TW201923221A - Wind power generation system and operation method thereof capable of suppressing the variation of blade pitch angle in the wind power generation system - Google Patents

Abstract

The subject of the invention is to provide a wind power generation system capable of suppressing the variation of blade pitch angle in the wind power generation system, and an operation method thereof. To solve the problem, the wind power generation system is provided with: a blade capable of changing the blade pitch angle; a rotor rotated by wind, a machine cabin capable of rotatably supporting the rotor; a power generator using the rotation energy of the rotor to generate electric power; and a control device for carrying out a control according to the blade pitch angle. The control device is provided with: a wind speed estimating means for estimating wind speed; a blade pitch angle model for displaying the relationship between the wind speed and the steady state characteristic of the blade pitch angle; and a feedforward control portion for determining a first command value of the blade pitch angle according to the blade pitch angle model based on the wind speed estimated by the wind speed estimating means.

Description

Wind power generation system and operation method thereof

The present invention relates to a wind power generation system and a method of operating the same, and more particularly to a wind power generation system and a method of operating the same that can appropriately reduce load variation of a pitch adjuster that adjusts a blade pitch angle of a floating offshore wind power generation system.

In recent years, there have been concerns about climate change due to an increase in the amount of carbon dioxide emissions and energy shortage due to depletion of fossil fuels. It is expected that carbon dioxide emissions will be reduced and energy self-sufficiency will increase. In order to achieve such a realization, it is effective to introduce a power generation system that generates electricity by using a renewable energy source that can be naturally obtained, such as wind power or sunlight, without using carbon dioxide and using fossil fuels depending on the inlet.

Among the power generation systems using renewable energy, a wind power generation system having a steep output change depending on the solar radiation system, such as a solar power generation system, has been attracting attention as a power generation system capable of performing relatively stable power generation output. In addition, the wind power generation system installed on the sea with a high wind speed and a small change in wind speed is attracting attention as a powerful power generation system. Further, since the energy conversion efficiency of the wind power generation system rotor differs depending on the wind speed, the variable speed operation in which the operating range of the rotor rotation speed is variable is performed.

The above-described variable speed control is an effective means for adjusting the generated electric power of the wind power generation system. However, when the wind power generation system is installed on a base that can float on the sea (hereinafter referred to as a floating body), the floating body may be excited. The natural vibration of the angle in the front-rear direction (cabin pitch angle in the case of a floating body). This vibration phenomenon is generally referred to as a negative damping phenomenon.

The cause of the negative damping phenomenon is the operation using the pitch angle of the blade under the above-described variable speed control. The reason is that the blade pitch angle is operated in order to maintain the rotor rotational speed (or the generator rotational speed) at a rated value, so that the thrust which is a force applied to the rotor from the wind in the front-rear direction is increased or decreased, and the natural vibration of the cabin pitch angle is excited. . If no countermeasures are taken, the vibration amplitude of the cabin pitch angle increases, resulting in an increase in load on the tower and other structures and accumulation of fatigue.

In the means for suppressing the above-described negative damping phenomenon, Patent Document 1 discloses "a wind power generation device, an active vibration damping method thereof, and a wind turbine tower". In short, the accelerometer that is attached to the nacelle and detects the acceleration of the vibration of the nacelle, and the acceleration detected by the accelerometer, calculates the wind turbine for canceling the vibration of the nacelle by generating a thrust force on the wind turbine blade. The means of the pitch angle of the blade. [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent No. 4599350

[The problem that the invention wants to solve]

The means described in Patent Document 1 is applied so that the above-described negative damping phenomenon can be suppressed. Among them, the blade pitch angle is used to suppress the change in the pitch angle of the nacelle, but the blade pitch angle also functions as the power generation electric power output by the adjustment system. Therefore, when the method described in Patent Document 1 is used, the blade pitch angle is controlled by two. And the instructions.

As a result, when two command values for controlling the blade pitch angles opposite to each other are controlled, the purpose of each control cannot be satisfied. Therefore, the individual control may further increase the command value, that is, the interference between the controls may occur.

The inventors have grasped the insight that the action amplitude of the blade pitch angle is enlarged (diverge) due to this phenomenon, or the change in the pitch angle of the blade becomes large even if the divergence is not reached, and the load variation of the pitch adjuster that operates the blade pitch angle is increased. Increase.

