TWI695119B - Wind power generator and its control method - Google Patents

Abstract

[Problem] To provide a wind power generation device and a control method thereof. On the one hand, it reduces the yaw deviation angle to increase the amount of power generation, and on the other hand, it can suppress mechanical consumption. [Solution] The wind power generation device (1) is provided with a rotor (4) that rotates in response to wind, a rotor (4) that supports the rotor (4) into a rotatable nacelle (5), and a tower that supports the nacelle (5) to swing horizontally ( 7). Adjust the swing control device (8) of the nacelle (5) according to the swing control command, and the control device (9) that determines the swing control command sent to the adjustment device (8). The control device (9) includes: a yaw deviation angle calculation unit (301) that calculates a yaw deviation angle from the wind direction measured by the wind direction and wind speed measurement unit and the direction of the rotor (4), and a yaw deviation angle calculation unit based on the yaw deviation angle The control command preparation part (305) which determines the swing control command; the control command preparation part (305) is to increase the driving speed of the swing rotation when the wind condition is highly turbulent.

Description

Wind power generator and its control method

The invention relates to a wind power generation device and a control method thereof, and relates to a wind power generation device and a control method which can increase the mechanical consumption of the wind power generation device to a minimum on the one hand and improve the power generation performance.

The horizontal-axis wind power generator includes a swing mechanism for swinging a nacelle equipped with a windmill rotor around a vertical axis. In the case of a wind power generation device, when a wind direction deviation (hereinafter, referred to as a yaw deviation angle) that represents the azimuth angle (hereinafter, referred to as nacelle azimuth angle) of the rotating shaft of the windmill rotor and the wind direction is generated, in order to prevent Because the reduction of the wind-receiving area of the rotor reduces the power generation efficiency, it is widely known to control the swinging swing mechanism to offset the swinging deviation angle. As methods of these yaw control, for example, the techniques described in Patent Literature 1, Patent Literature 2, and Patent Literature 3 are widely known. [Prior Technical Literature] [Patent Literature]

[Patent Literature 1] Japanese Patent Laid-Open No. 2010-106727 [Patent Document 2] US Patent No. 9273668 Patent Gazette [Patent Document 3] US Patent Publication No. 2014/0152013

[Problem to be solved by invention]

The wind conditions that represent the wind direction or speed in a location have a varying component of holding various periods. Moreover, because of the time zone, the characteristics of its periodic fluctuation components are different. In terms of wind conditions, because of the random inclusion of these fluctuation components, the general yaw control method is to rotate the nacelle yaw such that the yaw deviation angle is zero. When the swing angle can be maintained at zero through the swing control, the power generation amount is the most. However, in the case where the speed of the wind direction is faster than the gyration speed of the nacelle, the azimuth of the nacelle cannot be followed by the wind direction. Moreover, in the case where the frequency of the wind direction changes frequently, and the wind direction changes in the reverse direction during the pan swing, the response of the pan swing control is delayed, and the nacelle will unfortunately be stopped in the state where the pan swing deviation angle is high. In these cases, it is difficult to maintain a zero yaw deviation angle. However, excessively increasing the rotation speed of the nacelle, or swinging the pan with excessive sensitivity to the yaw deviation angle, will result in mechanical consumption of the nacelle swing mechanism or the brake mechanism that stops the rotation of the nacelle. With this control method, if the yaw deviation angle is positively suppressed, there is a risk that mechanical wear will increase.

In the method disclosed in Patent Document 1, especially when the turbulence of the wind condition at a certain place is high, if the wind direction greatly changes in a short period of time, the swing speed of the swing cannot follow the wind direction. Unfortunately, the swing The yaw deviation angle will become larger. Therefore, not only is it impossible to suppress the yaw deviation angle and the power generation performance is reduced, the yaw deviation angle is also too large, and the radial load generated by the wind from the lateral or oblique direction of the wind power generator increases to more than necessary. The possibility of increased sexual consumption. Here, the present invention provides a wind power generation device and a control method thereof. On the one hand, the yaw deviation angle is reduced to increase the power generation amount, and on the other hand, mechanical consumption can be suppressed. [Means to solve the problem]

