SE444599B - REGULATORY DEVICE FOR WIND TOUR DRIVE GENERATOR IN AN ELECTRIC PRODUCING WIND POWER PLANT - Google Patents

Description

79o5oos-o 2- its increasing energy needs.

The basic problem with power production by means of windmills or wind turbines (wind turbines), is not that the power would not be available everywhere, but it is in the possibility of curbing this power in an efficient way, ie. with reasonable efficiency, and to feed it in a suitable form to electricity, consumers or to individual stations. In many places, the winds are, at best, unpredictable in terms of direction and speed, so that the availability of useful output power at any given time is uncertain. The available power varies with the wind speed and gusts of wind cause transitional variations in the output power. Although the output power of the wind turbine can be used directly for the operation of mechanical devices, its most suitable form of use is the electric one, because this form can. the power is transferred to new or existing power grids for use by industries and households. In order to produce useful electric power, the rotational energy of the wind turbine is used to drive an electric generator, which can be made, as desired, to supply alternating current or direct current. In some cases, direct current power was used to charge large accumulator batteries, from which electricity can be taken out if necessary. The use of accumulators generally requires a conversion of the power from direct current to alternating current by means of inverters or in another way. If alternating current is produced instead of direct current using a wind-powered synchronous generator, it is generally necessary to regulate both the frequency and phase of the alternating current, as well as the output, before the alternating current can be transmitted to commercial consumers or fed into existing power grids.

It has been found that the control required in the production of electric power with a wind turbine driven synchronous generator can be achieved by changing the blade angle of the wind turbine blades in a manner analogous to the blade angle adjustment of an aircraft propeller.

U.S. Pat. No. 2,363,850 discloses a wind turbine driven alternator with a speed controller controlled mechanism for adjusting the blade angle of the wind turbine between full: velvety and fully acting position. Devices are described here for regulating the output frequency, phase and power of the electric current and for disconnecting the electricity generator at wind speeds that are too high or too low for the production of the desired power. U.S. Pat. No. 2,547,636 discloses an automatic speed controller for a wind turbine for the purpose of controlling the charging speed of an electric accumulator, the speed controller consisting of mechanical means arranged to change the blade angle depending on the wind speed. U.S. Pat. No. 2,583,369 discloses a similar control device for mechanically adjusting the blade angle in order to maintain a relatively constant generator speed and thus a relatively constant frequency of the extracted alternating current. U.S. Patent 2,795,285 discloses a control device for. changing the load, speed or voltage change speed of a wind-driven motor by varying the blade angle of the wind turbine in a closed loop coupling. U.S. Pat. No. 2,832,895 discloses another device for adjusting the blade angle of a wind turbine depending on the attainment of a predetermined state of charge of a battery or under the influence of sudden gusts of wind.

The basic problem with the prior art control devices is that they do not react quickly enough or with sufficient accuracy to limit the stresses on or in rotor blades and other mechanical components to acceptable levels.

They are thereby adversely affected and exposed to hazardous stresses by gusts and turbulence and cannot maintain satisfactory power control within a larger range of varying wind conditions to allow connection as conventionally. power grids or power distribution systems.

According to the present invention, the limitations associated with prior art devices are overcome and a very accurate and fast-reacting device is provided for controlling the blade angle of a wind turbine. The control device maintains the frequency, phase, speed, torque and output power of an electric alternator within the desired narrow tolerance limits and also regulates its inclination angle during the start-up and shut-off processes, so that the mechanical components are not exposed to hazardous loads. The control is adaptable in that the blade angle control means are affected by the wind speed value and by variations in wind speed in order to maintain a satisfactory control of output power, torque and speed. The control system is preferably electronic and therefore fast-acting and can be inexpensive for its construction through the use of digital counters or microcomputers. An object of the present invention has thus been to provide an improved device for blade angle control of a wind turbine, which device adjusts the blade angle of the wind turbine in dependence on a large number of operating conditions. . _ ___ Hf .._._--, -.- «--.-.- w ~. ._ m, 4 ._. «.-: - ~. ~» .-. ~ «.- ,. <- w ...-. ub ~~ m v ... m. ams .. 79050Û5-Û i 4 'Another object of the invention has been to provide an improved blade angle regulator for wind turbines, which regulates the blade angle to reduce the blade stresses and shaft torque variations during transition conditions in connection with the start and shutdown processes to a minimum.

Another object of the invention has been to provide an electronic blade angle control for wind turbines, which regulates the speed, torque and output power of a turbine-driven synchronous generator in a closed subroutine.

Another object of the invention is to provide a closed subroutine blade angle regulator for a wind turbine, in which regulator proportional, integral and derivative glass signals are formed and in which the amplification amount of the control loop is continuously varied as a function of wind speed. Another object of the invention has been to provide an electronic regulator which is capable of keeping the output AC power, frequency and phase of a wind turbine-driven synchronous generator at a given value and which automatically regulates the connection of the AC voltage in a network.

Another object of the invention has been to provide a power generating system with a wind-driven turbine, which compensates the blade angle control for rapid wind changes.

A further object of the invention is to provide a closed subroutine regulator for a wind turbine driven generator, in which the closed subroutine contains an integrator which automatically follows the blade angle of the wind turbine even when the control is inactive. V, A "fi t fi s fi ws fi aim with the invention has been to! Ågtaáknma a -z / í fi fá fi iffßí fi äfívaré qwäa fi aaffá-fïßfsgfs fi zëv fi. , where the wind angle of the wind turbine is regulated as a function of either the speed of the generator or the power of the generator, depending on the method of connection of the generator to a power transmission network. The invention in summary: In accordance with the present invention a wind turbine with variable blade angle adjustment is through a conventional gear connected for driving a synchronous generator, so that it generates alternating current power, which can be used directly for feeding a load object or is fed '79o5oo5fo into a conventional electric power grid.During the start-up and shut-off process of the wind turbine, the blade angle is regulated by control means in open loop as a function of the rotor va speed and wind speed. When the generator is operated independently of any power distribution network, the blade angle in closed loop connection is regulated by a speed controller, the loop containing proportional, integral and derivative control signals and also load compensation. When the generator is connected to an electric power grid, the blade angle in the closed subroutine is regulated by signals representing the generator's shaft torque or the generator's developed power, the control loop containing proportional, integral and derivative control signals (control signals). During generator power or shaft torque control, the rotor's speed control is modified so that it acts as a speed or overrun protection. The gains in the closed subroutine vary continuously as a function of wind speed - to provide optimal stability and transition response. The wind speed can either be sensed directly or derived synthetically as a function of the system's operating conditions§ The blade angle control system is very sensitive to wind gusts and reacts quickly via an anticipatory signal during rapid changes in wind conditions to reduce mechanical stresses to the lowest possible values. An integrator in the closed loop circuit is caused to follow the blade angle during the transmission of a feedback loop even when the control means of the closed loop circuit are inactive. The control system can with special advantage be composed of digital electronic components, but electronic circuits of analog type can also be used.

