WO2012007111A2 - Procédé et dispositif pour produire un signal de correction d'angle d'attaque pour une pale de rotor prédéterminée d'une éolienne - Google Patents

Procédé et dispositif pour produire un signal de correction d'angle d'attaque pour une pale de rotor prédéterminée d'une éolienne Download PDF

Info

Publication number
WO2012007111A2
WO2012007111A2 PCT/EP2011/003270 EP2011003270W WO2012007111A2 WO 2012007111 A2 WO2012007111 A2 WO 2012007111A2 EP 2011003270 W EP2011003270 W EP 2011003270W WO 2012007111 A2 WO2012007111 A2 WO 2012007111A2
Authority
WO
WIPO (PCT)
Prior art keywords
rotor blade
rotor
wind turbine
signal
angle
Prior art date
Application number
PCT/EP2011/003270
Other languages
German (de)
English (en)
Other versions
WO2012007111A3 (fr
Inventor
Felix Hess
Martin Voss
Boris Buchtala
Christian Eitner
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2012007111A2 publication Critical patent/WO2012007111A2/fr
Publication of WO2012007111A3 publication Critical patent/WO2012007111A3/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • 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
    • F05B2260/00—Function
    • F05B2260/82—Forecasts
    • F05B2260/821—Parameter estimation or prediction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/109—Purpose of the control system to prolong engine life
    • F05B2270/1095—Purpose of the control system to prolong engine life by limiting mechanical stresses
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/326—Rotor 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
    • F05B2270/327—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
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/329—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
    • F05B2270/331—Mechanical loads
    • 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
    • F05B2270/40—Type of control system
    • F05B2270/404—Type of control system active, predictive, or anticipative
    • 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
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Definitions

