WO2010044163A1 - 風力発電システム、及びその制御方法 - Google Patents
風力発電システム、及びその制御方法 Download PDFInfo
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- WO2010044163A1 WO2010044163A1 PCT/JP2008/068764 JP2008068764W WO2010044163A1 WO 2010044163 A1 WO2010044163 A1 WO 2010044163A1 JP 2008068764 W JP2008068764 W JP 2008068764W WO 2010044163 A1 WO2010044163 A1 WO 2010044163A1
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- power
- control
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- wind
- pitch angle
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- 238000010248 power generation Methods 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims description 18
- 230000004044 response Effects 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000007423 decrease Effects 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 7
- 238000004804 winding Methods 0.000 description 28
- 230000006698 induction Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 3
- 210000003746 feather Anatomy 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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Classifications
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- 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
-
- 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
- F03D7/0272—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor by measures acting on the electrical generator
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
-
- 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
- F05B2270/321—Wind directions
-
- 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
- F05B2270/327—Rotor or generator speeds
-
- 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
- F05B2270/70—Type of control algorithm
- F05B2270/706—Type of control algorithm proportional-integral-differential
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/45—Special adaptation of control arrangements for generators for motor vehicles, e.g. car alternators
-
- 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 wind power generation system and a control method thereof, and more particularly to control of output power and pitch angle of a wind power generation system adopting a variable speed variable pitch control method.
- variable-speed variable-pitch control method in which the rotational speed of the wind turbine rotor (ie, the rotational speed of the generator) is variable and the pitch angle of the blades is variable. is there.
- the variable-speed variable-pitch control method has the advantage of being able to obtain more energy from the wind and having smaller output fluctuations.
- JP 2001-512804 A discloses a control method of controlling the torque of the generator by magnetic field orientation control while controlling the pitch angle independently of the torque of the generator.
- the target output power of the generator is determined using the look-up table in response to the number of revolutions of the generator, and the torque command of the generator is determined from the target output power.
- the torque of the generator is controlled by the magnetic field orientation control.
- the pitch angle of the blade is controlled by PID control, PI control or PD control according to the deviation between the rotational speed of the generator and the target rotational speed.
- Wind power generation systems are generally designed to generate a rated power when the rotational speed of the wind turbine rotor is equal to or higher than the rated rotational speed.
- the output power becomes smaller than the rated power. This causes fluctuations in output power and a decrease in power generation efficiency.
- an object of the present invention is to provide a wind power generation system in which fluctuations in output power and reduction in power generation efficiency are unlikely to occur even when short passages occur.
- a wind power generation system is responsive to the number of revolutions of a wind turbine rotor or a generator driven by the wind turbine rotor and a wind turbine rotor comprising blades having variable pitch angles, and generating power. And a controller for controlling the output power of the machine and the pitch angle of the blades.
- the controller performs the first control for controlling the output power according to the predetermined power-rotational speed curve until the rotational speed increases and reaches the predetermined rated rotational speed, and the rotational speed exceeds the rated rotation speed
- the pitch angle is an angle between the chord of the blade and the rotor rotation surface. That is, when the pitch angle is small, the wind turbine rotor takes more energy from the wind, and when the pitch angle is larger, the wind turbine rotor takes less energy from the wind.
- the fluctuation of the output power can be suppressed by using the rotational energy of the wind turbine rotor.
- the rotation speed becomes smaller than the rated rotation speed
- the output power is maintained at a predetermined rated power according to the pitch angle of the blade.
- the rotational energy of the wind turbine rotor is effectively extracted by maintaining the output power at the rated power, and the output power Of the power generation and the decrease in the power generation efficiency.
- the control device performs the second control when the pitch angle is larger than a predetermined pitch angle when the rotation speed becomes smaller than the rated rotation speed after being set in the state of performing the second control. It is preferable to maintain the state and transition to the state in which the first control is performed only when the pitch angle reaches a predetermined pitch angle. In this case, when the rotation speed becomes smaller than a predetermined threshold rotation speed smaller than the rated rotation speed after the control device is once set in the state of performing the second control, It is desirable to make a transition to the state of performing the first control independently.
- control device controls the pitch angle in response to the difference between the rotation speed of the wind turbine rotor or generator and the predetermined rated rotation speed, and the difference between the output power and the rated power.
- the controller preferably controls the pitch angle such that the pitch angle is reduced when the output power is smaller than the rated power.
- control device increases the output power of the generator in response to the rotational speed when detecting a gust.
- the wind power generation system further includes a turning mechanism that turns the direction of the rotation surface of the wind turbine rotor, and a wind direction detector that detects the upwind direction, and the wind turbine rotor includes a pitch drive mechanism that drives the blades.
- the control device controls the turning mechanism so that the rotational surface of the wind turbine rotor is retracted from the upwind direction when a failure of the pitch drive mechanism is detected.