Accordingly, an object of the present invention is to provide a wind power generation system and a method of operating the same that suppress fluctuations in a blade pitch angle of a wind power generation system. [Technical means to solve the problem]

In order to solve the above problems, the present invention provides a wind power generation system including: a blade having a blade pitch angle, a rotor that is rotated by the wind, a nacelle that rotatably supports the rotor, and a power generation by using the rotational energy of the rotor. a motor and a control device for controlling a blade pitch angle; the control device includes: a wind speed estimating means for estimating the wind speed; a blade pitch angle model indicating a relationship between the wind speed and a steady state characteristic of the blade pitch angle; and a wind speed estimated based on the wind speed estimating means A feedforward control unit that determines a first command value of the blade pitch angle based on the blade pitch angle model.

Further, the present invention is directed to a method of operating a wind power generation system including: a blade having a blade pitch angle, a rotor that is rotated by the wind, a nacelle that rotatably supports the rotor, and power generation by the rotation energy of the rotor. The generator; wherein, the relationship between the memory wind speed and the steady-state characteristic of the blade pitch angle, the blade pitch angle of the blade is determined in advance according to the command value of the blade pitch angle determined by the estimated wind speed. [Compared to the efficacy of prior art]

According to the present invention, fluctuations in the pitch angle of the blade of the wind power generation system can be suppressed.

Hereinafter, embodiments of the present invention will be specifically described using the drawings. In addition, the following are merely examples, and it is not intended to limit the embodiments of the invention to the following examples. [Examples]

Hereinafter, embodiments related to the present invention will be specifically described.

First, a schematic configuration of the entire wind power generation system to which the present invention is applicable will be described with reference to Fig. 1 .

The wind power generation system 1 of FIG. 1 includes a rotor 4 including a plurality of blades 2 and a hub 3 that connects a plurality of blades 2.

The rotor 4 is coupled to the nacelle 5 via a rotating shaft (not shown in FIG. 1), and the position of the vane 2 can be changed by rotation. The nacelle 5 supports the rotor 4 to be rotatable. The nacelle 5 is provided with a generator 6 at an appropriate position. The blade 2 is subjected to wind to cause the rotor 4 to rotate, and the rotational force of the rotor 4 causes the generator 6 to rotate and thus generates electric power.

Each of the blades 2 is provided with a pitch adjuster 7, which can change the positional relationship between the blade 2 and the hub 3, and can change the angle of the blade called the pitch angle. The pitch angle of the blade 2 is changed by the pitch adjuster 7, so that the rotational energy to the wind rotor 4 can be changed. Thereby, the generated electric power of the wind power generation system 1 can be controlled while controlling the rotational speed of the rotor 4 over a wide range of wind speeds.

In the wind power generation system 1 of Fig. 1, the nacelle 5 is provided on the tower 8, and is supported to be rotatable relative to the tower 8. The load of the blade 2 is supported by the tower 8 via the hub 3, the nacelle 5, and the like. The tower 8 is provided in the floating body portion 9, and is installed at a predetermined position on the ground, at sea, at a floating body or the like.

The generator 6 provided in the nacelle 5 is controlled by the power adjustment system (not shown) provided in the tower 8 (or in the nacelle 5 or in the floating body portion 9), and the rotation of the rotor 4 can be controlled. Moment.

Further, the wind power generation system 1 includes a controller 10 that adjusts the generator 6 and the signal output from the rotation angle sensor 11 that measures the rotation angle of the rotor 4 and the power generation power measured by the power adjustment system. The pitch adjuster 7 adjusts the power output by the wind power generation system 1.

Further, the controller 10 adjusts the operating state of the wind power generation system 1 based on the wind speed sensor 12 that can measure the wind speed, and the wind direction sensor 13 that can measure the wind direction in the vicinity of the nacelle, and adjusts the pitch adjuster 7.

Furthermore, the controller 10 adjusts the pitch adjuster 7 based on the tilt angle sensor 14 that measures the cabin pitch acceleration indicating the forward and backward acceleration of the nacelle 5 or the cabin pitch angle indicating the forward and backward tilt angles of the nacelle, thereby reducing the cabin pitch. Angle of vibration.

