if the wind speed V indicated by the one-sided arrow in FIG. 2A is constant, when the floating body 12 swings forward (pitching) (movement of the double-sided arrow in the A direction), the relative wind speed Becomes larger than the wind speed V, and the relative wind speed becomes smaller than the wind speed V when swinging backward (movement of the double-sided arrow in the B direction). As a result, as shown in FIG. 2B, the output of the generator varies with the passage of time.

The floating offshore wind power generation facility 10 changes the blade pitch of the blade 13 by the blade driving unit 14 based on the detection result of the floating body motion detection unit 15. For example, when the floating body 12 swings back and forth (pitching) as shown in FIG. 2A, the blade driving means 14 changes the blade pitch of the blade 13 during the movement of the floating body 12 in one cycle. One cycle is performed.
Thereby, the force generated in the rotor 11 can be changed, and the swinging of the floating body 12 can be reduced. 2 (a) and 2 (b), a solid line indicates a large swing of the floating body 12 and a change in the output of the generator, and a broken line indicates a small swing of the floating body 12 and a change in the output of the generator. . By changing the blade pitch of the blade 13 by the blade driving means 14, the swing of the floating body 12 can be reduced as shown by the broken line. By suppressing the swing of the floating body 12 and reducing the swing angle θ, the output of the generator can be stabilized and the quality of the power can be improved. When the floating body 12 rolls, the floating body motion detection means 15 detects a two-dimensional movement of inclination (swing angle θ ′), and the blade driving means 14 changes the blade pitch of the blade 13. In the case of the movement of the floating body 12 in which pitching and rolling are combined, the blade pitch of the blade 13 is optimally controlled by the blade driving means 14 in consideration of a two-dimensional movement. Furthermore, the blade pitch of the blade 13 can be optimally controlled by the blade driving means 14 in consideration of floating body motion such as yawing, heaving, surging, and swaying.
In addition, the rocking | fluctuation period of the floating body 12 is 0.1-0.3 Hz normally, and it is 1 Hz or more of the tower (structurally equivalent to the floating body 12) of the fixed wind power generation facility installed on the ground or the beach. The numerical range is different from the vibration period.

  FIG. 3 is a graph of the turbine performance curve of the generator showing the relationship between the wind speed and the output of the generator and the relationship between the wind speed and the generator speed. The horizontal axis of the figure shows the wind speed, and in the graph located on the upper side indicated by a thick solid line, the vertical axis indicates the number of revolutions of the generator, and in the graph located on the lower side indicated by a thin solid line, the vertical axis Indicates the output of the generator.

The floating offshore wind power generation facility 10 performs control in three different modes depending on the magnitude of the wind speed. As shown in FIG. 3, there are control modes (1) to (3) corresponding to the areas indicated by (1) to (3) separated by vertical broken lines, and are based on the magnitude of the wind speed as follows. Switch the mode.
Mode (1) Before reaching the maximum generator speed The generator speed is controlled in accordance with the maximum output coefficient Cpmax of the turbine of the generator (changing the generator load and fixing the blade pitch angle).
Mode (2) After reaching the maximum generator speed, but before reaching the rated output of the generator Control the generator speed to be constant (change the pitch angle of the blade)
Mode (3) After reaching the rated output of the generator, control the generator output to be constant (change the pitch angle of the blade)

  In the present invention, the wind speed area before reaching the maximum rotational speed of the generator is referred to as a weak wind area, and the wind speed area until reaching the rated output of the generator after reaching the maximum rotational speed of the generator. Is called the medium wind region, and the region after reaching the rated output of the generator is called the strong wind region. It is also possible in some cases to define the low wind region before reaching the rated output of the generator and the strong wind region after reaching the rated output.

  The floating offshore wind power generation facility 10 monitors the swing angle θ of the floating body 12 by the floating body motion detection means 15 in addition to the rotational speed of the rotor 11 and the output of the generator. When the swinging angle θ of the floating body 12 is increased, the pitch angle of the blade 13 is controlled by the blade driving means 14 for each mode specified based on the wind speed measured by the anemometer 17, and the floating body 12. Reduce exercise. Thereby, the output change of a generator can be suppressed and electric power quality can be improved.

