WO2010132956A1 - Improvements to control of underwater turbine - Google Patents
Improvements to control of underwater turbine Download PDFInfo
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- WO2010132956A1 WO2010132956A1 PCT/AU2010/000618 AU2010000618W WO2010132956A1 WO 2010132956 A1 WO2010132956 A1 WO 2010132956A1 AU 2010000618 W AU2010000618 W AU 2010000618W WO 2010132956 A1 WO2010132956 A1 WO 2010132956A1
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- WO
- WIPO (PCT)
- Prior art keywords
- blade
- power generator
- underwater power
- speed
- turbine
- Prior art date
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- 230000025508 response to water Effects 0.000 claims description 2
- 238000010248 power generation Methods 0.000 description 22
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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
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
-
- 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
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
- F03B15/02—Controlling by varying liquid flow
- F03B15/04—Controlling by varying liquid flow of turbines
- F03B15/06—Regulating, i.e. acting automatically
- F03B15/08—Regulating, i.e. acting automatically by speed, e.g. by measuring electric frequency or liquid flow
-
- 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
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/10—Submerged units incorporating electric generators or motors
-
- 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
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
- F03B15/02—Controlling by varying liquid flow
- F03B15/04—Controlling by varying liquid flow of turbines
- F03B15/06—Regulating, i.e. acting automatically
- F03B15/08—Regulating, i.e. acting automatically by speed, e.g. by measuring electric frequency or liquid flow
- F03B15/12—Regulating, i.e. acting automatically by speed, e.g. by measuring electric frequency or liquid flow with retroactive action
-
- 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
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
- F03B15/02—Controlling by varying liquid flow
- F03B15/04—Controlling by varying liquid flow of turbines
- F03B15/06—Regulating, i.e. acting automatically
- F03B15/16—Regulating, i.e. acting automatically by power output
-
- 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
- F05B2270/101—Purpose of the control system to control rotational speed (n)
- F05B2270/1014—Purpose of the control system to control rotational speed (n) to keep rotational speed constant
-
- 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
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/329—Azimuth or yaw 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
- F05B2270/335—Output power or torque
-
- 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
- Y02E10/20—Hydro energy
Definitions
- the invention relates generally to systems and methods suitable for controlling 5 operation of underwater power generation units.
- the present invention seeks to ameliorate one or more of the abovementioned disadvantages.
- the present invention provides a system for controlling operation of an underwater power generator, the system comprising: meters for measuring or indicating selected properties associated with blade or 30 foil speed and inward water flow of the underwater power generator; a drive for altering operation of the underwater power generator; and a data processing apparatus comprising a central processing unit (CPU), a memory operatively connected to the CPU, the memory containing a program adapted to be executed by the CPU, wherein the CPU and/or memory are operatively adapted to receive information from the meters to calculate a Tip Speed Ratio (TSR or ⁇ ) and implement an instruction to the drive to change an operating parameter of the underwater power generator in response to the calculated TSR or ⁇ .
- TSR Tip Speed Ratio
- the meters include suitable meters for directly or indirectly measuring or indicating blade speed and inward water flow, including tachometers, flow meters, ammeters, voltmeters, power meters, ohmmeters or like others.
- the operating parameter which is changed by the drive may include the rotational speed of the blades.
- the control system may initiate the drawing of power from a power grid to power up the turbine if required.
- the system controls the turbine to optimize power generation in a given water flow rate.
- the flow rate is less than about 10 knots, less than about 8 knots, less than about 6 knots or between about 1 and 5 knots.
- the water flow rate maybe tidal, river flow, outflow, or current in an ocean or sea.
- the present invention is particularly suitable for controlling a water turbine installed in an environment with low flow rates of less than about 5 knots to provide optimum power or electricity generation.
- the system can be used to control a turbine up to about 8 knots.
- the turbine may be a track-based turbine or slew-ring turbine, and may be as described in WO 2005/028857, WO 2005/119052 and WO 2007/070935 (Atlantis Resources Corporation Re Limited).
- the turbine if track-based, may have one power take off running one or more generators or multiple power take offs running multiple generators.
- meters are provided to measure activities or quantities such as water flow direction, relative position to water flow, load, torque, height or position in water, rotor blade or foil lift, rotor blade or foil drag, torque, power output, electricity generated, power load, and the like.
- a sonar device for detecting potential or actual obstructions
- means for measuring an activity in the form of a current profiler for measuring the temperature of ambient air or ambient water or motor temperature, or hydraulic oil temperature
- a transducer receiving angular or height measurements relating to yaw or linear positioning of the turbine
- one or more underwater or above-water cameras for detecting potential or actual obstructions
- one or more transducers for measuring turbine speed or power generated, volts generated, phase generated
- tide information a fuse, connection or relay check routine; and combinations thereof.
- the drive may be one or more of the following: a hydraulic motor for changing a pitch or attack angle of the blades; yaw angle or height of the turbine above sea bed level; a generator or inverter to change a torque input to the turbine to affect its rotational speed; an alarm; and combinations thereof.