  • the present invention relates to a method and apparatus for providing a pitch correction signal for a predetermined rotor blade of a plurality of rotor blades of a wind turbine according to the independent claims.
  • the angle of attack also referred to as pitch angle
  • the aerodynamic lift is changed in such a way that a Reduction of the responsible for the drive torque buoyancy force can be achieved and thus the system can be maintained in the range of rated speed.
  • this blade pitch mechanism is also used as a brake by putting the blades nose-to-wind so that the rotor no longer delivers any significant drive torque.
  • the rotor blades can then be used as aerodynamic brakes by being placed completely in the direction of wind flow (flag position) or by increasing the angle of attack so much that the flow leaves (stable).
  • CPC collective pitch control
  • the individual pitch control allows a reduction in the asymmetrical loads transmitted to the hub via the nacelle.
  • the pitch angles calculated from the IPC and CPC control are then sent as default to the controllers of the corresponding pitch actuators. The bending moments thus serve as a control variable for the individual blade adjustment.
  • the present invention provides a method of providing a pitch correction signal for a predetermined rotor blade from a plurality of rotor blades of a wind turbine, wherein the pitch correction signal is suitable for varying a signal for driving an individual pitch for the rotor blade, the method comprising the following steps having:
  • a rotor blade position signal representing an angular position of the rotor blade with respect to a rotational axis of a rotor of the wind turbine and / or reading a rotational speed of the rotor blade about the axis of rotation;
  • the pitch correction signal for the predetermined rotor blade of the wind turbine using a stored in a memory relationship between the angular position and a Anstellwinkel- correction factor, wherein the pitch correction signal represents the pitch correction factor, which in use a correction of the individual angle of attack for the causes predetermined rotor blade, so that an effect of a moment on the predetermined rotor blade of an effect of a torque is adjusted to at least one further rotor blade of the wind turbine and wherein the determining is carried out using the read rotor blade position signal and / or the read rotational speed.
  • the present invention provides a device for providing a pitch correction signal for a predetermined rotor blade of a plurality of rotor blades of a wind turbine, wherein the pitch correction signal for changing a signal for driving an individual pitch for the rotor blade is provided, the device comprising the following Features include:
  • a unit for determining the pitch correction signal for the predetermined rotor blade of the wind turbine from a memory wherein the pitch angle correction signal represents a pitch correction factor, which in use causes a correction of the individual pitch for the predetermined rotor blade, so that a Effect of a moment on the predetermined rotor blade of an effect of a moment is adjusted to at least one further rotor blade of the wind turbine and wherein the determining is carried out using the read-in rotor blade position signal and / or the read rotational speed.
  • Also of advantage is a computer program product with program code, which is stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and which is used to carry out the method according to one of the embodiments described above, when the program on a control device or a device is performed.
  • a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory
  • the present invention is based on the recognition that a much faster and better control of the pitch angle of a rotor blade can be achieved when a correction signal is provided which reads out a correction factor for the pitch angle of a specific rotor blade in dependence on an angular position of this rotor blade from a memory.
  • the angle of attack is defined as the angle by which the rotor blade on the rotor hub is rotated about the rotor blade axis with respect to a zero position in the rotor plane, wherein in the zero position the rotor blade has a maximum thrust force from wind in the direction of the rotor axis having.
  • the stationary forces are taken into account for the determination of the angle of attack correction signal as a function of the angular position of the rotor blade, for example, the effects of wind shear or the wind accumulation effects on the tower of the wind turbine in different angular positions of the rotor blade have different weight.
  • the present invention offers the advantage that the separation of stationary effects and dynamic effects caused by turbulence in the load behavior of the rotor blades makes it possible to control the optimum angle of attack much more quickly and at the same time more precisely.
  • the regulation does not need to be carried out directly by the present invention, but rather the essential Core of the invention in the provision of a corresponding correction signal, the use of which is possible on the already known regulation of the individual angle of attack.
  • the present invention offers the additional advantage that an existing control concept can be reused and improved by the use of the present invention. This also allows retrofitting to existing wind turbines, which represents an additional economic advantage for the use of the present invention.