  FIG. 4 shows a turbine performance curve in the region (1) of FIG. 3, where (a) is a graph of the target rotational speed when the swing angle is less than a predetermined value, and (b) is the swing angle. It is a graph which shows the target rotation speed in the case of more than predetermined value.

  When the swing angle θ of the floating body 12 detected by the floating body motion detection means 15 is less than a predetermined value, the influence of the change in the output of the generator (see FIG. 2) due to the swing of the floating body 12 on the power quality and the power generation efficiency. Is not big. Therefore, in this case, as shown in FIG. 4A, as in the mode (1) of FIG. 3, the load on the generator is changed with the rotational speed Cpmax at which the power generation efficiency is maximized as the target rotational speed (target value). Take control.

On the other hand, when the rocking angle θ of the floating body 12 detected by the floating body motion detecting means 15 is equal to or greater than a predetermined value, the change in output due to the rocking of the floating body 12 has a great influence on the power quality reduction and the power generation efficiency. Therefore, in this case, as shown in FIG. 4 (b), unlike the mode (1) in FIG. 3, the target rotational speed is set lower than Cpmax, and in addition to the control for changing the load of the generator. Then, the blade pitch control means 21 controls the swinging of the floating body 12.
In addition, control means, such as the generator control means 20 and the blade pitch control means 21, are comprised by the memory | storage means and arithmetic processing apparatus in which the various information used for control is recorded, for example.

  FIG. 5 is a block diagram showing an outline of the control system in the region (1) of FIG. As shown in the figure, the floating offshore wind power generation facility 10 includes a generator control means 20 and a blade pitch control means 21 as control means. The generator control means 20 controls the rotation speed N of the turbine in the generator 25 that constitutes the power generation system 30 by changing the generator torque Trq based on the target rotation speed Nd. From the power generation system 30, the rotational speed N of the turbine of the generator 25 is fed back. The rotational speed N is detected by the rotational speed detection means 28 attached to the shaft of the generator 25. Since the shaft of the generator 25 is directly connected to the rotational shaft 19 of the rotor 11, the rotational speed N is substantially equal to the rotational speed N of the rotor 11. The same value.

The blade pitch control means 21 changes the blade pitch angle β _θ by the blade driving means 14 constituting the power generation system 30 when the swing angle θ detected by the floating body motion detection means 15 is equal to or greater than a predetermined value. 12 is suppressed and the output of the generator 25 is stabilized. The oscillation angle θ is fed back from the power generation system 30 to the blade pitch control means 21.

When the swing angle theta detected by the floating body motion detecting means 15 as described above is a predetermined value or more, the control for changing the blade pitch angle beta _theta by the blade pitch control means 21 is performed. The predetermined value may be set as appropriate according to the required power quality. Further, it is also possible that the blade pitch control means 21 always controls the blade pitch angle beta _theta. This also applies to the control in the middle wind region and the strong wind region, which will be described later.

  The generator control means 20 changes the setting to a lower rotational speed than the target rotational speed Nd used to obtain the rotational speed Cpmax that maximizes the power generation efficiency, that is, the target rotational speed Nd is not oscillated. By changing the setting lower than the rotational speed at which the power generation efficiency at the maximum is set, the average value of the efficiency of the fluctuating generator 25 is maximized in the state where the floating body motion of the predetermined swing angle θ or more is occurring, Further, the output fluctuation range of the generator 25 can be minimized. Thereby, electric power quality can be improved.

  FIG. 6 shows a turbine performance curve in the region (2) of FIG. 3, (a) is a graph of the target rotational speed when the swing angle is less than a predetermined value, and (b) is the swing angle. It is a graph which shows the target rotation speed in the case of more than predetermined value.

  As shown in FIG. 6A, when the swinging angle θ of the floating body 12 detected by the floating body motion detecting means 15 is less than a predetermined value, the output change due to the swinging of the floating body 12 affects the power quality and the power generation efficiency. The impact is not significant. Therefore, in this case, similarly to the mode (2) in FIG. 3, control is performed to change the blade pitch with Cpmax as the target rotational speed.

