WO2010016764A1 - Système et procédé pour compenser un déséquilibre de rotor dans une éolienne - Google Patents

Système et procédé pour compenser un déséquilibre de rotor dans une éolienne Download PDF

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Publication number
WO2010016764A1
WO2010016764A1 PCT/NL2009/050482 NL2009050482W WO2010016764A1 WO 2010016764 A1 WO2010016764 A1 WO 2010016764A1 NL 2009050482 W NL2009050482 W NL 2009050482W WO 2010016764 A1 WO2010016764 A1 WO 2010016764A1
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WO
WIPO (PCT)
Prior art keywords
rotor
wind turbine
blade
imbalance
rotor blades
Prior art date
Application number
PCT/NL2009/050482
Other languages
English (en)
Inventor
Timotheus Gerardus Van Engelen
Original Assignee
Stichting Energieonderzoek Centrum Nederland
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stichting Energieonderzoek Centrum Nederland filed Critical Stichting Energieonderzoek Centrum Nederland
Publication of WO2010016764A1 publication Critical patent/WO2010016764A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/30—Commissioning, e.g. inspection, testing or final adjustment before releasing for production
    • F03D13/35—Balancing static or dynamic imbalances
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/024—Adjusting aerodynamic properties of the blades of individual blades
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/028—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
    • F03D7/0292—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power to reduce fatigue
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/109—Purpose of the control system to prolong engine life
    • F05B2270/1095—Purpose of the control system to prolong engine life by limiting mechanical stresses
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/331—Mechanical loads
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention relates to a method for compensating rotor imbalance in a wind turbine.
  • the invention also relates to a system for compensating rotor imbalance in a wind turbine.
  • the invention relates to computer software for implementing said method.
  • a wind turbine comprises a rotor provided with a number of rotor blades.
  • the rotor is coupled by means of a shaft to an electric generator, possibly via some form of transmission.
  • the electric generator is provided with an output for the output of electrical energy, for example through a power converter to an electricity network.
  • the assembly of rotor, transmission, generator and power conversion unit are arranged in a nacelle on a mast.
  • Wind turbines always show some rotor imbalance due to deviations in the profile and mass properties of the rotor blades, as well as differences in the blade pitch when the rotor is assembled.
  • the rotor imbalance results in alternating loads being exerted on the static components. These varying loads are exerted periodically in the azimuth angle of the rotor and are designated as Ip variations that have a period of once every rotation, i.e. they have the same frequency (Ip) as the rotation of the rotor. This therefore leads to variations in the tilting and yaw moments and in the vertical and horizontal forces exerted on the nacelle. In order for the wind turbine to resist these loads, the wind turbine needs to be designed "heavier'.
  • variations in tilting Ip and yaw moments often interfere with control circuits, the aim of which is to reduce the blade moments generated by excitations from the flow, for example caused by tower sweeping and by windshear and turbulence, to frequencies in the range of Ip.
  • These control circuits reduce blade loads at about Ip by making adjustments to blade pitch variations almost periodically to the usual course of the blade pitch; in a 3-bladed wind turbine these variations are each offset by 120 degrees.
  • these blade pitch variations are achieved by Ip modulation of the arithmetically processed tilting and yaw moment. This operation, called a feedback or control law, comprises low-pass filtering, time integration and scaling.
  • This object is achieved by applying a method for compensating rotor imbalance in a wind turbine, wherein the wind turbine comprises a rotor and a mast, wherein the rotor comprises a rotor shaft that is provided with an n number of blades, wherein the rotor shaft is connected to a top section of the mast and wherein a pitch of each rotor blade is individually adjustable by means of a respective actuator; wherein the method comprises the execution in real-time of the following steps repeatedly when in use:
  • the determination of at least one correction value for influencing the aerodynamic conversion of at least n-1 blade comprises feedback of the quantity indicative of rotor imbalance as an adjustment of said at least one correction value of at least n-1 rotor blades via an inverse of trigonometric relationships between deflection moments in the rotor blades and bending moments in the rotor shaft, wherein the feedback from the quantity indicative of rotor imbalance comprises low-pass filtering, time integration and scaling;
  • the forces exerted on each of the rotor blades can be equalized as much as possible, so that a reduction of the rotor imbalance can be achieved under dynamic operating conditions.
  • the invention also enables the exclusion of static balancing or even for it to be performed in a simplified manner, as a result of which the installation of the wind turbine can be carried out with less effort.
  • the method according to the invention comprises measuring the bending moments as averages without an absolute offset.
  • the method according to the invention comprises the feedback of the quantity indicative of rotor imbalance, comprising the execution of mathematical operations in accordance with a control law according to a method applied in modem control theory, selected from a group comprising Robust Control, Linear Quadratic Regulation (LQR), Linear Quadratic Gaussian control (LQG), H-infinite control (H ⁇ ) and ⁇ -synthesis.
  • a control law selected from a group comprising Robust Control, Linear Quadratic Regulation (LQR), Linear Quadratic Gaussian control (LQG), H-infinite control (H ⁇ ) and ⁇ -synthesis.