Here, the wind speed sensor 12 may be a sensor that can directly measure the wind speed in the vicinity of the nacelle 5, or may be a sensor that can measure the wind speed in the forward direction and the windward direction of the nacelle 5. Further, the cabin pitch angle as the output of the tilt angle sensor 14 may be an angle based on a horizontal direction with respect to a horizontal plane, or may be an angle based on an angle under a predetermined condition. When the wind power generation system 1 is installed on the land, the state of the nacelle in the absence of wind can be used as a reference angle based on the vertical direction. Further, when the wind power generation system 1 is installed on the floating body stage, the vertical direction with respect to the horizontal plane can be used as the reference angle, and the state of the nacelle under the condition of no wind and high wave height can be used as the reference angle.

In FIG. 1, the controller 10 is illustrated as being disposed outside the nacelle 5 or the tower 8, but is not limited thereto, and may be provided inside or outside the nacelle 5, the tower 8 or the floating portion 9. The intended location or the way the wind power system 1 is external.

FIG. 2 is a block diagram showing a first configuration example of the operation control means attached to the controller 10. Further, the block diagram shown in Fig. 2 is a partial extractor that controls the blade pitch angle, and the processing content of the controller 10 is not limited thereto, and means for controlling the generator 6 is also provided.

The operation control means of the controller 10 shown in Fig. 2 includes a rotation speed control unit 21, a nacelle vibration control unit 22, a feedforward control unit 23, and addition units 24 and 25, and gives the desired blade pitch angle command value PB to the pitch adjustment. The controller 7 controls the pitch adjuster 7.

The rotation speed control unit 21 determines the blade pitch angle command value PB _S based on the generator rotation speed S determined by the azimuth angle of the output signal of the rotation angle sensor 11, and controls the rotation of the rotor 4 for adjusting the generated power. speed.

The cabin vibration control unit 22 determines the blade pitch angle command value PB _Θ based on the cabin pitch angle which is the output signal of the sensor 14 measured for the cabin pitch angle θ, and suppresses the vibration of the cabin pitch angle.

The feedforward control unit 23 determines the blade pitch angle command value PB _V based on the wind speed V, and suppresses interference between the rotation speed control unit 21 and the cabin vibration control unit 22.

Further, in an embodiment of the present invention, the blade pitch angle command 21 determines a rotation speed control unit value PB _S, the blade pitch angle command 22 determines nacelle vibration control unit value of the pitch angle of the blade _PB Θ and feedforward control unit 23 determines the The command value PB _V represents the value of all the same underground commands for a plurality of blades 2 .

The adding section 24, the value of PB _S 21 to the blade pitch angle command control unit determines the rotational speed, blade pitch angle command determined 22 cabin vibration control unit for adding value _PB Θ.

The addition unit 25 adds the output result of the addition unit 24 to the blade pitch angle PB _V determined by the feedforward control unit 23, and determines the blade pitch angle command value PB outputted to the pitch adjuster 7.

In this manner, the blade pitch angle command value PB given to the pitch adjuster 7 is finally determined as the blade pitch angle command values PB _S , PB _Θ from the rotation speed control unit 21, the cabin vibration control unit 22, and the feedforward control unit 23. The composite value of PB _V. The synthesis in the example of Fig. 2 does not consider the simple addition of weighting or the like.

In the operation control means of the controller 10 shown in FIG. 2, the rotation speed control unit 21 and the cabin vibration control unit 22 acquire individual feedback signals (generator rotation speed S, nacelle pitch angle θ) for the respective target signals. The blade pitch angle command values PB _S and PB _{定 are} determined by performing a proportional integral operation or the like on the deviation. To this end, these outputs become signals that sequentially fluctuate in response to deviations between the target signal and the feedback signal.

On the other hand, the feedforward control unit 23 is configured as a function generator that outputs a predetermined value in response to the input wind speed V.

As a result, the blade pitch angle command value PB which is the final output of the controller 10 is determined in advance by the output PB _{V of the} feedforward control unit 23, and the portion where the uncontracted control is advanced is detected as the generator rotational speed S or the nacelle. change the pitch angle θ to output a PB _S rotational speed control section 21 and vibration control section 22 of the _nacelle, PB θ make up such a form of control.