  As shown in FIG. 6B, when the rocking angle θ of the floating body 12 detected by the floating body motion detecting means 15 is equal to or greater than a predetermined value, the change in output due to the motion of the floating body 12 results in a reduction in power quality and power generation efficiency. The impact on Therefore, unlike the mode (2) of FIG. 3, the target rotational speed is set and changed lower than Cpmax, and in addition to the control for changing the load of the generator 25, the blade pitch control means 21 swings the floating body 12. Suppress.

  FIG. 7 is a block diagram showing an outline of the control system in the region (2) of FIG. As shown in the figure, the floating offshore wind power generation facility 10 includes a generator control means 20 and a blade pitch control means 21 as control means. In the region (2) (medium wind region), the rotational speed N of the generator 25 reaches the maximum rotational speed (see FIG. 3). Therefore, the generator control means 20 changes the blade pitch as means for maintaining the rotational speed N at the maximum rotational speed. From the power generation system 30, the rotational speed N of the turbine of the generator 25 is fed back. The rotational speed N is detected by the rotational speed detection means 28 attached to the shaft of the generator 25. Since the shaft of the generator 25 is directly connected to the rotational shaft 19 of the rotor 11, the rotational speed N is substantially equal to the rotational speed N of the rotor 11. The same value.

The blade pitch control means 21 functions in the same manner as the region (1) (light wind region). However, in the region (2) (medium wind region), unlike the weak wind region, the blade pitch is also used as means for controlling the rotational speed N of the generator 25 by the generator control means 20. Therefore, unlike the region (1), the output β _N from the generator control means 20 and the output β _θ from the blade pitch control means 21 are added and then output to the power generation system 30 to generate the generator 25 and the blade driving means. 14 is used for control. As described above, the blade angle of the rotor 11 is controlled by the blade driving means 14 based on the outputs from the generator control means 20 and the blade pitch control means 21. This suppresses the swinging of the floating body 12 and controls the rotational speed N of the generator 25 to maximize the power generation efficiency while stabilizing the output of the generator 25 of the floating offshore wind power generation facility 10. Is possible.

The blade pitch control in the power generation system 30 may be performed based on the result of weighting and adding β _N and β _θ . The weighting can be performed based on the rocking angle θ detected by the floating body motion detection means 15 and the wind speed V. For example, when importance is attached to the stability of the power quality (stability of the output), when the swing angle θ is less than a predetermined value by controlling the power generation system 30 based only on the beta _N, swing angle θ is equal to or higher than the predetermined value sometimes it may be controlled based only on beta _theta. In addition, when emphasizing the power generation efficiency, the swinging angle θ that greatly affects the power generation efficiency of the generator 25 is set as a predetermined value, and when the swinging angle θ is less than the predetermined value, the power generation system 30 is based only on _βθ. It is also possible to control based on _βN only when the swing angle θ is greater than or equal to a predetermined value. Of course, it is also possible to control based on both outputs by multiplying β _{N and} β _θ by appropriate weighting factors.

FIG. 8A is a graph of the target rated output when the swing angle is less than a predetermined value and when the swing angle is greater than or equal to the predetermined value in the turbine performance curve in the region (3) of FIG.
When the rocking angle θ (see FIG. 2) of the floating body 12 detected by the floating body motion detecting means 15 is less than a predetermined value, the change in the output due to the rocking of the floating body 12 does not significantly affect the quality of power. Absent. Therefore, as shown by a broken line in FIG. 8A, the power generation efficiency can be improved by controlling the generator 25 to have a rated output.

  On the other hand, when the rocking angle θ of the floating body 12 detected by the floating body motion detection means 15 is greater than or equal to a predetermined value, the change in output due to the motion of the floating body 12 has a great influence on the power quality degradation. Therefore, unlike the mode (3) of FIG. 3, the blade pitch control means 21 suppresses the swinging of the floating body 12. Thereby, the output change of the electric power by rocking | fluctuation can be suppressed and electric power quality can be improved.

