KR101454378B1 - Controlling method in emergency when pitch system of aerogenerator is error - Google Patents

Abstract

Disclosed are an emergency control method used when a pitch system of an aerogenerator malfunctions and an apparatus applied to the same. According to the present invention, the emergency control method used when a pitch system of an aerogenerator malfunctions and the apparatus applied to the same perform rotation control of a blade by a transient response characteristic predetermined by one threshold switch contact when a pitch system of an aerogenerator malfunctions. Accordingly, the present invention can improve stability of feathering control to stop the aerogenerator, can prevent the size of angular speed from rapidly changing at a point passing the threshold switch contact, and does not require performing reverse rotation control due to a blade passing through a target point by rotary inertia at all.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an emergency control method for a pitch system of a wind turbine generator,

[0001] The present invention relates to an emergency control method for a failure in a pitch system of a wind turbine generator, and more particularly to an emergency control method in case of a failure in a pitch system of a wind turbine, a transient response characteristic To an emergency control method in case of failure in a pitch system of a wind turbine that improves the stability of feathering control for stopping a wind turbine by performing rotation control of the blades by the control of the blade.

Typically, the pitch system of a wind turbine plays the most important role in an emergency. In case of emergency, the blade of the blade is stopped at a certain angle (eg 91 degrees) to stop the rotor of the wind turbine.

It is called "Feathering" that the blade of an unconditioned blade is set at a certain angle (eg 91 degrees) irrespective of the angular displacement of the blade.

Here, the above-described feathering is performed even when the pitch system itself is faulty, and sensorless control may be required under certain circumstances.

Conventional wind turbine pitch systems use motor encoders and blade encoders per blade. As a result of comparing these two encoder values, the pitch system is designed to operate normally within the error range.

In addition, when the motor encoder fails, the pitch system operates in a sensorless control mode because it can not see the current angular displacement.

In this sensorless control mode, since the rotation continues in one direction (for example, clockwise), the contact point of the limit switch is used to find the position to stop the rotation of the blade.

The contact of the above-described limit switch is divided into a first limit switch contact and a second limit switch contact, typically the first limit switch contact is set at 87 degrees and the second limit switch contact is set at 94 degrees.

For example, in a sensorless control for a blade with angular displacement of 0 degrees, it rotates at a rate of 5 deg / s to 87 degrees. Thereafter, when the first limit switch contact point of 87 degrees enters, the rotation is continued at a speed of 3 deg / s. Therefore, even if the rotation is continued at a speed of 3 deg / s, the blade rotates to the second limit switch contact point of 94 degrees by the rotational inertia.

In addition, when entering the second limit switch contact of 94 degrees, the rotation of the blade is controlled in the opposite direction by lowering at a rate of 1 deg / s. This causes the blade to stop rotating at the final target point of the rotation stop of the blade at 91 degrees.

That is, as shown in FIG. 1, when the sensorless control is applied to the blades, the magnitude of the angular velocity suddenly changes at the points passing through the first limit switch contact and the second limit switch contact, In addition, there is a problem that the blade reaches the target point through the target point through the rotation inertia and then through the reverse rotation control again.

Japanese Patent Application Laid-Open No. 2003-197565 (Jul. 2003)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and an object of the present invention is to provide a method of controlling rotation of a blade in a transient response characteristic predetermined by a single limit switch contact when a failure occurs in a pitch system of a wind turbine Thereby improving the stability of the feathering control for stopping the wind turbine generator. The present invention also provides an emergency control method for a failure in a pitch system of a wind turbine generator, and a device applied thereto.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to a first aspect of the present invention, there is provided an emergency control method for a failure in a pitch system of a wind turbine, comprising the steps of: performing rotation control of a blade in an emergency control mode when a failure occurs in a pitch system of a wind turbine; Determining that an arbitrary blade has entered the limit switch contact when receiving the contact signal from the limit switch, and changing the rotation control of the blade to the rotation control having predetermined transient response characteristics after the point of time of the determination And terminating the emergency control mode according to entry of a target point for the arbitrary blade.

Advantageously, the step of performing in the emergency control mode performs a rotation control that continues the predetermined angular velocity until entering the limit switch contact.

Preferably, the limit switch contacts are provided in a single number.

Preferably, the rotation control having the transient response characteristic is performed through a function having the following formula.

[Equation]

(Where y: angular velocity (deg / s), a: under, x: decimal)

Preferably, the positive value of x is a value that changes from a large value to a small value.

Preferably, the positive value of x is a value varying from 32 to 1, and the value of a is 2.