FIG. 3 is a view showing a schematic example of a blade pitch angle model attached to the feedforward control unit 23. The blade pitch angle model is realized by giving a function generator indicating the characteristics of the blade pitch angle command value PB _V output by the feedforward control unit 23 with respect to the wind speed V. This characteristic L0 is a fixed value before the wind speed V reaches a predetermined value, and when the wind speed V is equal to or greater than a predetermined value, it tends to increase satisfactorily.

FIG. 4 is a diagram showing the relationship between the generated electric power P, the generator rotational speed S, and the blade pitch angle β with respect to the wind speed V. In this figure, the blade pitch angle β shows the steady state characteristic L1 of the wind power generation system 1.

In the case of FIG. 4, the blade pitch angle β in the steady-state characteristic L1 is the fixed value βf before the wind speed V3 (rated wind speed) when the rated value Prated reaches the rated value Prated, and becomes saturated in the state of the wind speed V3 or higher. . The above characteristic L1 between the blade pitch angle β and the wind speed is a steady state characteristic of the so-called wind power generation system 1. Further, in the startup phase of the wind power generation system 1, the generator starts to increase the generated electric power from the cut-in wind speed V0, and when the speed V1 is reached, the generator rotation speed starts to rise from S1. When the wind speed reaches V2, the generator rotation speed is maintained at S2, and at the speed V3, the generated power P reaches the rated value Prated.

The characteristic L0 installed in the blade pitch angle model of the feedforward control unit 23 of FIG. 3 may be the same as the steady-state characteristic L1 of the wind power generation system 1 shown in FIG. 4, or may be the steady-state characteristic L1 based on FIG. And the changer. For example, in actual use, the steady-state characteristic L1 becomes the characteristic L2 as indicated by a dotted line, so the characteristic L0 under the blade pitch angle model can be set as the characteristic L2.

Further, the blade pitch angle model shown in FIG. 3 may be stored in the feedforward control unit 23 or the controller 10 as a table searched for the wind speed V, or may be stored as a function of the wind speed V as an argument. Feed control unit 23 or controller 10.

The blade pitch angle model shown in FIG. 3 described above is characterized in that, when the wind speed is increased and the wind speed is lower than a predetermined value, the blade maintains the blade pitch angle with the highest energy conversion efficiency, and the wind speed is larger than a predetermined value. In this case, the blade pitch angle increases as the wind speed increases.

As can be seen from the above-described matters, the object of "the fluctuation of the blade pitch angle in the wind power generation system" as the subject of the present invention is achieved by the adoption of feedforward control. Further, this problem can be achieved in addition to the feedforward control, including either or both of the rotational speed control and the cabin vibration control.

The tilt angle control means for determining the command value of the blade pitch angle based on the tilt state of the nacelle. FIG. 5 is a second configuration example of the operation control means attached to the controller 10, and is the pair of control units 21, 22, and 23 A block diagram showing the outline of the processing of the determined blade pitch angle command values PB _S , PB _Θ , and PB _V multiplied by the weight.

The point different from the block diagram shown in Fig. 2 is that the lower one adjusts the pitch adjuster 7 to the blade pitch angle command values PB _S and PB _□ determined for the rotation speed control unit 21 and the cabin vibration control unit 22, respectively. The result of the multiplication by the gains 54 and 55 is added by the addition unit 57, and the result is multiplied by the gain of the blade pitch angle command value PB _V determined by the feedforward control unit 23, and the addition unit 58 is added. Add it. The gains of the blade pitch angles PB _S , PB _Θ , and PB _V determined by the rotation speed control unit 21, the nacelle vibration control unit 22, and the feedforward control unit 23 can be adjusted in the gains 54, 55, and 56, and the degree of effect can be adjusted. Thereby, the appropriate blade pitch angle command value can be determined for a wide range of operating conditions.

The feedforward control unit 23 of FIGS. 2 and 5 determines the blade pitch angle PB _V with the wind speed V as an input. However, the wind speed V can be obtained by the wind speed estimation unit shown in FIGS. 6 , 7 , and 8 . .

FIG. 6 is a block diagram showing the first wind speed estimating unit 61. Here, the wind speed V input to the feedforward control unit 23 is determined based on the output signal of the wind speed sensor provided at an appropriate position of the nacelle 5.