  • a determination of a wind speed at different segments of a rotor blade can be carried out in the step of determining the change in the memory stored in the memory, wherein the determination of the wind speed at the individual segments of the rotor blade taking into account a determined current inclination of the rotor axis against the horizontal, a current distance of a rotor hub to a tower of the wind turbine, a determined oblique flow angle of wind with respect to the rotor axis in the region of the relevant segment, a current wind speed in the direction of the rotor axis in the region of the relevant segment of the rotor blade as a function of the height of the relevant segment over the earth's surface and / or a diameter of a
  • Such an embodiment of the present invention offers the advantage that the relationship stored in the memory very precisely maps a correction factor that can be used to compensate for largely stationary disturbances. In this way, the regulation of the individual angle of attack can be relieved and thus accelerated. It is particularly advantageous if in the step of determining a segmentation of a flight circle of the rotor blade about the rotor axis into different segments, wherein at least information about a load of the predetermined rotor blade in one of the segments of the flight circle is recorded and the recorded information for determination a pitch correction signal of another rotor blade of the wind turbine is used, in particular wherein the recorded information is used to determine a Anstellwinkel-correction signal of a rotor blade of the wind turbine, which immediately follows the predetermined rotor blade in the direction of rotation of the rotor.
  • Such an embodiment of the present invention offers the further advantage that the relationship stored in the memory can be adapted very flexibly and quickly to smaller local changes of the largely stationary disturbances.
  • a rotor blade directly following the rotor blade can already make use of the loading information which was detected by sensors from the first, that is, from the predetermined rotor blade.
  • information about a load of the rotor blade following the predetermined rotor blade can be recorded in the step of determining at least one segment, wherein furthermore a deviation between the load of the predetermined rotor blade and the load of the further rotor blade, in particular of the predetermined rotor blade immediately following rotor blade is determined and wherein the determined deviation is used for a determination of the load and / or a Anstellwinkel- correction signal for a third rotor blade of the wind turbine, when the third rotor blade is in the segment of the flight circle.
  • Such an embodiment of the present invention offers the advantage that, when the substantially stationary disturbance variable changes, an estimate of this change for a subsequent rotor blade can already be made.
  • the pitch correction signal provided may be based on a prediction for varying (essentially stationary) disturbances, which is reflected by a further improvement in the speed and precision of the pitch control when using said pitch correction signal ,
  • the step of determining information about a load of the further rotor blade, in particular the rotor blade immediately following the predetermined rotor blade, in the relevant segment are detected and also in the memory, the information about the load of the rotor blade be replaced by the detected information about the load of the other rotor blade.
  • Such an embodiment of the present invention offers the advantage that the relationship stored in the memory is updated in very short time intervals, so that the provision of the pitch correction signal is based on the most precise possible current basis of measured values. This ensures fast and highly accurate control of the individual angle of attack for a single rotor blade when the aforementioned pitch correction signal is used to vary the individual angle of attack of that rotor blade.
  • the method may further comprise the following steps:
  • a further pitch correction signal for the other rotor blade of the wind turbine using the stored relationship between an angular position and a pitch correction factor, the further pitch correction signal representing a pitch angle correction factor which, in use, corrects an individual pitch Angle of incidence for the other Rötorblatt causes, so that an effect of a moment on the other rotor blade of an effect of a moment on the predetermined rotor blade of the wind turbine is adjusted and wherein the determination is carried out using the read in another rotor blade position signal and / or the read rotational speed.
  • Such an embodiment of the present invention offers the advantage that not only an optimization of the pitch angle of a single rotor blade takes place, but that the optimization is carried out jointly for a plurality of rotor blades. This represents a further improvement in the regulation of the angles of incidence of the rotor blades of the wind power plant. In particular, this results in a reduction in the yawing and pitching moments on the tower or the nacelle of the wind power plant.
  • a method for modifying a signal for actuating an individual angle of attack for the rotor blade can also be provided, this method having the following steps:
  • Such an embodiment of the present invention offers the advantage of not only providing an angle of attack correction signal, but of actually changing the signal for driving the individual angle of attack. This allows implementation of the advantages that are provided by providing the Anstellwinkel- correction signal.
  • FIG. 1 shows a block diagram of a control circuit for adjusting the individual angles of incidence for rotor blades of the rotor of the wind power plant, an embodiment of the present invention being used;
  • FIG. 2 is a front view of a wind turbine, showing a representation of a segmentation of the rotor blades for determining the current pitch correction factor;
