WO2019042515A1 - Amortissement de vibration de torsion dans une éolienne à rotors multiples - Google Patents

Amortissement de vibration de torsion dans une éolienne à rotors multiples Download PDF

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Publication number
WO2019042515A1
WO2019042515A1 PCT/DK2018/050215 DK2018050215W WO2019042515A1 WO 2019042515 A1 WO2019042515 A1 WO 2019042515A1 DK 2018050215 W DK2018050215 W DK 2018050215W WO 2019042515 A1 WO2019042515 A1 WO 2019042515A1
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WO
WIPO (PCT)
Prior art keywords
rotor
wind turbine
pitch
signal
torsional
Prior art date
Application number
PCT/DK2018/050215
Other languages
English (en)
Inventor
Julio Xavier Vianna NETO
Søren DALSGAARD
Kim Hylling SØRENSEN
Fabio Caponetti
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Vestas Wind Systems A/S
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Application filed by Vestas Wind Systems A/S filed Critical Vestas Wind Systems A/S
Publication of WO2019042515A1 publication Critical patent/WO2019042515A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0296—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
    • 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
    • F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor 
    • F03D1/02—Wind motors with rotation axis substantially parallel to the air flow entering the rotor  having a plurality of rotors
    • 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
    • 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
    • F05B2270/334—Vibration measurements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention relates to a wind turbine system with multiple rotors, particularly to a method for damping torsional oscillations in components of such wind turbine systems.
  • the new wind turbine system includes a plurality of wind turbine modules or nacelles and, therefore, a plurality of rotors.
  • the wind turbine modules are mounted on a support structure which may include a plurality of support arms for the wind turbine modules.
  • components of the support structure such as the support arms may be dimensioned so that the resulting components have relative low stiffness. Low stiffness lead to lower resonance frequencies which may come close to the operating frequencies of the wind turbine. Accordingly, such low-stiffness components may be excited to oscillate which may lead to increased wear of the multi-rotor wind turbine.
  • support arms may be excited into torsional oscillations.
  • the multi-rotor wind turbine comprises a multi-rotor support structure, a plurality of wind turbine modules mounted to respective support arms of the multi-rotor support structure, each of the wind turbine modules comprises a rotor with pitch-adjustable rotor blades, the method comprises
  • the pitch-adjustable rotor blades can be used to generate torque variations which counteracts the torsional oscillations in the multi-rotor wind turbine, particularly in the support arms.
  • a pitch modification signal can be determined and applied to the pitch system of the wind turbine module to dampen the torsional oscillations.
  • torsion signal may be a torsional velocity signal of the torsional movement.
  • the pitch modification signals are determined based on an angular position of the rotor of the at least one wind turbine module.
  • determining the pitch modification signals may comprise transforming the torsion signal, or a signal derived therefrom, into a rotating coordinate system based on the angular position of the rotor of the at least one of the wind turbine module.
  • the pitch modification signals may be determined based on an offset of the rotor of the at least one wind turbine module. This offset may be time offset or angular offset of the rotor position. This offset will allow for compensation of for pitch system response and delays introduced by the filtering.
  • the pitch modification signals are determined by filtering the torsion signal, or a signal derived therefrom.
  • the filtering may be based directly on the torsion signal or a signal derived from the torsion signal such as a torsion signal which has been filtered or otherwise processed.
  • the filtering of the torsion signal may comprise performing a first filtering such as band pass filtering before performing the transformation of the torsion signal into the rotating coordinate system.
  • a first filtering such as band pass filtering
  • the band pass filtering may be used to remove or damping amplitudes of frequency components of the torsion signal which are not relevant.
  • the pitch compensation signal may be determined more efficiently and/or the pitch compensation signal may be determined to limit unnecessary pitch activity of the pitch system.
  • the filtering of the torsion signal or a signal derived therefrom comprises performing a second filtering, e.g. band stop filtering, after performing the transformation of the torsion signal into the rotating coordinate system.