FIG. 7 is a block diagram showing the second wind speed estimating unit 71. Here, the wind speed V input to the feedforward control unit 23 is estimated based on the output signals of the wind speed sensor and the wind direction sensor provided at appropriate positions of the nacelle 5.

FIG. 8 is a block diagram showing the third wind speed estimating unit 81. Here, the wind speed V input to the feedforward control unit 23 is determined based on the LiDAR output signal by LiDAR (Light Detection and Ranging) which measures the wind speed in the far side of the sensor.

FIG. 9 is a block diagram showing a third configuration example of the operation control means attached to the controller 10. The feedforward control unit 91 has a function of adjusting the characteristics of itself.

The point feedforward control unit 91 different from the block diagram shown in Fig. 2 has a function of adjusting the characteristics of the accumulated data. The accumulated data may be averaged by the data of the steady-state characteristic L1 shown in FIG. 4 for a predetermined period, and is omitted in the drawing. Using the accumulated data, the blade pitch angle model shown in Fig. 3 is updated, and the control is adjusted according to the wind condition and the environment. Further, in the case where the blade pitch angle model shown in FIG. 3 changes based on the turbulence intensity, it may be such that the predetermined gain is multiplied based on the change in the steady state characteristics of the accumulated turbulence intensity and the blade pitch angle. The blade pitch angle model of Figure 3.

In addition, the second and third configuration examples of FIGS. 5 and 9 will be described with respect to the first configuration example of the operation control means of FIG. 2, but the weight of FIG. 6 may be used only for a part of them. In order to have both the functions of FIGS. 6 and 9 .

Fig. 10 is a flow chart showing the outline of the processing of the operation control means shown in Fig. 2.

In step S01, determined by the blade pitch angle command 21 at a rotational speed control value PB _S unit proceeds to step S02.

In step S02, the blade pitch angle determined by the instruction control unit in the nacelle vibration value _PB Θ 22 proceeds to step S03.

In step S03, the wind speed V is determined, and the flow proceeds to step S04. In step S04, the blade pitch angle command value PB _V under the feedforward control unit 23 is determined, and the flow proceeds to step S05.

In step S05, the blade pitch angle command value determined by the rotation speed control unit 21 and the cabin vibration control unit 22 is added, and the blade pitch angle command values PB _S and PB _决定 determined by the feedforward control unit 23 are further added to the result. PB _V , ending a series of actions.

FIG. 11 is a flow chart showing the outline of the processing of the operation control means shown in FIG. 5, and is a flow of the process outline when the blade pitch angle command value determined by the three control units is multiplied by the weight. Figure.

In step S11, determined by the blade pitch angle command 21 at a rotational speed control value PB _S unit proceeds to step S12.

In step S12, the blade pitch angle determined by the instruction control unit in the nacelle vibration value _PB Θ 22 proceeds to step S13.

In step S13, the wind speed V is determined, and the flow proceeds to step S14. In step S14, the blade pitch angle command value PB _V under the feedforward control unit 23 is determined, and the flow proceeds to step S15.

In step S15, the blade pitch angle command values determined by the three control units are multiplied, and the blade pitch angle command values PB _S , PB _Θ , and PB _V are weighted, and the flow proceeds to step S016.

In step S16, the result of weighting the blade pitch angle command values PB _S and PB _决定 determined by the rotation speed control unit 21 and the cabin vibration control unit 22 is added, and the result is further determined by the feedforward control unit 23. The result of the blade pitch angle command value PB _V weighting is added to end a series of actions.

FIG. 12 is a flowchart showing an outline of the processing of the operation control means shown in FIG. 9, and is a flowchart showing an outline of the processing when the feedforward control unit 91 has a function of adjusting its own characteristics.

In step S21, determined by the blade pitch angle command 21 at a rotational speed control value PB _S unit proceeds to step S22.

In step S22, the blade pitch angle determined by the instruction control unit in the nacelle vibration value _PB Θ 22 proceeds to step S23.

In step S23, the wind speed V is determined, and the flow proceeds to step S24. At step 24, the characteristics of the feedforward control unit 91 are adjusted based on the accumulated data, and the flow proceeds to step S25.