  • FIG. 3 shows a representation of a wind shear at different heights above the earth's surface and a side view of a wind power plant in which the rotor axis is shown tilted;
  • FIG. 4 is a plan view of a wind turbine, wherein the rotor blades are flowed diagonally by wind;
  • FIG. 7a shows a diagram of load values in a circle segment of a rotor blade in chronological order with an increase of wind
  • FIG. 7b is a diagram showing a change of a correction factor for the angle of attack for the increase of the wind load within the circle segment of the rotor blade shown in FIG. 7a at different points in time;
  • FIG. 8 is a block diagram of a control circuit for adjusting the individual control angle for rotor blades of the rotor of the wind turbine, wherein another
  • Embodiment of the present invention is used.
  • FIG. 9 is a flowchart of an embodiment of the present invention as a method.
  • the same or similar elements may be provided in the following figures by the same or similar reference numerals.
  • the figures of the drawings, the description and the claims contain numerous features in combination. It is clear to a person skilled in the art that these features are also considered individually or that they can be combined to form further combinations which are not explicitly described here.
  • the invention in the following description may be explained using different dimensions and dimensions, wherein the invention is not limited to these dimensions and dimensions to understand.
  • method steps according to the invention can be repeated as well as carried out in a sequence other than that described.
  • an exemplary embodiment comprises a "and / or" link between a first feature / step and a second feature / step
  • this can be read such that the exemplary embodiment according to one embodiment includes both the first feature / only step and the second feature / the second step and according to another embodiment, either only the first feature / the first step or only the second feature / the second step.
  • An important aim of the present invention is to be seen in that a disturbance variable connection for the IPC control should be realized or made possible. As a result, a significantly improved performance of the IPC control can be achieved.
  • the invention can be very easily combined with the known IPC control methods so that already existing and implemented IPC control strategies can be supplemented.
  • IPC control strategies can be supplemented.
  • For this purpose for the individual Pitchregelurig a rotor blade stored over up to a complete rotor circulation measurement information in the best case of all rotor blades are used. The strain gauges obtained from the measurement information can then be used to estimate the expected rotor loads. Based on this estimate, a desired trajectory of the individual pitch angles can then be calculated and used for the precontrol of the pitch actuators.
  • IPC control can be extended by a noise compensation, which te the yawing and Nickmomen to compensate for the wind turbine, resulting from known interference effects.
  • noise compensation which te the yawing and Nickmomen to compensate for the wind turbine, resulting from known interference effects.
  • FIG. 1 shows how a control loop 100 that uses the present invention could be configured.
  • the angle of attack of not shown in FIG. 1 rotor blades of a wind turbine 1 10 is regulated. This regulation takes place as a function of the speed of the wind 1 15, which acts on the rotor blades of the wind turbine 1 10.
  • different sensors 120 are detected by sensors, such as the speed of the
  • Rotor the angular velocity of the rotor, one or more angular positions of the rotor blades or bending moments, which occur at the blade roots of the rotor blades.
  • These measured variables 120 such as (the angular positions of the rotor blades 1, 3 or 3), ⁇ , ⁇ ⁇ (the moments of the rotor blades 1, 2 and 3) are the unit 125 for operation of the wind turbine 1 10, an IPC Regulator 130 and a device 135 and via an interface 136 to a memory 137 which is a unit which provides the Anstellwinkel correction signal 139 also as ßu.2, 3 for the disturbance variable signal for the first, second and third rotor blade provides.
  • a pitch correction signal for each of the rotor blades of the wind turbine 110 can be provided by the memory 137.
  • the memory 137 a relationship between the Ansteiiwinkel correction signal for at least one of the rotor blades of the rotor of the wind turbine 1 10 is stored in response to a current angular position of the rotor blade and / or an angular velocity of the rotor for the correction of the individual angle of attack 139 of concerned rotor blade is issued.
  • corrections of the relationship stored in the memory 137 can be carried out in accordance with the description described in greater detail below, and these corrections can be stored in the memory 137.
  • the relationship stored in the memory 1 37 can be kept current, so that a very precise control of the angle of attack becomes possible.
  • the operating control unit 125 supplies general control signals related to the optimization of the output of the wind turbine 110 on the basis of the rotational speed ⁇ .
  • the operating control unit 125 supplies a current generator torque 140, which is made available directly to the wind power plant 110, in order to achieve a regulation of the rotational speed of the generator and thus an optimization of the power output of the generator of the wind power plant.
  • the operating control unit 125 supplies a signal 142, which represents a common angle of attack for all rotor blades of the rotor of the wind turbine 1 10, thus taking into account the current wind speed 15 (and possibly the current wind direction), the wind turbine 1 10 in their current optimal performance point works.