The invention will be described in more detail below with reference to the accompanying drawings, in which: Fig. 1 schematically shows a typical wind turbine in side view; Fig. 2 is a diagram showing the mutual functional relations between the turbine blades, the electric power generating system and the control system for the wind turbine blade angle; Fig. 3 shows a block diagram of the blade angle control system of Fig. 2; Fig. 4 is a diagram showing the acceleration control program for the blade angle; Fig. 5 is a diagram showing the deceleration control program for the blade angle; A '' fig. 6 shows a block diagram of the control program for the rotor speed; Fig. 7 shows a block diagram of the control program for the wind anticipation; A I 1 A In Fig. 8 is a block diagram of the control program for. shaft moment; Fig. 9 is a block diagram of the gain programs for the control loops of Figs. 6 and 8; Fig. 10 is a circuit diagram for a variant of the amplification programs of Fig. 9, using synthetically engineered wind speeds; and. Fig. 11 is a block diagram of alternative closed control loops for the blade angle. Description of a particularly preferred embodiment: The typical wind turbine construction shown in Fig. 1 consists of two diametrically opposite, identical rotor or propeller blades, which can have a total tip diameter of between approx. 30 and 90 m ”and are mounted on a truss tower 12, which is high enough to provide the required ground clearance for the blades, while the blades are in an area where the winds have a relatively high speed. The rotor blades generally consist of aluminum, steel or fiberglass. The parts and other mechanical components of the electric generator are housed in a housing 14 and mounted on a base or mounting plate (not shown). The rotor blades are located at the downwind of the housing 14 about the end of the tower 12 to be prevented from bumping against the tower, should they flutter during the impact load. A pivot regulator (not shown) may be provided to rotate the housing 14 and keep the rotor blades tailwind under the influence of slow changes in a weather front and thus not allow the rotor blades to rotate freely about the pivot axis to follow sudden changes in wind direction. , a gearbox, a hydraulic blade angle regulator for the rotor blades, a synchronous generator for the production of electric power from the rotor and the required gears and regulating means.

Fig. 2 shows the turbine blades 10 mounted on a hub 16 as well as the electric generator system and the blade angle control system, which are housed in the housing 14 (Fig. 1). In general, the electric generator system shown, which comprises a synchronous generator 26, and the mechanical part of the blade angle regulator for the turbine blades 10, is of a previously known design and therefore does not need to be described in more detail.

A shaft 18 has one end connected to the hub 16 and its other end to a conventional gearbox 20, which gears up the "fmw". * Fi fez-nwma-.zvr fl muißxm 41, _ 7'å ~ 7905005-0 wind-driven turbine rotational movement in a ratio which depends on the number of pole pairs in the synchronous generator 26 and the desired output frequency of the generator.In a typical wind power unit, a speed of 40 r / m of the wind turbine can thus be shifted up in the gearbox to a speed of 1800 r / m, so that from a standard type synchronous generator receives a 60 Hz alternating current.

The output shaft 22 of the gearbox 20 is connected at its outer end to the synchronous generator 26. A conventional slip coupling can be inserted between the output shaft 22 and the synchronous generator 26.

The asynchronous generator 26 typically has a constant magnetic field and an armature which emits alternating current synchronously with the rotation of the armature and with a frequency which is the product of the number of poles in the synchronous generator and the rotational speed, expressed in revolutions / minute. The electrical output current of the generator 26 is supplied through a line 28, a switch 40 and a line 34 to a full load object (not shown). The output current of the generator 26 can be 1- or 3-phase. The load object can be an accumulator battery or some other energy storage device, in which case a conversion to direct current may be necessary, or the electrical energy can be fed directly to a remote plant, in which case the frequency and phase of the output power can be critical factors. In general, however, the alternating current energy from the generator 26 is fed into an electrical consumption network, through which the power is transferred by means of power lines to a remote location. In this case, the phase relationship between this power grid and the generator's output current is rather critical, since the phase relationship is a measure of the electricity transmitted from one to the other and a phase error between the synchronous generator 26's output and the power transmission network not only reduces system efficiency, but would even be able to suck electricity out of the power transmission network instead of feeding electricity into it. Current variations can cause overheating and damage to the synchronous generator. Consequently, an automatic frequency and phase synchronizing circuit 30 is connected to the synchronous generator 26, the construction of which is known per se. The synchronizing circuit 30 causes the frequency and phase of the synchronizing generator to be adapted to the load object's resp. of the power transmission network, before the synchronous generator is "connected on the line". Signals indicating the frequency and phase of the synchronous generator output current are supplied to the synchronizing circuit 30 via a signal line 32. A signal line 36 also supplies the synchronizing circuit 30 with signals representing the frequency and phase of, as shown in Fig. 2, a blade angle actuator. 44, which comprises in 7905005-0 the loading object resp. power supply and behavior on line 34 when switch 40 is broken. The automatic synchronizing circuit 30 compares the frequency of the synchronous generator with the load object and, when synchronism is present, the synchronizing circuit 30 emits a discrete signal on line 38, which in turn closes the switch 40 and switches the synchronous generator "on the line". The discrete signal on line 38 is also fed to the blade angle regulator 46 described in more detail below. If the synchronous generator 26 has the intended frequency but is not in phase with the load object, the synchronizing circuit 30 via a signal line 42 outputs a signal to the blade angle regulator 46, which signal adjusts the rotor speed and thus the output frequency and phase of the synchronous generator in order to effect synchronization in the manner to be described in connection with Fig. 6. 9 Since the synchronous generator output frequency is controlled by the rotational speed of the wind turbine, the maintenance of a given electrical output frequency, e.g. 60 Hz, a precise control of the wind turbine's rotational speed. The most practical way to regulate the rotational speed of the wind turbine and thus the speed and output frequency of the generator is to vary the blade angle of the rotor blades to prevent the wind turbine from accelerating with increasing wind speed - Üé resp. from decelerating with decreasing wind speed. In order to prevent such speed fluctuations that occur in unpredictable wind gusts, the control of the blade angle adjustment mechanism must be very sensitive. The device according to the present invention comprises, per se known hydraulic switching means and linkage systems similar to those used for aircraft propellers, but on a larger scale. A control valve located in the hydraulic part of the blade angle actuator 44 is actuated by an electrical signal from the blade angle actuator 44, which is transmitted on a signal line 48.

The most suitable control valve in the blade angle actuator 44 is a two-stage hydraulic unit with high rotational speed, and the control valve actuates the blade angle changeover mechanism through conventional linkage systems and levers. The signal on line 48 is proportional to the blade angle error, ß E, which represents the difference between the desired value or reference value of the blade angle, ß R, T determined by the blade angle regulator 46 (Fig. 3), and its angle / 3A is measured by a blade angle actuator 44 placed conversion- 9- 7905005-o real, instantaneous blade angle / 3A. The actual instantaneous blade, transducer, 50, and an equally representative electrical signal are fed through a signal line 52 to the blade angle controller 46.