- the underwater power generator is in the form of a central axis water turbine which includes: a turbine body having a central axis; a rotor mounted on the turbine body for rotation about the central axis, the rotor comprising a central hub supporting a plurality of blades, each blade extending from a blade root mounted on the hub to a blade tip; a generator driven by the rotor; and may include a housing surrounding the rotor and adapted to direct water flow towards the blades.
- the power generation apparatus includes: a generator; a first blade set operatively mounted to the generator for rotation in a selected direction in response to flowing water from a selected direction; a second blade set operatively mounted to the generator for rotation and operatively connected to the first blade set, the second blade set being disposed coaxially with, and downstream of or in a wake zone of, the first blade set; wherein the generator is adapted to be driven by at least one of the blade sets, and the generator disposed generally coaxially between the first and second blade sets.
- first and second blade sets are mounted on first and second rotors, respectively.
- first and second rotors are preferably mounted on a shaft assembly which comprises operatively coupled or linked rotor shafts connected together so that the second rotor rotates in the same direction as the first rotor.
- a clutch or braking arrangement is provided in order to uncouple the first blade set from the second blade set. Therefore in these arrangements, in operation, the second blade set may be locked with a braking apparatus to a stopped position or uncoupled completely and allowed to rotate freely.
- a coupling apparatus may be provided between the blade sets which drives the second blade set in an opposite direction to that of the first blade set.
- the generator may be driven by a separate generator shaft operatively coupled to the rotor shafts.
- the generator shaft may be operatively connected to a gearbox so it rotates at a higher or lower rate than the rotor shafts.
- the first and second rotors directly drive a generator and thus are mounted on a common rotor shaft so that they rotate at the same rate.
- the rotors are mounted on the shaft via a hub with an interference fit or a splined connection.
- blades there are a plurality of blades provided per blade set.
- the blades of the second blade set are staggered in terms of angular position relative to the first so that the blades of the second set are not directly shadowed by the blades of the first set when rotating on a common shaft.
- a preferred factor in selecting the rotation direction is blade disposition and in preferred embodiments the angle of attack of the blades is fixed, however, in some embodiments the blades may be variable in pitch.
- the two blade sets contain the same number of blades with substantially the same profile and size.
- one blade set may eclipse the other blade set.
- blades of one blade set on one rotor may have a different profile from those blades on the blade set of another rotor, but the blades of both blade sets are preferably identical in number, length, cross section and other major characteristics.
- the first and second rotors are separated by any suitable separation distance. In preferred embodiments, the separation distance is at least a distance that the blades would be considered spaced apart from one another than adjacent one another.
- the blade sets are spaced an effective distance apart, and in a wake field or wake zone, and approximately the length of the diameter (d) of the blades. Testing and modelling indicates that, for optimal operation, an efficient separation distance may vary between about 0.5d and 10d.
- modelling and testing of preferred embodiments of the present invention indicate that increased power can be gained from a smaller diameter, multiple blade set unit when compared with a larger diameter, single blade set unit. These embodiments may reduce cost/kWH significantly.
- the power generation apparatus is suitable for underwater and marine mounting and use.
- the rotors preferably include a nose cone mounted on the front of the rotors to reduce drag on the rotors and reduce turbulent water flow.
- the nose cone is hollow to provide space for auxiliary systems such as a control system, or reservoirs for auxiliary or even primary systems.
- Embodiments including mono-directional blades, as well as bidirectional-bladed embodiments, may include a rotating system to align the blade sets to a tidal flow which may change attack or flow direction from time to time.
- the arrangement may be such that a turbine head unit, comprising at least a generator and two abovedescribed rotatably mounted blade sets spaced apart along a longitudinal axis is mounted so as to automatically or manually (via electric drive or other means) substantially align itself so that the longitudinal axis of the turbine head unit is parallel with the tidal or attack flow.
- the turbine head unit is rotatably mounted on a pylon.
- the pylon is substantially vertical, but it may be of any selected suitable orientation, as long as the arrangement is such that the pylon spaces the nacelle from the sea bed a selected distance, far enough to clear the blades from the sea bed when spinning about the rotor.
- a rotating apparatus is disposed either on the pylon remote from or adjacent the turbine head unit.
- the power generation apparatus may be modular. That is, it may be in the form of detachable or releasable modules which may be assembled to one another at suitable stages.
- the modules may include the turbine head unit, a pylon unit, and a base or support unit.
- the turbine head unit may be detachably or releasably mounted to the pylon unit.
- the pylon may be detachably or releasably mounted to the base or support unit for supporting the pylon on a sea or other water body bed.
- the generator is directly connected to one or more of the blade sets or rotor shafts.
- the generator is connected to the or each blade set or rotor shaft by a splined connection.
- the blade or foil speed is changed by changing the power load in the generator using a variable speed drive (VSD) positioned in association with the turbine or system.