In order to solve the above-mentioned problems, the wind power generator of the present invention includes: a rotor rotating by wind, supporting the rotor into a rotatable nacelle, supporting the nacelle into a tower capable of swinging and swinging, and adjusting the aforementioned according to the swing control command An adjustment device for the yaw of the nacelle and a control device that determines the yaw control command sent to the adjustment device; characterized in that the control device includes: the wind direction measured by the wind direction and wind speed measurement unit and the rotor Direction to calculate the yaw deviation angle, the yaw deviation angle calculation unit, and the control instruction preparation unit that determines the yaw control instruction based on the yaw deviation angle; the control instruction preparation unit is in a state of high wind disturbance In this case, increase the driving speed of the swing swing. Moreover, the method for controlling a wind power generator of the present invention includes: a rotor rotating by wind, a nacelle supporting the rotor to be rotatable, a nacelle supporting the nacelle to be swingable, and controlled according to the swing A command to adjust the yaw adjustment device of the nacelle, and a control device that determines the yaw control command sent to the adjustment device; characterized in that the yaw deviation angle is calculated from the measured wind direction and the rotor direction; At least according to the aforementioned yaw deviation angle, when the turbulence of wind conditions is high, the drive speed of the yaw swing is increased. [Effect of the invention]

According to the present invention, it is possible to provide a wind power generation device and a control method thereof which, on the one hand, reduce the yaw deviation angle and increase the power generation amount, and on the one hand, can suppress mechanical consumption. In particular, in the case of a certain degree of frequent wind direction changes, the azimuth of the cabin of the wind direction in the swing of the swing is improved by accelerating the driving speed of the swing. In addition, when the wind direction change with a certain high frequency is small, the increase in the mechanical consumption of the swing swing mechanism is suppressed so as not to increase the swing drive speed. Therefore, on the one hand, the increase in mechanical consumption is suppressed, and on the other hand, the power generation performance is improved by improving the followability of the wind direction. Furthermore, by reducing the yaw deviation angle, the radial load on the wind power generator is also reduced, which can reduce mechanical consumption. Therefore, it is possible to provide a wind power generation device and a control method thereof, which can take into account both the improvement of the power generation performance of the wind power generation device and the reduction of mechanical consumption. The above-mentioned external problems, configurations and effects are explained through the following description of the embodiments.

Hereinafter, an embodiment of the present invention will be described using the drawings. [Example 1]

FIG. 1 is a side view showing the overall schematic configuration of a wind turbine generator according to Embodiment 1 of an embodiment of the present invention. As shown in FIG. 1, the wind power generator 1 includes a rotor 4 composed of a plurality of blades 2 and a hub 3 connecting the blades 2. The rotor 4 is connected to the nacelle 5 via a rotating shaft (omitted in FIG. 1 ), and the position of the blade 2 can be changed in a rotating manner. The nacelle 5 supports the rotor 4 to be rotatable. The nacelle 5 includes a generator 6 and rotates the rotor 4 so that the blades 2 receive wind, and generates electric power by rotating the generator 6 with the rotational force.

The nacelle 5 is installed on the tower 7 and can swing and swing around a vertical axis by means of a swing and swing mechanism 8 (also called an adjustment device). The control device 9 controls the swing mechanism 8 based on the wind direction or the wind speed Vw detected from the wind direction wind speed sensor 10 that detects the wind direction and wind speed. The wind direction and wind speed sensor 10 may be Lidar (for example, Doppler Kanda), ultrasonic wind direction anemometer, cup-shaped wind direction anemometer, etc., and may be installed in a wind power generator such as a nacelle or tower, or may be installed in a different type Other structures used in windmill generators such as masts, etc.

Moreover, the swing mechanism 8 is composed of a swing bearing, a swing gear (a gear for swing rotation), a swing motor, a swing brake, and the like. In addition, a pitch actuator that can change the angle of the blade 2 with respect to the hub 3, and a power sensor that detects the effective power or the ineffective power output from the generator 6 can be provided in an appropriate position. In addition, FIG. 1 is a downwind type that generates power with wind from the nacelle 5 toward the blade 2 in the wind direction, but may be a upwind type that generates power with wind from the blade 2 toward the nacelle 5.

Fig. 2 is a top view (top view) of Fig. 1. The wind direction that becomes the specific reference direction is defined as θw, the direction of the rotor rotation axis that becomes the specific reference direction is defined as θr, and the deviation angle from the wind direction θw to the rotor shaft angle θr, that is, the yaw deviation angle is defined as Δθ, and illustrate these relationships. Here, the "specific reference direction" refers to, for example, a reference direction where north is 0°. Furthermore, it is not limited to the north, and the direction to be the reference may be set arbitrarily. In addition, the wind direction θw may be a value obtained in each measurement cycle, may be an average direction in a specific period, or may be a direction calculated from the distribution of wind conditions in the surroundings. In addition, the rotor shaft angle θr may be the direction of the rotor rotation axis, the direction of the nacelle, or a value measured by an encoder of the swinging gyrator.