The blade angle regulator 46 is used to adjust the blade angle during start-up and disconnection processes and during periods of gusty winds so that the mechanical stresses are as small as possible. It is also used as a link in a closed control loop to regulate the wind turbine rotor speed and thus the electrical output frequency according to a control method resp. the generator's output power or shaft torque according to another control method, depending on the type of load object. If the wind turbine and generator are used, for example, as a single power station, it is generally sufficient to regulate the wind turbine rotor speed, but if the generator is "connected" to a mains by means of a power take-off shaft, control of shaft torque or generator output is required. In both cases, in response to wind turbulence, the control system must keep the generator output reasonably constant. The blade angle controller 46 determines the desired blade angle / A R in dependence on selected operating conditions and reference signals and provides a rapid adjustment of the blade angle from a fully velvet position, i.e. + 9OO, to a full power mode, ie. OO. Since the rotor blades are not flat but are slightly twisted, the blade angle (in degrees) means the blade angle that prevails at a distance of three quarters of the blade length from the rotor hub. In order to provide the blade angle regulator 46 with the required data, the instantaneous rotational speed of the wind turbine rotor can be sensed by a transducer 54, which is connected to the hub 16 and consists, for example, of a gear connected to a magnetic measuring transducer in such a way that line 56 receives an electrical signal proportional to the rotor speed NR. A transducer 58 of a similar type may be connected to the axis "of the synchronous generator 26" to emit on the line 60 an electrical signal which is proportional to the speed NG of the synchronous generator. A transducer 62, for example a wire strain gauge or a plurality of wire strain gauges oriented in different directions, may be connected to a shaft in the gearbox 20 or mounted on the shaft 18 or 22 to sense the torque Q of the shaft and to emit on the line 64 a proportional signal therewith to the blade angle regulator 46. The output power (or output current) VPG from the synchronous generator 26 can be measured and fed to the blade angle controller 46 on a signal line 66 which is connected to the synchronous generator output line 28. Other signal transducers, amplifiers and / or attenuators may also be needed but are omitted for simplicity. are also a plurality of fixed or variable reference signal sources connected, the signals of which may consist of simple direct voltages in analog form or the like. smiles of an A data word in digital form. A reference signal NR REF for the rotor I speed is formed in a block 69 and is supplied to the regulator 46 through a line 70. A torque reference signal Q REF is formed in a block 67 and is supplied on a line 68 to the regulator 46. A reference signal denoted by A NR REF, which is used as a speed topping control, is formed in a block 71 and is fed on a signal line 72 to the regulator 46. An operating signal denoted by FEATHER ("wing") is used to wing the rotor blade of the wind turbine; it is formed in a block 73 and fed to the regulator 46 through a signal line 74 and a switch 76.

The wind speed is sensed by a wind speed meter 78, which is preferably mounted on the apparatus cover 14, Fig. 1, or in some other place where its work is not disturbed by the rotation of the wind turbine. The anemometer 78 measures the instantaneous wind speed and feeds a corresponding signal on a signal line 00 to an average value circuit 82, which consists of an electronic integrator or a digital or microelectronic component, which performs statistical calculation and determines the average wind speed during a preliminary selected time period. The output signal of the average value circuit 82, ie. the average wind speed WWA, is fed on a signal line 84 to the controller 46. In order to clarify the exemplary embodiment of the invention chosen here, it is assumed that the synchronous generator 26 begins to provide useful power at a wind speed of 12.9 km / h and develops its rated power, for example 100 kW, at a wind speed of 29 km / h.

It is further assumed that the rated speed of the rotor is 40 r / m, at which speed the generator 26 emits an output current with the frequency 60 Hz.

A particularly suitable instrumentation of the blade angle controller 46 of Fig. 2 is shown in block diagram form in Fig. 3. The controller consists of an acceleration control program unit 86, a speed control program unit 88, a wind deflecting control program unit 90, a torque control program unit 92 and a deceleration control program unit. 94. The work of the wind turbine can be divided into four different program points, namely start-up, 1 * 79øsoos-o rotor speed control, torque (or power) control, when the wind turbine is connected to a power consumption network and velocity or shut-off. The control means 46 provides an open loop programmed control of the rotor blade angle during start-up and shutdown and a closed loop circuit feedback control of the rotor blade blade angle for speed and torque (or power) control. In addition, the gains in the rotor speed program unit 88 and the torque control program unit 92 are varied depending on the wind speed of a gain program unit 95 through a signal line 97.

Each of the five program units 86, 88, 90, 92 and 94 forms an output signal representing a desired blade angle and called the "blade angle reference signal" for the current operating conditions of the wind turbine. The output of the acceleration control program unit 86, an acceleration blade angle reference signal / 5S steps on a signal line 96 and is fed as an input signal to a "max selector circuit" 98. The output of the rotor speed control program unit 88, a blade angle reference signal IQN for the rotor speed, appears on a signal line 100 and is fed to a summing point 102. The output program 902 , a wind anticipation blade angle reference signal Gant, appears on a signal line 104 and is likewise fed to the summing point 102, where it is summed to the blade angle reference signal / GN of the rotor speed control. The output of the summing point 102 on a signal line G06 for rotor speed oc h blade angle reference signal./ßANT for wind speed anticipation. The signal on line 106 is also supplied as an input to the "max selector circuit" 98. The output of the torque control unit 92, a blade angle reference signal / GQ for torque control, appears on a line 108 and is fed to a summing point 110, where it is also summed with the blade angle reference signal. f3ANT for the wind anticipation, and the output signal from the summing point ll0 on a line ll2 is supplied as a third input signal to the max selector circuit 98.

The max selector circuit 98 selects and forwards a signal on that of the lines 96, 106 and 112, which requires the largest blade angle, i.e. the signal that requires the blade angle closest to the velvet position 900. The signal selected during the start-up process of the wind turbine is normally the acceleration blade angle reference signal lg on line 96, and as the rotor 79o5oo5 ~ o speed increases and approaches the rated value, the selected signal normally becomes either the signal on line 106 or the signal on line 112 , depending on whether the synchronous generator is connected "on the line" or not.

The output signal of the max selector circuit 98 is supplied on a line 114 as an input signal to a summing point 116. As an input signal to the summing point 116, the velvet reference signal FEATHER I is also supplied to the line 74. However, if the switch 76 in the line 74 is broken, no signal is obtained on the line 74, and the output signal from the summing point on a line 111 is identical to that on the line ll4, -i. the output signal from the max selector circuit 98.

The output of the deceleration control program unit 94, a deceleration blade angle reference signal E, appears on a signal line 120 and is fed as a second input signal together with the signal on line 118 to the "min select circuit" 122. The "min select circuit" selects or forwards the signal on the input line 20 which corresponds to the smallest blade angle, i.e. the one that is closest to full power, ie. OO.

