WO2019127970A1 - 风力发电机组的转子转动控制系统和控制方法 - Google Patents
风力发电机组的转子转动控制系统和控制方法 Download PDFInfo
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- WO2019127970A1 WO2019127970A1 PCT/CN2018/082154 CN2018082154W WO2019127970A1 WO 2019127970 A1 WO2019127970 A1 WO 2019127970A1 CN 2018082154 W CN2018082154 W CN 2018082154W WO 2019127970 A1 WO2019127970 A1 WO 2019127970A1
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- Prior art keywords
- rotor
- rotation control
- rotor rotation
- pressure
- bending moment
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000005452 bending Methods 0.000 claims abstract description 52
- 230000033001 locomotion Effects 0.000 claims description 66
- 238000012545 processing Methods 0.000 claims description 26
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- 238000004590 computer program Methods 0.000 claims description 4
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- 238000010586 diagram Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 12
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- 230000009471 action Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
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- 230000008439 repair process Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
- F03D1/06—Rotors
- F03D1/065—Rotors characterised by their construction elements
- F03D1/0658—Arrangements for fixing wind-engaging parts to a hub
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/10—Assembly of wind motors; Arrangements for erecting wind 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
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- 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
-
- 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
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
-
- 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
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
-
- 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
- F05B2240/00—Components
- F05B2240/20—Rotors
- F05B2240/21—Rotors for wind turbines
-
- 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
- F05B2260/30—Retaining components in desired mutual position
- F05B2260/31—Locking rotor in position
-
- 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
- F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
-
- 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
- F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
-
- 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 invention relates to the technical field of wind power generation, in particular to a rotor rotation control system of a wind power generator set and a control method thereof.
- a wind turbine is an electrical device that converts wind energy into mechanical energy and then converts mechanical energy into electrical energy.
- Wind turbines include the main components such as the engine room, generators and blades.
- the generator includes a rotor and a stator, a rotor is disposed on the main shaft of the rotor, and at least one vane is mounted on the hub of the rotor.
- the blades can drive the hub to rotate under the action of the wind, thereby driving the rotor of the generator to rotate, and cutting the magnetic induction line through the stator winding of the generator can generate electric energy.
- the number of blades of a wind turbine is generally more than one, and is usually preferably three.
- the hub when the blade is being serviced, it is also necessary to rotate the hub at an appropriate angle to adjust the blade to a suitable position for maintenance.
- the adjustment of the blade position is mainly realized by the rotor rotating device disposed in the wind power generator.
- the rotor rotating device can drive the rotor to rotate relative to the stator, thereby driving the hub connected to the rotor to rotate, so as to realize the adjustment of the blade position.
- the blades need to be rotated to different positions.
- the sudden change of the direction of the bending moment load due to the gravity of the blade itself may cause the wind turbine to vibrate violently. Therefore, there is a need for a rotor rotation control system and method that enables a gentle transition of the bending moment load of the blade during blade installation or adjustment without causing severe vibrations to the unit.
- the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, and to provide a rotor rotation control system and a control method for a wind power generator set, which can effectively avoid vibration during component disassembly or maintenance of the wind power generator set.
- the present invention provides a rotor rotation control system for a wind power generator set, the rotor rotation control system comprising: a rotation unit for rotating a rotor of the wind power generator set relative to a base of the wind power generator set; and a drive unit for driving the rotation a unit for determining a bending moment load switching position on a rotating shaft of the rotor, and outputting an adjustment instruction to the driving unit based on the bending moment load switching position; wherein the driving unit receives the adjustment instruction from the processor, Adjusting an operating state of the rotating unit according to the adjustment command to balance a bending moment load change at a bending moment load switching position.
- the present invention also provides a rotor rotation control method for a wind power generator set, the rotor rotation control method comprising: a driving step of driving a rotation unit to rotate a rotor connected to the rotation unit with respect to a base of the wind power generation unit; The adjusting step determines a bending moment load switching position on the rotating shaft of the rotor, and adjusts an operating state of the rotating unit based on the bending moment load switching position to balance the bending moment load change at the bending moment load switching position.