  • the IPC controller 130 uses, for example, one or more signals about moments M 1 ⁇ 3, which are detected at the individual rotor blade roots and can therefrom for at least one, but better for each of the individual rotor blades an individual angle of attack 145 (from with ⁇ ipc, 3).
  • the pitch correction signal 139 for a particular rotor blade, the signal 145 representative of the individual pitch for the particular rotor blade, and the signal 142 representing a common pitch of all blades may then be additively linked to a corrected pitch control signal 150.
  • a corrected Anstellwinkel drive signal 150 is a signal below described in more detail ßi i2,3 subtracted for a current angle of attack for the relevant rotor blade 1, 2 or 3, wherein the signal obtained from the subtraction is fed to a subordinate pitch controller 155, for example as P-controller with the control factor k A is configured. That of the subordinate Angle controller 1 55 received signal is additively linked to a signal from a pre-control unit 160 for the pitch actuator.
  • the signal thus linked is subsequently fed to a pitch angle actuator 165 with the transformation instruction G A , which sets the actual angle of attack for the relevant rotor blade.
  • a signal representing this actual angle of attack for the relevant rotor blade is subtracted from the signal 150 as the above-current angle of attack.
  • the pre-control unit 160 for the pitch-angle actuator thereby performs a prediction of the expected pitch on the basis of the Anstellwinkel- correction signal 139, so that a faster control of the corrected individual-angle of attack for the relevant rotor blade is possible.
  • the above description can also be made for each individual rotor blade of the rotor of the wind turbine 1 10, so that an optimization of the regulation of the individual angle of attack for the rotor blades is possible. However, it is not necessary that the pitch be optimized for all rotor blades.
  • the pitch controller 155 Since the course of the size for the noise compensation is known in advance, a control can be realized for the pitch controller 155 stored in pitch, which allows a significantly improved and faster follow-up control of the pitch actuator 165. As a result, the actuator can set the pitch components resulting from the interference compensation with the aid of the pitch correction signal 139 virtually without delay.
  • the asymmetrical loads With correctly calculated pitch curve for the noise compensation, the asymmetrical loads can be completely compensated for at a constant, turbulence-free wind.
  • the noise compensation uses a curve in the memory 137, which contains a correlation for the necessary pitch or pitch angle for the noise compensation for each sheet. This curve can be calculated by the device 135 by calculating in the device 135 the course of the wind speed at individual leaf elements. Subsequently, the curve for the
  • the curve for the pitch angle can also be adapted continuously in an improved embodiment of the invention by determining from the measured data 120 the wind speed. power plant continuously the parameters of the wind shear, the Turmvorstaus, etc. read and adjusted using these parameters of the stored in the memory 1 37 context.
  • the individual disturbing effects should not be resolved separately, but an algorithm can be implemented, which adjusts the pitch curve over the rotor blade position so that all disturbing effects, which do not originate from the turbulence of the wind, are compensated.
  • a consideration of individual segments 200 of the one or more rotor blades 210 of the wind turbine 1 10 can be used, as shown in FIG.
  • a distance r of the respective segment 200 from the hub of the rotor as well as the rotational speed ⁇ and / or the angular position ⁇ of the rotor blade 210 is taken into account, at which the relevant segment is currently located.
  • a coordinate system is considered in which the z and y axes according to the illustration in FIG. 2 run.
  • the wind shear at different heights H above the earth's surface can be taken into account for the calculation of the wind speeds.
  • a pitch angle 5 of the rotor axis 310 with respect to the horizontal and a distance of the rotor hub 320 with respect to the center of the tower of the wind turbine is taken into account, as shown schematically in FIG.
  • FIG. 3 also shows the course of the x-coordinate for a coordinate system, as used in the calculation of wind speeds.
  • determining the wind shear different wind speeds are to be considered, which can occur according to the left schematic representation of Fig. 3 at different heights above the earth's surface, being observed at a great height above the earth's surface, a greater wind speed than close to the earth's surface ,
  • the oblique inflow of the rotor blades 210 under the angle of incidence ⁇ with respect to the rotor axis is taken into account, as can be seen schematically from FIG. 4.
  • an air congestion on the tower of the wind turbine can also be taken into account in the calculation of the wind speeds, as illustrated in the illustration of FIG. 5.
  • 5 shows through the solid lines a flow behavior of wind around a stationary tower of a wind power plant, simplified by a tower radius r at the height of the considered segment 200 at an angle ⁇ and a distance r of this segment 200 from the Center of the tower is assumed.
  • the flow velocity of the wind is designated by the variable u.
  • the term cos ⁇ maps the oblique flow of the rotor
  • the term r ⁇ sin 6 ⁇ ⁇ ⁇ sin ⁇ represents the velocity on the basis of the axial inclination.