- control device controls reactive power output from the generator to the power grid in response to the voltage of the power grid connected to the generator, and controls the pitch angle according to the reactive power. .
- the wind power generation system further comprises an emergency battery and a charging device for charging the emergency battery with power received from the power system, and the wind turbine rotor comprises a pitch drive mechanism for driving the blade, the emergency battery If the power supply to the pitch drive mechanism and the controller is supplied when the voltage of the power system connected to the generator drops, the controller increases the output power while the emergency battery is being charged. Preferably, the output power is controlled.
- a control method of a wind power generation system is a control method of a wind power generation system including a wind turbine rotor including blades having variable pitch angles, and a generator driven by the wind turbine rotor.
- the control method comprises controlling the output power of the generator and the pitch angle of the blades in response to the rotational speed of the wind turbine rotor or generator.
- the controlling step comprises (A) a first control step of controlling the output power in accordance with a predetermined power-rotation number curve until the rotation number increases and reaches a predetermined rated rotation number; (B) performing a second control to control the output power to a predetermined rated power when the rotational speed exceeds the rated rotational speed; (C) maintaining the state of performing the second control in response to the pitch angle when the rotation speed becomes smaller than the rated rotation speed after being set to the state of performing the second control Or transitioning to a state in which the first control is performed.
- the present invention provides a wind power generation system in which fluctuations in output power and reduction in power generation efficiency are unlikely to occur even if short passages occur.
- FIG. 1 is a side view showing the configuration of a wind power generation system according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing the configuration of the pitch drive mechanism of the wind turbine generator system of the present embodiment.
- FIG. 3 is a block diagram showing the configuration of the wind power generation system of the present embodiment.
- FIG. 4 is a graph showing a method of power control performed in the wind power generation system of the present embodiment.
- FIG. 5 is a block diagram showing an example of the configuration of the main control device of the wind turbine generator system of the present embodiment.
- FIG. 6 is a table for explaining the operation of the power control unit and the pitch control unit of the wind power generation system of the present embodiment.
- FIG. 7 is a graph showing an example of the operation of the wind power generation system according to the present embodiment.
- FIG. 1 is a side view showing the configuration of a wind power generation system according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing the configuration of the pitch drive mechanism of the wind turbine generator system
- FIG. 8 is a block diagram showing another configuration of the wind power generation system of the present embodiment.
- FIG. 9 is a flowchart of preferable control performed by the wind turbine generator system of the present embodiment.
- FIG. 10 is a flowchart of another suitable control performed by the wind power generation system of the present embodiment.
- FIG. 11 is a flowchart of still another preferable control performed in the wind turbine generator system of the present embodiment.
- FIG. 12 is a flowchart of still another preferable control performed in the wind turbine generator system of the present embodiment.
- FIG. 1 is a side view showing the configuration of a wind power generation system 1 according to an embodiment of the present invention.
- the wind power generation system 1 includes a tower 2 and a nacelle 3 provided at the upper end of the tower 2.
- the nacelle 3 is pivotable in the yaw direction and is directed by the nacelle pivot mechanism 4 in a desired direction.
- a winding induction generator 5 and a gear 6 are mounted on the nacelle 3.
- the rotor of the winding induction generator 5 is joined to the wind turbine rotor 7 via the gear 6.
- the wind turbine rotor 7 comprises a blade 8 and a hub 9 supporting the blade 8.
- the blades 8 are provided such that the pitch angle thereof is variable.
- the hub 9 accommodates a hydraulic cylinder 11 that drives the blade 8 and a servo valve 12 that supplies hydraulic pressure to the hydraulic cylinder 11.
- the degree of opening of the servo valve 12 controls the hydraulic pressure supplied to the hydraulic cylinder 11, whereby the blade 8 is controlled to a desired pitch angle.
- the nacelle 3 is further provided with an anemometer 10.
- the anemometer 10 measures the wind speed and the wind direction. As described below, the nacelle 3 is turned in response to the wind speed and the wind direction measured by the anemometer 10.
- FIG. 3 is a block diagram showing the details of the configuration of the wind power generation system 1.
- the wind power generation system 1 of the present embodiment is a kind of doubly-fed variable speed wind turbine system. That is, the wind power generation system 1 of this embodiment is configured such that the power generated by the winding induction generator 5 can be output to the power system 13 from both the stator winding and the rotor winding. Specifically, the stator winding of the winding induction generator 5 is directly connected to the power system 13, and the rotor winding is connected to the power system 13 via the AC-DC-AC converter 17.
- the AC-DC-AC converter 17 is composed of an active rectifier 14, a DC bus 15, and an inverter 16, and converts AC power received from the rotor winding into AC power adapted to the frequency of the power system 13.
- the active rectifier 14 converts AC power generated in the rotor winding into DC power, and outputs the DC power to the DC bus 15.
- the inverter 16 converts DC power received from the DC bus 15 into AC power of the same frequency as that of the power system 13, and outputs the AC power to the power system 13.