  FIG. 8B is a graph showing changes in the output of the generator accompanying the target output and swinging. If the rated output is the target output when the floating body 12 is oscillating, the rated output of the generator 25 may be exceeded when the floating body 12 oscillates and the relative wind power increases. Therefore, when a swing angle θ greater than a predetermined value is detected, the setting is changed so that a value lower than the rated output becomes the target output. Thereby, it is possible to prevent the generator 25 from being operated in a state where the rated output is exceeded, and to improve the safety of the floating offshore wind power generation facility 10.

  FIG. 9 is a block diagram showing an outline of the control system in the region (3) of FIG. As shown in the figure, the floating offshore wind power generation facility 10 includes a generator control means 20 and a blade pitch control means 21 as control means. In the region (3) (strong wind region), the rotational speed N of the generator 25 reaches the maximum rotational speed, and the output P of the generator 25 reaches the rated output (see FIG. 3). Therefore, the rated output of the generator 25 is set as the target output Pd. Further, the generator control means 20 changes the blade pitch as a means for maintaining the output P of the generator 25 at the rated output. From the power generation system 30, the output P of the generator 25 is fed back. The output P of the generator 25 is detected by the output detection means 29.

The blade pitch control means 21 has the same function as the region (1) (light wind region). However, the blade pitch is also used as means for controlling the output P of the generator 25 by the generator control means 20 in the strong wind region. Therefore, the area (2) Similarly, the output beta _theta from the output beta _P and the blade pitch control means 21 from the generator control unit 20 is added, is output to the power generation system 30. In addition of both, it is good also as weighting like area | region (2) (medium wind area | region). Thus, based on the output beta _theta from the output beta _P and the blade pitch control means 21 from the generator control unit 20, controls the blade angle of the rotor 11 by the blade drive means 14. Thus, the swinging of the floating body 12 can be suppressed and the output P of the generator 25 can be controlled, so that the power generation efficiency is maximized while the output P of the generator 25 of the floating offshore wind power generation facility 10 is stabilized. It becomes possible to do.

The control means of the floating offshore wind power generation facility 10 will be described below with reference to FIG.
FIG. 10 is a block diagram showing a schematic configuration of a control system of the floating offshore wind power generation facility of the present embodiment. As shown in the figure, the floating offshore wind power generation facility 10 includes a target scheduler (target setting unit) 22, a gain scheduler (control gain adjustment unit) in addition to the generator control unit 20 and blade pitch control unit 21 described above. ) 23, feedforward control means 24, and sea state detection means 31 for comprehensively grasping the sea state.

  The target scheduler 22 changes the target rotation speed Nref or the target output Pref by switching the control mode depending on which of the low wind area, the medium wind area, and the strong wind area belongs. For example, the target scheduler 22 can be configured by using a storage unit and an arithmetic processing unit in which a table of information corresponding to a turbine performance curve graph (see FIG. 3) of the generator 25 is stored.

  As a trigger for the target scheduler 22 to switch the control mode, the wind speed V measured by the anemometer 17 of the power generation system 30 (see FIG. 1) and / or the rotational speed N of the generator 25 can be used. The target scheduler 22 can automatically perform control by switching to an appropriate control mode according to the wind speed V and the rotational speed N of the generator 25 detected by the rotational speed detection means 28. In each control mode, the swing angle θ is used as a trigger for changing the target rotational speed Nref or the target output Pref.

  The target scheduler 22 receives from the power generation system 30 the rotational speed N of the generator 25 detected by the rotational speed detection means 28, the output P detected by the output detection means 29, the wind speed V detected by the anemometer 17, the floating body The rocking angle θ by the motion detector 15 and the yaw angle ψ detected by the yawing detector 46 are fed back. These fed back outputs are used according to the control mode. In the light wind region and the medium wind region, the target rotational speed Nref is used as the control target value, so the rotational speed N is used for feedback control (see FIGS. 5 and 7). In the strong wind region, since the target output Pref is used as the control target value, the output P is used for feedback control (see FIG. 9).

  The swing angle θ is output to the blade pitch control means 21 via the gain scheduler 23 and used for blade pitch control in the entire region. It should be noted that the control by the blade pitch control means 21 may be configured to start when the swing angle θ is greater than or equal to a predetermined value.