- Another aspect of the present invention is to provide a computer readable storage medium storing a computer program that, when executed by a processor, performs the above-described rotor rotation control method for a wind turbine.
- Another aspect of the present invention provides a computer comprising: a memory configured to store instructions; a processor configured to execute the instructions stored in the memory to perform the rotor rotation control method for a wind turbine set .
- the rotor rotation control system and the control method of the wind power generator according to the present invention can not only control the rotor rotation of the wind turbine, but also balance the load changes during the rotation, so that the blades or other components can smooth the load generated by the wind turbine.
- the transition effectively avoids severe vibrations of the wind turbine, thereby reducing damage to components of the wind turbine.
- FIG. 1 is a partial structural schematic view of a rotor rotation control system applied to a wind power generator set according to an embodiment of the present invention.
- FIG. 2 is another partial structural schematic view of a rotor rotation control system applied to a wind power generator set according to an embodiment of the present invention.
- FIG. 3 is a schematic illustration of the angular position of a blade in accordance with an embodiment of the present invention.
- FIG. 4 is a schematic view showing a state in which a first blade, a second blade, and a third blade are sequentially mounted, according to an embodiment of the present invention.
- FIG. 5 is a topological view of a rotor rotation control system of a wind power plant in accordance with an embodiment of the present invention.
- Figure 6 is a block diagram showing the structure of a rotor rotation control system in accordance with an embodiment of the present invention.
- Figure 7 is a block diagram showing the structure of a rotor rotation control system in accordance with one embodiment of the present invention.
- Figure 8 is a block diagram showing a portion of a structure of a rotor rotation control system in accordance with one embodiment of the present invention.
- Figure 9 is a block diagram showing the structure of a rotor rotation control system in accordance with another embodiment of the present invention.
- Figure 10 is a block diagram showing the structure of a rotor rotation control system in accordance with another embodiment of the present invention.
- FIG. 11 is a schematic diagram of an application of a commutation module in accordance with an embodiment of the present invention.
- Figure 12 is a flow chart showing the operation of sequentially installing three blades in accordance with an embodiment of the present invention.
- Figure 13 is a flow chart showing the operation of balancing load changes during blade installation in accordance with an embodiment of the present invention.
- Wind turbines are a type of electrical equipment commonly used in the field of wind power generation.
- Wind turbines include components such as nacelles, generators and blades.
- the generator includes a rotor and a stator, the rotating shaft of the rotor is coupled to the hub, and at least one vane is mounted on the hub, such as, but not limited to, three vanes are circumferentially disposed along the hub.
- the wind turbine generally includes two types: an inner rotor outer stator type and an outer rotor inner stator type.
- the present invention will be described by taking an example of a rotor-type stator-type wind turbine set other than the present application. However, the present invention is not limited to wind turbines that can be applied to the outer rotor inner stator type, but also to other types of wind power generator sets or other similar mechanical equipment.
- the outer rotor inner stator type wind power generator permanent magnets are circumferentially arranged on the inner wall of the rotor, and windings are provided on the outer wall of the stator, and the stator is integrally mounted inside the rotor.
- the stator is fixedly coupled to the upper end of the wind turbine tower via a stator bracket.
- the nacelle is mounted at the upper end of the tower and the nacelle is circumferentially rotatably coupled to the tower.
- the nacelle and tower can be rotatably coupled together by bearings.
- the upper end portion of the tower extends to the interior of the nacelle.
- the present invention provides a rotor rotation control system for a wind turbine that is capable of controlling the rotation of the rotor based on load changes associated with the rotor.
- the rotor rotation control system can be used to control the rotation of the rotor and the gentle transition of the load when installing, disassembling or maintaining a plurality of blades of the wind turbine.
- a process of installing three blades on a hub of a wind power generator is taken as an example, but the technical solution of the present invention can also be applied to other embodiments for controlling the rotation of the rotor.
- FIG. 1 and 2 show a partial structural schematic view of a rotor rotation control system 1 applied to a wind power generator set according to an embodiment of the present invention. For the sake of brevity, only a part of the components connected to the rotor rotation control system are shown here.
- the rotor rotation control system 1 is fixedly mounted on the base 2 of the wind turbine.