- the output power output from the winding induction generator 5 to the power system 13 is controlled by the active rectifier 14 and the inverter 16.
- the AC-DC-AC converter 17 also has a function of converting the AC power received from the power system 13 into AC power adapted to the frequency of the rotor winding. It is also used to excite the line.
- the inverter 16 converts AC power into DC power and outputs the DC power to the DC bus 15.
- Active rectifier 14 converts the DC power received from DC bus 15 into AC power adapted to the frequency of the rotor winding, and supplies the AC power to the rotor winding of winding induction generator 5.
- the control system of the wind power generation system 1 includes a pulse logic generator (PLG) 18, a main controller 19, a voltage / current sensor 20, a converter drive controller 21, a pitch controller 22, and a yaw controller 23. It is configured.
- PLG pulse logic generator
- the PLG 18 measures the rotation speed ⁇ of the winding induction generator 5 (hereinafter, referred to as “generator rotation speed ⁇ ”).
- Main controller 19 generates active power command P * , reactive power command Q * , and pitch command ⁇ * in response to generator rotational speed ⁇ measured by PLG 18, and is further measured by anemometer 10.
- the yaw command is generated in response to the wind speed and the wind direction.
- one of the features of the wind turbine generator system 1 of the present embodiment is a control algorithm for generating the active power command P * and the pitch command ⁇ * .
- the voltage / current sensor 20 is provided on a power line connecting the winding induction generator 5 to the power system 13, and a voltage V grid (system voltage) of the power system 13 and the winding system generator 5 to the power system 13. And the output current I grid output to.
- Converter drive control device 21 controls active power P and reactive power Q output to electric power system 13 in response to active power command P * and reactive power command Q * . It controls on / off of power transistors of the active rectifier 14 and the inverter 16. Specifically, converter drive control device 21 generates active power P and reactive power Q output to power system 13 from voltage V grid and output current I grid of power system 13 measured by voltage / current sensor 20. calculate. Furthermore, converter drive control device 21 performs PWM control in response to the difference between active power P and active power command P *, and the difference between reactive power Q and reactive power command Q * , to generate and generate a PWM signal. The supplied PWM signal is supplied to the active rectifier 14 and the inverter 16. Thereby, the active power P and the reactive power Q output to the power system 13 are controlled.
- the pitch controller 22 controls the pitch angle ⁇ of the blade 8 in response to the pitch command ⁇ * sent from the main controller 19.
- the pitch angle ⁇ of the blade 8 is controlled to coincide with the pitch command ⁇ * .
- the yaw control device 23 controls the nacelle turning mechanism 4 in response to the yaw command sent from the main control device 19.
- the nacelle 3 is directed in the direction instructed by the yaw command.
- An AC / DC converter 24 is connected to a power line connecting the power system 13 and the winding induction generator 5.
- the AC / DC converter 24 is used to generate DC power from AC power received from the power system 13 and to control the DC power in the control system of the wind power generation system 1, in particular, to control the pitch angle ⁇ of the blades 8. Supply to the servo valve 12, the main controller 19, and the pitch controller 22.
- the wind power generation system 1 includes an uninterruptible power supply including a charging device 27 and an emergency battery 28.
- a system 26 is provided. Due to the requirements of the specifications of the wind power generation system, it is necessary to maintain the state in which the winding induction generator 5 is connected to the power grid 13 even if the grid voltage V grid is lowered. For this purpose, it is necessary to properly control the pitch angle of the blades 8 even when the voltage of the power system 13 is reduced, and thereby to maintain the rotation speed of the winding induction generator 5 at a desired value.
- the uninterruptible power supply system 26 is connected to the servo valve 12, the main controller 19 and the pitch controller 22 by the switch 25, Electric power is supplied from the emergency battery 28 to the servo valve 12, the main controller 19 and the pitch controller 22. Thereby, control of the pitch angle of the blade 8 is maintained.
- the emergency battery 28 is connected to the charging device 27.
- the charging device 27 charges the emergency battery 28 with DC power supplied from the AC / DC converter 24.
- FIG. 4 is a graph showing the relationship between the active power command P * and the rotation speed ⁇ of the winding induction generator 5, showing a method of controlling the output power P performed in the wind power generation system 1 of the present embodiment. There is.
- the minimum rotation speed ⁇ min is the minimum rotation speed at which power is generated by the winding induction generator 5, and is determined according to the characteristics of the wind power generation system 1.
- the active power command P * is controlled in one of two control modes: the optimum curve control mode and the rated value control mode. Ru.
- the optimum curve control mode is mainly used in a range where the generator rotational speed ⁇ is larger than the minimum rotational speed ⁇ min and smaller than the rated rotational speed ⁇ max .
- the rated rotational speed ⁇ max is the rotational speed at which the winding induction generator 5 is operated steadily.
- the generator rotational speed ⁇ is controlled to the rated rotational speed ⁇ max (as long as it is possible) by controlling the pitch angle of the blade 8.