  • the method according to the invention comprises at least one correction value for influencing the aerodynamic conversion that relates to a control signal for adjusting a blade pitch value, and effectuating the at least one specific correction value for the transmission of the control signal to the actuator of the respective rotor blade.
  • the method according to the invention comprises determining and monitoring loads, when said wind turbine is in use, comprising measuring bending moment values in a cross-section of the rotor shaft along two non-parallel vectors.
  • the method according to the invention includes the wind turbine, further comprising a yaw bearing for pivotally connecting at least the rotor and the mast, wherein the determination of imbalance forces, when said wind turbine is in use, comprises determining a tilt moment and a yaw moment at the yaw bearing.
  • the method according to the invention comprises the wind turbine, further comprising a yaw bearing for pivotally connecting at least the rotor and the mast, wherein the determination of imbalance forces, when said wind turbine is in use, comprises determining a tilt moment at the yaw bearing. In one embodiment the method according to the invention comprises measuring a vertical and laterally exerted force in the top of the mast.
  • the method according to the invention comprises the measurement of at least a rotational acceleration along a direction vector in a plane defined by a vertical and lateral direction vector. In one embodiment the method according to the invention comprises the measurement of at least a translational acceleration along a direction vector in a plane defined by a vertical and lateral direction vector at some distance from the centre of the top of the mast.
  • the method according to the invention includes the wind turbine comprising a nacelle, and the nacelle comprises the rotor shaft and is coupled to the mast via the yaw bearing and wherein the determination of the tilt moment and the yaw moment at die yaw bearing comprises measuring accelerations at the nacelle in the vertical and horizontal plane at some distance from the centre of the top of the mast.
  • the method according to the invention includes the wind turbine comprising a nacelle, and the nacelle comprises the rotor shaft which is coupled to the mast via the yaw bearing and wherein the determination of the tilt moment at the yaw bearing comprises measuring accelerations at the nacelle in the vertical and horizontal plane at some distance from the centre of the top of the mast.
  • the method according to the invention includes the wind turbine comprising a nacelle, and the nacelle comprises the rotor shaft and is coupled to the mast via the yaw bearing and wherein the bending moments are determined as averages without absolute offset, based upon a measured nacelle acceleration perpendicular to the rotor plane and upon measured blade deflection moments that are not necessarily offset-free.
  • the method according to the invention comprises that a sensor circuit is selected from a group of at least one sensor and a combination of sensors.
  • the invention relates to a computer system for compensating rotor imbalance in a wind turbine, wherein the wind turbine comprises a rotor and a mast, wherein the rotor comprises a rotor shaft that is provided with an n number of rotor blades, wherein the rotor shaft is coupled to a top section of the mast and wherein a blade pitch of each rotor blade is individually adjustable; wherein the wind turbine is provided with at least one sensor for monitoring forces and blade pitch sensors for monitoring a set blade pitch for each of the rotor blades; wherein the computer is provided with a central processing unit and memory, wherein the memory is linked to the processing unit and wherein the processing unit is linked to the sensors, wherein the computer is arranged, when the wind turbine is in use, to repeat the following operations:
  • the determination of at least one correction value for influencing the aerodynamic conversion of at least n-1 blade comprises feedback of the quantity indicative of rotor imbalance as an adjustment of said at least one correction value of at least n-1 rotor blades via an inverse of trigonometric relationships between deflection moments in the rotor blades and bending moments in the rotor shaft, wherein said feedback from the quantity indicative of rotor imbalance comprises low-pass filtering, time integration and scaling; - effectuating the at least one specific corrective value for influencing the aerodynamic conversion of the at least n-1 rotor blades.
  • the invention further relates to computer software stored on a computer-readable medium for compensating rotor imbalance in a wind turbine, wherein the wind turbine comprises a rotor and a mast, wherein the rotor comprises a rotor shaft that is provided with an number of rotor blades, wherein the rotor shaft is coupled to a top section of the mast and wherein a blade pitch of each rotor blade is individually adjustable; wherein the wind turbine is provided with at least one sensor for monitoring forces and blade pitch sensors for monitoring a set blade pitch for each of the rotor blades; wherein the computer is provided with a central processing unit and memory, wherein the memory is linked to the processing unit and wherein the central processing unit is linked to the sensors, wherein the computer software comprises executable code which, when loaded on the computer, enables the computer to repeatedly execute in real-time the following operations when the wind turbine is in use:
  • the determination of at least one correction value for the aerodynamic effect of conversion of at least n-1 blade comprises feedback of the quantity indicative of rotor imbalance as an adjustment of said at least one correction value of at least n-1 rotor blades via an inverse of trigonometric relationships between deflection moments in the rotor blades and bending moments in the rotor shaft, wherein said feedback from the quantity indicative of rotor imbalance comprises low-pass filtering, time integration and scaling; - effectuating the at least one specific corrective value for influencing the aerodynamic conversion of the at least n-1
  • the computer software according to the invention comprises determining at least one correction value for influencing the aerodynamic conversion of at least n-1 rotor blades comprising the use of either a method of approximation or method of reconstruction.