  • a second filtering e.g. band stop filtering
  • the second filtering may implement band pass or low pass filters which are arranged to remove frequency components which are not relevant or undesired for the purpose of damping torsional oscillations.
  • the filtering of the torsion signal, or a signal derived therefrom comprises performing the first and the second filtering before and after performing the transformation of the torsion signal into the rotating coordinate system, respectively.
  • oscillations in the torsion signal due to rotor speed oscillations and blade oscillations may be filtered to obtain an efficient damping signal.
  • the multi-rotor support structure may comprises a tower and at least two support arms extending away from the tower on opposite sides of the tower.
  • the tower may be supported, e.g. by ground or floating supports.
  • the multi- rotor support structure may be manufactured without a common tower where the support arms are connected to other structures, e.g. directly to a ground or floating support.
  • the method comprises obtaining a first torsion signal indicative of a torsional movement of a first support arm and a second torsion signal indicative of a torsional movement of a different second support arm. Since torsional oscillations of different supports arms may be different, i.e. they may be different in frequency and/or phase and amplitude, it may be required to determine pitch modification signals independent from each other based on different torsion signals.
  • the determining of the pitch modification signals comprises modifying a phase of the pitch modification signals relative to the torsion signal.
  • the phase modification may improve damping of the torsional oscillations since the phase modification compensates dynamics of the mechanical system such as the dynamics of the rotor blades.
  • the phase modification may be obtained by use of a PD, PID, lead or lag controller or a MIMO or MISO controller, or combinations thereof, for determining the pitch modification signals on basis of the torsion signal, or multiple torsion signals in case of a MIMO or MISO controller.
  • the phase modification may be obtained by applying a phase shift to the angular position signal of the rotor, i.e. the azimuth angle of the rotor.
  • a second aspect of the invention relates to a control system for damping torsional oscillations in a multi-rotor wind turbine
  • the multi-rotor wind turbine comprises a multi-rotor support structure, a plurality of wind turbine modules mounted to respective support arms of the multi-rotor support structure, each of the wind turbine modules comprises a rotor with pitch-adjustable rotor blades, where the control system is arranged to perform the method according to the first aspect.
  • the control system may include various control modules such as input and output modules for receiving and outputting control signals and processing modules for implementing the method of the first aspect.
  • a third aspect of the invention relates to a computer program product comprising software code adapted to control a multi-rotor wind turbine when executed on a data processing system, the computer program product being adapted to perform the method according to the first aspect.
  • the computer program product may be provided on a computer readable storage medium or being downloadable from a communication network.
  • the computer program product comprise instructions to cause the data processing system, e.g. in the form of a controller, to carry out the instruction when loaded onto the data processing system.
  • a controller or control module may be a unit or collection of functional units which comprises one or more processors, input/output interface(s) and a memory capable of storing instructions that can be executed by a processor.
  • a fourth aspect of the invention relates to a multi-rotor wind turbine comprising a multi-rotor support structure, a plurality of wind turbine modules mounted to respective support arms of the multi-rotor support structure, each of the wind turbine modules comprises a rotor with pitch-adjustable rotor blades, the multi- rotor wind turbine further comprises a control system according to the second aspect.
  • the method for damping torsional oscillations are particularly advantageous for multi-rotor wind turbines
  • the method may also be advantageous for single-rotor wind turbines for damping torsional oscillations of the single tower which supports the single-rotor generator.
  • the pitch modification signal may be determined so that the blades generate counteracting torques acting around the longitudinal axis of the tower.
  • the application of the method for damping torsional oscillations in a multi-rotor wind turbine may be enabled dependent on a damping condition, e.g. a measured or otherwise determined signal or value.
  • the application of the method e.g.
  • the determination and application of the pitch modification signals may be enabled based on the torsion signal, e.g. based on a comparison of the torsion signal such as a mean value of the torsion signal with a threshold value.
  • the damping algorithm can be disabled if the torsional oscillations are relatively small, e.g. below a threshold, so that a high pitch activity is avoided when damping of oscillations is less important.
  • the application of the method for damping torsional oscillations in a multi-rotor wind turbine may comprise reducing the rotor speed.