- the output power P is made equal to the rated power P rated .
- the rated value control mode is mainly used in the range where the generator rotational speed ⁇ is equal to or higher than the rated rotational speed ⁇ max . In the steady state in which the wind is blowing at the rated wind speed, the generator rotational speed ⁇ is controlled to be the rated rotational speed ⁇ max while the output power P is controlled to be the rated power P rated .
- An important characteristic of the wind turbine generator system 1 of the present embodiment is that the transition from the rated value control mode to the optimum curve control mode is performed according to the pitch angle ⁇ of the blade 8.
- the generator rotational speed ⁇ increases and reaches the rated rotational speed ⁇ max
- the power control transitions from the optimal curve control mode to the rated value control mode.
- the generator rotational speed ⁇ decreases and becomes smaller than the rated rotational speed ⁇ max , first, the pitch angle ⁇ is decreased, and the power is not increased until the pitch angle ⁇ reaches the minimum value ⁇ min.
- the control transitions from the rated value control mode to the optimum curve control mode.
- the active power command P * is switched from the rated power P rated to the optimized power value P opt .
- active power command P * is maintained at rated power P rated as long as pitch angle ⁇ does not reach minimum value ⁇ min (ie, pitch command ⁇ * does not reach minimum value ⁇ min ).
- the pitch angle ⁇ is the angle between the chord of the blade 8 and the rotor rotation surface, so that the pitch angle ⁇ is the minimum value ⁇ min means that the pitch angle ⁇ is set to the limit value on the fine side. Note that this means that the output factor of 7 is the largest.
- the control of maintaining the output power P at the rated power P rated until the pitch angle ⁇ reaches the minimum value ⁇ min suppresses the fluctuation of the output power when a short gap occurs, and further prevents the reduction of the power generation efficiency It is advantageous for In the above control, even if the generator rotational speed ⁇ becomes smaller than the rated rotational speed ⁇ max , the active power command P * is maintained at the rated power P rated if this is not continued only for a short time. , Fluctuation of the output power P is suppressed.
- the output coefficient of the wind turbine rotor 7 can not be increased due to the decrease of the pitch angle ⁇ . Since the output power P is reduced from the rated power P rated for the first time, the rotational energy of the wind turbine rotor 7 is effectively utilized, and the power generation efficiency can be effectively improved.
- FIG. 5 is a block diagram showing an example of the configuration of main controller 19 for realizing the control as shown in FIG. It should be noted that FIG. 5 only shows an example of the configuration of main controller 19, and main controller 19 may be realized by any of hardware, software, and a combination of hardware and software.
- Main controller 19 includes a power control unit 31 that generates active power command P * and reactive power command Q *, and a pitch control unit 32 that generates pitch command ⁇ * .
- the power control unit 31 includes a selector 33, a subtractor 34, a PI control unit 35, a power limiting unit 36, and a power setting calculation unit 37.
- the pitch control unit 32 includes a subtractor 38, a PI control unit 39, a subtractor 40, a PI control unit 41, and an adder 42.
- the selector 33, the subtractor 34, the PI control unit 35, the power limiting unit 36, the power setting calculation unit 37, the subtracter 38, the PI control unit 39, the subtracter 40, the PI control unit 41, and the adder 42 perform main control
- the operation steps are respectively executed in synchronization with the clock used in the device 19, whereby the active power command P * , the reactive power command Q * and the pitch command ⁇ * are generated.
- the selector 33 selects one of the minimum rotational speed ⁇ min and the rated rotational speed ⁇ max as the power control rotational speed command ⁇ P * . More specifically, when the generator rotational speed ⁇ is equal to or less than the intermediate rotational speed ⁇ M , the selector 33 sets the power control rotational speed command ⁇ P * to the minimum rotational speed ⁇ min , and the generator rotational speed ⁇ Is larger than the intermediate rotation speed ⁇ M , the power control rotation speed command ⁇ P * is set to the rated rotation speed ⁇ max .
- the subtractor 34 subtracts the power control rotational speed command ⁇ P * from the generator rotational speed ⁇ to calculate the deviation ⁇ P.
- PI control unit 35 performs PI control in response to deviation ⁇ P to generate active power command P * .
- the range of the generated active power command P * is limited by the power command lower limit P min and the power command upper limit P max supplied from the power limiting unit 36. That is, active power command P * is limited to power command lower limit P min or more and power command lower limit P max .
- Power limiting unit 36 determines power command lower limit P min and power command lower limit P max supplied to PI control unit 35 in response to generator rotational speed ⁇ and pitch command ⁇ * .
- the power limiter 36 further supplies the rated power P rated to the subtractor 40 of the pitch controller 32. As described later, appropriately determining the power command lower limit P min and the power command lower limit P max generated by the power limiting unit 36 and the power control rotational speed command ⁇ P * determined by the selector 33 described above Thus, power control as shown in FIG. 4 is performed.