  The gain scheduler 23 adjusts a control gain that is a ratio of output to input in the generator control means 20 and the blade pitch control means 21. For the control by the gain scheduler 23, a generally used method such as PID control can be used. The gain scheduler 23 adjusts the control gain of the blade pitch control means 21 based on the detection result of the swing angle θ by the floating body motion detection means 15 that has passed through the filter 26 ′. Thereby, the blade drive means 14 changes the blade pitch of the rotor 11 and suppresses the output change of the generator 25 due to the swinging of the floating body 12.

  The feedforward control means 24 includes a filter 26 and a feedforward control system 27. The state of the sea around the floating body 12 detected by the sea state detection unit 31 is reflected in the control of the generator control unit 20 and the blade pitch control unit 21. The filter 26 removes various noises from the signal corresponding to the sea state detected by the sea state state detecting means 31. The feedforward control system 27 predicts the disturbance detected by the sea state detection means 31 and reflects it in the control of the generator control means 20 and the blade pitch control means 21.

  The sea state detection means 31 detects the surrounding sea state around the floating body 12. Examples of sea state include wave height, wave direction, wave period, flow velocity, flow direction, and the like. The sea state detection means 31 can also be configured as a separate body from the floating body 12. Moreover, when making it a different body, it is good also as a structure which transmits a sea state to the floating-type offshore wind power generation facility 10, for example via a radio | wireless or a wired communication means.

  The sea state detected by the sea state detection means 31 is used for controlling the blade driving means 14 and the generator 25 via the feedforward control means 24. That is, as shown in FIG. 10, the generator control means 20 uses the signal from the feedforward control means 24 in addition to the feedback signal from the power generation system 30 and the signal from the gain scheduler 23 for control.

  In the feedforward control, it is possible to predict the floating body motion based on the detection result of the sea state detection means 31 and calculate a necessary control amount in advance. If there is a delay in the control time due to the response time of the blade driving means 14 as an actuator, the floating body swing may be amplified by feedforward control. Therefore, the feedforward control improves the speed response to the output fluctuation while ensuring the robustness by the feedback control.

FIG. 11 is a detailed block diagram of essential parts of the block diagram shown in FIG.
The feedforward control system 27 shown in FIG. 10 includes a rotation speed correction unit that outputs a torque change amount ΔTq with respect to the output of the generator control means 20, and a blade pitch change amount Δ with respect to the output of the blade pitch control means 21. It consists of a blade pitch correction unit that outputs β.

The rotation speed correction unit includes a motion model unit 27a and a PID control unit 27b of the rotor 11 and the floating body 12.
The rotor and floating body motion model unit 27a has a response function calculated in advance, and the wave height and wave direction measurement data Hw (t) immediately before from the sea state detection means 31 and The rotational speed deviation ΔN is output by inputting the rotational speed N of the generator 25 and the swing angle θ immediately before being detected by the floating body motion detecting means 15.

In the PID control unit 27b, the rotational speed deviation ΔN is input, and the torque change amount ΔTq is output by performing P control, PI control, PD control, or PID control.
The blade pitch correction unit includes a motion model unit 27c, a PID control unit 27d, and a blade pitch change amount conversion unit 27e for the rotor 11 and the floating body 12.

  The motion model unit 27c of the rotor 11 and the floating body 12 has a response function calculated in advance, and the wave height and wave direction measurement data Hw (t) immediately before the sea state detection unit 31 and the power generation system 30 The output deviation ΔP is output by inputting the rotation speed N of the immediately preceding generator 25 and the swing angle θ immediately before being detected by the floating body motion detecting means 15. The PID control unit 27d receives the output deviation ΔP, and outputs the torque change amount ΔTq by performing P control, PI control, or PID control. The blade pitch change amount conversion unit 27e receives the torque change amount ΔTq and outputs the blade pitch change amount Δβ.

(Second Embodiment)
A second embodiment of the present invention will be described below with reference to FIGS.
FIG. 12 is a perspective view showing a schematic configuration of a floating offshore wind power generation facility according to the present embodiment, and FIG. 13 is a side view of a main part showing a structure of the floating offshore wind power generation facility according to the present embodiment.
In this embodiment, the yawing detection means 46 which detects the yawing of the nacelle 18 which accommodated the rotating shaft 19 of the rotor 11 is provided.
The portions other than the configuration related to detecting yawing of the nacelle 18 and controlling the blade pitch of the rotor 11 according to the rotation position based on the detection result are the same as in the first embodiment.