In step S25, the blade pitch angle command value PB _V under the feedforward control unit 91 is determined, and the flow proceeds to step S26. In step S26, the rotation speed control unit 21 and the blade pitch angle command values PB _S and PB _决定 determined by the cabin vibration control unit 22 are added, and the blade pitch angle command value PB determined by the feedforward control unit 91 is further added to the result. _V , ending a series of actions.

Hereinafter, the operation of the blade pitch angle according to the embodiment of the present invention will be compared by using FIG. 13 and FIG.

First, FIG. 13 is a timing chart for displaying a change in the blade pitch angle in the case where the operation control means of the feedforward control unit 23 of the advance control according to the present invention is not provided.

It is assumed that only the rotation speed control unit 21 and the control under the nacelle vibration control unit 22 are used in the operation control means of Fig. 2. Therefore, the timing chart of Fig. 13 is based on the horizontal axis, and the vertical axis is based on the wind speed V from the top of the figure. The blade pitch angle command value PB _{S of the} rotation speed control unit 21 is displayed based on the blade pitch angle command value PB _{Θ of the} cabin vibration control unit 22 and the blade pitch angle command value PB. In addition, in the following description, it is assumed that the wind speed V rises abruptly at the time TB to TC.

First, between time TA and TB, the wind speed V is low and remains fixed. At this time, the deviation between the rotor rotation speed and the front and rear inclination angles of the nacelle is substantially zero. As a result, the blade pitch angle command value PB _S based on the rotation speed control unit 21 and the blade pitch angle command value PB based on the cabin vibration control unit 22 _Θ The blade pitch angle command value PB is a fixed value.

On the other hand, at the time TB to TC, since the wind speed V of the input rotor increases due to the sudden increase in the wind speed V, the rotor rotation speed and the front and rear inclination angle of the nacelle change. According to this change, the control unit 21 and the rotational speed of the nacelle in order to absorb vibration control unit 22 changes caused by sudden changes in wind speed, the pitch angle of the blades are respectively determined by the value of the operation command PB _S, PB _Θ. In this case, since both the rotational speed control unit 21 and the cabin vibration control unit 22 are feedback control, the blade pitch angle command values PB _S and PB _决定 are determined in response to the rotor rotational speed and the cabin forward and backward tilt angle. Further, the final operation control means adjusts the pitch adjuster 7 by using the combined signal as the command value PB.

In this way, the two feedback control units 21 and 22 search for the optimum value of the blade pitch angle from an individual viewpoint, and the system operates, and finally determines the blade pitch angle command value PB as the operation control means. It sometimes takes a long time to bundle. In particular, when the above-described control interference occurs between the two feedback control units 21 and 22, the values of the commands commanded by the individual feedback control units 21 and 22 cancel each other, so that there are two feedback control units. 21, 22 further output a large blade pitch angle command value. Thereby, the fluctuation of the pitch angle of the blade becomes large, and it takes time to collect the bundle.

FIG. 14 is a timing chart showing the change of the blade pitch angle in the case where the feedforward control unit 23 of the advanced control according to the present invention is provided.

The operation control means shown in Fig. 2 performs control based on the rotation speed control unit 21, the nacelle vibration control unit 22, and the feedforward control unit 23. Therefore, the timing chart of Fig. 14 is based on the horizontal axis and the vertical axis is from the figure. The wind speed V, the blade pitch angle command value PB _S based on the rotation speed control unit 21, the blade pitch angle command value PB _Θ based on the cabin vibration control unit 22, and the blade pitch angle command value PB _V based on the feedforward control unit 23 are used. The blade pitch angle command value PB is displayed. In addition, in the following description, as shown in FIG. 13, the time TB to TC is assumed, and the wind speed V is abruptly increased.

First, between time TA and TB, the wind speed V is low and remains fixed. At this time, the deviation between the rotor rotation speed and the front and rear inclination angles of the nacelle is substantially zero. As a result, the blade pitch angle command value PB _S based on the rotation speed control unit 21 and the blade pitch angle command value PB based on the cabin vibration control unit 22 _Θ The blade pitch angle command value PBv and the blade pitch angle command value PB based on the feedforward control unit 23 are fixed values.