- VSD variable speed drive
- the VSD is located on the pylon or mounting structure of the power generating system.
- the VSD preferably controls and/or monitors power to the generator to affect load or torque.
- the instruction is selected from a group consisting of: increase torque, decrease torque, alter direction of turbine, alter height of turbine, alter orientation of turbine, alter blade or foil angle, alter angle of attack, alter drive or VSD activity, couple or decouple generator, draw power from grid, send power to grid, and the like.
- the blades may be splayed rearward from the blade root to the blade tip by a tilt angle of about 1° to 20° from a plane perpendicular to the central axis.
- the blades are splayed rearward from the blade root to the blade tip by a tilt angle of 2° to 10°, and more preferably by 4° to 6° from the plane perpendicular to the central axis. Further preferably, the blades are splayed rearward from the blade root to the blade tip by a tilt angle of about 5° from the plane perpendicular to the central axis.
- the rotor preferably includes a nose cone mounted on the front of the rotor to reduce drag on the rotor and reduce turbulent water flow through the housing.
- the nose cone is hollow to provide space for auxiliary systems such as control system or reservoirs for auxiliary or even primary systems.
- the generator is housed with the rotor, the generator being adapted to generate electrical power from the rotation of the rotor.
- the generator is directly connected to a shaft.
- the generator is connected to the shaft by a splined connection.
- the generator is driven directly by the rotor, and this arrangement may suit the input speed required by selected generators such as multi-pole or high-pole electric generators.
- generators such as multi-pole or high-pole electric generators.
- it may be suitable to connect a gearbox to the shaft or generator so that the rotation speed of shaft input to the generator is converted to a rotation speed that suits other types of generator.
- any blade shape is suitable and that a downstream or rearward tilt or rake angle of 1° to 20° can improve the power output of a central axis turbine having a suitable housing compared with the same turbine with a rake angle of 0° (i.e. with no rake or tilt).
- the blades can be an aerofoil, or tapered or trapezoidal, rectangular, parallel, curved or twisted. In preferred arrangements the aerofoil shape is a NACA 4412 series cross-sectional shape.
- the blades may be bidirectional blades which may be symmetrical in section, with a slight symmetrical twist. Preferably the twist is between 5 and 35° and preferably 14°.
- a brake is provided, in use to inhibit rotation of the rotor.
- the brake is a fail-safe mechanism.
- a braking actuator holds a brake element remote from the rotor against an actuation force when power is applied to the brake element.
- the actuation force which may be from a spring or utilising some appropriate other kind of urging force, overcomes the braking actuator's force and applies the braking element to the rotor, slowing or stopping the rotation of the rotor.
- a boot or a plug is provided at the blade root to cover any gaps or bumps or bolt heads and the like to minimise interference drag in that region.
- the housing defines a flow channel having a flow restriction from an opening forward of the rotor to a narrower throat adjacent the turbine body.
- this arrangement increases the velocity of liquid flowing through the flow channel in a restricted part of the flow channel, relative to an unrestricted part of the flow channel.
- the flow restriction preferably comprises a venturi, which may form part or the entire flow channel.
- the venturi may comprise a divergent- convergent-divergent venturi, tapering from openings at either end of the flow channel towards an inner part of the flow channel.
- the housing is substantially symmetrical about the rotor.
- the venturi may comprise at least one first frusto- conical, frusto-pyramid or horn shaped body, optionally a cylindrical body, and an at least one second frusto- conical, frusto-pyramid or horn shaped body.
- the housing extends rearward of the rotor and acts as a diffuser, the housing diverging from the throat to a rear opening rearward of the rotor.
- the rotor supports at least two blades.
- the turbine has either 3 or 6 blades. It will be appreciated, however, that any number of blades of 2, 3, 4, 5, 6 or more can be used with the turbine.
- the present invention provides a method for controlling operation of an underwater power generator having a plurality of blades or foils which move in response to water flow the method comprising the steps of: measuring selected properties of the generator or surrounding flow associated with blade or foil speed and inward water flow of the underwater power generator; processing the measurements to calculate a Tip Speed Ratio (TSR or ⁇ ); instructing a drive to change the blade or foil speed in response to the calculated TSR or ⁇ .
- TSR or ⁇ Tip Speed Ratio
- the present invention provides a data processing apparatus for controlling operation of a water turbine comprising: a central processing unit (CPU); a memory operatively connected to the CPU, the memory containing a program adapted to be executed by the CPU, wherein the CPU and memory are operatively adapted to receive information from meters for measuring or indicating selected properties associated with blade speed and inward water flow of the underwater power generator, calculate a Tip Speed Ratio (TSR) and send an instruction to a drive to change the speed of a blade or foil.
- TSR Tip Speed Ratio
- the data processing apparatus further stores the information received on the activity affecting operation of a turbine, information received and / or information on the output or operation of the turbine.
- the data processing unit is a programmable logic controller (PLC).