The swing control unit 300 of the control device 9 constituting the wind turbine generator 1 related to this embodiment will be described using FIGS. 3 to 7. FIG. 3 is a block diagram showing the functions of the swing control unit constituting the control device shown in FIG. 1. As shown in FIG. 3, the yaw control unit 300 is composed of: a yaw deviation angle calculation unit 301, which obtains the yaw deviation angle Δθ; and a drive speed calculation unit 310, which calculates the drive speed Vy of the yaw rotation And the control command creation unit 305, which determines the yaw control command Cy that controls the start/drive/stop of the yaw rotation based on the yaw deviation angle Δθ and the drive speed Vy. The driving speed calculation unit 310 is composed of a data storage unit 302, a data analysis unit 303, and a driving speed calculation unit 304.

Among them, the yaw deviation angle calculation unit 301 determines the yaw deviation angle Δθ based on the rotor shaft angle θr and the wind direction θw. The yaw deviation angle Δθ is shown in FIG. 2 and is the difference between the wind direction θw and the rotor shaft angle θr, and indicates how much the rotor shaft deviates from the wind direction. Here, the wind direction θw is not limited to the value detected from the wind direction wind speed sensor 10 installed in the nacelle 5, and a value installed on the ground or another place may be used. In addition, the yaw deviation angle calculation unit 301 may be a filter (low pass filter) that only passes a specific frequency range of the yaw deviation angle Δθ as represented by a low-pass filter, or a moving average as a representative Those who used the statistical value of the average value of the value of the specific period earlier. Or it may be a Fourier transform.

The data storage unit 302 constituting the driving speed calculation unit 310 of FIG. 3 stores the data of the wind direction θw detected from the wind direction wind speed sensor 10, and outputs the stored data of the wind direction θw that has been appropriately stored. In addition, in the embodiment 3 described later, instead of storing the data of the wind speed Vw in the wind direction θw, the stored data of the wind speed Vw that has been appropriately stored is output. In this embodiment, the stored data of the wind direction θw is mainly used to calculate the driving speed.

The data analysis unit 303 in the driving speed calculation unit 310 of FIG. 3 outputs characteristic data based on the stored data of the wind direction θw. As a method of calculating characteristic data, a frequency analysis method of storing data is used here. Figures 4 and 5 show one example of the results of a frequency analysis of the stored data in the wind direction θw. The horizontal axis of FIGS. 4 and 5 is the frequency, and the vertical axis is the magnitude of the wind direction component θf representing the amount of change in the wind direction based on the frequency. FIG. 4 shows an example of a frequency analysis result during a period in which the wind direction fluctuation is relatively small, and has a characteristic that the wind direction component θf has a small value. FIG. 5 shows one example of the frequency analysis result of the period in which the wind direction fluctuation is relatively large compared to FIG. 4, and has a characteristic that the wind direction component θf has a large value.

Furthermore, how to set the frequency field is preferably coordinated with the environmental situation of the place where each wind power generator is installed, the calculation capability of the yaw control unit 300, the setting value of the filter used in the yaw deviation angle calculation unit 301, The drive speed of the pendulum swing and the drive amount of the pendulum are appropriately set, but it can also correspond to a certain degree of high wind direction fluctuation, and the frequency range is roughly determined in the range of 10 ^-4 or even 10 ^-0 Hz. Or, the frequency range can be determined in the range of 10 ^-3 or even 10 ^-1 Hz.

The range of this frequency range is limited to the frequency range of the yaw deviation angle Δθ that can be reduced by the yaw control. That is, the upper limit of the range is for the purpose of removing high-frequency components that exhibit the influence of errors caused by the structure or interference of the wind direction sensor 10, and is ideally the above-mentioned values. In addition, the lower limit of the range is for the purpose of removing low-frequency components that have less influence due to the difference in the values of the driving speed Vy, and is ideally the above-mentioned values. After the frequency analysis of the stored data of the wind direction, the average or total value of the frequency components in a specific period is calculated to obtain the characteristic data of the wind condition.

The drive speed calculation unit 304 constituting the drive speed calculation unit 310 shown in FIG. 3 determines the drive speed Vy of the yaw rotation based on the characteristic data. Specifically, in the driving speed calculation unit 304, when the characteristic data indicating the tendency of the wind direction component θf is small in FIG. 4 is small, and the characteristic data indicating the tendency of the wind direction component θf is large in FIG. 5 is large In this case, the size of the driving speed Vy is adjusted and changed. For example, in the case of FIG. 4 where the wind direction component θf is small, the driving speed Vy is reduced, and in the case of FIG. 5 where the wind direction component θf is large, the driving speed Vy is increased.