- the generator end cap 3 of the wind turbine is fixedly coupled to a rotor (not shown) of the generator.
- the generator end cover 3 is provided with a plurality of pin holes 31 toward the side wall of the base 2, and the spacing between the adjacent pin holes 31 can be reasonably set according to the actual application environment.
- the rotor rotation control system 1 shown here includes five rotation units, which are a first rotation unit 104a, a second rotation unit 104b, a third rotation unit 104c, a fourth rotation unit 104d, and a fifth rotation unit 104e, respectively.
- the rotating unit is for driving the rotor to rotate relative to the base 2.
- the five rotating units are evenly arranged on the base 2 in the circumferential direction of the base 2. Depending on the actual driving force requirements and installation space limitations, other numbers of rotating units can be selected and arranged appropriately.
- Each of the rotating units shown herein may include a telescopic cylinder, a mount, and a pin body.
- the telescopic cylinder may be a hydraulic cylinder, a cylinder, a combination of a hydraulic cylinder and a cylinder, or other types of telescopic cylinders.
- the telescopic cylinder is preferably a hydraulic cylinder.
- the mount is detachably coupled to the base 2, and a fixed end of the telescopic cylinder is coupled to the base 2 through the mount.
- the pin body is disposed at a movable end of the telescopic cylinder. Taking the third rotating unit 104c in FIG. 2 as an example, the left side of the third rotating unit 104c is a fixed end, and the right side is a movable end, and the configuration of the other rotating unit is similar to that of the third rotating unit 104c.
- the pin body is detachably fixed to the generator end cover 3.
- the pin body may be elongated or shortened by hydraulic or pneumatic driving, and the pin body may be inserted into the pin hole 31 when extended to lock the pin body, and may be separated from the pin hole 31 when shortened. The pin body is unlocked.
- the orientation of the first rotating unit 104a, the third rotating unit 104c, and the fourth rotating unit 104d is oriented according to the circumferential direction of the rotating cylinder of each rotating unit in the circumferential direction of the base 2 (clockwise and counterclockwise). In one direction, the orientation of the second rotating unit 104b and the fifth rotating unit 104e is in the other direction.
- the first rotating unit 104a, the third rotating unit 104c, and the fourth rotating unit 104d may be elongated in a clockwise direction or contracted in a counterclockwise direction
- the second rotating unit 104b and the fifth rotating unit 104e may be clockwise
- the direction is contracted or elongated in a counterclockwise direction. It should be noted that the elongation and contraction of the rotating unit described in the present application respectively indicate the elongation and contraction of the telescopic cylinder of the rotating unit.
- each of the rotating units has a telescopic cylinder as a drive member.
- a rotating unit may be constructed using a combination of a gear, a rack, a sprocket, a chain, or the like to drive the rotor to rotate relative to the base 2.
- the five rotating units collectively drive the rotor to rotate clockwise.
- the extension of the telescopic cylinder of the rotary unit or the completion of one contraction motion is defined as a one stroke motion.
- the five rotating units drive the rotor to rotate approximately 7.5° each time a stroke motion is completed.
- the rotor rotation control system 1 When the rotor rotation control system 1 is applied to blade mounting or maintenance, the rotor is driven in common by the first rotating unit 104a, the second rotating unit 104b, the third rotating unit 104c, the fourth rotating unit 104d, and the fifth rotating unit 104e.
- the base 2 is rotated, so that the rotor can drive the hub fixed on the rotating shaft of the rotor to rotate, and finally the hub is rotated to a position suitable for blade installation or maintenance.
- the base 2 is fixed in a horizontal position.
- the three blades of identical specifications can be sequentially horizontally hoisted on the hub of the wind turbine by the rotor rotation control system 1.
- FIGS. 3 and 4 are schematic views of an angular position of a blade according to an embodiment of the present invention
- FIG. 4 is a schematic view showing a state in which the first blade 5, the second blade 6, and the third blade 7 are sequentially mounted according to an embodiment of the present invention.
- the angle of deflection between the first blade 5 and the horizontal mounting position is denoted by ⁇ , as shown in FIG.