- PLC programmable logic controller
- the present invention provides a data processing apparatus for controlling operation of an underwater power generator comprising: a central controller including a central processing unit (CPU) and memory operatively connected to the CPU; at least one terminal, adapted for communicating with the central controller for transmitting information from meters for measuring or indicating selected properties associated with blade or foil speed and inward water flow of the underwater power generator; the memory in the central controller containing a program adapted to be executed by the CPU, for receiving information relating to the tachometer output and flow meter output, calculating a Tip Speed Ratio (TSR or ⁇ ) and sending an instruction to the terminal to change the blade speed in response to the calculated TSR or ⁇ .
- TSR Tip Speed Ratio
- the apparatus contains a plurality of terminals with each terminal in communication with a separate turbine or collection of turbines.
- the central controller further stores the information received on the operation of a plurality of turbines.
- the central controller may be hardwired to the terminals or in remote access by telephone, radio or the like.
- the present invention provides a method for controlling operation of an underwater power generator with the aid of a computer comprising: receiving information from meters for measuring selected properties associated with blade speed and inward water flow of the underwater power generator; analyzing the received information to calculate a Tip Speed Ratio (TSR or ⁇ ); and sending an instruction to a drive based on the calculated TSR or ⁇ to alter the blade speed.
- TSR Tip Speed Ratio
- the present invention provides a computer readable memory, encoded with data representing a programmable device, comprising: means for receiving information from meters for measuring or indicating selected properties associated with blade speed and inward water flow of the underwater power generator; means for analyzing the received information to calculate a Tip Speed Ratio (TSR or ⁇ ); and means for sending an instruction to a drive based on the calculated TSR or ⁇ to alter the blade speed.
- TSR Tip Speed Ratio
- the present invention provides a computer program element comprising a computer program code to make a programmable device: receive information from meters for measuring or indicating selected properties associated with blade speed and inward water flow of the underwater power generator;; analyze the received information to calculate a Tip Speed Ratio (TSR or ⁇ ); and send an instruction based on the calculated TSR or ⁇ to alter a blade speed.
- TSR Tip Speed Ratio
- the present invention provides method of generating power from flow of water comprising: installing an underwater power generator in a region having flowing water; providing the system for controlling operation of an underwater power generator according to the first or second aspects of the present invention for the underwater power generator; allowing flow of water to turn the underwater power generator; and altering the power output of the underwater power generator using the controlling system to produce electricity from the underwater power generator.
- Figure 1 shows schematic of a control system for a water turbine according to a preferred embodiment of the present invention.
- Figure 2 shows schematic of another control system for a water turbine according to a preferred embodiment of the present invention
- Figure 3 is a schematic diagram showing components of a control system of one preferred embodiment of the present invention.
- Figure 4 is a schematic diagram showing components of a control system of a preferred embodiment of the present invention
- Figure 5 is a schematic diagram showing components of a processing system
- FIG. 6 is a perspective view of a suitable underwater power generator which is suitable for use with preferred embodiments of the present invention. Detailed Description of the Preferred Embodiments
- Underwater power generation systems typically contain a turbine having a number of blades or foils.
- the system also usually includes a power extraction device such as a generator or pump to generate power and rotation or movement of the blades or the foils under the influence of water pressure or lift causes power to be generated through the power extraction device.
- rate of movement or rotation of the turbine is proportional to the movement or flow rate of the water that passes over or through the turbine. If the flow rate is too low, then the turbine will not function and no power is generated. Similarly, if the flow rate is irregular or inconsistent, the rate of power generation will also be irregular or inconsistent.
- Underwater power generator 40 is connected to power grid 70 and is capable of generating electricity and transferring the electricity via link 60 to the power grid 70.
- the underwater power generator or turbine 40 can be any suitable arrangement that can operate under the influence of water movement. Examples include, but not limited to central axis turbines as described herein and track-based turbines such as those described in WO 2005/028857, WO 2005/119052 and WO 2007/070935 (Atlantis Resources Corporation Pte Limited), as well as slew-ring turbines.
- a plurality of blades are associated with the turbine 40 and these blades may be variable as to angle of attack or pitch but are preferably fixed in place (in terms of pitch or angle of attack) so as to simplify manufacture and increase reliability of the system. Therefore the control system of preferred embodiments of the present invention is important, since operating efficiencies are not easily affected in other ways.
- control system 30 receives and processes information from a number of meters 22, 24, 26, 28.
- meters 22, 24, 26, 28 include flow meters, water flow direction meters, ammeters and voltmeters for measuring turbine load or output, tachometers for measuring turbine speed and/or blade speed, transducers for measuring angle of attack of turbine blades or foils, and the like.
- blade speed may be measured or indicated by various means, including an ammeter, voltmeter, power meter or ohmmeter placed on a generator, turbine, hub or other machine.
- Specific meters or apparatus to make the measurements can be placed in the immediate environment of the turbine 40 and relay those measurements or information to the control system.