Here, the reason for the adjustment method of the driving speed Vy will be explained. First, when the driving speed Vy is low, the swing swing speed becomes low, and the mechanical consumption of the swing swing mechanism 8 is reduced. However, if the followability of the nacelle direction of the wind direction change deteriorates, and a large wind direction change occurs faster than the swing speed change of the yaw, the yaw deviation angle Δθ in the yaw rotation becomes larger, so the amount of power generation decreases. In addition, the radial load on the wind power generator 1 is increased. On the other hand, when the driving speed Vy is high, the followability of the cabin orientation of the wind direction change becomes better, even if a large wind direction change occurs faster than the swing swing speed change, because the As the yaw deviation angle Δθ becomes smaller, the amount of power generation increases, and the radial load on the wind turbine generator 1 is reduced. However, the reason that the oscillating swing speed becomes higher increases the mechanical consumption of the oscillating swing mechanism 8. At this time, when the wind direction component θf is small, that is, when the wind direction variation of a certain high frequency is small, the effect of increasing the amount of power generation due to the increase in the driving speed Vy is mechanical As the effect of increasing the consumption becomes higher, it is desirable to reduce the driving speed Vy. On the other hand, in the case where the wind direction component θf is large, that is, when there is a certain degree of high-frequency wind direction variation, the effect of increasing the power generation amount due to the increase in the driving speed Vy is higher than that of the mechanical Because the effect of increasing consumption is still higher, it is desirable to increase the driving speed Vy. The above is the reason for the adjustment method of the driving speed Vy.

In this way, in this embodiment, the driving speed calculation unit 310 frequency-analyzes the wind direction data from the wind direction wind speed sensor 10 to find the frequency component in a specific frequency range, based on the total value or average value of the frequency components To create (calculate) the driving speed Vy.

Here, the driving speed calculation unit 304 does not need to sequentially output the driving speed Vy, and can output at any arbitrary cycle or timing.

The control command creation unit 305 determines the yaw control command Cy based on the yaw deviation angle Δθ and the drive speed Vy. When the yaw deviation angle Δθ has become large, the yaw control command Cy for starting the yaw rotation is output to the yaw rotation mechanism 8. Receiving this instruction, the pan swing mechanism 8 operates, causing the nacelle 5 to swing in a direction that reduces the tilt deviation angle Δθ. At this time, swing swing is performed at a swing speed based on the driving speed Vy. Next, in a state in which the yaw swing angle Δθ has become large in the state of the yaw swing, a yaw control command Cy for stopping the yaw swing is output to the yaw swing mechanism 8.

FIG. 6 is a flowchart showing the outline of the processing of the panning control unit 300 shown in FIG. 3. As shown in FIG. 6, in step S601, the yaw deviation angle calculation unit 301 determines the rotor shaft angle θr, and proceeds to the next step S602. In step S602, the yaw deviation angle calculation unit 301 determines the wind direction θw, and proceeds to the next step S603. In step S603, the yaw deviation angle calculation unit 301 determines the yaw deviation angle Δθ based on the rotor shaft angle θr and the wind direction θw, and proceeds to the next step S604. In this way, the yaw deviation angle calculation unit 301 executes the processing from step S601 to step S603.

In step S604, the data storage unit 302 constituting the drive speed calculation unit 310 stores the value of the wind direction θw corresponding to time, and proceeds to the next step S605. In step S605, the data analysis unit 303 constituting the driving speed calculation unit 310 determines the characteristic data based on the stored data, and proceeds to the next step S606. In step S606, the drive speed calculation unit 304 constituting the drive speed calculation unit 310 determines the drive speed Vy, and proceeds to the next step S607. In this way, the driving speed calculation unit 310 executes the processing from step S604 to step S606. In step S607, after the control command creation unit 305 determines the yaw control command Cy based on the yaw deviation angle Δθ and the drive speed Vy, the series of processing ends.

Next, in order to clarify the effect of this embodiment, an outline of the operation of the comparative example will be described. FIG. 7 is a schematic diagram showing the effect of the yaw control unit 300 according to the first embodiment, and the horizontal axis all shows the common time. The vertical axis system in the upper stage of FIG. 7 represents the rotor shaft angle θr and the wind direction θw, the vertical axis system in the middle stage of FIG. 7 represents the yaw deviation angle Δθ, and the vertical axis system in the lower stage of FIG. 7 represents the power generation output Pe. The dotted line in FIG. 7 shows the result of a comparison example when the yaw control unit 300 related to the present embodiment is not applied, for example, the driving speed Vy is always low. On the other hand, the solid line represents the result of the case where the yaw control unit 300 according to Embodiment 1 of the present invention is applied.

Furthermore, when the calculation determines the comparison result of FIG. 7, as a wind condition, it is assumed that the wind direction change occurs more rapidly and greatly than the cyclotron speed. That is, as shown in FIG. 5 described above, there is a situation where the wind direction component θf is large. Therefore, the driving speed Vy of the present embodiment takes a value higher than that of the comparative example.