  • the invention further relates to a computer-readable medium that comprises computer executable code which, when loaded on the computer system, enables the computer, as described above, to execute the method as described above.
  • figure 1 shows a schematic view of a wind turbine provided with a system in a first embodiment
  • figure 2 shows a schematic view of a wind turbine provided with a system in a second embodiment
  • figure 3 shows a schematic view of a wind turbine provided with a system in a third embodiment
  • figure 4 shows schematic orientations of loads possibly occurring in the wind turbine
  • figure 5 shows a flow diagram for a method according to one embodiment
  • figure 6 shows a schematic view of a computer for executing computer software in accordance with the method according to one embodiment.
  • FIG. 1 shows a schematic view of a wind turbine Ia.
  • Wind turbine Ia comprises a rotor R with a rotor shaft provided with a number of rotor blades B.
  • the rotor R is coupled to a transmission T for attaching the rotor shaft to an electric generator G by means of the rotor shaft.
  • the electric generator G is provided with an output for the output of electrical energy, for example through a power converter (not shown) to an electricity network.
  • the assembly of rotor R, transmission T and generator G is located in a nacelle L on a mast M.
  • the assembly of rotor R, transmission T and generator G is pivotally connected to the mast M by means of a yaw bearing KS that constitutes part of a yaw system KS.
  • the transmission T may be excluded when the rotor shaft is coupled directly to the generator, i.e. in the case of a low-speed generator.
  • the wind turbine 1 is adjustable by means of a number of parameters in order to achieve an optimal efficiency under certain arbitrary conditions, wherein the parameters are related to the parts R, B, K, G shown and mentioned here in figure 1. Other parameters could possibly also be of importance, such as would be known to a person skilled in the field.
  • the present invention provides the insight that Ip variations in the static components of the wind turbine as a result of rotor imbalance can be eliminated by influencing the aerodynamic conversion (the conversion at the rotor blades of energy from the area of sweep to rotational energy of the rotor) of each individual rotor blade.
  • a condition is that the aerodynamic conversion of each rotor blade can be influenced seperately.
  • the aerodynamic conversion can be influenced by rotating the rotor blade along a longitudinal axis and by controlling the blade pitch.
  • the blade pitch of each rotor blade B is adjustable so that a power absorbed from the flow of air by the wind turbine can be controlled.
  • the adjustment of blade pitch by means of an adjustment control system for example by means of actuators (shown schematically for the upper rotor blade by arrow Al) can be implemented in the blade root of each rotor blade, but also halfway along the longitudinal axis.
  • any method for influencing the aerodynamic conversion is suitable, as long as the deflection moment in the blade root can be significantly adjusted.
  • the deflection moment is defined as the moment of force in a rotor blade, the vector of which is directed perpendicular to the plane in which the rotor shaft and the longitudinal axis of the rotor blade lie.
  • a sensor SO on each rotor blade is linked to the blade pitch adjustment system for monitoring a set blade pitch value.
  • the yaw system K is arranged pivotally around a yaw bearing KS in order to adjust the position of the rotor R relative to the horizontal direction of the flow of air.
  • the power converter is provided with an electrical control system that is arranged to control the electric power and rotational speed characteristic of the generator G.
  • each rotor blade is provided with a sensor Sl attached to the blade root in close proximity to the rotor shaft for monitoring a value of the deflection moment in the respective rotor blade. Additionally, in a further embodiment the radial and tangential force in the root of the respective rotor blade can also be measured.
  • FIG. 1 shows a schematic view of a wind turbine Ib provided with a system in a second embodiment.
  • the rotor shaft of the wind turbine Ib is provided with a sensor S2 for detecting bending moments in the rotor shaft.
  • Figure 3 shows a schematic view of a wind turbine Ic provided with a system in a third embodiment.
  • the yaw bearing KS of the wind turbine Ic is equipped with a sensor S3 for monitoring the tilting and yaw moment, wherein the tilt moment vector lies on the horizontal plane and is perpendicular to the shaft and the yaw moment vector in the vertical plane parallel to the mast.
  • the system can be provided with one or more acceleration sensors S4 for conducting acceleration measurements from which tilting and yaw moments can be deduced.
  • An acceleration measurement for example, can be performed by measuring the vertical and lateral nacelle acceleration at a certain distance, in the direction of the rotor R, from the centre of the top of the mast. Both here and in the following description, 'lateral' is designated as a direction in the horizontal plane, perpendicular to the rotor shaft.
  • the third embodiment is provided with a position sensor S5 for monitoring the rotation angle of the rotor (rotor pitch), which is the angle between the longitudinal axis of a selected rotor blade and the horizontal as a result of the rotation of the rotor.
  • the vertical and lateral force on or close to the yaw bearing can be measured (for example, by sensor S3), or the vertical and lateral acceleration in a second position on the nacelle (for example, by sensor S4).
  • a condition in the first embodiment is that the signals recorded from the rotor blades are measured without any individual offset.
  • An offset in the measurement results in the minimization of the sum of the actual imbalance and offset. This means that this offset, when compensation is activated, ultimately becomes effective as rotor imbalance.