- the rotor rotation control system In order to rotate the interface for mounting the second vane 6 to the horizontal position, the rotor rotation control system is required to drive the hub 4 to rotate clockwise by 120° to reach state C.
- the pin body due to the gap between the pin body of the rotating unit and the pin hole on the generator end cover, the pin body easily jumps in the pin hole when the load is abrupt.
- the operation of the rotor rotation control system needs to consider the moment load generated by the blades under different states to balance or resist the sudden change of the blade load.
- FIG. 5 shows a topological view of a rotor rotation control system 11 of a wind power plant in accordance with an embodiment of the present invention.
- Rotor rotation control system 11 is electrically coupled to yaw system 12, rotor brake system 13, and blade lock system 14, respectively, for communication.
- a plurality of yaw operations can be performed by the yaw system 12.
- a yaw control device is disposed in the yaw system 12, and a plurality of control devices such as a yaw enable switch, a yaw residual pressure switch, a yaw stop switch, a left bias switch, and a right bias switch are disposed in the yaw control device.
- the yaw enable switch is used to trigger the yaw enable signal
- the yaw residual pressure switch is used to trigger the yaw residual pressure signal
- the yaw stop switch is used to trigger the yaw stop signal
- the left bias switch is used to trigger the left offset signal.
- the right bias switch is used to trigger the right bias signal.
- the yaw control device activates the yaw function in response to the triggering of the yaw enable signal.
- the yaw motor is driven according to the left or right deviation signal triggered by the left or right bias switch, so that the nacelle of the wind turbine is yawed to a predetermined position.
- the yaw stop signal is triggered to stop the yaw motor, thereby stopping the yaw.
- the yaw system 12 also includes a yaw brake device for emergency braking.
- the yaw brake device can communicate with the yaw control device.
- the yaw brake operation can be performed by the yaw brake device.
- the yaw brake device activates the brake to effect yaw braking.
- the operation of the yaw system 12 can be fed back to the rotor rotation control system 11.
- the pressure signal generated by the yaw hydraulic station in the yaw system 12, the hydraulic oil level signal, and the hydraulic valve group signal can be fed back to the rotor rotation control system 11, and the rotor rotation control system 11 can display the corresponding pressure parameters by using the display unit.
- the hydraulic oil level parameters and the action of the hydraulic valve block are correct. Further, the rotor rotation control system 11 can determine whether an abnormal condition has occurred. For example, if the oil level is lower than the set value, the rotor rotation control system 11 can make an alarm using the display unit or the acoustic device.
- the rotor braking system 13 can perform a rotor braking operation and a rotor braking inhibiting operation.
- the rotor rotation control system 11 may output an enable brake signal and a brake inhibit signal to the rotor brake system 13 before the rotor rotation control system 11 starts driving the rotor of the wind turbine.
- the rotor braking system 13 may activate a brake coupled to the generator end cap or rotor in response to receiving the activation brake signal to brake the rotor such that the hub fixedly coupled to the rotor ceases to rotate.
- the rotor braking system 13 may disable the brake coupled to the generator end cap or rotor in response to receiving the inhibit brake signal to disengage the rotor so that the hub fixedly coupled to the rotating shaft of the rotor is rotatable.
- the operation of the rotor braking system 13 can be fed back to the rotor rotation control system 11.
- the pressure signal, the oil level signal, and the hydraulic valve group action signal on the rotor brake hydraulic circuit of the rotor brake system 13 can be fed back to the rotor rotation control system 11.
- the rotor rotation control system 11 can use the display unit to display the corresponding pressure parameter, the hydraulic oil level parameter, and whether the action of the hydraulic valve group is correct. Further, the rotor rotation control system 11 can determine whether an abnormal condition has occurred. For example, if the oil level is lower than the set value, the rotor rotation control system 11 can perform an alarm using the display unit or the acoustic device.