  In the floating offshore wind power generation facility 40, the floating body 12 is moored to an anchor 43 on the seabed B via a mooring line 42. A line extending from the bottom of the floating body 12 is a power transmission line 44.

  The floating offshore wind power generation facility 40 includes a rotor 11 that is rotated by wind, a nacelle 18 that accommodates a rotating shaft 19 of the rotor 11, and a rotary seat bearing 45 that rotatably supports the nacelle 18 with respect to the water surface. The floating body 12 and the yawing detection means 46 for detecting the yawing which is the rotational swing of the nacelle 18 with respect to the water surface are provided.

  The rotor 11 includes a hub 47 in which a plurality of blades 13 are provided radially, and a rotating shaft 19 connected to the hub 47. The rotating shaft 19 is rotatably supported in the nacelle 18, and the rotating shaft 19 rotates by receiving wind from the rotor 11, and power is generated by a generator (not shown) provided in the nacelle 18. I do.

  The nacelle 18 is rotatably supported with respect to the sea surface P by a rotating seat bearing 45 provided on the upper part of the floating body 12. Thereby, the direction of the rotating shaft 19 can be changed according to the change of a wind direction by rotation of the nacelle 18, and the rotating surface of the rotor 11 can be made to face a wind.

  The yawing detection means 46 detects a rotational swing (yawing) that occurs in the nacelle 18 when a vertical force is applied by waves while the rotor 11 is rotating. In the present embodiment, the yawing detection means 46 is provided on the floating body 12, but the yawing detection means 46 may be provided on the nacelle 18 side. As the yawing detection means 46, for example, a gyro sensor or the like can be used.

Based on the detection result of the yawing detection means 46, the blade drive means 14 drives the blade 13 so as to change individually for each blade 13 according to the rotational position. For example, the blade pitch at the rotation position A and the rotation position B indicated by the two-dot chain line on the rotation surface L of the rotor 11 in FIG. 12 is individually controlled for each blade 13 to suppress yawing indicated by T in FIG. can do.

(Third embodiment)
FIG. 14 is a perspective view showing a schematic configuration of a floating offshore wind power generation facility according to the third embodiment. As shown in the figure, the floating offshore wind power generation facility 50 is configured such that the nacelle 51 and the floating body 52 are integrated so that the nacelle 51 does not rotate with respect to the floating body 52. The floating body 52 floats on water, and a nacelle 51 is fixed to the upper end of the floating body 52, and the lower end of the floating body 52 is connected to the anchor 54 of the seabed B through the rotation means 53. The rotating means 53 connects the floating body 52 to the anchor 54 so that the floating body 52 can rotate according to the change in the wind direction W.

The yawing detection means 55 provided in the floating body 52 detects the yawing of the floating body 52 (the nacelle 51), like the yawing detection means 46. The floating offshore wind power generation facility 50 suppresses yawing by means similar to the floating offshore wind power generation facility 40 based on the detection result of the yawing detection means 55.
The floating body 52 can also be moored by using other mooring methods such as mooring lines.

(Fourth embodiment)
FIG. 15 is a top view showing a schematic configuration of a floating offshore wind power generation facility according to the fourth embodiment.
In the fourth embodiment, in the floating offshore wind power generation facility shown in FIG. 1, the nacelle 15 is rotatably supported from the tower portion 12 </ b> B, and the rotor 11 faces the wind direction. In addition, yawing detection means 48 is also incorporated in the nacelle 15.
In the case of a floating offshore wind power generation facility, the wind direction and the swinging direction of the floating body 12 are often different, unlike a wind power generation facility in which a tower installed on land or on a beach is fixed. In such a case, in addition to considering the movement of the floating body 12, the direction of the rotor 11, that is, the yaw angle of the nacelle 15 with respect to the floating body 12, or the yawing movement is taken into consideration, and the blade driving means 14 further. The blade pitch of the blade 13 can be controlled. As a result, the output of the generator of the floating offshore wind power generation facility can be further stabilized and the efficiency can be improved.