During operation of the system with normal power, the signal selected is the signal on line 188. However, if it is desired to turn off the wind turbine quickly, the riot switch 76 is closed, with the riot reference signal denoted by FEATHER appearing on line 74; this signal requires a very large blade angle. At this time, the signal on line 120, namely the blade angle reference signal / 6D for deceleration, registers a smaller Å blade angle and is the signal selected by the minimum selector circuit 122. The selection of the signal¿AD makes it possible to limit the speed at which the blade angle is switched to the velocity position. to, at a minimum, limit the stresses in the rotor blades during deceleration and limit the negative torque exerted by the rotor (the counter torque). The output of the AA Min. Selector circuit on a line l24 is referred to herein as a resulting "blade angle reference signal fi§ R" and is applied to the summing point 126, where it is compared with the current blade angle signal ß A on line 52, the blade angle error signal ßeE being obtained on line 48. It is the latter signal which is sent to the blade angle actuator 44, Fig. 2 The resulting blade angle reference signal / 3R on line l24 is also used for integrator tracking in rotor_speed control program 88 and in torque control program unit 92 and is fed to both of these program units through signal line l28. 94 will be described in more detail below in connection with Fig. Rkel from velvet position to full power position is made to take place with l "79o5oos ~ o Each of the control program units 86, 88, 90, 92 and 4-8.

A To start the wind turbine, the velvet switch 76 is broken, whereby the velvet reference signal FEATHER disappears from line 74; The signal, ßs, which is emitted by the acceleration program unit 86 on the line 96, is the signal selected at this time and serves to change the blade angle of the rotor blades 10, so that the blades leave their winged position, + 90 °, where the traction and thus the torque is zero and the blades are turned in the direction of position A for full effect, ie. Oo. As the rotor speed increases, the rotor torque increases under certain blade angle and rotor speed conditions. There are certain conditions of rotor speed and rotor blade angle, where negative torque or deceleration occurs, so the speed at which the blade angle changes during the start-up process is not arbitrary but must be programmed taking into account the special characteristics of the wind turbine. If the blade angle is adjusted from the wing position too * quickly, the rotor blades can "stall", ie. exceeded. Consequently, a controlled or programmed blade angle change is required. Changing the blade angle at a constant speed from the vane position until the turbine rotor reaches its rated speed is an alternative that has proved useful if the blade angle change occurs quickly, so that the rotor blades are prevented from lingering. rotational speeds that can cause resonance in the system. As the wind speed increases, the time it takes to start up decreases. the wind turbine; a rotor with greater moments of inertia has a longer time to accelerate. The acceleration of the blades increases rapidly with the rotational speed. V V A correct function during the acceleration of the wind turbine can admittedly be achieved by the change of the rotor blades - a fixed speed, but a considerably improved function, which. provides faster acceleration and less stress at all wind speeds, can be obtained by adjusting the blade angle as a function of the average wind speed VWA and the rotor speed NR.

Fig. 4 shows in diagrammatic form a bivariate acceleration control program, where the optimal blade angle during acceleration is introduced as a function of wind speed for different rotor speeds. The smallest starting blade angle is thus defined as a function of the wind_m @ ¿e1haSti9het VWA and the rotor speed NR. The program according to Fig. 4 7905005-0 1 * is built into the acceleration program unit 86 according to Fig. 3, in which the two input signals VWA and NR appear on the signal lines 84 and 84, respectively. 56, and the output signal on line 96 is the acceleration blade angle reference signal.ßs, regulated in accordance with the diagram of Fig. 4. The structure is most easily achieved with digital 1 components by means of a simple fixed memory ("read only memory"), although also analog circuit components can be used.

As shown in Fig. 4, when starting from 0 r / m, a blade angle of + 70O or greater is prescribed, depending on what the program determines and depending on the wind speed. As the rotor speed increases and gives the synchronous generator torque, the blade 8 angle gradually decreases towards zero until the wind turbine rotor reaches its rated speed. The curves shown in Fig. 4 contain minimum blade angle limits which prevent the wind turbine rotor from generating acceleration torque exceeding approx. 200% (or any other desired limit value) of the normal rated value of the torque, whereby the mechanical stresses and the torque transmitted through the rotor shaft and gearbox are limited to the lowest possible values. Thus, during the start-up process of the wind turbine, the blade angle of the rotor is determined exclusively by the acceleration control program unit 86.

Although not shown in the drawing, the NR or rotor speed input signal to the acceleration program unit 86 of Fig. 3 can be replaced with only minor system variations by the generator speed signal NG, since there is a direct relationship between the rotor speed and the generator speed during transmission of the gearbox 20. The general shape of the curves in Fig. 4 does not change. As the wind turbine speed increases in accordance with the acceleration control program of the unit 86, the rotor speed approaches the value programmed into the rotor speed control program 88 by means of the NR-REF signal on line 70. During the start-up process, the signal NR of the current rotor speed line 56 should always be lower than the desired rotor speed NR-REF, and the output of the rotor speed program unit on line 100, ß N, requests a small blade angle, i.e. when under-speed is detected, the rotor speed control program 88 requires a small. " blade angle to try to increase the speed and accelerate the rotor and synchronous generator to the desired speed. At this time, the max selector circuit 98 does not allow the signal on line 106 to pass through, since a larger blade angle is thereby requested by the signal ß S on line 96. As the rotor speed increases and NR approaches, the Anal NR on line 56 is also fed to a derivation circuit 134, on a line 136 to a gain multiplier circuit 138. The multiplicity and appears as a signal KN on a signal line 97a. ll 7905005-0 the value selected by the NR-REF signal, the signal / ÄN requests a larger blade angle, while the signal fi ßs requests a smaller blade angle, and a point is reached at which the blade angle control is taken over by the rotor speed control program unit 88. p Referring to FIG. 3, the rotor speed control program 88 is supplied with input signals for the desired rotor-A speed, NR-REF on line 70, actual rotor speed NR on line 56 and override limit reference signal A NR REF on line 72. Signals are also fed to the rotor speed control unit. 88 from the automatic synchronizing circuit 30 (Fig. 2) on lines 38 and 42. Feedback of the blade angle reference signal 1ßR takes place via line 128, and amplifications for the control program unit 88 are obtained on line 97. In principle 'É, the program unit 88 for the rotor speed compares the actual current rotor speed NR with the desired rotor speed NR REF, whereby a rotor speed f electrical signal is obtained, from which one through proportional, integral and derivative operations obtains the blade angle / ÖN, so that one has a stable, fast-reacting system, which reduces such deviations in rotor speed, and thus in output power frequency, which result from strong gusts or from failure of electrical load. The rate of change of the rotor speed is also monitored to provide extra load compensation. the override or peak limiting signal A NR REF (Étopping signal ") is used only when the synchronous generator is directly connected. The detailed structure of the rotor speed control unit 88 is shown in Fig. 6. VL _ Referring to Fig. 6, the actual rotor speed represented by the signal NR on line 56 is compared at a summing point 130 with the desired speed of the single rotor representing the signal NR REF on line 70, and a speed signal proportional to the difference between them is obtained on a signal line 132. To the signal NR REF on the line 70, the signal appearing on the line 42 can be added via the summing point 131 to effect phase synchronization of the generator 26 with the load object, as will be described in the following § The signal and output signal from the derivation circuit 134, a guide signal is supplied as a function of wind speed The variable gain function according to the present invention 16. The output signal from the multiplier 138 is fed to the summing point 130 on a signal line 142 in the same direction as the signal NR, so that the signal appearing on the line 142 represents the error in the current rotor speed error plus a constant times the rate of change of the rotor speed. L 0 A switch 144 connected in line 72 is normally broken, thereby preventing the peak limiting signal¿inNR REF from being supplied to the summing point 130. If, on the other hand, the synchronous generator is directly connected to a power grid, the blade angle control is connected to the torque program unit 92 (fig; 2), and the switch 144 is closed by the discrete signal on line 38 to allow the signal IN REF to be supplied to the summing point 130.