  • the pitch angle correction relationship stored in the memory 137 may be changed with respect to the current angular position of the rotor and / or the rotational speed of the rotor. This can be done by the unit 135, in which a corresponding model is stored, which angle of attack for a single rotor blade at which wind speed from which direction is required in order to achieve an optimal symmetrical as possible reduction of the load of the wind turbine. It should be noted that the above quantities reflect the stationary conditions that are not fast, ie that can change in the range of a few tens of seconds. For the favorable angle of attack obtained, a corresponding correction factor can then be determined.
  • An important object of the invention according to a further embodiment of the invention is to realize an active precontrol of the pitch actuators based on the load measurement series measured in the cycle of rotation of the rotor.
  • the load curve of a rotor blade is here considered as the expected load curve of the Nachêtrs (ie the directly following rotor blade) of a circle segment of the rotor blades, wherein the flight circle denotes the surface which sweep the rotor blades during rotation about the rotor hub. For illustration, the following diagrams are shown in FIG. 6.
  • the measured impact bending loads of the rotor blades (lower diagrams) with respect to the measured wind speeds (upper diagrams) are shown in the two left and two right diagrams.
  • the passage order of a rotor sector ie, the considered segment of the rotor blade circle) is 3-2-1, that is, with respect to the rotor blade 2, sheet 3 is the precursor and sheet 1 is the follower.
  • the load curves within a main sector are thus assigned to the respective subsequent rotor blade.
  • the rotor surface is discretized for this purpose (eg with a rotor azimuth angle of 1 degree per segment).
  • the measured loads are the corresponding rotor azimuth angles when sweeping the Diskretmaschinesabêtes or the Assigned discretization step. In this way, when storing a complete rotor revolution three (or four) measured values per rotor azimuth angle segment and circulation can be realized.
  • the basic idea for the pilot control according to this exemplary embodiment is to use the sensor data of the individual rotor blades measured during a third revolution (ie 120 degrees) as the basis for the trajectory planning of the pitch angles of subsequent rotor blades.
  • the cyclic load curves of wind turbines that can be detected in measurements and simulations make it possible to predict the expected load,
  • the trajectory planning is limited to 3 * 120 ° sectors, for each of which a desired trajectory of the pitch adjustment is calculated.
  • This desired trajectory can be stored for each of the sectors in the memory 137 and used to correct the individual pitch of a rotor blade located in the sector concerned.
  • the trajectory planning for this sector will be updated based on the new rotor blade data, which has just passed through this sector.
  • load curve gust an increasing rotor load in the time range 10-22 seconds and a decreasing load in the range 22-30 seconds can be detected.
  • a load gradient for the individual rotor segments can be calculated by means of the measured data.
  • This change in wind speed which may also be referred to as a gradient, may then be used as a correction factor for the load curves.
  • the prerequisite for the consideration of the correction factor in this case is a clearly ascertainable tendency on the basis of the measured data series of the corresponding rotor sectors.
  • Such a tendency can be seen, for example, from the diagram of FIG. 7a, in which the wind speed (and thus the moment load M) continuously increases in one and the same rotor segment over the one-third cycle durations T.
  • This can be a correction factor be determined by the load trajectory is changed or should be changed accordingly. For example, this is done in accordance with the representation of FIG. 7B, in which the setpoint trajectory drawn by means of the correction factor, the effect of which is represented by the arrows in FIG.
  • the memory 137 contains a trajectory planning for the individual rotor sectors, which are updated by the unit 135 in each case.
  • a relationship between an angular position and the pitch correction factor for a rotor blade for a complete revolution is no longer stored in the memory 137, instead the correction factors are stored for individual rotor sectors (or at least one sector) determined and updated after sweeping the trailing rotor blade. In this way, a highly accurate and rapid control or correction of the individual angles of attack of the rotor blades or is achieved.
  • the present invention provides a method 900 for providing a pitch correction signal for a predetermined rotor blade from a plurality of rotor blades of a wind turbine as illustrated in a flow chart in FIG.
  • the pitch correction signal for changing a signal provided for driving an individual angle of attack for the rotor blade.
  • the method 900 comprises a step of reading in 910 a rotor blade position signal representing an angular position of the rotor blade with respect to an axis of rotation of the rotor blade and / or reading a rotational speed of the rotor blade about the axis of rotation.
  • the method 900 includes a step of determining the pitch correction signal for the predetermined rotor blade of the wind turbine using a relationship between an angular position and a pitch correction factor stored in a memory, the pitch correction signal representing the pitch correction factor included in the memory a use of a correction of the individual angle of attack for the predetermined rotor blade is effected so that an effect of a moment on the predetermined rotor blade of an effect of a torque is adjusted to at least one further rotor blade of the wind turbine and wherein the determining using the read rotor blade position signal and / or the read rotational speed takes place.
  • pitch actuator 200 segment of a rotor blade