  INDUSTRIAL APPLICABILITY The present invention can be used as a control device for suppressing movement of a floating body and improving power generation quality and safety in a floating offshore wind power generation facility.

Claims (16)

In a floating offshore wind power generation facility with a rotor that rotates by wind,
Blade pitch control means for controlling the blade pitch of the rotor;
A floating body motion detection means for detecting the motion of the floating body,
A control apparatus for a floating offshore wind power generation facility, wherein the blade pitch control means controls the blade pitch of the rotor based on a detection result of the floating body motion detection means.   The control apparatus for a floating offshore wind power generation facility according to claim 1, wherein the floating body motion detection means is an inclination detection means for detecting an inclination of the floating body.   The control device for a floating offshore wind power generation facility according to claim 1 or 2, wherein the floating body motion detection means detects two or more degrees of freedom. It further comprises a wind speed detecting means for detecting the wind speed,
The floating offshore wind power generation facility according to any one of claims 1 to 3, wherein the blade pitch control unit controls the blade pitch of the rotor based on a detection result of the wind speed detection unit. Control device.   5. The control apparatus for a floating offshore wind power generation facility according to claim 1, further comprising generator output control means for controlling the output of the generator. It has a nacelle that houses the rotating shaft of the rotor,
Further comprising yawing detection means for detecting yawing of the nacelle,
6. The blade pitch control unit according to claim 1, wherein the blade pitch control unit controls the blade pitch of the rotor in accordance with a rotational position based on a detection result of the yawing detection unit. Control device for floating offshore wind power generation facilities.   The said blade pitch control means has the target setting part which sets the control target value of the said blade pitch control means based on the said detection result of the said floating body motion detection means, The Claim 1 to Claim 6 characterized by the above-mentioned. Control apparatus of the floating type offshore wind power generation facility of 1 of them.   8. The blade pitch control means according to claim 1, further comprising a control gain adjustment unit that adjusts a control gain of the blade pitch control means based on the detection result of the floating body motion detection means. Control apparatus of the floating type offshore wind power generation facility of 1 of them.   The blade pitch control means controls the blade pitch of the rotor based on the detection result of the floating body motion detection means in a weak wind region where the wind is weak. The control apparatus of the floating offshore wind power generation facility as described in an item | term.   In the weak wind region where the wind is weak, the blade pitch control means controls the blade pitch of the rotor based on the detection result of the floating body motion detection means, and in the weak wind region, the generator output control means is the rotor. 9. The control device for a floating offshore wind power generation facility according to claim 5, wherein an output of the generator is controlled based on a rotation state of the floating body type offshore wind power generation facility according to claim 5.   The blade pitch control means controls the blade pitch of the rotor based on the detection result of the floating body motion detection means and the detection result of the rotation state of the rotor. The control apparatus of the floating offshore wind power generation facility of 1 term | claim.   The floating body according to claim 11, wherein the blade pitch control unit weights the detection result of the floating body motion detection unit and the detection result of the rotation state of the rotor to control the blade pitch of the rotor. Control device for offshore wind power generation facilities.   The said target setting part changed and set the target rotation speed of the generator output control means based on the said detection result of the said floating body motion detection means, The one of Claims 7-12 characterized by the above-mentioned. Control equipment for floating offshore wind power generation facilities.   The said target setting part changed the target output setting value of the generator output control means based on the said detection result of the said floating body motion detection means, The one of Claims 7-13 characterized by the above-mentioned. Control device for floating offshore wind power generation facility as described in 1.   The floating offshore wind turbine according to claim 13 or 14, wherein the target rotational speed or the target output setting value is changed according to a swing angle as the detection result of the floating body motion detecting means. Control equipment for power generation facilities.   The blade pitch control means feed-forward-controls the blade pitch of the rotor based on a detection result of the floating body motion detection means or a sea state detection means provided for detecting a sea state around the floating body. The control device for a floating offshore wind power generation facility according to any one of claims 1 to 15.