  • the bending moments are measured as averages without applying any absolute offset.
  • the amplitudes of the Ip variations are both measured offset-free.
  • Figure 4 shows, schematically, orientations in a wind turbine of any loads that may occur.
  • the mast M has a vertical orientation Ol .
  • the KRM vector of the yaw moment is given in the top of the mast, which is directed along the vertical orientation Ol .
  • the vector for the tilt moment TM is directed in the lateral direction (designated by 02, which is perpendicular to the vertical orientation Ol and the rotor shaft RA).
  • the rotation vector RV is directed along the rotor shaft RA.
  • one rotor blade B is shown. In rotor blade B, the radial force FR (exerted on the rotor centre RC) is directed along the longitudinal axis LA of the rotor blade B.
  • FIG. 5 shows a flow diagram for a method 100 according to one embodiment.
  • a cyclic algorithm is activated with an indicative cycle time or period time of 0.1s. This then initiates a first step 105 for initializing, among other things, the adjustments to the control signals for the blade pitches.
  • step 110 a measurement is conducted of the deflection moments and possibly the radial and tangential forces in the blade roots (first embodiment Ia; use of sensor Sl), or the bending moments in the rotor shaft (second embodiment Ib; use of sensor (S2), or the tilting and yaw moment and the rotor pitch and possibly the vertical and lateral force exerted on the yaw bearing (third embodiment Ic; use of a combination of sensors (S3, S5) or (S4, S5)).
  • the bending moment values are determined along two vectors perpendicular to each other in the cross-section of the rotor shaft; one of these vectors is parallel to the longitudinal axis of the rotor blade selected for the rotor pitch.
  • These bending moments in embodiment Ia are derived from the measured loads and the rotor geometry, as well as the distance from the rotor centre to the center of the cross-section where the radial and tangential forces also be measured.
  • the desired bending moments then result from the measurements and the orientation of the vectors along which measurements are conducted in relation to the vectors of the desired bending moments.
  • the bending moments are deduced from the tilting and yaw moment and the value of the rotor pitch, as well as the distance from the yaw bearing to the cross-section if the vertical and lateral force exerted on the yaw bearing is also measured.
  • the bending moment values thus obtained are converted to desired adjustments to the blade pitches from the geometry of the two direction vectors for the bending moments in relation to those of the rotor. This is done with the aim of adjusting the aerodynamic load of the individual rotor blades in such a manner that the (progressive) mean of the bending moments is minimized whilst retaining the quantity of energy generated by the wind.
  • the invention is based upon the principle that a relatively small change to a blade pitch of a rotor blade results in a substantially proportional change of the load exerted on the rotor blade by the wind.
  • the conversion of bending moments to adjustments to the blade pitches comprises the inverse of the trigonometric relationships for deducing shaft bending moments from blade deflection moments, as incorporated in the later presented example of an algorithm.
  • the feedback comprises low-pass filtering, time integration and scaling for minimizing the (progressive) mean value of the bending moments via low-frequency adjustment of the blade pitches.
  • Minimum mean bending moments in the shaft automatically imply minimum rotor imbalance.
  • the blade pitches are adjusted to a time-scale that is greater than approx. three times the cycle time of the rotor.
  • step 140 the desired adjustments to the blade pitches derived from step 130 are converted to control signals for the appropriate adjustment of the blade pitches. If a desired adjustment is not possible in connection with the range of a blade pitch, all adjustments are amended with the same, smallest possible offset that does not lie beyond this range. As a result of this offset, the imbalance compensation will have some slight effect on the energy extracted from the wind. It is also possible not to adjust the pitch of one of the blades. Here, the imbalance compensation will generally have a greater effect on the energy extracted from the wind.
  • step 150 one first waits till the cycle time has lapsed, after which step 110 is repeated. This is not done after a re-initialization signal 152, after which step 105 is executed, and after a stop signal 154, after which the method is completed by step 160.
  • the objective of the imbalance compensation is to minimize the Ip variations in the tilting and yaw moment at the position of the yaw bearing.
  • the rotor centre is located at some distance from the yaw bearing KS.
  • the rotor centre is understood to be the point of the rotor R where the rotor blades B meet and are coupled to each other.
  • the method provides for feedback control for compensation by adjusting the blade pitches based on measurements of load signals in the root of each rotor blade. Based on the measurements of the deflection moments and radial and tangential forces, the bending moment values are determined along two vectors in the (fictive) cross-section of the rotor shaft at the position of the yaw bearing.
  • the rotor imbalance results in mean values of the bending moments that are unequal to zero due to the deflection moments via the trigonometric relationships arising from the rotor geometry and the momentum that arises from the radial and tangential forces as a result of not coinciding with rotor centre and yaw bearing.
  • Moment is the exerted force multiplied by the arm.
  • the arm is defined as the distance between rotor centre and yaw bearing).
  • these bending moments are averaged to zero, as described in step 130.
  • the Ip variations in the tilt and yaw moment are eliminated at the yaw bearing.