On the other hand, at the time TB to TC, the wind energy of the input rotor increases due to the rapid increase of the wind speed V. Therefore, the rotor rotation speed and the front and rear inclination angles of the nacelle are changed. However, the operation control means of FIG. 2 processes the feedback signal. Before the rotation speed control unit 21 and the cabin vibration control unit 22 of the control system with the time delay are oscillated, the advance control based on the feedforward control unit 23 configured by the function generator is executed to set the blade pitch angle PB to the wind speed in response to the time. V changes rapidly to a predetermined value.

When the characteristic L0 of the feedforward control unit 23 shown in Fig. 3 is determined according to the steady-state characteristics L1 and L2 shown in Fig. 4, the blade pitch angle PB corresponding to the wind speed at that time can be substantially ensured, even in advance. control is not constricted portion is detected as a generator rotation speed S pitch or change the angle θ of the nacelle, generating an output rotation speed control unit PB _S 21 and vibration control section 22 of the _nacelle, PB θ, still ensure stability due advance, The deviation signal itself is small, and even if interference occurs, the effect is still slight.

When the embodiment of the present invention described above is applied, the feedforward control unit 23 in the blade pitch angle model based on the wind speed V is provided, so that the blade pitch angle should be converged at each wind speed. Thereby, the range in which the rotation speed control unit 21 and the cabin vibration control unit 22 are searched for by the feedback control can be reduced, so that the blade pitch angle command value PB is easily converged. As a result, the variation of the pitch angle of the blade can be reduced, so that not only the operation of the wind power generation system can be stabilized, but also the load of the blade pitch actuator can be reduced.

According to the embodiment of the present invention described above, while controlling the power generation electric power of the floating offshore wind power generation system and the cabin pitch angle vibration, the feedforward control is added, and the control of adjusting the rotational speed of the rotor and the control of suppressing the pitch angle vibration of the nacelle are controlled. The determined amount of operation is reduced, so that control of adjusting the rotational speed of the rotor and control interference for suppressing control of the pitch angle vibration of the nacelle can be suppressed.

More specifically, the feedforward control including the blade pitch angle model based on the wind speed is included, so that the optimal blade pitch angle that should be adjusted by the wind power generation system at a predetermined wind speed is supplied through the feedforward control, so that the feedback control unit can be lightened. The load of the optimum blade pitch angle of the load can be suppressed, and the interference of the plurality of feedback control units arranged in parallel can be suppressed. Thereby, the excessive operation and cancellation of the output of the feedback control unit provided in parallel are eliminated, so that large fluctuations in the pitch angle of the blade can be suppressed.

As a result, it is possible to provide a method of operating a wind power generation system or a wind power generation system, which can suppress a load variation of a pitch adjuster that adjusts a blade pitch angle.

The present invention is applicable to various types of wind power generation systems. For example, the wind power generation system may be configured such that the rotor is disposed in a downwind type that operates lower than the nacelle. Furthermore, it may be a floating offshore wind power generation system installed on a floating structure that floats on the sea.

Further, the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments are described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to having all of the configurations described. Further, a part of the configuration of one embodiment may be replaced with a configuration of another embodiment, and a configuration of another embodiment may be added to the configuration of a certain embodiment. Further, addition, deletion, and replacement of other configurations may be performed for a part of the configuration of each embodiment.