As shown in the upper part of FIG. 7, the wind direction θw repeatedly changes a small amount, and changes sharply to the + side. At this time, in the present embodiment, the panning rotation starts from time T1, and thereafter, the rotor shaft angle θr follows the wind direction θw, and the panning rotation stops at time T2. On the other hand, in the comparative example, the panning rotation starts at time T1, but the panning rotation speed is lower than that of the present embodiment, and the panning rotation is stopped at a time T3 that is slower than the time T2. Therefore, during the period of the pan swing, the present embodiment has better followability to the wind direction θw than the comparative example. As shown in the middle of FIG. 7, the yaw deviation in the period from time T1 to time T3 The angle Δθ is smaller than that of the comparative example. Therefore, as shown in the lower part of FIG. 7, the power generation output Pe in this period (the period from time T1 to time T3) is larger in this embodiment than in the comparative example. That is, this example shows that the annual power generation amount is higher than that of the comparative example. Furthermore, in this embodiment, it is shown that the period during which the yaw deviation angle Δθ is small is long, and the radial load applied to the wind power generator 1 becomes small, which can reduce mechanical consumption.

As described above, according to the present embodiment, it is possible to provide a wind power generation device and a control method thereof. On the one hand, it reduces the yaw deviation angle to increase the power generation amount, and on the other hand, it can suppress mechanical consumption. Specifically, when the wind direction has a certain degree of frequent wind direction change, increasing the driving speed Vy has a higher effect of increasing the amount of power generation than the increase in mechanical consumption, so the drive is increased. Speed Vy. In addition, when the wind direction changes to a certain degree of frequency and there is little change, increasing the driving speed Vy has a higher effect on the increase in mechanical consumption than the increase in power generation, so the driving speed is reduced. Vy. In this way, by making the driving speed Vy variable in accordance with the wind conditions, it is possible to suppress the increase in mechanical consumption and improve the power generation performance of the wind power generation device.

Furthermore, for the purpose of not applying an excessive load to the wind power generator, when the yaw deviation angle Δθ is too large, the wind power generator has a function of immediately suppressing or stopping power generation. Compared with the comparative example, this embodiment has a higher swing speed and a better followability to the wind direction θw, making it difficult to make the yaw deviation angle Δθ too large. Therefore, if the yaw deviation angle Δθ is too large, the chance of power generation being suppressed or suspended is reduced, which is effective for increasing the amount of power generation. [Example 2]

FIG. 8 is a block diagram showing the function of the yaw control unit according to Embodiment 2 of another embodiment of the present invention. In this embodiment, the drive speed Vy is a value previously obtained through past experience or calculation as a fixed setting value that is previously set to the control device 9 and operates offline, which is different from the above-mentioned Embodiment 1. . The other configuration is the same as the above-mentioned first embodiment. In addition, in FIG. 8, the same components as those of the first embodiment are given the same symbol.

In the first embodiment described above, as shown in FIGS. 3 and 6, the driving speed calculation unit 310 is configured to calculate and update the driving speed Vy every control cycle or an appropriate timing. On the other hand, the yaw control unit 800 of the present embodiment shown in FIG. 8 is composed of the following: a yaw deviation angle calculation unit 301, which obtains the yaw deviation angle Δθ; and a control command creation unit 305, which Based on the yaw deviation angle Δθ and the drive speed Vy, the yaw control command Cy that controls the start/drive/stop of the yaw rotation is determined; the drive speed calculation unit 310 that calculates the drive speed Vy is not provided. The drive speed Vy given to the control command generation unit 305 is preset to the control command generation unit 305 constituting the oscillating control unit 800 in advance, or is set externally via the drive speed input unit 806 at an appropriate timing. The driving speed input unit 806 is an input device such as a keyboard, and can be input via an operator.

The function of the driving speed calculation unit 310 shown in the first embodiment described above is configured in an analysis device different from the wind power plant installed in another place, for example, from the research and design stage before the wind power plant is constructed The obtained environmental conditions are calculated in advance under the typical wind conditions of the wind power plant, and the driving speed Vy is set as a preset value in the swing control unit 800. The so-called typical wind conditions, for example, prepared in various seasons, or in the evening or morning, can be switched to use under appropriate conditions.

Or, the function of the driving speed calculation unit 310 shown in the first embodiment described above is configured in an analysis device different from the wind power plant installed in another place, for example, in the operation stage after the wind power plant is installed , From the observed environmental conditions, the drive speed Vy under the typical wind conditions of the wind power plant is calculated, and the drive speed input unit 806 provided with the communication unit is given to the control command creation unit in the swing control unit 800 305. In this case, the setting of the driving speed Vy does not correspond to the on-line real-time correspondence with the on-site wind conditions, but operates with the values obtained offline at a suitable timing.