- Information from the devices or meters 22, 24, 26, 28 are fed to control system 30 and output of the turbine 40 is controlled on the basis of the information processed.
- Specific software has been . developed that allows information to be processed and signals or instructions sent to the turbine 40 to optimize its output in a given environment.
- the software takes information from the tachometers and the flow meters or other meters (such as ammeters or voltmeters associated with the turbine or generator or rotor) to calculate a Tip Speed Ratio (TSR or ⁇ ).
- TSR Tip Speed Ratio
- the TSR is a ratio of a blade tip speed to a water flow speed. If the blades rotate (in the case of a central axis turbine) or move (along a track, say) too slowly, most of the water will pass the blades without the harnessing of any energy therefrom. If the blades rotate or move too fast, the blades prevent the flow of water past the blades and thus cannot harness energy efficiently therefrom.
- the present inventors have found that calculating the TSR and maintaining that flow-by quantity in a selected range for underwater power generators improves efficiency of the power generator across a larger range of flowrates.
- the TSR • varies.according to various factors including blade number for central axis water turbines but it is envisaged that it should be between 2 and 6, and preferably about 4.2 for a three bladed underwater turbine.
- the preferred control system 30 has a programmable logic controller (PLC) which is associated with the turbine 40 which includes a drive in the form of a variable speed drive (VSD) adapted to control the rotational speed of the motor/generator unit on the turbine in order to provide optimum power output.
- PLC programmable logic controller
- VSD variable speed drive
- the PLC is adapted to regulate the operating speed and torque of the turbine 40 using the VSD, so as to maintain optimum power output for a given water flow rate.
- the system may further include a kick start function to initiate or increase rotation of the turbine when flow rate is low or to overcome resistance to rotation of the turbine under high or low input situations.
- Figure 2 shows a similar arrangement to the system of Figure 1 but further includes other examples of external drives or altering means 52 and 54 for turbine 40.
- altering means 52 and 54 include devices and drives for positioning turbine 40 relative to water flow direction, adjusting height or depth of turbine 40, altering rotor blade or foil speed of turbine 40, altering power load or torque applied to turbine 40.
- VSD variable speed drive
- a variable speed drive can be used to apply torque or anti- torque to the turbine 40 to maintain the desired movement to optimize power generation, generally depending on the calculated TSR relative to the optimal TSR.
- an altering means can be a slewing arrangement to focus or aim the turbine 40 relative to water flow direction.
- the system may further include a kick start function to initiate or increase rotation of the turbine when flow rate is low or to overcome resistance to rotation of the turbine under high or low input situations.
- power would be drawn from the power grid 70 to turn the turbine 40 by a motor arrangement.
- Some forms of generators can generate power via rotation of the turbine 40 but can also be used as a motor to turn a turbine 40 via power received form the power grid 70.
- the control system 30 can control supply of electricity to or from the generator as required.
- the control system 30 can be placed in close proximity to the system 10 and be hardwired to the devices or meters or measuring means 22, 24, 26, 28, drives or altering means 52, 54 and turbine 40. Alternatively, the control system 30 can be remote and in communication by radio network or other communications network such as for example the internet. The control system 30 can control a single turbine or operate a series of turbines in a water turbine farm.
- the control system 30 may include a processing system 50 which includes a distributed architecture, an example of the latter being shown at Figures 3, 4 and 5.
- a base station 1 is coupled to a number of end stations 3 and 5 via a communications network 2, such as for example the Internet, wired and/or wireless or radio networks, and/or via communications networks 4, such as local area networks (LANs) 4.
- LANs local area networks
- the LANs 4 may form an internal network at a specific location.
- the processing system 50 is adapted to receive information from at least the meters 22 - 26 and/or other means such as websites or control inputs, and supply this to the end stations 3, 5 in the form of a user or controller's terminal.
- the or each end station 5 is adapted to provide information back to the base station 1.
- any form of suitable processing system 50 may be used.
- the processing system 50 includes at least a processor 6, a memory 7, an input/output device 8, such as for example a keyboard and display, and an external interface 9 coupled together via a bus 11 as shown.
- the processing system 50 may be formed from any suitable processing system, such as for example a suitably programmed PC, PLC, internet terminal, laptop, hand held PC or the like which is typically operating applications software to enable data transfer and in some cases web browsing.
- a suitably programmed PC, PLC, internet terminal, laptop, hand held PC or the like which is typically operating applications software to enable data transfer and in some cases web browsing.
- the or each end station 3 must be adapted to communicate with the processing system 50 positioned at the base station 1. It will be appreciated that this allows a number of different forms of end station 3 to be used.
- Band 1 is a band in which it is not worth operating the turbine at all because the water flow past the blades is too low. This is a band, generally speaking, in which water flow measured by the flow meter is lower than 1 knot. It should be noted that it would be possible to measure the output from the tachometer and the water flow meter, process those numbers with the CPU to provide a TSR and compare it with an optimum TSR. With such a low flow rate, the optimum TSR is likely to be higher than that calculated. 1 Then, the VSD could be engaged to increase hub rotation or blade speed, but the energy required to increase the rotation or blade speed would be more than that which is generated. Therefore, in Band 1, the generator may be disconnected from the turbine or the brake is applied, or a turbine body upon which a rotor having blades is mounted, is slewed or yawed to change its angle of attack out of the flow of water.