- Power setting calculation unit 37 generates reactive power command Q * from active power command P * generated by PI control unit 35 and a power factor command specifying the power factor of AC power output from wind power generation system 1. Outputs an active power command P * and a reactive power command Q * . As described above, the active power command P * and the reactive power command Q * are used to control the active power P and the reactive power Q output from the wind power generation system 1.
- the subtractor 38 of the pitch control unit 32 calculates a deviation [Delta] [omega beta from the generator rotational speed omega subtracting the pitch control rotational speed command omega beta *.
- the pitch control rotational speed command ⁇ ⁇ * corresponds to the rated rotational speed ⁇ max , so the deviation ⁇ ⁇ represents the difference between the generator rotational speed ⁇ and the rated rotational speed ⁇ max .
- the PI control unit 39 performs PI control in response to the deviation ⁇ ⁇ to generate a pitch command basic value ⁇ in * .
- Pitch angle command baseline value ⁇ in * is to dominate the pitch angle command ⁇ * that is ultimately generated mainly, do not completely match the pitch angle command ⁇ *.
- the pitch angle command base value ⁇ in * is determined such that the generator rotational speed ⁇ is controlled to the rated rotational speed ⁇ max .
- the subtractor 40 subtracts the rated power P rated from the active power command P * to generate a deviation ⁇ P, and the PI control unit 41 performs PI control in response to the deviation ⁇ P to generate a correction value ⁇ * .
- Adder 42 to generate the pitch angle command ⁇ * by adding the correction value ⁇ * and the pitch angle command baseline value ⁇ in *.
- the subtractor 40 of the pitch control unit 32 and the PI control unit 41 The control unit 32 has a role of suppressing undesired interference with power control.
- the PI control unit 39 of the pitch control unit 32 tries to adjust the generator rotational speed ⁇ to the rated rotational speed ⁇ max . For this reason, aerodynamic energy which should be taken out as electric power may be thrown away undesirably.
- the PI control unit 41 generates the correction value ⁇ * in response to the difference between the rated power P rated and the active power command P *, and the pitch command ⁇ * is corrected by the correction value ⁇ * .
- Such control prevents the pitch angle ⁇ from being on the feather side immediately before the active power command P * reaches the rated power P rated .
- the deviation ⁇ P is zero, and the correction value ⁇ * is also zero.
- FIG. 6 is a table showing operations of the power control unit 31 and the pitch control unit 32 of the main control device 19. Hereinafter, operations of the power control unit 31 and the pitch control unit 32 will be described in the following five cases.
- the pitch command ⁇ * is controlled by the pitch control unit 32 so that the generator rotation speed ⁇ becomes the rated rotation speed ⁇ max, and as a result, the pitch command ⁇ * becomes the limit value on the fine side That is, the minimum pitch angle ⁇ min is set.
- Pitch command beta * corrected by the above-correction value [Delta] [beta] * functions effectively in the case (2).
- the active power command P * is smaller than the rated power P rated , the deviation ⁇ P is negative, and hence the correction value ⁇ * is also negative. Therefore, the pitch command ⁇ * becomes smaller than the pitch angle command base value ⁇ in * , that is, the pitch angle ⁇ becomes finer. Thereby, aerodynamic energy is more effectively converted to electric power.
- the pitch command ⁇ * is rated at the generator rotational speed ⁇ by PI control. Since the rotation speed ⁇ max is controlled, as a result, the pitch command ⁇ * is set to the limit value on the fine side, that is, the minimum pitch angle ⁇ min .
- the pitch angle command beta * is a generator rotational speed omega a threshold rotational speed omega 'M or more, and, when in a range smaller than the rated rotational speed omega max is rated generator rotational speed omega by PI control Since the rotation speed ⁇ max is controlled, as a result, the pitch command ⁇ * is set to the limit value on the fine side, that is, the minimum pitch angle ⁇ min .
- FIG. 7 is a graph showing an example of the operation of the wind power generation system 1 in the present embodiment.
- the active power command P * is set to the optimized power value P opt until the generator rotational speed ⁇ reaches the rated rotational speed ⁇ max (the above-mentioned case (2 )).
- the output effective power P is increased with the increase of the generator rotational speed ⁇ .
- the pitch command ⁇ * is set to the minimum pitch angle ⁇ min .
- the active power command P * is set to the rated power Pr ated (case (3) described above). As a result, the output active power P is maintained at the rated power Pr ated . Since the generator rotational speed ⁇ exceeds the rated rotational speed ⁇ max , the pitch command ⁇ * increases, and the pitch angle ⁇ shifts to the feather side.
- the generator rotational speed ⁇ sharply decreases.
- the pitch control unit 32 decreases the pitch command ⁇ * in an attempt to maintain the generator rotational speed ⁇ at the rated rotational speed ⁇ max , thereby reducing the pitch angle ⁇ , that is, shifting to the fine side.