  • the rotor speed reduction may be applied alternatively to applying the pitch modification signals or may be applied together with the pitch modification signals.
  • the torsion signal may be unavailable or faulty.
  • a safety mode for damping torsional oscillations based on rotor speed reduction may be invoked.
  • the damping achieved by applying the pitch modification signals may be insufficient to provide sufficient damping and, therefore, a rotor speed reduction may be invoked in addition to or as an alternative to the pitch damping.
  • Fig. 1A shows a multi-rotor wind turbine
  • Fig. IB shows an alternative multi-rotor wind turbine
  • Fig. 1C shows a definition of torsional oscillation
  • Fig. 2 shows a feedback speed controller of a wind turbine module
  • Fig. 3A shows a damping system for determination of the pitch modification signals
  • Fig. 3B shows a control system for damping torsional oscillations in a multi-rotor wind turbine
  • Fig. 4 shows examples of torsional oscillations and damping of the oscillations using methods according to different embodiments
  • Fig. 5 shows alternative embodiments of the damping system for determination of the pitch modification signals.
  • Fig. 1A shows a multi-rotor wind turbine 100 which comprises a plurality of wind turbine modules 101 mounted to support arms 102 of a multi-rotor support structure 103.
  • the multi-rotor support structure 103 may be configured in various ways.
  • the multi-rotor support structure 103 may comprise a tower 104 and support arms 102 extending outwardly from the tower 104 so that the wind turbine modules 101 are placed away from the tower 104 and on opposite sides of the tower 104.
  • Fig. IB illustrates an alternative multi-rotor wind turbine 100 which does not comprise a common tower 104. Instead the support arms 102 extend from the foundation 130, e.g. a ground or floating foundation, so that two or more wind turbine modules 101 are sufficiently separated from each other at a given height or different heights.
  • Each of the wind turbine modules 101 comprises a rotor 111, a power generation system (not shown) driven by the rotor and a rotor blade pitch adjustment system (not shown) for pitching rotor blades 112.
  • the power generation system and the pitch adjustment system may be included in nacelles 113 and hubs of the nacelles 113, respectively, of the respective wind turbine modules 101.
  • the angular rotor position of the rotor 111 is denoted by ⁇ .
  • Each of the plurality of wind turbines modules 101 may be mounted on an end- part of the support arms 102, as illustrated, though other positions on the beam structures are possible, particularly when more than one wind turbine module is mounted on an a single support arm 102.
  • Fig. 1A shows a multi-rotor support structure 103 with one upper beam structure 105 which comprises two support arms 102 extending on opposite sides of the tower 104 and a similar lower beam structure 105.
  • each of the beam structures 105 carry two wind turbine modules 101, but other embodiments are of course conceivable.
  • each beam structure 105 may carry four wind turbine modules 101 with two on each side of the tower 101.
  • the multi-rotor support structure has three beam structures 105 including lower, middle and upper beam structures 105, respectively having six, four and two wind turbine modules 101.
  • a simple multi-rotor wind turbine may comprise two wind turbine modules carried by respective two support arms 102 extending on opposite sides of the tower 104.
  • the plurality of wind turbine modules 101 carried by the multi-rotor support structure 103 may be in the same vertical plane, or they may be shifted relative to each other.
  • the kinetic energy of the wind is converted into electrical energy by a power generation system (not shown), as it will be readily understood by a person skilled in wind turbines.
  • Individual wind turbine modules 101 are referred to as the first to fourth wind turbine modules lOla-lOld.
  • the power generation system is controllable to adjust its power production by adjusting the pitch of the rotor blades 112 or by controlling a power converter to adjust the power production.
  • the pitch-adjustable rotor blades may be adjustable in accordance with a collective pitch reference which is common for all blades 112 of a given rotor 111 as well as individual pitch references for individual rotor blades 112 of a given rotor 111. Accordingly, the pitch adjustment system may be configured to control the rotor blades 112 of a given rotor 111 by individual pitch adjustments or by a collective pitch adjustment.