Abstract

L'invention concerne un procédé (900) pour produire un signal de correction d'angle d'attaque (139) pour une pale de rotor (210) prédéterminée parmi une pluralité de pales de rotor d'une éolienne (110), le signal de correction d'angle d'attaque étant prévu pour modifier un signal (145) destiné à la commande d'un angle l'attaque individuel pour la pale de rotor. Le procédé (900) comporte une étape de lecture (910) d'un signal de position de pale de rotor (120), ce signal représentant une position d'angle (Ω1) de la pale de rotor relativement à un axe de rotation (310) du rotor de l'éolienne et/ou de lecture d'une vitesse de rotation (ω) de la pale de rotor autour de l'axe de rotation (310). Le procédé (900) comporte également une étape de détermination (920) du signal de correction d'angle d'attaque (139) pour la pale de rotor déterminée de l'éolienne en utilisant un rapport mis en mémoire (137) entre une position d'angle et un facteur de correction d'angle d'attaque, le signal de correction d'angle d'attaque représentant le facteur de correction d'angle d'attaque qui, lorsqu'il est appliqué, permet de corriger le signal (145) destiné à la commande de l'angle d'attaque individuel pour la pale de rotor prédéterminée, de sorte que l'action d'un couple (M1) sur la pale de rotor prédéterminée est compensée par l'action d'un couple (M2, M3) sur au moins une autre pale de rotor de l'éolienne, la détermination étant réalisée au moyen du signal de position de pale de rotor lu et/ou de la vitesse de rotation lue.
PCT/EP2011/003270 2010-07-15 2011-07-01 Procédé et dispositif pour produire un signal de correction d'angle d'attaque pour une pale de rotor prédéterminée d'une éolienne WO2012007111A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010027229A DE102010027229A1 (de) 2010-07-15 2010-07-15 Verfahren und Vorrichtung zur Bereitstellung eines Abstellwinkel-Korrektursignals für ein vorbestimmtes Rotorblatt eier Windkraftanlage
DE102010027229.9 2010-07-15

Publications (2)

Publication Number Publication Date
WO2012007111A2 true WO2012007111A2 (fr) 2012-01-19
WO2012007111A3 WO2012007111A3 (fr) 2012-04-26

Family

ID=44627935

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/003270 WO2012007111A2 (fr) 2010-07-15 2011-07-01 Procédé et dispositif pour produire un signal de correction d'angle d'attaque pour une pale de rotor prédéterminée d'une éolienne

Country Status (2)

Country Link
DE (1) DE102010027229A1 (fr)
WO (1) WO2012007111A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106415003A (zh) * 2014-06-20 2017-02-15 米塔科技有限公司 动态螺距控制系统
DE102018007749A1 (de) * 2018-10-02 2020-04-02 Senvion Gmbh Verfahren und System zum Betreiben einer Windenergieanlage

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3259472B1 (fr) 2015-03-27 2020-11-04 Siemens Gamesa Renewable Energy A/S Commande pour une éolienne
DE102016125045A1 (de) * 2016-12-20 2018-06-21 Wobben Properties Gmbh Verfahren zum Steuern einer Windenergieanlage
WO2020125885A1 (fr) * 2018-12-20 2020-06-25 Vestas Wind Systems A/S Correction de l'angle de calage

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19739164B4 (de) 1997-08-25 2009-09-17 Institut für Solare Energieversorgungstechnik (ISET) Verein an der Universität Gesamthochschule Kassel eV Windenergieanlage

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2004272877B2 (en) * 2003-09-10 2010-03-04 Mitsubishi Heavy Industries, Ltd. Blade pitch angle control device and wind turbine generator
EP2079927A1 (fr) * 2006-10-02 2009-07-22 Clipper Windpower Technology, Inc. Éolienne avec commande de pas de pale afin de compenser le cisaillement du vent et le désalignement du vent
CN101874158A (zh) * 2007-10-29 2010-10-27 维斯塔斯风力系统有限公司 风轮机叶片以及用于控制叶片上的载荷的方法
EP2110551B2 (fr) * 2008-04-15 2019-02-27 Siemens Aktiengesellschaft Procédé et appareil pour le contrôle d'une éolienne selon les prédictions