- the rotor rotation control system 11 can control the blade locking system 14 to perform a blade locking operation and a blade unlocking operation. For example, after the blades are installed, the rotor rotation control system 11 can control the blade locking pin hydraulic station in the blade locking system 14 to extend the blade locking pin to perform the blade locking operation. The rotor rotation control system 11 may control the blade lock pin hydraulic station in the blade lock system 14 to retract the blade lock pin prior to mounting the blade or disassembling the blade to facilitate mounting the blade or performing a blade unlocking operation. Wherein, the blade locking pin sensor can detect whether the blade pin shaft reaches a predetermined position, and feed back the detection signal to the rotor rotation control system 11, and the rotor rotation control system 11 can display the extended state and the retracted state of the blade pin shaft.
- a locking pin is disposed on the fixed shaft of the generator, and the corresponding locking hole is disposed on the generator rotor, that is, the locking pin is fixed, and the locking hole is rotated.
- the rotor rotation control system 11 can also utilize a photosensor to detect the centering position of the locking aperture and the locking pin. When the rotor rotation control system 11 determines that the locking hole is aligned with the locking pin using the photosensor, the rotor rotation control system 11 controls the locking pin to elongate to push the locking pin into the locking hole, thereby maintaining the hub in a locked state and the strength of the locking pin can Support supports three blades in turn on the hub.
- FIG. 6 shows a block diagram of the structure of a rotor rotation control system 11 in accordance with an embodiment of the present invention.
- the rotor rotation control system 11 includes a display unit 101 and a processor 102 that are connected to each other, and the processor 102 can communicate with the display unit 101.
- the rotor rotation control system 11 further includes five drive units and five rotation units, wherein the first drive unit 103a is coupled to the first rotation unit 104a to drive the first rotation unit 104a, the second drive unit 103b and the second rotation unit 104b.
- the third driving unit 103c is coupled to the third rotating unit 104c to drive the third rotating unit 104c
- the fourth driving unit 103d is coupled to the fourth rotating unit 104d to drive the fourth rotating unit 104d
- the fifth driving unit 103e is connected to the fifth rotating unit 104e to drive the fifth rotating unit 104e.
- the five rotating units each comprise a hydraulic cylinder, and correspondingly, the five drive units are hydraulic drive units.
- the processor 102 is connected to the first driving unit 103a, the second driving unit 103b, the third driving unit 103c, the fourth driving unit 103d, and the fifth driving unit 103e, respectively, and controls operations of the respective driving units to control operations of the respective rotating units. status.
- the operation of the rotor rotation control system 11 will be described by taking three blades as an example.
- the nacelle of the wind turbine is yawed by controlling the yaw system 12 to a predetermined position for facilitating the installation of the blades, and then the yaw is stopped. The yaw operation is no longer required during blade installation.
- the rotor rotation control system 11 outputs a brake prohibition signal to the rotor brake system 13 to release the rotor brake, so that the hub fixedly coupled to the rotating shaft of the rotor can be rotated.
- the rotor rotation control system 11 can also control the blade locking system 14 to retract the blade locking pin to facilitate installation of the blade. As such, the rotor rotation control system 11 can begin the blade mounting operation.
- the processor 102 may collect operational parameters of the yaw system 12, the rotor braking system 13, and the blade locking system 14, determine whether an abnormal condition has occurred based on the operating parameters, and transmit relevant information to the display unit 101 to utilize the display.
- Unit 101 displays the operational status of yaw system 12, rotor brake system 13 and blade lock system 14 or is based on an abnormal condition alarm.
- states B, C, and D are critical states in which the bending moment load generated by the blade to the hub 4 is abrupt.
- the rotor rotation control system proposed by the present invention can change the operating state of the rotating unit according to the rotational position of the blade to balance or resist the change of the bending moment load of the blade. Specifically, the bending moment load variation of the blade can be pre-balanced by changing the operating state of the rotating unit in advance to achieve a gentle transition of the overall load.
- the state A is taken as a starting state, and after the first blade 5 is mounted, the first blade 5 is rotated clockwise by the rotation of the rotor rotation control system.
- the five rotating units perform a stroke motion in a clockwise direction, that is, the first blade 5 is driven to rotate clockwise by approximately 7.5°.
- state A as the starting point (0 stroke motion)
- state B needs to undergo 12 stroke motions
- state C needs to undergo 16 strokes
- state D needs to undergo 20 strokes
- state E needs to go through 32 times. Stroke movement.