  • the support arms 102 may be excited to deform around the longitudinal axis 120.
  • the wind loads on the rotor blades 112 may generate a torque acting around the longitudinal axis 120 of the support arms 102 which excite torsional oscillations a.
  • the support arms have a low torsional stiffness, e.g. due to a design with thin or thin-walled support beams, significant torsional oscillations a may be excited.
  • the problem with low stiffness of support arms may arise due to designs where the support arms 102 are supported by other structures, e.g. guy wire structures. Such designs which use thin support arms 102 may be attractive to reduce production costs.
  • Fig. 1C illustrates the torsional oscillation a, e.g. as a rotational oscillation of the of the wind turbine module 101 around the longitudinal axis 120.
  • Fig. 2 illustrates a feedback speed controller 200 of a wind turbine module 101 for controlling rotation speed of the rotor 111 by determination of a collective pitch reference 6col.
  • the feedback speed controller may be configured to control rotation speed in different load modes such as partial and full load modes.
  • the partial load state is characterised in that the wind speed is not high enough to enable generation of the nominal or rated electrical power from the generator. In this state the pitch and the rotor speed are controlled to optimize aerodynamic efficiency of the wind turbine module 101.
  • the full load state is characterised in that the wind speed is high enough to enable generation of the nominal or rated electrical power.
  • the rotor speed is controlled via the pitch so as to achieve a controlled, e.g. substantially constant, extraction of wind energy by the blades to achieve a power production close to the nominal power.
  • the feedback speed controller may be implemented with individual partial and full load controllers, e.g. by use of PID or similar control schemes. However, the feedback speed controller may be implemented in other ways, e.g. by use of model based control or other control methods arranged for determining the collective pitch reference and/or individual pitch references 6rl-6r3.
  • the determination of the collective pitch reference 6col may be determined dependent on a difference between a generator speed reference coref, e.g. an optimum generator speed coopt or a rated generator speed corated, and a measured generator speed am.
  • a generator speed reference coref e.g. an optimum generator speed coopt or a rated generator speed corated
  • the pitch reference may be determined based on other input signals included in measurement set, ms.
  • the collective pitch reference 6col may be set to an optimum pitch 6opt which maximises the aero-dynamic efficiency of the rotor in the partial load state.
  • the rotation speed may be controlled via the generator power reference Pref which affects the generator torque so that the difference between generator speed reference coref and the measured generator speed am is minimized.
  • the generator or shaft torque may be set, e.g. via the power reference Pref, to match the aerodynamic torque which can be determined based on the measured rotational speed squared and multiplied by an optimal mode gain.
  • individual pitch signals 6rl-6r3 for the rotor 111 of one of the multi-rotor wind turbine modules 101a are determined on basis of the collective pitch reference 6col and individual pitch modification signals ⁇ 1- ⁇ 3.
  • the combination of the pitch modification signals ⁇ 1- ⁇ 3 and the collective pitch reference 6col may be performed by a summation unit 201.
  • the torsional oscillation a is reduced based on a method which includes obtaining a torsion signal 311 (see Fig. 3) indicative of a torsional movement a of at least one of the support arms 102. Based on the torsion signal, pitch modification signals ⁇ 1- ⁇ 3 are determined for individual rotor blades 112 of at least one of the wind turbine modules 101. The pitch modification signals ⁇ 1- ⁇ 3 are determined so that resulting moments from pitching of the blades counteracts the torsional oscillations.
  • the determined individual pitch signals ⁇ 1- ⁇ 3 are applied to the pitch-adjustable rotor 112 blades of at least one of the wind turbine modules 101 so that a damping of the torsional movement a and torsional oscillations is achieved.
  • the counteracting effect can be achieved by cyclic variations of the pitch modification signals ⁇ 1- ⁇ 3 as a function of angular rotor position ⁇ of the rotor.
  • the pitch modification signals ⁇ 1- ⁇ 3 can be varied so that a variation in the lift and drag forces on the blades 112 is created dependent on the angular rotor position ⁇ so that the blades experience an out of plane force generating a varying torque M on a support arm 102 around the longitudinal axis 120.