As described above, according to this embodiment, it is not necessary to install an analysis device in the windmill, and it can be updated to be equipped with the control of the present invention without significantly modifying the existing windmill, and control based on the optimized driving speed can be performed. [Example 3]

9 is a block diagram showing the function of a yaw control unit according to a third embodiment of another embodiment of the present invention. In this embodiment, the data storage unit 902 constituting the drive speed calculation unit 910 of the yaw control unit 900 is different from Embodiment 1 in that it stores the data of the wind speed Vw instead of the wind direction θw. The other configuration is the same as the above-mentioned first embodiment. In addition, in FIG. 8, the same components as those of the first embodiment are given the same symbol.

As shown in FIG. 9, the yaw control unit 900 is composed of: a yaw deviation angle calculation unit 301, which obtains the yaw deviation angle Δθ; and a drive speed calculation unit 910, which calculates the drive of the yaw deviation angle Δθ The speed Vy; and the control command creation unit 305, which determines the yaw control command Cy that controls the start/drive/stop of the yaw rotation based on the yaw deviation angle Δθ and the drive speed Vy. The driving speed calculation unit 910 is composed of a data storage unit 902, a data analysis unit 903, and a driving speed calculation unit 904.

In the yaw control unit 900 of the present embodiment, the yaw deviation angle calculation unit 301 and the control command creation unit 305 are the same as those in the first embodiment, but the input of the data storage unit 902 constituting the drive speed calculation unit 910 is the wind speed Vw This point is different from Example 1.

The data storage unit 902 constituting the driving speed calculation unit 910 outputs the stored data of the wind speed Vw based on the wind speed Vw detected from the wind direction wind speed sensor 10. In addition, the wind speed Vw measured here is the one detected from the wind direction wind speed sensor 10 fixed to the nacelle 5, and is the wind speed in the direction which the nacelle 5 faces at this point in time.

The data analysis unit 903 constituting the driving speed calculation unit 910 outputs characteristic data based on the stored data of the wind speed Vw. The characteristic data in this case is the turbulence intensity Iref in a specific period. The turbulence intensity Iref is obtained by using the ratio of the standard deviation Vv of the wind speed and the average value Vave of the wind speed in a specific period. That is, the data analysis unit 903 calculates the following formula (1), and outputs the turbulence intensity Iref as the characteristic data. Iref=Vv/Vave　... (1) The driving speed calculation unit 904 constituting the driving speed calculation unit 910 determines the driving speed Vy based on the characteristic data, that is, the turbulence intensity Iref. Here, when there is much fluctuation in the wind condition with a certain frequency, that is, when the turbulence intensity Iref is high, the driving speed Vy is increased. In addition, when the fluctuation of the wind condition with a certain high frequency is small, that is, when the turbulence intensity Iref is low, the driving speed Vy is lowered.

This is because the average value and the total value of the frequency components of the wind direction θw in the above-mentioned Example 1 are positively correlated with the turbulence intensity Iref in the present example, and the turbulence intensity Iref is large when the wind direction changes drastically The reason is that the turbulence intensity Iref is small when the wind direction fluctuates gently.

As described above, according to the present embodiment, the same effects as in the first embodiment can be achieved with simpler processing in a manner that applies the processing of the panning control unit 900. [Example 4]

Next, a description will be given of a wind power generator 1 according to Embodiment 4 related to another embodiment of the present invention. The wind turbine generator 1 of the present embodiment has the same configuration as the sway control unit 300 of the above-mentioned first embodiment, but the processing in the data analysis unit 303 and the driving speed calculation unit 304 is different.

In the data analysis unit 303 constituting the driving speed calculation unit 310 of the present embodiment, the standard deviation σ of the wind direction θw in a specific period is calculated through statistical analysis based on the wind direction θw, and output as characteristic data of wind conditions.

The drive speed calculation unit 304 constituting the drive speed calculation unit 310 determines the drive speed Vy of the yaw control based on the characteristic data, that is, the standard deviation σ. Here, when the standard deviation σ of the wind direction θw is relatively large, the driving speed Vy is increased. When the standard deviation σ of the wind direction θw is relatively small, the driving speed Vy is reduced. This is a positive correlation between the average value and the total value of the frequency components of the wind direction θw in Example 1 and the standard deviation σ of the wind direction θw in this example, and the standard deviation of the wind direction θw when the wind direction changes drastically σ is large, and the standard deviation σ of the wind direction θw is small when the wind direction fluctuation is gentle.

As described above, according to this embodiment, the same effect as that of Embodiment 1 can be achieved with simpler processing. [Example 5]

FIG. 10 is a block diagram showing the function of the yaw control unit according to Embodiment 5 of another embodiment of the present invention. In this embodiment, the data storage unit 1002 constituting the drive speed calculation unit 1010 of the yaw control unit 1000 stores data of the wind speed Vw in addition to the wind direction θw, which is different from the first embodiment. The other configuration is the same as the above-mentioned first embodiment. In addition, in FIG. 10, the same constituent elements as those of the first embodiment are given the same symbol.