1‧‧‧Wind power system

2‧‧‧ leaves

3‧‧·wheels

4‧‧‧Rotor

5‧‧‧Cabinet

6‧‧‧Generator

7‧‧‧Pitch adjuster

8‧‧‧Tower

9‧‧‧ floating body

10‧‧‧ Controller

11‧‧‧Rotary angle sensor

12‧‧‧Wind speed sensor

13‧‧‧Wind sensor

14‧‧‧Cabin pitch angle sensor

21‧‧‧Rotation Speed Control Department

22‧‧‧Cabinet Vibration Control Department

23‧‧‧Feedback Control Department

Fig. 1 is a view showing a schematic configuration of an entire wind power generation system to which the present invention is applicable. FIG. 2 is a block diagram showing a first configuration example of an operation control means attached to the controller 10. FIG. 3 is a view showing a schematic configuration diagram of a blade pitch angle model attached to the feedforward control unit 23. [Fig. 4] A schematic diagram showing the steady state characteristics of the wind power generation system 1. FIG. 5 is a block diagram showing a second configuration example of the operation control means attached to the controller 10. FIG. 6 is a block diagram showing the first wind speed estimating unit 61. FIG. 7 is a block diagram showing the second wind speed estimating unit 71. FIG. 8 is a block diagram showing the third wind speed estimating unit 81. FIG. 9 is a block diagram showing a third configuration example of the operation control means attached to the controller 10. Fig. 10 is a flow chart showing the outline of the processing of the operation control means shown in Fig. 2; Fig. 11 is a flow chart showing the outline of the processing of the operation control means shown in Fig. 5. Fig. 12 is a flow chart showing the outline of the processing of the operation control means shown in Fig. 9. [Fig. 13] A timing chart for displaying a change in the blade pitch angle in the case where the operation control means of the feedforward control unit 23 that does not have the advance control according to the present invention is used. [Fig. 14] A timing chart for displaying a change in the blade pitch angle in the case where the feedforward control unit 23 of the advance control according to the present invention is provided.

Claims (11)

A wind power generation system includes: a vane capable of changing a pitch angle of a blade, a rotor that is rotated by a wind, a nacelle that rotatably supports the rotor, and a generator that generates electric power by using a rotational energy of the rotor, and performs the pitch angle of the blade The control device includes: a wind speed estimating means for estimating the wind speed; a blade pitch angle model indicating a relationship between the wind speed and the steady state characteristic of the blade pitch angle; and the blade pitch based on the wind speed estimated by the wind speed estimating means The angle model determines a feedforward control unit of the first command value of the blade pitch angle. The wind power generation system according to claim 1, wherein the blade pitch angle model has the following characteristics: when the wind speed increases and the predetermined value of the wind speed is equal to or less, the blade maintains the blade pitch angle at which the energy conversion efficiency is the highest, When the wind speed is larger than the predetermined value, the blade pitch angle increases as the wind speed increases. The wind power generation system according to claim 1 or 2, wherein the control device includes: a rotation speed control unit that determines a second command value of the blade pitch angle based on a difference between a rotor rotation speed and a target value thereof, and a tilt state based on the nacelle And one or both of the cabin vibration control units that determine the third command value of the blade pitch angle; and the blade pitch determined by the rotation speed control unit is added to the first command value of the blade pitch angle determined by the feedforward control unit One or both of the second command value of the angle or the third command value of the blade pitch angle determined by the cabin vibration control unit determines a command value for adjusting the blade pitch angle of the blade. The wind power generation system according to claim 3, wherein the first command value, the second command value, and the third command value of the blade pitch angle are added to the weighting factor of the multiplication. The wind power generation system according to any one of claims 1 to 4, wherein the wind speed estimating means estimates the wind speed based on an output of an air speed sensor provided at an appropriate position on the nacelle. The wind power generation system according to any one of claims 1 to 4, wherein the wind speed estimating means is based on an air speed sensor disposed at an appropriate position on the nacelle and a wind direction sensor disposed at an appropriate position on the nacelle The output determines the aforementioned wind speed. The wind power generation system according to any one of claims 1 to 4, wherein the wind speed estimating means is determined based on a device provided at an appropriate position on the nacelle and capable of estimating a wind speed in a windward direction in front of the rotor. Output, determine the aforementioned wind speed. The wind power generation system according to any one of claims 1 to 7, wherein the aforementioned blade pitch angle model is sequentially updated based on an operation data of the wind power generation system. The wind power generation system according to any one of claims 1 to 8, wherein the wind power generation system is a downwind type in which the rotor configuration is operated to be lower than the nacelle. The wind power generation system according to any one of claims 1 to 8, wherein the wind power generation system is a floating type offshore wind power generation system provided on a floating structure that floats on the sea. A method for operating a wind power generation system including: a blade having a blade pitch angle changeable, a rotor that is rotated by the wind, a nacelle that rotatably supports the rotor, and a generator that generates electric power by using the rotational energy of the rotor The relationship between the memory wind speed and the steady-state characteristic of the blade pitch angle is determined by the command value of the blade pitch angle determined by the estimated wind speed, and the blade pitch angle of the blade is determined in advance.