  • the pitch modification signals ⁇ 1- ⁇ 3 may be determined based on the angular position ⁇ of the rotor of at least one of the wind turbine modules in order to obtain the correct synchronization with the rotation of the rotor 111. Furthermore, the pitch modification signals ⁇ 1- ⁇ 3 may be determined based on torsional velocity (i(t) in order to obtain efficient damping.
  • the pitch modification signals ⁇ 1- ⁇ 3 may be determined based on torsional displacements or positions a or based on both torsional displacements a and torsional velocity (t). Use of the torsional displacement, either alone or in combination with torsional velocity, could artificially increase the torsional stiffness due an increased closed-loop frequency.
  • the torsional displacement signal a(t) could be combined with the torsional velocity (i(t) in a MIMO controller as explained in connection with Fig. 5.
  • the pitch modification signals ⁇ 1- ⁇ 3 may be determined based on torsional displacements or positions a or based on both torsional displacements a and torsional velocity (t).
  • the pitch modification signals ⁇ 1- ⁇ 3 may be determined for two or more of the wind turbine modules 101.
  • the damping of torsional oscillations may be applied both during power production and idling.
  • the pitch modification signals ⁇ 1- ⁇ 3 may be combined with the collective pitch reference 6col as determined during idling, partial, full load and other modes where the rotor 111 is rotating.
  • Fig. 3A illustrates a damping system 300 for determination of the pitch
  • the pitch modification signals ⁇ 1- ⁇ 3 may be determined based on the torsional velocity d(t) as described above for obtaining a counter-acting torque M(t).
  • the pitch modification signals ⁇ 1- ⁇ 3 are determined based on the torsional velocity multiplied with a factor K.
  • the torsional velocity d(t) may be obtained based on acceleration signals such as torsional acceleration signals (3 ⁇ 4(t) obtained from acceleration sensors which could be attached to each of the wind turbine module 101 or attached to the support arms 102.
  • the torsional velocity could also be obtained by other suitable means arranged to output a signal indicative of torsional movement a including but not limited to: a GPS signal, an inclinometer, an inertial measuring unit (IMU), a Kalman filter or positional sensors.
  • Torsion signals 311 indicative of torsional movement a include torsional displacements a, torsional velocities d(t), torsional accelerations (3 ⁇ 4(t) and other signals which can be processed to provide a torsional displacement, velocity or acceleration signal.
  • the torsional velocity d(t) can be obtained e.g. by
  • the differentiation and integration processes may be implemented as filters.
  • integration may be implemented with a 1st order low pass filter such as a leaky integrator tuned with suitable frequency.
  • a type of state estimation can be used, for example, kalman filter or other types of observers.
  • the pitch modification signals ⁇ 1- ⁇ 3 can be obtained on basis of a torsion signal 311 indicative of torsional movement a including signals which can be processed into a signal indicative of torsional movement a.
  • Such signals which relate to or are indicative of a torsional movement a includes signals obtained from nacelle or tower load measurements.
  • Nacelle measurements includes, as mentioned above, displacement, velocity or acceleration of the wind turbine nacelles 113. These measurements could be obtained from acceleration sensors attached to the nacelles 113 of the wind turbine modules 101.
  • Tower load measurements include load measurements of the tower 104 at locations where the support arms 102 extends outwardly, e.g. at locations 106 near locations where the support arms are engaging the tower 104. The load measurements could be obtained from load sensors, e.g. strain gages, or they could be obtained based on acceleration signals from accelerations sensors or estimated based on other measurements.
  • the velocity (i(t) multiplied with a factor K is transformed from a coordinate system with reference in nacelle or support structure to a rotating coordinate system, i.e. a coordinate system which rotates with the rotation of the rotor 111.
  • Methods for transforming the the velocity (i(t) into a rotating coordinate system includes direct quadrature (D/Q) transformations and Coleman or MBC transformations. As illustrated in Fig. 3A, the transformation into the rotating coordinate system results in the three pitch modification signals ⁇ 1- ⁇ 3.