The signal brNR REF has such a size and direction that it is added to the signal NR REF, whereby the desired speed of the generator is increased to a value exceeding the rated value l800 r / m by an amount corresponding to the size of the signalÅNlRREF. However, since the signal REF is only used when the synchronous generator is directly connected and when the blade angle control has been transmitted to the torque program unit 92 according to Fig. 3, the signal NRF REF functions as overrunning or overrun protection. VV - A signal appears on line 42 when the synchronous generator 26 according to Fig. 2 has the desired frequency, but is not in phase with the load object, and this signal is of such magnitude and direction that it temporarily increases or decreases the signal for the rotor reference speed NR REF on line 70. The presence of the signal on line 42, which at the summing point 131 is added »to the reference signal NR REF, adjusts the rotor speed slightly until phase synchronization is reached when the signal on line 42 becomes zero. 2 '2 Assuming that contact 144 is broken and no signal appears on line 42, the rotor speed error signal plus a constant times the rotor speed change rate is fed to proportional, integral and derivative circuits, which are combined to obtain signal lß on line 100. N. The proportional control circuit includes a gain multiplier 146,4 having a variable gain, KNP, which is recorded through a line 97c, the output of the multiplier 152 being fed as an input signal to a summing point 158 through a line 156. The output of the summing point 158 is fed on a line 160 to an integrator circuit 162, the output of which on a line 164 list * Vf ~ "w" '7905005-0 is fed to the summing point 150, where it is summed with the proportional control signal. IVI In accordance with another aspect of the invention, integrator tracking is used. to keep the integrator 162 in an idle control state near the resulting reference blade inkeln / GR.

The integrator output of line 164 is fed to a summing point 166 and compared to the wsR feedback signal at line 128. The output of summing point 166, a blade angle error signal, is fed at line 168 to a gain circuit 170 having a "dead band", such as is shown in Fig. 6. The function of the gain circuit 170 is to force the integral control signal to follow the reference blade angle signal / Ö R only when that of the integral. tower 162 determined the blade angle in the rotor speed control differs significantly from the resulting reference blade angle is. The "dead band" ensures that no tracking occurs as the recorded plate angle on line 164 is very close to that corresponding to the resulting reference blade angle / ßR. The output of the gain circuit 170 is supplied on a line 172 to the summing point 155 to be summed with the integrator input signal on the line 156, and the signal on the line 172 is zero when the blade angle error is within the deadband, while it is non-zero to added to or subtracted from the integrator input signal when the blade angle error falls outside the deadband.

The derivative control comprises a variable gain multiplier circuit 174, KND, which is programmed through a signal line 97d, the output signal of the multiplier circuit 174 being fed through a signal line 178 to a derivative circuit 180. The output signal of the derivative circuit is fed on a line 182 to a summing point 184, the integral and proportional control signals from the summing point 150 on a line 186. The output signal 'from the summing point 184 is the rotor speed blade angle reference signal / ÄN, which occurs on the line 100. HVV' »In some cases, the derivative circuits 134 and 180, fig. 6), are not needed but can be omitted, or they can resp. the reinforcements KN on line 97a and KND on line 97d are reduced to zero. The need for lead compensation becomes dependent on the nature of the sensed variable variable.

The torque control unit 92 (Fig. 3) is used to limit as much as possible the variations in the torque of the rotor shaft and the stresses on the rotor blades due to gusts aefaeiua ~ fl awsmwaa »ida '7905005-0. _ ~ 18 'and turbulence, when the synchronous generator is connected to an electric power grid. According to the particularly suitable control program, the torque Q of the shaft which connects the wind turbine I to the synchronous generator is sensed as its primary control variable. The signal Q, which represents the actual shaft torque, appears on the signal line 64 and the signal Q REF, which represents the desired value, setpoint of the torque signal, appears on the signal line 68. The torque control program 92 is similar to the rotor speed control program 88 in that the torque value is is compared with its setpoint Q REF, and the resulting difference or error signal is used to moderate the blade angle of the rotor using proportional- plus integral- plus derivative controls, so as to obtain a stable, fast-reacting control loop which reduces torque variations as much as _ possible. By appropriate selection of control reinforcements in combination with a fast-acting blade angle adjustment mechanism, damping of the torsional resonance resulting from the wind turbine's torsional inertia and the resilience of the shaft is obtained. The control reinforcements are also selected to minimize the torque deviations that occur as a result of heavier gusts; By arranging damping for the wind turbine rotor's resonant oscillations around the pivot shaft, it helps to reduce the stresses on the rotor blades, the loads on the gearbox and the torque loads on the rotor shaft and has the opportunity to use a faster reacting torque control circuit. The output signal from the torque control unit 92 is the torque control blade angle reference signal / Ö Q, which appears on line 108. Feedback of the blade angle reference signal / QR takes place via line 128 and gain control is provided via line 97.V.

The torque program unit 92 outputs the torque blade angle reference signal / ÖQ on line 108 only when the synchronous generator is "on line", ie. only when the output frequency and phase of the synchronous generator are synchronized with the load power network, within the limits determined by the synchronizing circuit 30, Fig. 2. At the same time as the output signal from the synchronous generator is switched on "on the line", the rotor speed control program unit 88 is converted Consequently, when the generator is directly connected to the line, the wind turbine always has a lower speed in relation to the setpoint speed NR REF plus A NRREF, and the rotor speed 'blade angle reference signal »Inalen / ÉR on line 128, which signal is compared with integra- - considerably from the reference blade angle / SE? 1 * 79osoo5-0 on line 100, i.e. the signal / ÖN requires a reduced blade angle to increase the rotor speed. The torque control program unit 92 mm limits the blade angle for adaptation to the system torque limitations and in most conditions requires an increased blade angle, ie. a blade angle that is closer to the velvet position. Since the max selector circuit 98 of FIG. 3 transmits the signal for the largest blade angle, it is the torque blade angle reference signal / ÛQ which is passed through this circuit 98, and the rotor speed control program unit 88 becomes active only in emergencies when the rotor is rusting, the rotor speed blade angle reference signal being the signal the larger blade angle.