- FIGS. 7 to 10 show only one driving unit and one rotating unit, and the operation of the plurality of driving units and the plurality of rotating units will be described here by taking one driving unit and the corresponding one rotating unit 104 as an example.
- the first rotating unit 104a, the second rotating unit 104b, the third rotating unit 104c, the fourth rotating unit 104d, and the fifth rotating unit 104e are represented by the rotating unit 104.
- the rotor rotation control system 11A includes an angle measuring module 21, a processor 22, a driving unit 23, and a rotating unit 104.
- the processor 22 is connected between the angle measuring module 21 and the driving unit 23, and the driving unit 23 is also connected to the rotating unit 104.
- the angle measuring module 21 is for measuring the angle of rotation of the rotor and transmitting the measured angle of rotation of the rotor to the processor 22 for processing.
- the processor 22 determines the angle of rotation of the hub coupled to the rotating shaft of the rotor based on the angle of rotation of the rotor, thereby determining the angle of rotation of the first blade 5 mounted on the hub.
- the drive unit 23 includes a power module 231, a pressure processing module 232, and a motion length processing module 233 that are coupled to the processor 22 and the rotating unit 104, respectively.
- the power module 231 is used to power the rotating unit 104, which in this example may be a hydraulic power module for providing hydraulic power to the hydraulic cylinders in the rotating unit 104.
- the pressure processing module 232 includes a pressure controller 2321 and a pressure sensor 2322 that are connected to each other.
- the pressure controller 2321 and the pressure sensor 2322 are connected to the rotation unit 104, respectively.
- the pressure sensor 2322 is for measuring the pressure of the hydraulic cylinder in the rotating unit 104, and transmits the measured pressure value to the pressure controller 2321.
- the pressure controller 2321 controls the pressure of the hydraulic cylinder in the rotating unit 104 based on the received pressure value.
- the motion length processing module 233 includes a motion length controller 2331 and a motion length sensor 2332 that are connected to each other.
- the motion length controller 2331 and the motion length sensor 2332 are connected to the rotation unit 104, respectively.
- the motion length sensor 2332 is for measuring the motion length of the hydraulic cylinder in the rotation unit 104, and transmits the measured motion length value to the motion length controller 2331.
- the motion length controller 2331 controls the motion length of the hydraulic cylinder in the rotating unit 104 based on the received motion length value to control the rotation angle of the rotor or the blade.
- the processor 22 can determine the bending moment load switching position of the blade according to the rotation angle of the rotor, and adjust the pressure of the rotating unit by using the pressure controller 2321 and the pressure sensor 2322, that is, adjusting the rotating unit.
- the pressure of the hydraulic cylinder can be determined by using the pressure controller 2321 and the pressure sensor 2322, that is, adjusting the rotating unit.
- the pressure controller 2321 increases the pressure in the rotating unit 104 by 5%.
- the +5% pressure adjustment factor is merely exemplary, and other values of the pressure adjustment coefficient may be set according to actual application requirements.
- the processor 22 adjusts the pressure of the rotating unit according to the angle of rotation of the rotor.
- Table 1 below shows the pressure values of the first rotating unit 104a, the second rotating unit 104b, the third rotating unit 104c, the fourth rotating unit 104d, and the fifth rotating unit 104e, which are adjusted by the processor 22 according to different ranges of ⁇ . .
- FIG. 9 is a block diagram showing the structure of a rotor rotation control system 11B according to another embodiment of the present invention.
- the rotor rotation control system 11B includes a processor 31, a drive unit 32, and a rotation unit 104.
- the drive unit 32 includes a power module 321, a pressure processing module 322, and a motion length processing module 323.
- the power module 321, the pressure processing module 322, and the motion length processing module 323 are connected to the processor 31 and the rotating unit 104, respectively.
- the power module 321 is similar in structure and function to the power module 231.
- the pressure processing module 322 is similar in structure and function to the pressure processing module 232.
- the motion length processing module 323 is similar in structure and function to the motion length processing module 233.
- processor 31 may determine a moment load switching position generated by the blade based on the pressure value obtained from pressure processing module 322 and send an adjustment command to pressure processing module 322 to adjust the pressure of the rotating unit.