In order to achieve the above object, according to a second aspect of the present invention, there is provided a pitch system for a wind turbine, comprising: a blade; an encoder for measuring a rotation speed and a rotation angle of the blade; A single limit switch for providing a limit switch contact for rotation of the blades when rotation control is performed on the blades, and an output signal provided from the encoder and the limit switch, respectively, And a controller for controlling the rotation of the blades by a predetermined transient response characteristic after a time point at which the rotation control is continued at a predetermined specific angular velocity and the blade passes the limit switch contact point.

Advantageously, the controller completes the stop of the blade at the target point through rotation reduction of the blade through rotation control having the transient response characteristic.

Preferably, the controller performs rotation control having the transient response characteristic, further determines whether or not the blade has reached a target point, and then completes stopping the blade based on the determination result.

Therefore, according to the present invention, when a failure occurs in the pitch system of the wind power generator, the rotation control of the blades is performed by the transient response characteristic predetermined by the single limit switch contact, and the stability of the feathering control for stopping the wind power generator It is possible to prevent the magnitude of the angular velocity from suddenly varying at the point passing through the limit switch contact and also to perform the reverse rotation control according to the rotation inertia of the blade via the target point There is no advantage.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

FIG. 1 is a diagram showing a change in angular velocity at the time of emergency control for a pitch system according to a conventional technique.
2 is a diagram showing a pitch system of a wind turbine according to an embodiment of the present invention.
FIG. 3 is a diagram showing an angular velocity change at the time of emergency control for the pitch system shown in FIG. 2 in one embodiment.
4 is a diagram showing a limit switch contact of the pitch system shown in Fig. 2 in one embodiment.
5 is a diagram illustrating an operation of the pitch system shown in FIG. 2 according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a diagram showing a pitch system of a wind turbine according to an embodiment of the present invention.

As shown in FIG. 2, the pitch system of the wind power generator includes a configuration for performing rotation control of the blade 100 with a transient response characteristic predetermined by a single limit switch 300 contact in the event of a failure in the pitch system Equipped.

To this end, the pitch system of the wind power generator includes a blade 100 rotating by wind force, an encoder 200 measuring the rotation speed and rotation angle of the blade 100 indicating the final output value of the pitch system, A single limit switch 300 for providing a limit switch 300 contact in connection with the rotation control of the blade 100 operating in the emergency control mode and a limit switch 300 provided from the encoder 200 and the limit switch 300 described above The controller 100 controls the rotation of the blade 100 with a predetermined transient response characteristic when the blade 100 passes the single limit switch 300 contact when a failure occurs in the pitch system according to the result of determining the output signal of the blade 100. [ (400).

Here, the single limit switch 300 contact described above can be set at 87 degrees. Hereinafter, the present invention will be described as an example in which a single limit switch 300 contact point of 87 degrees is set.

The controller 400 maintains the rotation control for the blade 100 at an angular velocity of 5 deg / s until the blade 100 enters the limit switch 300 contact at an angle of 87 degrees. In this case, the angular velocity of 5 deg / s is an example of the angular velocity that is normally performed in the rotation control of the blade 100 in the pitch system, and may be set to another angular velocity.

The controller 400 also controls the rotation of the blade 100 to a predetermined transient response characteristic up to a target point (for example, 91 degrees) for emergency stop when the blade 100 enters a single limit switch 300 contact To prevent the magnitude of the angular velocity from suddenly changing beyond the critical displacement at the point passing through the limit switch 300 contact point and to prevent the blade 100 from passing over the target point due to the rotational inertia, The situation can be prevented.

That is, when the target point is 91 degrees after the contact point to the single limit switch 300 installed at 87 degrees, the blade must be rotated 4 degrees to reach the target point.

Further, the gear ratio between the motor and the blade 100 may be set to '1630 to 1'. This means that when the motor rotates 1630 times, the blade 100 performs one rotation (360 degrees rotation). Can be expressed by the following equation (1).

[Equation 1]

1630: 360 = r: 4

According to the above-described Equation 1, the motor is able to reach the target point by 18.1 turns after passing the limit switch 300 contact located at 87 degrees.

It is possible to precisely reach and stop at the target point by rotationally controlling the angular velocity of the blade 100 during the 18.1 rotation of the motor with predetermined transient response characteristics.

For example, the above-mentioned rotation control of the transient response characteristic may be set to rotation control having a function reduced to a logarithmic function as shown in FIG.

That is, when the blade 100 reaches a single limit switch 300 contact, it can be operated through the rotation control according to the following equation (2).

[Equation 2]

(Where y: angular velocity (deg / s), a: under, x: decimal)

In (2), (-x) becomes smaller as x becomes smaller. That is, as the positive value of x changes from a large value to a small value, the value of y converges to zero.

The logarithm of the logarithm of the logarithm of the logarithm of the logarithm of the logarithm of the logarithm of the logarithm of the logarithm of the logarithm of the logarithm of the base of

[Equation 3]

(Where y: angular velocity (deg / s), a: 2, x: 32 to 32)

When x is 32, 'y = 5 deg / s' and when x is 1, 'y = 0 deg / s'.