- Active power command P * is maintained at rated power P rated as long as pitch angle ⁇ does not reach minimum pitch angle ⁇ min even when generator rotational speed ⁇ becomes smaller than rated rotational speed ⁇ max . Therefore, the output active power P is also maintained at the rated power P rated .
- the generator rotational speed ⁇ is restored to the rated rotational speed ⁇ max again before the pitch angle ⁇ reaches the minimum pitch angle ⁇ min . Therefore, the active power P becomes the rated power P rated . Maintained.
- the fluctuation of the output power in the case where the short passage occurs is suppressed.
- the generator rotational speed ⁇ becomes smaller than the rated rotational speed ⁇ max, it is not possible to increase the output coefficient of the wind turbine rotor 7 due to the decrease of the pitch angle ⁇ . Since the output power P is reduced from the rated power P rated , the rotational energy of the wind turbine rotor 7 is effectively utilized, and the power generation efficiency can be effectively improved.
- the wind power generation system 1 is further configured to execute various control methods according to various operating conditions.
- FIG. 8 shows a preferred configuration of a wind power generation system 1 that performs control according to various operating conditions.
- the main control device 19 detects the occurrence of gust (gust) by the wind speed and the wind direction measured by the anemometer 10. Instead of the wind speed and the wind direction, the generation of gust may be detected based on the generator rotational speed.
- the active power command P * is controlled so that the number of revolutions of the wind turbine rotor 7 does not increase excessively.
- the acceleration (rotor acceleration) of the wind turbine rotor 7 or the number of rotations of the wind turbine rotor 7 rotor The rotation speed is monitored.
- step S02 When the rotor acceleration or the rotor rotational speed exceeds a predetermined limit value (step S02), active power command P * is increased (step S03).
- the active power command P * is controlled to the rated power P rated until just before, the active power command P * is controlled to be larger than the rated power P rated .
- the rotational energy of the wind turbine rotor 7 is converted to electrical energy and consumed by the power grid 13. Thereby, the wind turbine rotor 7 is decelerated.
- the pitch controller 22 is configured to be able to detect failure of the hydraulic cylinder 11 and / or the servo valve 12 of FIG.
- Main controller 19 generates a yaw command in response to the detection of the failure of hydraulic cylinder 11 and / or servo valve 12.
- FIG. 10 shows a procedure in which the rotational surface of the wind turbine rotor 7 is retracted from the upwind direction.
- the pitch controller 22 detects a failure of the hydraulic cylinder 11 and / or the servo valve 12 (step S06)
- the pitch failure signal is activated.
- Main controller 19 controls the yaw angle of nacelle 3 in response to the activation of the pitch failure signal, thereby retracting the rotational surface of wind turbine rotor 7 from the upwind direction (step S07).
- the upwind direction can be determined by the wind direction measured by the anemometer 10.
- FIG. 11 is a flowchart showing the procedure of such control.
- step S11 When system voltage V grid exceeds X% of predetermined rated voltage V rated (X is a predetermined value larger than 100) or smaller than Y% of predetermined rated voltage V rated (Y is , And a predetermined value smaller than 100 (step S11), the power factor command given to the power control unit 31 is corrected (step S12).
- the corrected power factor command can be given from the control system of electric power system 13, and main controller 19 itself can also correct the power factor command according to system voltage V grid .
- the reactive power command Q * is reduced when the grid voltage V grid exceeds X% of the predetermined rated voltage V rated, if grid voltage V grid exceeds Y% of the predetermined rated voltage V rated
- the reactive power command Q * is increased.
- the active power command P * is increased when the reactive power command Q * is decreased, and the reactive power command Q * is increased. Active power command P * will be reduced.
- the AC-DC-AC converter 17 is controlled in response to the active power command P * and the reactive power command Q * , whereby the reactive power Q supplied to the power system 13 is controlled (step S13).
- the wind power generation system 1 of FIG. 8 is configured to increase the active power P to be output while the emergency battery 28 is charged. This is to compensate for the amount of power used to charge the emergency battery 28.
- the charging device 27 starts charging the emergency battery 28 (step S21)
- the charging device 27 activates a charge start signal.
- Main controller 19 responds to activation of the charge start signal to increase active power command P * (step S22).
- the amount of increase of active power command P * is set to be equal to the amount of power used to charge emergency battery 28.
- active power command P * generated by PI control unit 35 is used to control AC-DC-AC converter 17.
- the present invention should not be construed as being limited to the embodiments described above.
- the wind power generation system 1 of the present embodiment is a dual supply variable speed wind turbine system
- the present invention relates to another type of wind power generation system in which both the rotation speed and pitch angle of the wind turbine rotor are variable. Is also applicable.
- the present invention is applicable to a wind power generation system in which all AC power generated by a generator is converted by the AC-DC-AC converter into AC power tuned to the frequency of the power system.