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19739164B4 (de) 1997-08-25 2009-09-17 Institut für Solare Energieversorgungstechnik (ISET) Verein an der Universität Gesamthochschule Kassel eV Windenergieanlage

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106415003A (zh) * 2014-06-20 2017-02-15 米塔科技有限公司 动态螺距控制系统
US10151298B2 (en) 2014-06-20 2018-12-11 Mita-Teknik A/S System for dynamic pitch control
DE102018007749A1 (de) * 2018-10-02 2020-04-02 Senvion Gmbh Verfahren und System zum Betreiben einer Windenergieanlage

Also Published As

Publication number Publication date
WO2012007111A3 (fr) 2012-04-26
DE102010027229A1 (de) 2012-01-19

Similar Documents

Publication Publication Date Title
EP2464861B1 (fr) Procédé de commande d'éolienne
EP2582972B1 (fr) Procédé et dispositif empêchant une oscillation transversale d'une éolienne
WO2018162706A1 (fr) Procédé servant à définir une puissance disponible d'un parc éolien et parc éolien associé
DE102009030886A1 (de) Windenergieanlage mit einer Vielzahl von Windenergievorrichtungen und Verfahren zur Steuerung der Windenergieanlage
DE112012005771T5 (de) Windkraftanlage und Verfahren zum Bestimmen von Windkraftanlagenparametern
EP2596238A2 (fr) Procédé et dispositif de détermination d'un angle de flexion d'une pale de rotor d'une éolienne
DE102017114583A1 (de) Computergestütztes Verfahren zum Rekalibrieren wenigstens eines Gierwinkels einer Windkraftanlage, entsprechendes System, computergestütztes Verfahren zur Windparkoptimierung und entsprechender Windpark
WO2013034235A1 (fr) Procédé et dispositif pour déterminer une erreur d'angle de lacet d'une éolienne, et éolienne correspondante
EP3803109B1 (fr) Procédé pour faire fonctionner une éolienne
WO2018091519A1 (fr) Procédé pour commander une éolienne et éolienne correspondante
WO2012007111A2 (fr) Procédé et dispositif pour produire un signal de correction d'angle d'attaque pour une pale de rotor prédéterminée d'une éolienne
DE102010035055A1 (de) Verfahren und Vorrichtung zum Einstellen eines Anstellwinkels eines Rotorblatts einer Windkraftanlage auf einen Sollwert
DE102009015679A1 (de) Stationäre Energiegewinnungsanlage mit Steuereinrichtung und Verfahren zur Steuerung der Energiegewinnungsanalge
EP3559446B1 (fr) Procédé permettant de commander une éolienne
EP3555462A1 (fr) Procédé permettant de commander une éolienne
DE102012024272A1 (de) Verfahren und Vorrichtung zum Verringern eines Rotors einer Windenergieanlage belastenden Nickmoments
EP3499023A1 (fr) Procédé et système de fonctionnement d'une éolienne
EP3553311B1 (fr) Dispositif et procédé de commande d'une éolienne
EP3887677B1 (fr) Procédé pour faire fonctionner une éolienne, éolienne et produit programme d'ordinateur
EP3768970B1 (fr) Procédé pour faire fonctionner une éolienne, éolienne et parc éolien
EP3870849A1 (fr) Commande d'une éolienne
EP4253753A1 (fr) Procédé de détection d'un mauvais réglage d'une pale de rotor d'éolienne
DE102018007997A1 (de) Verfahren und System zum Betreiben einer Windenergieanlage
WO2012079712A2 (fr) Procédé et dispositif de commande des organes d'entraînement d'une éolienne

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11729578

Country of ref document: EP

Kind code of ref document: A2

122 Ep: pct application non-entry in european phase

Ref document number: 11729578

Country of ref document: EP

Kind code of ref document: A2