- the processor 31 determines that the pressure value obtained from the pressure processing module 322 matches the previously stored pressure threshold, the processor 31 determines the current alpha value based on the pressure threshold and then adjusts the pressure values of the respective rotating units according to Table 1.
- the processor 31 may further determine a bending moment load switching position generated by the blade according to the motion length value obtained from the motion length processing module 323, and send an adjustment instruction to the motion length processing module 323 to adjust the pressure of the rotating unit.
- ⁇ 142.5°
- FIG 10 is a block diagram showing the structure of a rotor rotation control system 11C according to another embodiment of the present invention.
- the rotor rotation control system 11C includes a processor 41, a drive unit 42, and a rotation unit 104.
- the rotor rotation control system 11C can switch the operation state of each stroke of the telescopic cylinder in the position adjustment rotation unit based on the bending moment load generated by the blade, for example, changing the telescopic cylinder in the rotation unit 104 from the thrust state to the tension state or from the pulling force. The state changes to the thrust state.
- the rotating unit 140 includes a telescopic cylinder, preferably a hydraulic cylinder.
- the thrust state indicates that the hydraulic cylinder generates a thrust when the pressure of the rodless chamber is greater than the pressure of the rod chamber.
- the tension state indicates that the hydraulic cylinder generates a pulling force when the pressure of the rodless chamber is less than the pressure of the rod chamber.
- the commutation module 424 is disposed in the drive unit 42 and is coupled to the processor 41 and the rotary unit 104.
- the drive unit 42 further includes a power module 421, a pressure processing module 422, and a motion length processing module 423.
- the respective modules in the drive unit 42 are connected to the processor 41 and the rotation unit 104, respectively.
- the structure and function of the other components in FIG. 10 are similar to the embodiment of FIGS. 7-9 except for the commutation module 424.
- FIG. 11 shows an application schematic of a commutation module 424 in accordance with an embodiment of the present invention.
- the telescopic cylinder 1041 of the rotating unit 104 may be a hydraulic cylinder or a cylinder.
- the reversing module 424 can be a three-position four-way reversing valve, and the power module 421 can be a hydraulic pump or an air pump.
- the operating state of the telescopic cylinder 1041 can be adjusted by adjusting the valve position of the reversing module 424, such as switching between a thrust state and a pressure state.
- the processor of the rotor rotation control system can utilize the first rotation unit 104a, the second rotation unit 104b, the third rotation unit 104c, the fourth rotation unit 104d, and the fifth rotation, respectively.
- the commutation module connected to the unit 104e switches the operational state of each of the rotary units.
- Table 2 is taken as an example, but the present invention is not limited thereto.
- the processor of the rotor rotation control system sets the first rotation unit 104a, the third rotation unit 104c, and the fourth rotation unit 104d to a thrust state, and the second rotation unit 104b and the The five rotation unit 104e is set to a tension state.
- the processor issues an adjustment command to the commutation module of the third rotation unit 104c to change the third rotation unit 104c from the thrust state to the tension state, and the operation of the other rotation units The status is unchanged.
- the processor 41 can also send an adjustment command to the other rotating units according to the bending moment load switching position to adjust the operating states of the other rotating units. Table 2 shows the operational state of each of the rotating units corresponding to the value of ⁇ .
- Tables 1 and 2 described above may be maps pre-stored in the processor or memory of the rotor rotation control system.
- the operational state of each of the rotary units of the above operation can be displayed in a display unit connected to the processor.
- FIG 12 shows an operational flow diagram for the sequential installation of three blades in accordance with an embodiment of the present invention.
- a second blade is installed.
- a third blade is installed.
- the entire installation process ends at step 806.
- FIG. 13 illustrates an operational flow diagram for balancing load changes during blade installation in accordance with an embodiment of the present invention.
- a first blade is installed.
- the rotary unit is actuated to rotate the rotor clockwise.
- the angle of rotation of the rotor is measured to determine the angle of rotation of the hub.