Fig. 8 shows the torque program unit 92 according to Fig. 3 in more detail. The measured torque signal Q on line 64 and the setpoint Q REF of this signal on line 68 are compared at a summing point 188, so that a torque error signal is obtained on a signal line 190. Proportional control is obtained by means of a multiplier 192 with a variable gain, KQP , which is registered via a line 97e. Integral control is obtained by means of a multiplier 196 with a variable gain, KQI, which is registered via a V line 97f. The output of the multiplier 196 is fed on a line 198 to a summing point 200, the output signal from the summing point 200 being fed on a line 202 to an integrator 204.

The output of the integrator is fed on a line 206 to a summing point 208, where it is added to the output of the multiplier 192 on a line 210. As in the rotor speed program unit (Fig. 6), there is integrator tracking through the output of the reference blade angle signal at a summing point 212. The amplifier circuit 216 is fed on a line 214 through an amplifier circuit 216 and then on a line 218 to the summing point 200. The amplifier circuit 216 has, as shown in Fig. 8, a "dead band" for following the integrator 204 only when its output signal differs. is provided by means of a multiplier 220 with a variable gain KQD which is controlled via a line 97g., the output signal of the multiplier 220 is fed on a line 228 to a summing point 230, where it is combined with the proportional plus integral output signal from the summing point 208 on a signal line. 232. I 'I The output signal on line 108 from the summing point 230, i.e. bia angle reference signal AQ, passes through a Switch. 7905005-0 or contact 234. The contact 234 is closed, whereby the blade angle reference signal / ßQ can pass through it only when the synchronous generator is connected "on the line", and a discrete signal is emitted by the synchronizing circuit 30 (Fig. 3) on line 38. The signal on line 38 closes the switch 40 (Fig. 2), connecting the synchronous generator to the load network at the same time as the contacts l44 (Fig. 6) and 234 (Fig. 8) are closed, the speed control program unit 88 is transformed into a burst protection, as described above, and the torque control program unit 92 is also connected to the system.If the Qw generator is disconnected from the external load network for some reason or if the frequency and / or phase of the synchronous generator deviates from the load network, the signal disappears discreetly. line 38, whereby the contacts 40, 144, 234 are broken and the wind turbine returns to rotor speed control.During the direct connection on the line, and thus with the blade key under the control of the torque control program unit 92, the generator speed and thus its output frequency are kept reasonably constant by the load-bearing power grid. Once the power grid has been connected, it strives to keep the synchronous generator speed at the power grid frequency and in phase with the grid.

A reduced rigidity of the rotor shaft results in reduced torsional suspension capacity of the shaft which connects the wind turbine to the synchronous generator and helps to reduce disturbances in the shaft torque.

According to another aspect of the invention, an additional contribution is made to reducing the deviations in shaft torque when the generator is directly connected to the line and to reducing the speed deviations when the generator is not connected, this by means of the wind forecast or wind prediction program unit 90 according to Fig. 3, which is shown in more detail in Fig. 7. The wind forecast program unit 90 emits on line 104 a signal / ÖANT for rapid change of wind conditions through a nominal program for the blade angle of the wind turbine; block 236, as a function of the wind speed VWA, which on line 84 acts as an input to block 236, and a derivative overlay forecast circuit in block 237. The wind forecast program in block 236 is obtained by calculating a blade angle required to provide constant output for different wind speeds, assuming that the generator speed is constant at the desired reference value.

Two wind forecast programs can be used, one derived for 100% power when applying online ("on-line" § torque control and the other derived for the power 0% for indirect 2L 7905005-e operation ("off-line"). in both these cases the signal ßANT on the line 104 is non-zero only under rapidly varying wind conditions.The signal is added at the summing point 102 to the blade angle reference signal IÖN for the rotor speed control and is also added at the summing point 110 to the blade angle reference signal the forecast signal implements a change in the blade angle, which to a minimum reduces transient deviations in rotor speed or torque that could be caused by gusts of wind.

However, stronger gusts of wind generally change the torque or speed sufficiently to cause the generator to be switched off from the supplied line ("taken off-line") until the correct frequency and phase have been restored. w Alternatively, the shaft torque deviations can be reduced by means of a conventional slip clutch between the wind turbine and the synchronous generator.

The use of proportional-plus derivative- plus integral control, which is combined into an integrator with quadratic lead compensation in both generator and torque control units 88 and 92, results in a remarkably improved stability and sensitivity of the control loops.

Quadratic line compensation introduces an attenuated anti-resonance before the system's primary resonant frequency, which provides additional capacitive phase shift, thereby obtaining greater system gains and cross-coupling frequency, so that faster operation and more precise control are achieved. Filtration may be necessary if the speed and / or torque sensors are too noisy.

The deceleration control program unit 94 of Fig. 3 operates in accordance with the diagram of Fig. 5. In the event that the wind turbine must be stopped quickly, it is important to limit the speed at which the rotor blades are bladed in order to reduce as much as possible the stresses to which the blades are subjected. for when the wind turbine decelerates. In accordance with the invention, this limitation is achieved by the introduction of a maximum blade angle limit, which is determined as a function of the average wind speed VWA and the rotor speed NR. The control program is shown in Fig. 5 for a typical wind turbine, in which the blade angle reference signal / GB for deceleration control is introduced as a function of the wind speed VWA for selected rotor speeds NO. The control program according to Fig. 5 is materialized in Fig. 3, according to which input signals representing the wind 22. 79Ü5Û05 * Û average speed VWA on the line 84 and the rotor speed NR on the line 56 are fed to the deceleration control program unit 94, which program unit typically consists of an analog or digital bivariate function generator, which outputs an output signal / GD on line 120, which in turn is output as an input signal to a min selector circuit 122. During the normal operation of the wind turbine, the deceleration control program unit 94 forms a blade angle reference signal, / ÖD, which _ requires a blade angle greater than that determined by the rotor speed program unit 88 or the torque program unit 92. Thus, the signal transmitted through the min select circuit 122 is that which appears on the input signal line 118 and which requires the smallest blade angle. If the wind decreases to less than the speed required to generate the rated power or the rated speed; requests the signal on line ll8 an even smaller blade angle.

The deceleration control program alone regulates the blade angle when you want to stop the wind turbine, ie. when the switch 76 in the velvet signal line 74 is closed. When closing the contact or the etrometer 76, a fill signal Fmewnsn appears on the line 74 and is fed to the summing point 166, and this velocity signal FEATHER has a strength sufficient to produce on the line 11 a signal which requires a very large blade angle independent of the signal on the line. ll4, i.e. the second input signal to the summing point ll6. In this position, the signal on line 120 always requires a smaller blade angle than the signal on line 111 and the min-selector circuit 122 passes the deceleration blade angle reference signal / SD on line 120. The wind turbine will thus reduce its speed and be stopped in accordance with the program of FIG. 5, which limits the negative torque generated by the rotor to a value of approx. twice normal positive torque.