Accordingly, when a contact signal indicating that the blade 100 has entered the contact point of the limit switch 300 at an angle of 87 degrees is received, the speed of the motor gradually decreases, and then the sensorless sensorless operation is performed. That is, x can be reduced from 32 to 1 while the blade 100 rotates 18.1 times.

FIG. 4 is a diagram showing a limit switch 300 contact of the pitch system shown in FIG. 2 in one embodiment.

As shown in Fig. 4, in the emergency control of the pitch system, the rotation control of the blade 100 continues until an angular velocity of 5 deg / s enters a single limit switch 300 contact.

When the controller 400 receives the contact signal from the limit switch 300, the controller 400 determines that the blade 100 has entered the single limit switch 300 contact point through the received contact signal, The rotation control of the blade 100 is changed to the rotation control having predetermined transient response characteristics. That is, the predetermined transient response characteristic may be a characteristic having the function shown in FIG.

As a result, the rotation of the blade 100 is rotated by a predetermined transient response characteristic, and due to the gradual decrease of the rotational speed due to this, the target point (e.g., 91 degrees) can be accurately reached and stopped.

5 is a diagram illustrating an operation of the pitch system shown in FIG. 2 according to an embodiment of the present invention.

As shown in FIG. 5, in the event of a failure in the pitch system of the wind turbine, the emergency control method in case of failure to the pitch system of the wind turbine proceeds to operate in the emergency control mode (S1 and S3).

Then, it is determined whether or not the rotating blade 100 is in a state before entering the single limit switch 300 contact (S5).

As a result of the determination in step S5, control is continued to maintain the same angular velocity (for example, 5 deg / s) while the rotating blade 100 is in the state before entering the single limit switch 300 contact point (S7 ).

On the other hand, in the determination result of step S5, after the point of time when the rotating blade 100 enters the single limit switch 300 contact point, rotation control for gradually reducing the angular velocity of the blade 100 by the predetermined transient response characteristic is performed (S9).

Thereafter, whether to continue the rotation control with the above-described transient response characteristic or to stop the rotation control of the blade 100 by continuously determining whether or not the blade 100 has reached the target point (e.g., 91 degrees) The control of the blade 100 is performed at the target point as a result of performing the control according to the result of the control or performing the control having the predetermined transient response characteristic after the point of time passing the single limit switch 300 contact point as described above, It is possible to set it to perform the stop (S11 and S13).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

Further, according to the present invention, when a failure occurs in the pitch system of a wind turbine generator, rotation control of the blades is performed with a transient response characteristic predetermined by a single limit switch contact point, and stability of feathering control for stopping the wind turbine generator It is not only a possibility of commercialization or sales, but also a possibility that can be practically and practically used.

100: Blade 200: Encoder
300: Limit switch 400: Controller

Claims (9)

Performing rotation control of the blade in an emergency control mode when a failure occurs in the pitch system of the wind power generator;
Determining that any blade has entered the limit switch contact upon receiving the contact signal from the limit switch;
Changing the rotation control of the blade to a rotation control having a predetermined transient response characteristic after performing the determination; And
And terminating the emergency control mode according to entry of a target point for the arbitrary blade. The method according to claim 1,
Wherein the step of performing in the emergency control mode performs rotation control to maintain a predetermined angular velocity until entering the limit switch contact. The method according to claim 1,
Wherein the limit switch contacts are provided in a single number. The method according to claim 1,
Wherein the rotation control having the transient response characteristic is performed through a function having the following formula.
[Equation]

(Where y: angular velocity (deg / s), a: under, x: decimal) 5. The method of claim 4,
Wherein the positive value of x is a value changing from a large value to a small value. 6. The method of claim 5,
Wherein the positive value of x is a value varying from 32 to 1, and the value of a is two. blade;
An encoder for measuring a rotation speed and a rotation angle of the blade;
A single limit switch for providing a limit switch contact for rotation of the blade when an error occurs in the pitch system of the wind turbine and rotation control for the blade in the emergency control mode is performed; And
Continuing the rotation control of the blades at a predetermined angular velocity through a result of determining an output signal provided from the encoder and the limit switch, respectively, and after a time point via the limit switch contact of the blade, And a controller for controlling the rotation of the blades in accordance with the rotation of the rotor. 8. The method of claim 7,
Wherein the controller completes the stopping of the blade at a target point through rotation reduction of the blade through rotation control having the transient response characteristic. 8. The method of claim 7,
Wherein the controller further determines whether the blade reaches a target point while performing rotation control having the transient response characteristic, and then completes stopping the blade based on a result of the additional determination.

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