  • the factor K multiplication is denoted by element 301 and the transformation into a rotating coordinate system is denoted by element 303 which performs the transformation based on the angular position ⁇ which may be obtained from a rotary position sensor, processing of the generator output or by other means.
  • the determination of the pitch modification signals ⁇ 1- ⁇ 3 may include filtering the torsion signal 311, or a signal derived therefrom. The purpose of the filtering may be to remove frequency components which are not relevant for the purpose of damping torsional oscillations and/or in order to select frequency components which are essential for the damping.
  • the filtering of the torsion signal may include a first filtering 302 before the transformation of the torsion signal into the rotating coordinate system.
  • the first filtering may be performed by use of a band pass filter 302 for the purpose of selecting frequencies around a first center frequency fl of the band pass filter.
  • the filtering may include performing a second filtering 304 after performing the transformation of the torsion signal into the rotating coordinate system.
  • the second filtering may be performed on the signals derived from the torsion signal 311 including the derivation of the transformation into the rotating coordinate system.
  • the second filtering may be performed on each of the signals from the D/Q transformation 303 associated with individual blades 112 of a rotor 111.
  • the second filtering may be performed by use of a band stop filter 304, a plurality such as three band stop filters 304 or, in general, one filter 304 for each of the pitch modification signals.
  • the purpose of the band stop filter is to remove components of the torsion signal around a center frequency f2.
  • Two or more band pass filters 302 and/or band stop filters 304 may be arranged in series in order to pass and/or stop two or more frequencies of the torsion signal 311.
  • the upper coordinate system illustrates torsional oscillation velocities d(t) as a function of oscillation frequency f.
  • Curve 401 shows an example of torsional velocity oscillations (i(t) in case no damping is introduced.
  • Curve 401 shows a peak at frequency fa which is the 3P oscillation frequency of the wind turbine module 101.
  • the anisotropies in the wind field such as shear, turbulence and shadow effects, are periodically sampled by the rotor three times per revolution (3P). This causes a major source of excitation at the 3P frequency. Accordingly, for a 3-blade rotor 111 the 3P frequency is three-times the rotation frequency.
  • the pitch modification signals ⁇ 1- ⁇ 3 are determined damping system 300 but without the band pass and band stop filters 302, 304.
  • Curve 402 shows that the 3P oscillations have been damped, but that new oscillations are generated at frequencies fb and fc.
  • the blades 112 of the exemplary rotor 111 used for the simulation have blade edge resonance frequencies at fb which are close to the 3P oscillations at fa.
  • the blade frequencies are referred to in the non-rotating reference frame, also known as the backward whirling frequency.
  • the 3P oscillations couple with the blade edge resonance frequencies at fb so that new torsional oscillations are excited at fb.
  • the blade edge oscillations are cause by an oscillation mode where the blades vibrates edge-wise, i.e. substantially in the plane of the rotor 111.
  • the frequency fc transforms in a similar way.
  • Curve 403 shows the torsional velocity oscillations in an example where the pitch modification signals ⁇ 1- ⁇ 3 are determined according to the damping system 300 with the band pass filter 302 but without the band stop filters 304.
  • curve 403 shows that the 3P oscillations have been damped, but that new oscillations are generated at frequencies fb. Thus, in comparison with curve 402, new oscillations are not generated at fc.
  • Curve 413 also shows high pitch activity at fbl and fb2.
  • Curve 404 shows the torsional velocity oscillations in an example where the pitch modification signals ⁇ 1- ⁇ 3 are determined according to the damping system 300 as illustrated with the band pass filter and the band stop filters 304.
  • Curve 404 shows that the torsional velocity oscillations have been damped significantly and curve 414 also show that the pitch activity required for obtaining the damping is significantly reduced compared to other filters. Accordingly, the damping system 300 may be designed in different ways.
  • a damping system 300 including both band pass and band stop filters 302, 304 may be particularly advantageous.
  • Fig. 5 illustrate alternative configurations of the damping system 300 for determination of the pitch modification signals ⁇ 1- ⁇ 3.