- Band 2 is a band within which the turbine is operated. Generally speaking, the flow meter measures 1 - 8 knots in this band. In this band, the same steps are taken to operate the turbine as described above, however, the VSD increases or decreases the speed of the blades until the TSR reaches as close as possible to the optimal ratio for the system. That is, in this Band, the VSD improves efficiency of the system and the energy cost for this improvement, whether the VSD has to increase or decrease the blade speed, is less than the energy generated or the increase in the energy generated.
- Band 3 is a band of operation where the flow meter measures, say, 8 - 15 knots.
- the VSD is employed to reduce the efficiency of the system, by reducing the speed of the blades. In this situation the system is driven to perform poorly in terms of efficiency. This is because if the system were to perform well on this measure, the blades and the associated turbine may actually destroy the generator by forcing it to output more power than that for which it is rated. For flows above, say, 15 knots, an emergency brake is applied to reduce the possibility of damage to all components.
- Meters or inputs 22, 24, 26, 28 may also include cameras or other detection means such as sonar and those inputs as herein described on the pages of this specification. Sonar and underwater and above-water cameras can be utilised and their outputs can be remotely monitored over the communications network. In this way, certain kinds of obstruction can be detected by an operator or computer who can remotely stop the turbine or alter the turbine performance in some appropriate manner.
- the detection means, sonar or cameras may also be connected to an alarm and an emergency automatic stop.
- Software such as for example shape recognition software can also be utilised so that potential obstructions can be automatically detected, and the control system 30 can then actuate certain other devices automatically in response.
- action can be taken by the control system 30 in response to certain potential hazards, such as the actuation of an alarm or a change in the operating speed or angle or height of the turbine 40, until the potential or actual obstruction has been removed or has removed itself. At that time the absence of the obstruction can also be detected by the cameras or sonar or other detection means and the turbine 40 can be actuated automatically to recommence generation of power.
- Inputs 22, 24, 26, 28 may also include current profilers in the form of Acoustic Doppler Current Profilers (ADCPs) which report to the control system 30 the following information:
- ADCPs Acoustic Doppler Current Profilers
- the abovementioned information is logged to an SQL server database.
- the ADCPs are integrated into a PLC control system and their outputs may be utilized in the processor so that it, through an actuation signal, causes actuation of an element such as a hydraulic motor so that the height or yaw angle of the turbine 30 may be changed to optimise output. If the tide reverses direction the control system makes what is known as a Major movement (180 degrees rotation) and if the tide changes direction by a few degrees the control system makes what is known as a Minor movement to optimise the power output.
- the control system also maintains secure access to all outputs. Access to the control system is password-protected, which in preferred embodiments is useful because the communications network facilitates access from anywhere the internet or other satellite-enabled communication device is disposed.
- the control system 30 monitors and controls various levels of power including PLC links to relays for various devices, fuses and switches, and also controls and monitors high-voltage outputs to control the phase angles and magnitudes of power entering the power grid 70.
- 24V circuits are preferably employed in computing circuits, UPS, sensors and I/O controls. Furthermore, redundant power supplies are installed in the control system 30. Each power supply is connected to a Diode module and if one power supply fails or faults, this fault condition is contained behind the diode module allowing the other power supply to continue operating. Each power supply has a fault signaling contact wired into the PLC I/O so notification of the fault can be detected and repaired.
- Fuses can be reset remotely by PLC outputs. This is useful in preferred embodiments because they are usually located in a cabinet in a remote location offshore on a pylon or in a nacelle adjacent the turbine or generating unit.
- Power supplies are provided, in the form of batteries which can be recharged by a solar panel or other method such as tapping the tidal power from the turbine 40. '
- the control system may also generate reports upon request relating to tidal flow, tidal angle, power generated, events log.
- Other measuring means connected to the PLC include flooded motor chamber detector; thermocouple for motor temperature; thermocouple for air temperature; tachometer for turbine, devices for measuring motor torque, frequency, volts, amps, power, RPM.
- the PLC is also connected to the hydraulic motors which move the turbine along the pylon and around the pylon. Positioning measuring devices are also connected so that accurate readings and positions can be obtained.
- Software provides a Graphical Interface so as to provide the following information and capability to any user or controller location in the world: data from power generation; manual override of torque setting; manual override of height and angle of turbine 40; views of real-time power generation statistics; views of previous time-periods of power generation; views of camera images; views of tide tables; views of tide laminae in real time; alarm log.