  • a third embodiment is also conceivable, wherein the bending moments in the rotor centre are measured directly on the shaft.
  • the bending moments at the rotor centre are composed from measurements of the tilt and yaw moment and the lateral and vertical force at the yaw bearing via the rotor pitch and the distance between the yaw bearing and rotor centre.
  • a wind turbine is considered with three rotor blades all of which are arranged in a single rotor plane.
  • the rotor blades are each offset at 120 degrees within the rotor plane.
  • a choice was made to influence the aerodynamic conversion by rotating each of the three rotor blades along the respective longitudinal axis of the rotor blade and to regulate the blade pitch.
  • the blade pitches are designated as ⁇ l, ⁇ 2 and ⁇ 3 for the first, second and third rotor blades respectively.
  • the bending moment values on the rotor shaft are calculated on the basis of measurements of the deflection moment in the root of each of the rotor blades with the aid of the measuring sensor Sl for measuring the deflection moment of the respective rotor blade.
  • a wind load exerted on a rotor blade that is directed perpendicular to the rotor plane causes a deflection moment in the rotor blade.
  • the deflection moment is designated as MkI, Mk2 and Mk3 for the first, second and third rotor blade respectively.
  • MbI MkI x cos(0°) + Mk2 x cos(120°) + Mk3 x cos(240°) [Ia]
  • Mb2 MkI x sin(0°) + Mk2 x sin(120°) + Mk3 x sin(240°) [Ib],
  • MbI is the bending moment along a direction vector that coincides with the rotation of the rotor that points in the direction of the longitudinal axis of the first rotor blade
  • Mb2 is the bending moment along a direction vector perpendicular to the above-mentioned direction vector of bending moment MbL
  • Variations in the blade pitches result in variations in the deflection moments, which are approximately proportional hereto.
  • ⁇ 2 ⁇ bl x cos(120°) + ⁇ b2 x sin(120°) [3b]
  • ⁇ Mb2 3/2 x C x ⁇ b2 [4b]
  • control law for the mapping (feedback) of MbI, Mb2 to ⁇ bl, ⁇ b2 basically comprises an algorithm based on a time integer:
  • ⁇ bl(t) ⁇ bl(t - ⁇ t) + K x Mbl(t) x ⁇ t [5a]
  • ⁇ b2(t) ⁇ b2(t - ⁇ t) + K x Mb2(t) x ⁇ t [5b]
  • K is a 'controller gain factor' and ⁇ t is a cycle time for the algorithm.
  • the control applied has a low frequency: a frequency for adjusting the set blade pitch of each rotor blade according to the specific blade pitch adjustment is lower than the frequency of the component varying in time.
  • the choice of the controller gain K in relation to the process gain C, in conjunction with low-pass filtering ensures that the control according to the invention is active on a time scale much larger than the rotation time of the rotor.
  • the algorithm comprises at least: (i) a control law for mapping the bending moment values to virtual blade pitch variations and (ii) a trigonometric translation of these virtual blade pitch variations into true variations on the three blade pitches (i.e. the respective blade pitch of each of the rotor blades).
  • the feedback of bending moments to virtual blade pitch variations can basically be subjected to any arithmetic operation (in the form of a control law).
  • control laws that follow the modem control theory are applied, such as regulator design techniques based upon minimizing a quadratic criterion such as LQR (Linear Quadratic Regulator) and LQG (Linear Quadratic Gaussian), and further to this, the Robust Control technique and techniques based on minimizing the so- called Hoc -standard and refinements thereof, such as ⁇ -synthesis.
  • LQR Linear Quadratic Regulator
  • LQG Linear Quadratic Gaussian
  • control law of the algorithm can be implemented in a processing computer or similar digital technology, but it is not restricted thereto; it is sometimes possible to implement the control law using analogue electronics via capacitors, coils, resistors etc..
  • the bending moment values are reconstructed from measurements of deflection moments, possibly in conjunction with measurements of radial and tangential forces on the blade root of each rotor blade using a respective measuring sensor Sl.
  • the bending moment values can be measured directly on the rotor shaft by using one or more measuring sensors S2.
  • the bending moment values can be deduced by measurements of the tilting and yaw moment in the top of the mast by applying one or more sensors S3; no measurement values of the vertical and lateral force on the yaw bearing are used.
  • the tilt moment is designated as Mm t and the yaw moment as whereas the vertical and lateral force is designated by F ve rt and Fi at .
  • the horizontal distance from the top of the mast to the cross section of the shaft in which the bending moments are determined, is designated as d.
  • MbI cos( ⁇ ) x (Mtii, + d x F vert ) - sin( ⁇ ) x (M yaw - d x FLaO [6a]
  • Mb2 sin( ⁇ ) x (M ⁇ u + d x F ve ft) + cos( ⁇ ) x (M yaw - d x FuO [6b].
  • acceleration measurements can be applied by using acceleration sensors S4 to compensate these loads for consumed portions of the imbalance forces by the inertia of the rotor and the nacelle, or by directly deducing the loads from these; this is explained in more detail below.