  • Components 301-304, 501 and different arrangements of the torsion signal 311 may be arranged in different combinations to obtain such alternative configurations.
  • the torsion signal 311 may include one or more signals as indicated by the input arrows.
  • the torsion signal 311 may include the displacement signal a(t) and the torsional velocity (i(t).
  • Other signals which may be included comprise signals obtained from nacelle and/or tower load measurements, such as
  • control element 301 may be configured as a MIMO controller configured to receive multiple torsion signals 311 and to generate a single output on basis of these signals.
  • MIMO controller may be referred to as a MISO controller, i.e. a multi-input, single-output controller.
  • the MIMO or MISO controller may include any of the P, PD, PID, lead or lag controller including combinations of these.
  • the torsion signal d(t),311 may be input to a PD controller and the torsional velocity signal (i(t), 311 may be input to a P controller and the output of the P and PD controller may be combined to provide a single input signal to the band pass filter 302.
  • phase-modifying PD PID, lead or lag controllers
  • the phase of the torsional velocity (i(t) may be modified by combining the velocity signal with other signals.
  • a combination such as a linear
  • the MIMO or MISO controller may also be combined with one or more phase-modifying PD, PID, lead or lag controllers.
  • a phase shifter 501 may be included in the damping system 300 to add a phase shift to the angular position ⁇ .
  • the phase shifter 501 modifies the phase of the pitch modification signals ⁇ 1- ⁇ 3 and, therefore, provides the same effect with respect to phase changes as the above-mentioned phase-modifying PD, PID, lead or lag controllers and the MIMO or MISO controller.
  • the phase shifter 501 may be used in the damping system together with any of the alternatives of the control element 301.
  • the determination of the pitch modification signals ⁇ 1- ⁇ 3 may comprise a modification of the phase of the pitch modification signals ⁇ 1- ⁇ 3 relative to the torsion signal 311 or one or more of a plurality of the torsion signals 311 where the phase modification is performed by use of any of the above-mentioned phase affecting methods.
  • the filters 304 may be configured as low pass filters as an alternative to band stop filters.
  • the low pass filters 304 are designed so that the frequency component f2 is properly damped.
  • the low pass filters can be

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  • Wind Motors (AREA)

Abstract

L'invention concerne un procédé d'amortissement de vibrations de torsion d'une éolienne à rotors multiples. L'éolienne à rotors multiples comprend une pluralité de modules d'éolienne montés sur des bras de support respectifs de la structure de support à rotors multiples. Le procédé comprend les étapes consistant à: obtenir un signal de torsion indicatif d'un mouvement de torsion d'au moins un des bras de support, déterminer des signaux de modification de pas pour les pales de rotor d'au moins l'un des modules d'éolienne sur la base du signal de torsion, et appliquer les signaux de modification de pas aux pales de rotor à pas réglable du ou des modules d'éolienne de façon à amortir les vibrations de torsion.