As shown in FIG. 10, the yaw control unit 1000 is composed of: a yaw deviation angle calculation unit 301, which obtains the yaw deviation angle Δθ; and a drive speed calculation unit 1010, which calculates the drive of the yaw deviation angle Δθ The speed Vy; and the control command creation unit 305, which determines the yaw control command Cy that controls the start/drive/stop of the yaw rotation based on the yaw deviation angle Δθ and the drive speed Vy. The driving speed calculation unit 1010 is composed of a data storage unit 1002, a data analysis unit 1003, and a driving speed calculation unit 1004.

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

The data storage unit 1002 constituting the driving speed calculation unit 1010 outputs stored data of the wind direction θw and the wind speed Vw based on the wind direction θw and the wind speed Vw detected from the wind direction wind speed sensor 10. In addition, the wind speed Vw measured here is the one detected from the wind direction wind speed sensor 10 fixed to the nacelle 5, and is the wind speed in the direction which the nacelle 5 faces at this point in time.

The data analysis unit 1003 constituting the driving speed calculation unit 1010 outputs characteristic data based on the stored data of the wind direction θw. Furthermore, based on the stored data of the wind speed Vw, the average wind speed Vwave in a specific period is output. The drive speed calculation unit 1004 constituting the drive speed calculation unit 1010 determines the drive speed Vy based on the characteristic data as in the first embodiment; however, when the average wind speed Vwave is low and no power is generated, and/or the average wind speed Vwave When it is high and the rated output is reached, the drive speed Vy is determined to be a low value. This is because when the average wind speed Vwave is low and power has not been generated, and when the average wind speed Vwave is high and the rated output is reached, increasing the driving speed Vy and improving the followability of the cabin azimuth angle to the wind direction θw The amount of power generation is not improved or is less, which is due to the increase in the swing speed of the swing and the increase in mechanical consumption.

As described above, according to the present embodiment, the power generation amount is increased to the same level as that of the first embodiment, and compared with the first embodiment, the mechanical consumption can be reduced. [Example 6]

Next, a description will be given of a wind power generator 1 according to Embodiment 6 related to another embodiment of the present invention. The wind turbine generator 1 of the present embodiment has the same configuration as the sway control unit 1000 of the above-mentioned fifth embodiment, but the processing system in the driving speed calculation unit 1004 is different from the fifth embodiment.

In the driving speed calculation unit 1004 of this embodiment, the driving speed Vy is determined based on the characteristic data, that is, the total value of the wind direction component θf or the average value and the average wind speed Vwave, as in the above-described fifth embodiment. Here, when the average wind speed Vwave is high, even when the total value or average value of the wind direction components θf is small, the driving speed Vy is increased. This is because in order to suppress the increase in the radial load on the yaw deviation angle Δθ as the wind speed Vw becomes higher, the mechanical consumption of the wind power generator 1 increases.

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

The present invention is not limited to the above-mentioned embodiments, and various modifications are possible. The above-mentioned embodiment is an example for explanation in order to facilitate understanding of the present invention, and is not necessarily limited to the configuration having all the descriptions. Moreover, a part of the structure of a certain embodiment may be replaced with the structure of another embodiment, and the structure of a certain embodiment may be added to the structure of another embodiment. In addition, the control lines or information lines shown in the figure are shown in consideration of the necessity of description, and are not limited to showing all the control lines or information lines necessary for the product. In fact, it can be considered that all the components are almost connected to each other.

Examples of modifications that can be made to the above-mentioned embodiments include the following. (1) The data storage unit 302, the data analysis unit 303, and the drive speed calculation unit 304 in the panning control unit 300, 800, 900, and 1000 may replace the control device 9 and may be provided with an external device. (2) The drive speed Vy of the yaw control calculated by the present invention can also be applied to other wind power generators 1 at the same location and wind power generators 1 at other locations with similar wind conditions. (3) The data storage unit 302 in the panning control unit 300, 800, 900, 1000 may be a component that does not input wind data such as the wind direction θw one by one, but only maintains the wind data stored in the past . (4) In the above-described embodiments, the wind direction and wind speed sensor 10 is installed in the nacelle 5, but instead of this place, it may be installed in the nacelle 5 or around the wind power generator 1. (5) In the above-described embodiments, the driving speed Vy may be set to a step-like value, or may be set to a straight-line or curve-like continuity value.