  • Measured values of the tilt and yaw moment can also be derived from the measurement of at least one moment along an axis which lies in a plane defined by the direction vectors of the tilting and yaw moment, but which do not coincide with any of these direction vectors.
  • the desired measurement values are then derived from the projections from the shaft along which measurements are conducted on shafts parallel to the direction vectors of the tilting and yaw moment.
  • Values of the vertical and laterally directed force can also be deduced from the measurement of at least a force along an axis which lies in the plane defined by the vertical and lateral direction vector but which does not coincide with any of these direction vectors.
  • MdHjBC Ma, + Jtiu x a vert / r [8]
  • the vertical causal force F vm _ rac is then determined by measuring the vertical force F tra ⁇ si and the mass MW of the nacelle and rotor in conjunction with the translational acceleration of the centre of gravity of the assembly of nacelle and rotor, wherein the nacelle also comprises the rotor shaft and generator. Assuming that this lies at a horizontal distance Xc from the yaw bearing and that a ve ⁇ t is measured again at a distance r, then the following methods of determination apply to F ven e ⁇ C :
  • M yaw exc Myaw + Jyaw X datat " ajat.top) / t [12];
  • Fla t _exc Flat + MW X (ai at _ top + XC X ⁇ yaw) [14]
  • M yaw _exc Jyaw X (3
  • Myaw_exc Syaw X W Olyaw Xdt2xdtl + J yaw X Otyaw [ 17] or
  • Myaw.exc Syaw X W - ai at _u,p) / 1 Xdt2xdtl + Jyaw X (afot - aiatjop) / r [18].
  • tl is a first integration variable and t2 is a second integration variable.
  • v3 The rigidity of the tower for lateral displacement is known; set this equal to si at .
  • the lateral force in the top of the tower is then equal to the product of sj at and a cumulative lateral distortion across the length of the mast.
  • the latter can be approximated by the double time interval of the lateral translational acceleration of the top of the tower.
  • Fi at exc si a , x U ai at xdt2xdtl + MW x a tat _top + Xc x (a ⁇ at - a ⁇ aUoP )/r [19], or
  • an estimator can also be based upon a fully dynamical turbine model that is included in a Kalman filter.
  • rotor imbalance is compensated on the basis of a determination method that is insensitive to measurement offset for two bending moment coordinates in the rotor shaft and a decoding method for determining the adjustments to the blade pitches derived from the geometry of the direction vectors of the two bending moments in relation to those of the rotor.
  • the intermediate feedback includes filtering, time integration and a scaling for minimizing the (progressive) mean value of the bending moments through low-frequency adjustment of the blade pitches.
  • the decoding operation comprises the inverse of the trigonometric relationships for determining shaft bending moments derived from blade deflection moments, as is later presented in an example of an algorithm.
  • the determination of 2 shaft bending moment coordinates consecutively comprises (i) an approximation of the axial force from the scaled sum of the deflection moments in the blade roots, (ii) an approximation of the tilt moment deduced from the collective effect on the measured forward-reverse movement of the tower of the previously determined axial force and the tilt moment itself, (iii) low-pass filtering of die tilt moment and (iv) determining two shaft bending moment coordinates along two direction vectors perpendicular to each other on the rotor shaft from the filtered tilt moment via the measured rotor position.
  • the bending moment coordinates thus determined are then subjected to at least low-pass filtering, time integration and scaling, after which adjustments of the blade pitches are determined according to the above-described decoding method.
  • an axial force measurement can be applied directly.
  • bending moments are easier to measure and the rotor blades are generally already equipped with measuring sensors to do this, in view of the condition monitoring and reduction of Ip load variations on the rotor blades.
  • the measurement of the blade deflection moments are only used to abstract turbulence effects via axial force from the measured forward-reverse tower movement from which the tilt moment is derived.
  • the axial force affects this tower movement, especially at frequencies well below Ip, around the natural frequency of the first bending form, and at frequencies around multiples of the number of rotor blades.
  • the arithmetic origin of the Ip component in the approximated tilt moment now only lies in the measured forward-reverse movement of the tower. Acceleration sensors that can be used to conduct these measurements show no offset in the Ip component.
  • the lp-component contributes in both the tilting and the yaw moment to the average values of the shaft bending moments, which are a measure of rotor imbalance.
  • the approximation of shaft bending moments from the Ip component of only the tilt moment results in average values which amount to half of the values obtained from both rotor moments.
  • disregarding the yaw moment results in a 2p component in the shaft bending moments. Both effects on the approximated shaft bending moments do not undermine the application of the method described for imbalance compensation if this is taken into account in the aforementioned scaling and filtering in the feedback.
  • a wind turbine is considered with three rotor blades in one rotor plane.
  • the rotor blades are individually offset at 120 degrees in the rotor plane.
  • a choice was made to influence the aerodynamic conversion by rotating each of the three rotor blades along the respective longitudinal axis of the rotor blade and to regulate the blade pitch.
  • the blade pitches are designated as ThI, Th2 and Th3 for the first, second and third rotor blades respectively.