PCT/DK2018/050215 2017-09-04 2018-08-31 Amortissement de vibration de torsion dans une éolienne à rotors multiples WO2019042515A1 (fr)

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DKPA201770662 2017-09-04
DKPA201770662 2017-09-04
DKPA201770974 2017-12-21
DKPA201770974 2017-12-21

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Cited By (8)

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WO2019219137A1 (fr) * 2018-05-17 2019-11-21 Vestas Wind Systems A/S Procédé et système de commande d'une éolienne pour réduire la vibration de nacelle
CN111852790A (zh) * 2020-07-28 2020-10-30 三一重能有限公司 风力发电机的塔筒监测方法、系统及电子设备
WO2020239177A1 (fr) * 2019-05-28 2020-12-03 Vestas Wind Systems A/S Réduction de vibrations de chant à l'aide d'un signal de charge de pale
CN113007013A (zh) * 2019-12-20 2021-06-22 新疆金风科技股份有限公司 扭转载荷控制方法、装置和系统及风力发电机组
WO2021143990A1 (fr) * 2020-01-13 2021-07-22 Vestas Wind Systems A/S Amortissement de vibrations dans le plan dans des structures multi-rotors
CN113503225A (zh) * 2021-06-29 2021-10-15 华北电力大学 一种串联式同向旋转双叶轮风力发电机组共振穿越的方法
WO2022017569A1 (fr) * 2020-07-21 2022-01-27 Vestas Wind Systems A/S Système d'éolienne
CN114466971A (zh) * 2019-07-30 2022-05-10 维斯塔斯风力系统集团公司 修正风力涡轮机中的叶片桨距

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DE19739164A1 (de) * 1997-08-25 1999-03-04 Inst Solare Energieversorgungstechnik Iset Windenergieanlage
WO2016128004A1 (fr) * 2015-02-12 2016-08-18 Vestas Wind Systems A/S Système de commande pour amortir les vibrations structurales d'un système d'éoliennes ayant de multiples rotors
WO2016150447A1 (fr) * 2015-03-23 2016-09-29 Vestas Wind Systems A/S Commande d'un système d'éolienne à rotors multiples utilisant un dispositif de commande central pour calculer des objectifs de commande locaux
EP3101273A1 (fr) * 2015-06-03 2016-12-07 General Electric Company Système et procédé pour réduire un mouvement de torsion dans une tour de turbine éolienne
WO2017144063A1 (fr) * 2016-02-26 2017-08-31 Vestas Wind Systems A/S Système d'éolienne à rotors multiples

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Publication number Priority date Publication date Assignee Title
DE19739164A1 (de) * 1997-08-25 1999-03-04 Inst Solare Energieversorgungstechnik Iset Windenergieanlage
WO2016128004A1 (fr) * 2015-02-12 2016-08-18 Vestas Wind Systems A/S Système de commande pour amortir les vibrations structurales d'un système d'éoliennes ayant de multiples rotors
WO2016150447A1 (fr) * 2015-03-23 2016-09-29 Vestas Wind Systems A/S Commande d'un système d'éolienne à rotors multiples utilisant un dispositif de commande central pour calculer des objectifs de commande locaux
EP3101273A1 (fr) * 2015-06-03 2016-12-07 General Electric Company Système et procédé pour réduire un mouvement de torsion dans une tour de turbine éolienne
WO2017144063A1 (fr) * 2016-02-26 2017-08-31 Vestas Wind Systems A/S Système d'éolienne à rotors multiples

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019219137A1 (fr) * 2018-05-17 2019-11-21 Vestas Wind Systems A/S Procédé et système de commande d'une éolienne pour réduire la vibration de nacelle
US11754043B2 (en) 2018-05-17 2023-09-12 Vestas Wind Systems A/S Method and system for controlling a wind turbine to reduce nacelle vibration
WO2020239177A1 (fr) * 2019-05-28 2020-12-03 Vestas Wind Systems A/S Réduction de vibrations de chant à l'aide d'un signal de charge de pale
CN114466971A (zh) * 2019-07-30 2022-05-10 维斯塔斯风力系统集团公司 修正风力涡轮机中的叶片桨距
CN113007013A (zh) * 2019-12-20 2021-06-22 新疆金风科技股份有限公司 扭转载荷控制方法、装置和系统及风力发电机组
WO2021143990A1 (fr) * 2020-01-13 2021-07-22 Vestas Wind Systems A/S Amortissement de vibrations dans le plan dans des structures multi-rotors
US11841005B2 (en) 2020-01-13 2023-12-12 Vestas Wind Systems A/S Damping of in-plane vibrations in multi-rotor structures
WO2022017569A1 (fr) * 2020-07-21 2022-01-27 Vestas Wind Systems A/S Système d'éolienne
CN111852790A (zh) * 2020-07-28 2020-10-30 三一重能有限公司 风力发电机的塔筒监测方法、系统及电子设备
CN113503225A (zh) * 2021-06-29 2021-10-15 华北电力大学 一种串联式同向旋转双叶轮风力发电机组共振穿越的方法

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