1‧‧‧Wind power plant 2‧‧‧blade 3‧‧‧ Hub 4‧‧‧Rotor 5‧‧‧Engine cabin 6‧‧‧Generator 7‧‧‧ Tower 8‧‧‧Swing mechanism 9‧‧‧Control device 10‧‧‧Wind and wind speed sensor 300, 800, 900, 1000 ‧‧‧ Pendulum Control Department 301‧‧‧Calculation Department 302, 902, 1002‧‧‧ data storage department 303, 903, 1003‧‧‧ Data Analysis Department 304, 904, 1004‧‧‧ drive speed calculation department 305‧‧‧Average Processing Department 306‧‧‧Control command preparation department 310, 910, 1010‧‧‧ drive speed calculation unit 806‧‧‧Drive speed input section

FIG. 1 is a side view showing the overall schematic configuration of a wind power generator according to Embodiment 1 of an embodiment of the present invention. [Fig. 2] A plan view (plan view) of the wind power generator shown in Fig. 1. [FIG. 3] A block diagram showing the functions of the swing control unit constituting the control device shown in FIG. 1. [Fig. 4] is a diagram showing one example of the results of frequency analysis of stored data in the wind direction θw. FIG. 5 is a diagram showing another example of the results of frequency analysis of the stored data of the wind direction θw. [Fig. 6] is a flowchart showing the outline of the processing of the yaw control unit shown in Fig. 3. 7 is a schematic diagram showing the effect of the sway control unit according to the first embodiment. [Fig. 8] Fig. 8 is a block diagram showing the function of the yaw control unit according to Embodiment 2 of another embodiment of the present invention. 9 is a block diagram showing the function of a yaw control unit according to a third embodiment of another embodiment of the present invention. [Fig. 10] Fig. 10 is a block diagram showing the function of the yaw control unit according to Embodiment 5 of another embodiment of the present invention.

300‧‧‧Swing control unit

301‧‧‧Calculation Department

302‧‧‧Data Storage Department

303‧‧‧Data Analysis Department

304‧‧‧Drive Speed Calculation Department

305‧‧‧Average Processing Department

310‧‧‧Drive speed calculation unit

Claims (9)

A wind power generation device comprising: a rotor rotating by wind, a nacelle supporting the rotor to be rotatable, a tower supporting the nacelle to be capable of swinging and swinging, and an adjusting device for adjusting the swing of the cabin according to a swing control instruction, And a control device that determines the yaw control command sent to the adjustment device; characterized in that the control device includes: calculating the yaw deviation angle from the wind direction measured by the wind direction wind speed measurement unit and the direction of the rotor The yaw deviation angle calculation unit and the control instruction preparation unit that determines the yaw control instruction based on the yaw deviation angle; the control instruction preparation unit improves the yaw rotation when the wind condition is highly turbulent The drive speed; the control device further includes: a drive speed calculation unit that calculates the drive speed; the drive speed calculation unit performs frequency analysis on the wind direction measured by the wind direction and wind speed measurement unit and obtains a frequency component, based on the specific The value of the aforementioned frequency component in the frequency domain is calculated as the driving speed. The wind power generator according to claim 1, wherein the driving speed is preset in the control command creation unit. The wind power generator according to claim 1, wherein, The aforementioned driving speed is set from outside the wind power generator through the communication unit. The wind power generator according to claim 1, wherein the driving speed calculation unit obtains the standard deviation of the wind speed and the average value of the wind speed in a specific period from the wind speed measured through the wind direction wind speed measurement unit The standard deviation of the wind speed is divided by the turbulence intensity calculated by the average value of the wind speed to calculate the driving speed. The wind power generator according to claim 1, wherein the driving speed calculation unit calculates the standard deviation of the wind direction from the wind direction measured via the wind direction and wind speed measuring unit, and calculates the driving speed based on the standard deviation of the wind direction. The wind power generator according to claim 1, wherein the drive speed calculation unit uses either a low-pass filter or a Fourier transform for frequency analysis. A control method of a wind power generation device comprising: a rotor rotating by wind, a nacelle supporting the rotor to be rotatable, a nacelle supporting the nacelle to swing horizontally, and adjusting the nacelle according to a horizontal swing control instruction The device for adjusting the pendulum and the control device for determining the pendulum control command sent to the adjusting device; characterized in that the wind direction measured by the wind direction wind speed measuring unit and the rotor Calculate the yaw deviation angle according to the direction; at least according to the aforementioned yaw deviation angle, increase the driving speed of the yaw swing when the wind condition is highly turbulent; perform frequency analysis on the wind direction measured above and find the frequency component, The drive speed is calculated based on the value of the aforementioned frequency component in a specific frequency range. The method for controlling a wind power generator according to claim 7, wherein the standard deviation of the wind speed and the average value of the wind speed in a specific period are obtained from the measured wind speed, and the average deviation of the wind speed is divided by the standard deviation via the wind speed The turbulence intensity calculated from the value is used to calculate the driving speed. The method for controlling a wind power generator according to claim 7, wherein the standard deviation of the wind direction is obtained from the measured wind direction, and the driving speed is calculated based on the standard deviation of the wind direction.

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