- the underwater power generator shown at 110 includes a turbine head unit 105 having a central longitudinal axis 111, and further comprising a turbine comprising a first blade set or rotor 112 rotatably mounted for rotation in response to incident water flow disposed at a first end 113 of the power generation apparatus 110 and a second blade set or rotor 114 at a second end of the power generation apparatus 110 similarly rotatably mounted.
- a generator 134 is disposed between the first and second blade sets.
- the power generation apparatus 110 is generally installed so that the central longitudinal axis 111 extends in a direction parallel with a water flow direction.
- the second rotor 114 is disposed in a downstream position relative to the first rotor 112. Furthermore, the second rotor 114 is disposed coaxially and directly downstream of the first rotor 112 and in the wake zone of the first rotor 112.
- the first and second blade sets or rotors 112, 114 include blade arrangements or blade sets 116 integral with or mounted thereon and which comprise a plurality of blades 118.
- the blades 18 may be any type of blade, and in one arrangement the blades 118 are uni-directional (as shown in Figure 6). These blades show a high degree of twist as abovedescribed.
- the rotor shown in Figure 6 may be used so that the blade sets face outwards as shown at each end, or one may face inwards. Alternatively, the pitch of the blades is variable and completely reversible.
- the blades 118 are bidirectional (cf all other Figures, but in detail shown in Figure 6) so that the blades may work as well if the water strikes the blades from one side or the other.
- the second blade set may be advantageously utilised to increase the efficiency of the energy harvest from that wake zone.
- the generation apparatus 110 may be arranged so that both the first and second bladesets are adapted to be upstream bladesets. In the case of monodirectional blades this arrangement may be such that the blades are reversibly mounted relative to one another. Thus, in one arrangement the blades would be such that each blade would be angled towards the generator a selected rake angle as abovedescribed. It may also be in that situation that the trailing bladeset is locked or free to rotate, since that bladeset may not improve the overall efficiency of the generating machine when run effectively backwards.
- both bladesets are arranged so that the second bladeset is designed to be always a downstream bladeset and thus would be disposed similarly to the upstream bladeset (ie in the case of a rake, if that is most efficient, both rakes would be at corresponding angles to one another ie both raked in the same direction).
- This latter arrangement would most likely require a rotating turbine head.
- the blades 118 are mounted on each rotor and disposed thereabout at equal angular spacings. There are three blades 118 provided per rotor.
- the blades 118 on the second rotor 114 are disposed so that they are in a staggered position relative to the blades on the first rotor 112, when the rotors are mounted on a common shaft (not shown) so that one blade is not shadowed by another blade when in use.
- the rotors 112, 114 may be mounted on a common shaft as discussed above, or may be mounted on separate or operatively linked shafts.
- the shafts may be linked by a gearbox to increase or decrease the relative speed of the second rotor " 114 relative to the first rotor 112 if required for increased efficiency.
- the rotors 112, 114 shown, however, are used in the preferred embodiments of turbine 110, and are mounted on the same shaft with an interference fit or a splined connection (all not shown), but which in either or any case, fix the rotating speeds of the rotors 112, 114 to be common with one another and maintains the angular staggering of the blades 118 between the rotors 112, 114.
- the blade sets or rotors 112, 114 may be selectively uncoupled so that one blade set freely rotates relative to the other and a brake may be provided to selectively lock one blade set or the other. It is also possible to operatively connect the two blade sets or rotors so that they rotate in opposite directions from one another.
- the power generation apparatus 110 may be provided with a rotation unit (not shown), which may rotate the unit up to 180 degrees, which is more valuable when the turbine 10 is installed with uni-directional blades 118, but may be of some use when fitted with bidirectional blades 118.
- the power generation apparatus 110 may be turned so that the central axis may move a few degrees, up to, say, 45°, so as to align the central axis with the water or current flow, which may move several degrees between or within cycles, for improved efficiency.
- the first and second blade sets or rotors 112, 114 are separated a suitable downstream distance, which testing to date has indicated is about the same distance as the diameter (d) of the blades 118.
- Other downstream separation distances have been modelled and useful efficiencies have resulted when the separation distances are between about 0.1d and 1Od.
- the power generation apparatus 110 may include a pylon 132 upon which the turbine head unit 105 including a generator 134 is mounted.
- the pylon 132 may be streamlined so as to reduce water flow stresses on the pylon.
- the pylon 132 may include a releasable mount so as to releasably support the turbine head unit 105.
- the pylon 132 may also be releasably mounted at its base to a support base unit which is in the form of a base platform and includes recesses for receiving spoil, concrete or other masses to stabilise the base on the ocean floor.