  • the bending moment values on the rotor shaft are calculated on the basis of the approximated tilting and bending moment on the rotor with the aid of measuring sensor S4 for the forward-reverse acceleration of the nacelle, measuring sensor S 5 for monitoring the blade pitch and measuring sensor Sl for measuring the deflection moment of the respective rotor blade.
  • the tilt moment is approximated from the collective effect on the forward-reverse tower displacement of the approximated axial force and of the tilt moment itself. This is done on the basis of the displacement equation corresponding to the forward-reverse nacelle movement in the first bending form of the tower.
  • the deflection moment is designated as MkI, Mk2 and Mk3 for the first, second and third rotor blade respectively; the forward-reverse acceleration of the nacelle is designated as afa; the rotor position as Psi.
  • k is a scaling factor.
  • the scaling factor k can be determined by a person skilled in the field of aerodynamic conversion using software customary in the wind turbine industry and depends on the progressive average values of wind speed, blade pitches of the rotor blades and the rotational speed of the rotor.
  • H is the tower height and m, d, and s are the so-called tower top equivalent mass, damper constant and elasticity constant respectively.
  • these tower top equivalent parameters m, d, s can be determined by using software customary in the wind turbine industry. Only the damper constant d depends on the progressive average values of the wind speed, blade pitches of the rotor blades and rotational speed of the rotor. The remaining parameters may be assumed as being constant.
  • ⁇ xfa is the progressive average forward-reverse nacelle position with time window T. Therefore, no progressive average value is obtained for the tilt moment. However, this is not a drawback because only the lp-component of the rotor tilt moment is important for the compensation of imbalance.
  • Mb I ⁇ Mtilt x cos(Psi) [24a]
  • Mb2 - ⁇ Mtilt x sin(Psi) [24b],
  • MbI is the bending moment in the horizontal plane and Mb2 is the bending moment in the vertical plane for the rotor pitch of 0 or 180 degrees. It is evident that Ip component in ⁇ Mtilt results in the same mean value in MbI and Mb2, which will be half of the actual mean bending moment values. In addition, a 2 p component in MbI and Mb2 will manifest as a 90 degree shift.
  • Mb2 sin(0°)*Mkl + sin(120 o )*Mk2 + sin(240 o )*Mk3 [24d]
  • C is a proportional constant, also designated as a process gain factor.
  • the decoding method in the compounded blade pitch variations ⁇ Th_l, ⁇ Th_2 and ⁇ Th_3 consists of 'virtual' variations ⁇ Thbl and ⁇ Thb2 according to the inverse of the trigonometric relationships for determining MbI, Mb2 from MkI, Mk2, Mk3:
  • ⁇ Th_l ⁇ Thbl x cos(0°) + ⁇ Thb2 x sin(0°) [26a]
  • ⁇ Th_2 ⁇ Thbl x cos(120°) + ⁇ Thb2 x sin(120°) [26b]
  • ⁇ Th_3 ⁇ Thb 1 x cos(240°) + ⁇ Thb2 x sin(240°) [26c]
  • the algorithm for the method comprises:
  • ⁇ Thb2(t) ⁇ Thb2(t - ⁇ t) + K x Mb2_f2p(t) x ⁇ t [28b], where K is a 'controller gain factor' and ⁇ t is a cycle time for the algorithm and Mbl_f2p, Mb2_f2p are the proposed approximated shaft bending moment values after filtering the 2p component. Over time, this average value is essentially equal to zero due to the feedback of the measurement signal.
  • the 'controller gain factor 1 K should be adjusted to the process gain factor C in equation [25] and the under-approximation of the average shaft bending moments, as indicated in equations [24a] and [24b].
  • the controller has a low frequency: The choice of the controller gain factor K in relation to the process gain factor C, in conjunction with low-pass filtering and amplified filtering at about a 2p-frequency ensures that the system according to the invention operates on a time scale much larger than the rotation time of the rotor.
  • the algorithm comprises at least: (i) a method for the robust determination of the Ip component in the tilt moment on the rotor, (ii) a control law for mapping bending moment values to virtual blade pitch variations and (iii) a trigonometric translation of the virtual blade pitch variations into real-time variations on the three blade pitches (i.e. the respective blade pitch of each of the rotor blades).
  • the bending moments are determined by average without absolute offset, based on a measured nacelle acceleration perpendicular to the rotor plane and measured blade deflection moments that are not necessarily offset-free.
  • Figure 6 shows schematic view of a computer for executing computer software in accordance with the method according to the invention.
  • the computer 8 comprises a central processing unit 21 with peripheral equipment.
  • the central processing unit 21 is connected to memory means 18, 19, 22, 23, 24 which store instructions and data.
  • the computer may have one or more reading units 30 (for example, to read floppy disks, CDROMs, DVDs, portable non- volatile memories, etc.), a keyboard 26, and a mouse 27 as input devices and output devices, a display 28 and a printer 29.
  • Other input units such as a trackball, a scanner and a touch screen, as well as other output devices, can be provided.
  • the central processing unit 21 can be provided with a network adapter 32 for data communications with a network 33.
  • the network adaptor 32 is connected to the network 33.