As with the acceleration program 86, it is clear that the generator speed NG can be used in the deceleration program instead of the wind rotor speed NR. The velvet contact 76 is shown here in the form of a manual switch, which in reality functions as an on-off switch in that the switching of the switch entails elimination of the velvet signal FEATHER and acceleration of the wind turbine.

It will be readily appreciated that the velvet switch 76 may shut off automatically if the wind turbine is provided with certain protection circuits, e.g. against rushing, against excessive power and / or against overheating, and these circuits may be connected to the contact 76 and arranged to close it if a hazardous operating condition should arise. Also other, mechanical protection measures, e.g. a shaft brake, may be used, as will be readily appreciated by those skilled in the art.> Å Due to the non-linear aerodynamic mode of operation of the wind turbine, it is desirable to vary the control gains in the closed loop circuits depending on the operating conditions to provide optimum stability and transition response. The particularly preferred device for materializing this desire is shown in Fig. 9, where the average wind speed VWA on line 84 (Fig. 9) is fed to the control program unit 95 (Fig. 3), which contains a plurality of function sensors 238, 240. 242, 244, 246, 248, 248 and 250 of analogue or digital type, which in turn emit signals on their respective lines 97a, 97b, 97c, 97d, 97e, 97f and 97g, which signals each represent one of the The KQP, KQI and KQD.pThe control gains are fed to the corresponding gain multipliers in Figs. 6 and 8 to determine the H of the multipliers as a function of the wind speed programs determined the control gains KNP, KNI, KND, KN, É het. The gain curves shown in the function sensors according to Fig. 9 are only chosen as examples, since the actual gains are dependent on many factors and cannot be determined exactly without analysis of the special construction of the wind turbine and the nature of the components.

As an alternative to determining the control gains as a function of the average wind speed according to Fig. 9, reg. The clay reinforcements are programmed as a function of a "synthetic", assumed wind speed, which is a function of the blade angle of the turbine and the torque of the turbine shaft. For practical materialization of this aspect of the invention, a device according to Fig. 10 is preferably used, where signals representing the actual value / ÖA of the blade angle, and the shaft moment, Q, on the lines 52 and 64 (Fig. 2) in the gain control program unit 95 are fed to an analog or digital , bivariate function sensor 252, in which the shaft moment Q is caused to vary as a function of a synthetically assumed wind speed VWS for a plurality of rotor blade angles / SA. The output signal of the function sensor 252, i.e. the synthetic wind speed VWS, appears on line 260 and is fed to function sensors 262, 264, which determine the control reinforcements KNP, KQD on line 97b resp. wire 97g. The five other function sensors shown in Fig. 9 are omitted in Fig. 10 for the sake of simplicity. Here, too, they are in the function sensors, according to Figs. The curves shown are selected by way of example only, but they are similar to those described in connection with vsosoos-0 2e ïig. Q. It is clear that other combinations of wind speed, blade angle and shaft torque, as well as other parameters, can also be used to determine the variable control gains.

In most previously known control systems, constant reinforcements were used in the control loops, but with the advent of cheap digital micro-components resp. microcomputers, it is easy and cheap to introduce variable amplifications in the control system.

Fig. 11 shows a modified embodiment of the blade angle regulator. tower 46 according to Fig. 3, where the rotor speed program unit 88 has been replaced by a generator speed program unit 266 and the torque program unit 92 has been replaced by a generator power (control) program unit 268. In the generator speed program unit the generator speed NG of the signal line 60 is compared with the generator value NG. , which is determined in a block 269 and appears on a signal line 270, forming an error signal, and proportional- plus integral- plus derivative control signals with variable gains are formed in the control or regulation program unit 266 in a manner similar to that described in connection with fig; 6, so that a generator speed blade angle reference signal / ÖNG is obtained on a signal line 272. Override protection or speed stop limitation is obtained by adding to the signal NGREF a signal A NGREF formed in a block 273 and appearing on a line 274 when the synchronous generator is turned on. on the line ".

Integrator tracking also takes place as in Fig. 6 using the reference blade angle signal / QR on line 128. The variable gain inputs to block 266 are not shown in Figure No. The generator power control program unit, shown in a block 268 in Fig. 11, operates in a manner similar to the torque control unit 92 in Figs. 8. The electrical output power PG of the synchronous generator on line 66, Fig. 2 (or alternatively its output current only), is compared with a setpoint reference signal PGREF for the generator output power (or corresponding outflow reference signal), which is formed in a block 279 and appears on a line 280, so that the difference between them forms an error signal, and proportional plus integral plus derivative control signals, variable gains and integrator tracking occur in the same manner as in control according to Fig. 8, so that on a line 282 generates a generator power (or current) blade angle reference signal ¿6P. An addition of wind projection blade angle reference signal eng6ant to the reference signals / GNG and / ßp and the use of switches

Claims (28)