- the present inventors have extensively modelled the power output of water turbines such as for example the one described hereinabove, as well as one with just one bladeset on a single pylon and have developed suitable control systems 10 based on this information. It has been found that even subtle or sensitive manipulation of environmental factors can allow optimum power generation, even from low water flow rates. A set point can be calculated for a given flow rate and type of turbine so that the control system 10 can be programmed to maintain the speed of turbine to maximize output in that flow rate. Preferred embodiments of the present invention have been used by the applicant to successfully control and optimize the power generation of a track-based water turbine connected to a power grid.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Control Of Water Turbines (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012511101A JP5613761B2 (en) | 2009-05-22 | 2010-05-21 | Improved control of submerged turbines. |
AU2010251700A AU2010251700B2 (en) | 2009-05-22 | 2010-05-21 | Improvements to control of underwater turbine |
CA2761783A CA2761783A1 (en) | 2009-05-22 | 2010-05-21 | Improvements to control of underwater turbine |
EP10777245.1A EP2432987A4 (en) | 2009-05-22 | 2010-05-21 | Improvements to control of underwater turbine |
CN2010800225043A CN102439286A (en) | 2009-05-22 | 2010-05-21 | Improvements to control of underwater turbine |
US13/321,647 US20120191265A1 (en) | 2009-05-22 | 2010-05-21 | control of underwater turbine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2009902353 | 2009-05-22 | ||
AU2009902353A AU2009902353A0 (en) | 2009-05-22 | Improvements to Control of Underwater Turbine |
Publications (1)
Publication Number | Publication Date |
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WO2010132956A1 true WO2010132956A1 (en) | 2010-11-25 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/AU2010/000618 WO2010132956A1 (en) | 2009-05-22 | 2010-05-21 | Improvements to control of underwater turbine |
Country Status (9)
Country | Link |
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US (1) | US20120191265A1 (en) |
EP (1) | EP2432987A4 (en) |
JP (1) | JP5613761B2 (en) |
KR (1) | KR20120027379A (en) |
CN (1) | CN102439286A (en) |
AU (1) | AU2010251700B2 (en) |
CA (1) | CA2761783A1 (en) |
CL (1) | CL2011002954A1 (en) |
WO (1) | WO2010132956A1 (en) |
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DE102011114438A1 (en) | 2011-09-28 | 2013-03-28 | Voith Patent Gmbh | Hydraulic power plant i.e. tidal power plant, operating method, involves separately summing power unit outputs produced at generator for torque/rotation speed curves, and performing adaptive tracking of curves based on summed outputs |
RU2608793C2 (en) * | 2015-04-09 | 2017-01-24 | ООО "Ракурс-Инжиниринг" | Method and device for increasing accuracy of adjustable-blade turbine blades angle control |
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KR20100102618A (en) * | 2007-11-23 | 2010-09-24 | 아틀란티스 리소시스 코포레이션 피티이 리미티드 | Control system for extracting power from water flow |
US8801386B2 (en) * | 2008-04-14 | 2014-08-12 | Atlantis Resources Corporation Pte Limited | Blade for a water turbine |
WO2009126995A1 (en) | 2008-04-14 | 2009-10-22 | Atlantis Resources Corporation Pte Limited | Central axis water turbine |
KR20120042746A (en) | 2009-04-28 | 2012-05-03 | 아틀란티스 리소시스 코포레이션 피티이 리미티드 | Underwater power generator |
US8920200B2 (en) | 2009-10-27 | 2014-12-30 | Atlantis Resources Corporation Pte | Connector for mounting an underwater power generator |
KR101127565B1 (en) * | 2011-01-28 | 2012-03-23 | (주)레네테크 | Tidal current power generating apparatus |
AU2012253228B2 (en) | 2011-05-10 | 2013-07-11 | Atlantis Resources Corporation Pte Limited | Deployment apparatus and method of deploying an underwater power generator |
WO2015168810A1 (en) * | 2014-05-06 | 2015-11-12 | Jouni Jokela | Apparatus and system for hydroelectric power generation |
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NO340785B1 (en) * | 2016-05-10 | 2017-06-19 | Norwegian Tidal Solutions | Underwater electrical power plant |
US10718598B2 (en) | 2017-06-23 | 2020-07-21 | Hamilton Sundstrand Corporation | Series hybrid architecture for an unmanned underwater vehicle propulsion system |
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- 2010-05-21 AU AU2010251700A patent/AU2010251700B2/en not_active Ceased
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- 2010-05-21 EP EP10777245.1A patent/EP2432987A4/en not_active Withdrawn
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RU2608793C2 (en) * | 2015-04-09 | 2017-01-24 | ООО "Ракурс-Инжиниринг" | Method and device for increasing accuracy of adjustable-blade turbine blades angle control |
Also Published As
Publication number | Publication date |
---|---|
CL2011002954A1 (en) | 2012-04-20 |
AU2010251700B2 (en) | 2013-10-03 |
JP2012527555A (en) | 2012-11-08 |
JP5613761B2 (en) | 2014-10-29 |
CN102439286A (en) | 2012-05-02 |
CA2761783A1 (en) | 2010-11-25 |
EP2432987A1 (en) | 2012-03-28 |
EP2432987A4 (en) | 2013-05-15 |
KR20120027379A (en) | 2012-03-21 |
US20120191265A1 (en) | 2012-07-26 |
AU2010251700A1 (en) | 2011-11-24 |
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