  • the network can be any network suitable for data communications.
  • the network can be a Local Area Network (LAN) or a Wide Area Network (WAN).
  • Other computer systems can be linked to the network 33, which can communicate with the computer 8 via that network connection 32.
  • the memory means shown in Figure 6 comprise one or more means selected from RAM 22 (E) EPROM 23, ROM 24, tape unit 19, and hard disk 18. However, there may be more and/or other storage units provided, as will be clear to an expert in the field. Moreover, if necessary, one or more of the memory resources may be placed at a distance from the central processing unit 21.
  • the central processing unit 21 is shown as a single unit, but may also comprise various secondary processing units that operate in parallel or are controlled by a single central processing unit. These secondary processing units can be arranged at some distance from each other, as will be known to those skilled in this field.
  • the computer 8 comprises an interface 34 for receiving signals from one or more measuring sensors Sl, S2, S3, S4, S5, which are arranged for measuring signals of the deflection moment and possibly the radial and tangential force in the root of each rotor blade (Sl), two bending moments in a cross-section of rotor shaft (S2), the tilt and yaw moment and possibly any vertical and lateral force in the yaw bearing (S3) or the vertical and lateral acceleration in one or more locations at some distance from the yaw bearing (S4) and/or rotational acceleration in the tilting and yaw direction (S4), the rotation angle of the rotor (S5).
  • the interface 34 is connected to the central processing unit 21.
  • the computer 8 also comprises an interface 35 for receiving a measuring signal of the selected blade pitch of each rotor blade from measuring sensor SO and for transmitting control signals to each of the rotor blades for defining the blade pitches, as visualized in Figure 1 via actuator Al, or for controlling other devices for influencing the aerodynamic conversion, such as micro-tabs, flaps and synthetic jets. A choice can be made not to influence for just one of the rotor blades the aerodynamic conversion for compensating imbalance, as is explained above.
  • the interface 35 is connected to the central processing unit 21.
  • the computer 8 comprises functionality in hardware and/or software in order to execute the above method.
  • the computer is equipped, or is operable in the way of computer software, to perform calculations in accordance with one or more of the aforementioned methods.
  • Such computer software stored in or on a computer-readable medium enables the computer, after being loaded from the computer-readable storage into the memory of the computer, to determine the first variable(s) and the second variable(s) according to the present invention.
  • the computer is a SCADA system (SCADA: supervisory command and data acquisition) that is suitable for data processing and analysis.
  • the computer is arranged to execute the following method for compensating the rotor imbalance in a wind turbine when in use.
  • the processing unit of the computer is designed to receive signals with the aid of a measuring sensor (s) in order to translate rotor imbalance into controllable quantities, namely the (progressive) average bending moment values on the rotor shaft, as explained above.
  • the measuring sensor(s) record loads in the rotor blades and/or the yaw bearing.
  • the processing unit is arranged to record measuring signals of a set blade pitch for each of the rotor blades by means of a respective blade pitch sensor SO of the wind turbine.
  • the processing unit is arranged to convert the bending moment values in the rotor shaft to desired adjustments to the blade pitches so that the aerodynamic conversion can be influences so that, essentially, rotor imbalance no longer occurs. This is achieved by minimizing the (progressive) average of the bending moment values.
  • die processing unit is designed to accommodate the actuators of each rotor blade to transmit a control signal for adjusting the pitch of each rotor blade according to the specified blade pitch adjustment. It will be evident that the method and system according to the present invention can also be applied to wind turbines which have two or more than three rotor blades. To this end, only the trigonometric relationships need to be adjusted.

Abstract

L'invention porte sur un procédé pour compenser un déséquilibre de rotor dans une éolienne. L'éolienne comprend un rotor et un mât, ledit rotor comprenant un arbre de rotor qui comporte un nombre n de pales de rotor. Un pas de pale de chaque pale de rotor peut être réglé individuellement par un actionneur respectif. Le procédé comprend l'exécution répétée, en temps réel, des étapes suivantes : - la détermination et le contrôle de charges de l'éolienne à l'aide d'un circuit de détecteur; - le contrôle d'un pas de pale défini pour chacune des pales de rotor à l'aide d'un capteur de pas de pale de l'éolienne; - la détermination d'une quantité indicative d'un déséquilibre de rotor, en fonction des charges enregistrées; - la détermination d'au moins une valeur de correction pour influencer la conversion aérodynamique d'au moins n-1 pales de rotor de telle sorte que la contribution des charges sur toutes les pales de rotor de façon collective sur la quantité indicative du déséquilibre de rotor est rendue minimale; - le calcul d'au moins une valeur corrective spécifique pour influencer la conversion aérodynamique des au moins n-1 pales de rotor.
PCT/NL2009/050482 2008-08-07 2009-08-06 Système et procédé pour compenser un déséquilibre de rotor dans une éolienne WO2010016764A1 (fr)

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NL2001878A NL2001878C2 (nl) 2008-08-07 2008-08-07 Systeem en werkwijze voor compensatie van rotoronbalans voor een windturbine.

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