1. Zl 79osoos ~ o ren to connect the generator's power control program unit in-- the system only when the generator is directly connected "on the line", can be done in the above already described-, I 'l In cases where more electric power is required than as can be supplied by a single wind turbine, a number of wind turbines can be connected in parallel but so that they resp. the synchronous generators provide electric power with the same frequency and phase. Parallel coupling is thereby achieved not by varying the magnitude of the generated voltages as in the generation of direct voltage, but by varying the input power of the wind turbines by regulating the blade angle of the rotor. W The mode of operation of the control system has been described here mainly with reference to block diagrams and function sensor A without any detailed description of their construction. However, it is obvious that the control system can be constructed of exclusively analog data components, whereby the signals on the various lines consist of voltages. However, it is also clear that the particularly preferred structure of the control system is digital-V, using currently existing microprocessors and / or digital microcomputers for the performance of the required control and monitoring functions. In the digital form of the system, a conversion of the sensed parameter signals from analog to digital form and a re-conversion of the active control or regulation signals from digital to analog form may be required. A wind turbine driven control device in an electrically producing wind turbine, the wind turbine comprising a wind driven rotor with a plurality of variable blade angle rotor blades and the control unit comprising a blade angle adjusting device adapted to control the blade response of a blade blade angle, f kgä nn el- V sign ad 'of the combination of the following means and components respectively:, lf _' on the one hand a means for sensing a variable operating parameter of the system and for forming therefrom a first signal representing this parameter; On the one hand, a means for sensing the speed of the wind which drives said rotor and for forming a second signal therefrom, which represents this wind speed; A subdivision recording means arranged to respond to said first and second signals in response to said first and second signals; secondly, a means for sensing the actual value of the blade angle of the rotor blades and for forming a third signal representing this actual value; _ _ on the one hand, a comparison device which compares said blade angle signal with the third signal and forms said blade angle error signal¿ _ 2. A control device according to claim 1, characterized in that said recording means comprises on the one hand a device for generating a reference signal for said variable operating parameters; on the other hand, a device for comparing said first signal with the reference signal for this variable operating parameter and forming an error signal corresponding to the difference between them; on the one hand, a signal conditioning device for modifying said error signal as a function of said second signal to form said blade angle reference signal. 3. A control device according to claim 2, characterized in that the conditioning device comprises: A firstly a multiplier for forming from the wind turbine rotor speed error signal a proportional control signal as a function of said second signal; secondly, a second multiplier and an integrator for forming from the wind turbine rotor speed error signal an integral control signal as a function of said second signal; secondly, a third multiplier and a differentiator for forming from the wind turbine rotor speed error signal a derivative control signal as a function of said second signal; and a device for combining said proportional, integral and derivative control signal. 4. A control device according to claim 3, characterized in that said first, second and third multipliers are each variable as a respective function of said second signal. V 5. A control device according to claim 4, characterized in that it further comprises the following components in combination:, on the one hand, a device for generating a speed signal, which represents the rate of change of said rotor speed signal; 2 '7905005-o on the one hand a multiplier for modifying said speed signal as a function of said second signal; and a device for combining the modified speed signal with the wind turbine rotor speed error signal. A control device according to claim 1, characterized in that said recording or program device comprises: on the one hand a device for forming proportional, integral and derivative control signals as a function of said first signal; on the one hand, a device for modifying each of these control signals as a function of said second signal; and a device for combining the thus modified control signals. Control device according to one of Claims 1 to 6, characterized in that the device for generating a first signal comprises a means for measuring the rotational speed (speed) of the rotor and for forming a rotor speed signal representing it. A control device according to any one of claims 1 to 6, wherein said wind turbine is an electric generator which is connected by a shaft to said rotor, characterized in that the device for forming a first signal comprises a means for measuring the torque of the shaft and for forming of a torque signal representing this. Control device according to one of Claims 1 to 6, 10. wherein said wind turbine is an electricity generator, k n n e t e c k - 11. n a d a v that the device for forming said first 12. signal comprises a means for measuring the output power of the generator 13. and for the formation of a generator output power representing it 14. signal. _ 15. l0. A control device according to any one of claims 1-6; 17. wherein the wind turbine is coupled to said rotor by a shaft, 18. so that the speed of the generator is in relation to that of the wind rotor 19. rotational speed (speed), k ä n n e t e c k n a d a v att Said device for generating the first signal comprises 21. a means for measuring the speed of the generator and for the formation 22. of a generator speed signal representing this. 23. ll. A control device according to any one of claims 1-6, 25. wherein said wind turbine is an electricity generator, k n n ~ e t e c k - 26. n a d a v that the device for forming a first signal 27. comprises a means for measuring the generator generated by said generator. 28. ._ i ;; 7905005-0 and the generation of a generator current signal representing it. l2. A control device according to any one of claims 7 - 11, characterized in that it further comprises: on the one hand a device for comparing said integral control signal with said blade angle control signal and thereby forming an integral error signal; On the one hand, a tracking device which has a "dead band" for receiving said integral error signal and attenuating this signal when it falls outside a preselected range, which A is determined by said "dead band", and transmitting the integral error signal. without attenuation, when the integral error signal falls within the preselected range; secondly, a device for summing the output signal from said tracking device with the input signal to said integrator to thereby keep said integral control signal in a predetermined relation to said blade angle control signal, which is determined by said "dead band". 13. A control device according to claim 12, characterized in that said control means device ("scheduling means") comprises a device which for the acceleration phase of the wind rotor forms a signal representing a minimum setpoint for the blade angle relative to the blade angle signal at which the rotor angle the blade is operated at full power. 14. A control device according to claim 12 or 13, characterized in that said control program device comprises a device which for the deceleration phase of the wind rotor forms a signal representing a largest setpoint for the blade angle signal, relative to the blade angle signal at which the rotor blades are operated at full power . l5. A control device according to claim 13 or 14, characterized by a device for selecting one or the other of the two blade pitch angle reference signals, said comparison device comparing the actual blade pitch angle signal with said selected blade pitch angle signal and said blade angle. 16. A control device according to claim 15, characterized in that said device for selecting one of said leaf pitch angle signals has a maximum value selector device which is coupled to receive said minimum 2 * 7905005-0 leaf pitch angle signal and said second leaf pitch angle signal. and transmitting the signal which determines the largest blade angle. 17. A control device according to claim 16, characterized in that said device for selecting one of said blade pitch angle signals further comprises: on the one hand a device for forming a third blade pitch angle signal, which determines a maximum blade pitch angle when the wind rotor decelerates; In a minimum selector device; secondly, a device which outputs the leaf pitch angle signal transmitted by the max selector device and said maximum leaf pitch angle reference signal to said minimum selector device, said minimum selector device transmitting the signal which determines the minimum leaf pitch angle, "'18; 1 - 17, where the wind turbine is a synchronous generator, characterized by “A partly a device operative in dependence on changes in wind speed for driving said rotor and for forming a lead or forecast blade pitch angle reference signal as a function thereof; On the one hand, a device for summing said forecast leaf pitch angle signal with said leaf pitch angle signal, wherein said leaf pitch angle control device is arranged to control the leaf angle setting of the rotor blades in dependence on the leaf angle signal thus summarized and the reference signal. 19. A control device according to claim 18, characterized in that said device for forming a lead or forecast blade pitch angle reference signal comprises: on the one hand a dependent on. the velocity of the wind rotor driving wind to determine an advance or forecast signal for the setpoint angle setpoint; 7th part one derivation device, which is applied to said setpoint or forecast signal and hence forms said forecast pitch angle reference signal as a function of its rate of change (derivatives). V du, 20. A control device according to any one of claims 1 - 19 / wherein the wind turbine is a synchronous generator, the characteristics of the water generator being arranged to supply said electrical power to that which is led through a power transmission network, the device further comprising: a device which, in response to a second variable operating parameter in the system and to the wind speed for driving the rotor, forms a second blade angle signal which is applied to said blade angle control device; wherein the blade angle control device selects said blade angle signal when the electric power generated by the synchronous generator is not synchronized with the power in said power transmission network, while the device selects said second blade angle signal when the electric power generated by the synchronous generator is synchronized with the power of the AC power supply; 1A and wherein said comparator device compares the selected blade angle control signal with said blade angle actual value signal to form said blade angle error signal. A device according to claim 20, characterized in that the device affected by a second variable system parameter comprises a member affected by the power of the system. “L 22. A control device according to any one of claims 1 to 21, characterized in that the device for generating said first signal comprises a wind speed measuring sensor. 23. A control device according to claim 22, characterized in that said device for generating said first signal further comprises a device connected to the wind speed meter for calculating the average value of its output signal for a preselected time period. IN A control device according to any one of claims 1 to 23, characterized in that the device for generating said first signal comprises a function sensor for determining said first signal as a bivariate function of the blade angle of the rotor blades and the electrical power produced in said system.