- charging of the emergency battery 28 can be performed not by the power received from the power system but by the power output from the generator.
- the rotation speed of the wind turbine rotor 7 depends on the generator rotation speed ⁇
- the rotation speed of the wind turbine rotor 7 may be used instead of the generator rotation speed ⁇ .
- the rotational speed of the wind turbine rotor 7 corresponds to the generator rotational speed ⁇ one to one.
- the generator rotational speed ⁇ is increased with the increase of the rotational speed of the wind turbine rotor 7, so the generator rotational speed
- the rotational speed of the wind turbine rotor 7 can be used instead of ⁇ .
Abstract
Description
(A)前記回転数が増大して所定の定格回転数に到達するまでの間、所定の電力-回転数曲線に従って前記出力電力を制御する第1制御が行うステップと、
(B)前記回転数が前記定格回転数を超えたとき前記出力電力を所定の定格電力に制御する第2制御を行うステップと、
(C)一旦、前記第2制御を行う状態に設定された後で前記回転数が前記定格回転数よりも小さくなったとき、前記ピッチ角に応答して前記第2制御を行う状態を維持し、又は前記第1制御を行う状態に遷移するステップ
とを備える。
Popt=Kω3, ・・・(1)
で定義される最適化電力値Poptに一致するように制御される。Kは、所定の定数である。風力発電システム1では、出力電力を発電機の回転数の3乗に比例して制御することが最適であることが知られており、第1の制御モードでは、出力電力Pが巻線誘導発電機5の発電機回転数ωの3乗に比例するように制御される。
ω’M=(ωM+ωmax)/2,
によって定められる回転数であることが好ましい。ここで、ωMは、中間回転数であり、
ωM=(ωmin+ωmax)/2,
として定義される。
この場合、電力制御回転数指令ωP *は、選択器33によって最小回転数ωminに設定され、更に、電力指令下限Pmin及び電力指令上限Pmaxが、それぞれ、0、Popt(=Kω3)に設定される。加えて、偏差ΔωP(=ω-ωmin)が正であり、且つ、発電機回転数ωが定格回転数ωmaxになるように制御されるので、有効電力指令P*は、常に電力指令上限Pmaxに張り付くことになる。電力指令上限PmaxはPoptであるので、結果として、有効電力指令P*は、最適化電力値Poptに設定される。言い換えれば、電力制御は、最適カーブ制御モードに設定される。
この場合、電力制御回転数指令ωP *は、選択器33によって定格回転数ωmaxに設定され、更に、電力指令下限Pmin及び電力指令上限Pmaxが、それぞれ、Popt、Pratedに設定される。この場合、偏差ΔωP(=ω-ωmax)が負であり、且つ、発電機回転数ωがピッチ制御部32によって定格回転数ωmaxになるように制御されるので、有効電力指令P*は、常に電力指令下限Pminに張り付くことになる。電力指令下限PmaxはPoptであるので、結果として、有効電力指令P*は、最適化電力値Poptに設定される。言い換えれば、電力制御は、最適カーブ制御モードに設定される。
この場合、電力制御回転数指令ωP *が選択器33によって定格回転数ωmaxに設定され、電力指令下限Pmin及び電力指令上限Pmaxが、それぞれ、Popt、定格電力Pratedに設定される。
この場合、電力制御回転数指令ωP *が選択器33によって定格回転数ωmaxに設定される。更に、電力指令下限Pminが、1演算ステップ前の有効電力指令P*と、現演算ステップの電力指令上限Pmaxとのうちの小さい方に設定され、電力指令上限Pmaxが定格電力Pratedに設定される。この結果、有効電力指令P*は、定格電力Pratedに設定される。言い換えれば、電力制御は、定格回転数ωmaxよりも小さなっても定格値制御モードに維持される。ピッチ角βが最小ピッチ角βminに到達しているか否かは、ピッチ指令β*が最小ピッチ角βminに一致しているか否かに基づいて判断される。
この場合、電力制御回転数指令ωP *は、選択器33によって定格回転数ωmaxに設定され、更に、電力指令下限Pmin及び電力指令上限Pmaxが、それぞれ、Popt、Pratedに設定される。この場合、偏差ΔωP(=ω-ωmax)が負であり、且つ、発電機回転数ωがピッチ制御部32によって定格回転数ωmaxになるように制御されるので、有効電力指令P*は、常に電力指令下限Pminに張り付くことになる。電力指令下限PmaxはPoptであるので、結果として、有効電力指令P*は、最適化電力値Poptに設定される。言い換えれば、電力制御は、定格値制御モードから最適カーブ制御モードに設定される。
Claims (10)
- ピッチ角が可変であるブレードを備える風車ロータと、
前記風車ロータによって駆動される発電機と、
前記風車ロータ又は前記発電機の回転数に応答して、前記発電機の出力電力と前記ブレードの前記ピッチ角とを制御する制御装置
とを具備し、
前記制御装置は、前記回転数が増大して所定の定格回転数に到達するまでの間、所定の電力-回転数曲線に従って前記出力電力を制御する第1制御を行い、前記回転数が前記定格回転数を超えたとき前記出力電力を所定の定格電力に制御する第2制御を行い、
前記制御装置は、一旦、前記第2制御を行う状態に設定された後で前記回転数が前記定格回転数よりも小さくなったとき、前記ピッチ角に応答して前記第2制御を行う状態を維持し、又は前記第1制御を行う状態に遷移する
風力発電システム。 - 請求の範囲1に記載の風力発電システムであって、
前記制御装置は、一旦、前記第2制御を行う状態に設定された後で前記回転数が前記定格回転数よりも小さくなったとき、前記ピッチ角が所定のピッチ角よりも大きい場合には前記第2制御を行う状態を維持し、前記ピッチ角が前記所定のピッチ角に到達して初めて前記第1制御を行う状態に遷移する
風力発電システム。 - 請求の範囲2に記載の風力発電システムであって、
前記制御装置は、一旦、前記第2制御を行う状態に設定された後で前記回転数が前記定格回転数よりも小さい所定の閾値回転数よりも小さくなったとき、前記ピッチ角に無関係に前記第1制御を行う状態に遷移する
風力発電システム。 - 請求の範囲1に記載の風力発電システムであって、
前記制御装置は、前記回転数と所定の定格回転数との差、及び前記出力電力と前記定格電力との差に応答して前記ピッチ角を制御する
風力発電システム。 - 請求の範囲4に記載の風力発電システムであって、
前記制御装置は、前記出力電力が前記定格電力よりも小さい場合に前記ピッチ角が減少されるように前記ピッチ角を制御する
風力発電システム。 - 請求の範囲1に記載の風力発電システムであって、
前記制御装置は、ガストを検出した場合、前記回転数に応答して前記発電機の出力電力を増加させる
風力発電システム。 - 請求の範囲1に記載の風力発電システムであって、
更に、
風車ロータの回転面の向きを旋回させる旋回機構と、
風上方向を検出する風向検出器
とを備え、
前記風車ロータは、前記ブレードを駆動するピッチ駆動機構を備え、
前記制御装置は、前記ピッチ駆動機構の故障を検出したとき、前記風車ロータの回転面が前記風上方向から退避されるように前記旋回機構を制御する
風力発電システム。 - 請求の範囲1に記載の風力発電システムであって、
前記制御装置は、前記発電機に接続された電力系統の電圧に応答して前記発電機から前記電力系統に出力される無効電力を制御し、且つ、前記無効電力に応じて前記ピッチ角を制御する
風力発電システム。 - 請求の範囲1に記載の風力発電システムであって、
更に、
非常用バッテリと、
前記電力系統から受け取った電力によって前記非常用バッテリを充電する充電装置
とを具備し、
前記風車ロータは、前記ブレードを駆動するピッチ駆動機構を備え、
前記非常用バッテリは、発電機に接続された電力系統の電圧が低下したときに前記ピッチ駆動機構と前記制御装置に電力を供給し、
前記制御装置は、前記非常用バッテリが充電されている間、前記出力電力を増加させるように前記出力電力を制御する
風力発電システム。 - ピッチ角が可変であるブレードを備える風車ロータと、
前記風車ロータによって駆動される発電機
とを備える風力発電システムの制御方法であって、
前記風車ロータ又は前記発電機の回転数に応答して、前記発電機の出力電力と前記ブレードの前記ピッチ角とを制御するステップ
を具備し、
前記制御するステップは、
(A)前記回転数が増大して所定の定格回転数に到達するまでの間、所定の電力-回転数曲線に従って前記出力電力を制御する第1制御が行うステップと、
(B)前記回転数が前記定格回転数を超えたとき前記出力電力を所定の定格電力に制御する第2制御を行うステップと、
(C)一旦、前記第2制御を行う状態に設定された後で前記回転数が前記定格回転数よりも小さくなったとき、前記ピッチ角に応答して前記第2制御を行う状態を維持し、又は前記第1制御を行う状態に遷移するステップ
とを備える
風力発電システムの制御方法。
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Also Published As
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EP2339743A1 (en) | 2011-06-29 |
US7982327B2 (en) | 2011-07-19 |
EP2339743A4 (en) | 2016-12-21 |
CN102017392A (zh) | 2011-04-13 |
CN102017392B (zh) | 2014-06-25 |
AU2008363040B2 (en) | 2012-12-20 |
US20110089694A1 (en) | 2011-04-21 |
KR20110028256A (ko) | 2011-03-17 |
AU2008363040A1 (en) | 2010-04-22 |
CA2722848A1 (en) | 2010-04-22 |
KR101253854B1 (ko) | 2013-04-12 |
BRPI0822536A2 (pt) | 2015-06-23 |
EP2339743B1 (en) | 2018-07-25 |
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