- the present invention is not limited thereto, and the rotor rotation control system and the control method according to the present invention can also disassemble the blades according to the direction of rotation of the rotor during blade mounting. Or to repair the specific requirements of the blade, the processor of the rotor rotation control system is configured with different adjustment commands to set different adjustment steps to balance the bending moment load change at the bending moment load switching position. For example, in the example in which three blades are mounted in the counterclockwise direction, the adjustment process of the five rotation units is just the opposite of the adjustment process shown in Table 1.
- the rotor rotation control system and the control method of the wind power generator according to the present invention can not only control the rotor rotation of the wind turbine, but also balance the load changes during the rotation, so that the blades or other components can smooth the load generated by the wind turbine.
- the transition effectively avoids severe vibrations of the wind turbine, thereby reducing damage to components of the wind turbine.
- the rotor rotation control system and control method are not limited to application to wind turbines, but may be applied to other mechanical equipment that requires balanced load switching.
- Embodiments of the present invention provide a computer readable storage medium comprising a computer program executable by a processor to perform the rotor rotation control method described above for a wind turbine.
- Embodiments of the present invention provide a computer comprising: a memory configured to store instructions; and a processor configured to execute the instructions stored in the memory to perform the rotor rotation control method for a wind turbine described above.
- the storage medium may be a magnetic disk, an optical disk, a read only memory (ROM), or a random access memory (RAM).
- the various functional units in the embodiments of the present invention may be integrated into one processing module, or may be physically existed separately for each unit, or two or more units may be integrated into one module.
- the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
- the integrated modules, if implemented in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.
- the storage medium mentioned above may be a read only memory, a magnetic disk or an optical disk or the like.
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Abstract
Description
α | 104a | 104b | 104c | 104d | 104e |
0°≤α≤82.5° | F | F | F | F | F |
82.5°<α≤90° | F(1+0.05) | F(1+0.05) | F(1+0.05) | F(1+0.05) | F(1+0.05) |
90°<α≤112.5° | F | F | F | F | F |
112.5°<α≤120° | F(1+0.05) | F(1+0.05) | F(1+0.05) | F(1+0.05) | F(1+0.05) |
120°<α≤142.5° | F | F | F | F | F |
142.5°<α≤150° | F(1+0.05) | F(1+0.05) | F(1+0.05) | F(1+0.05) | F(1+0.05) |
150°≤α≤240° | F | F | F | F | F |
α | 104a | 104b | 104c | 104d | 104e |
0°≤α≤82.5° | 推力 | 拉力 | 推力 | 推力 | 拉力 |
82.5°<α≤90° | 推力 | 拉力 | 拉力 | 推力 | 拉力 |
90°<α≤112.5° | 拉力 | 推力 | 拉力 | 拉力 | 推力 |
112.5°<α≤120° | 拉力 | 推力 | 拉力 | 拉力 | 推力 |
120°<α≤142.5° | 推力 | 拉力 | 推力 | 推力 | 拉力 |
142.5°<α≤150° | 推力 | 拉力 | 拉力 | 推力 | 拉力 |
150°≤α≤240° | 拉力 | 推力 | 拉力 | 拉力 | 推力 |
Claims (22)
- 一种风力发电机组的转子转动控制系统,其特征在于,所述转子转动控制系统包括:转动单元,用于使得风力发电机组的转子相对于风力发电机组的机座转动;驱动单元,用于驱动转动单元;处理器,用于确定转子的转轴上的弯矩载荷切换位置,并且基于所述弯矩载荷切换位置向驱动单元输出调节指令;其中,所述驱动单元从处理器接收所述调节指令,根据所述调节指令调节转动单元的操作状态,以平衡弯矩载荷切换位置处的弯矩载荷变化。
- 根据权利要求1所述的转子转动控制系统,其特征在于,当在与所述转子连接的轮毂上安装叶片时,所述弯矩载荷切换位置与所述叶片的安装位置相关联。
- 根据权利要求1所述的转子转动控制系统,其特征在于,处理器根据转子的转动角度确定所述弯矩载荷切换位置。
- 根据权利要求3所述的转子转动控制系统,其特征在于,所述转子转动控制系统还包括:角度测量模块,用于测量转子的转动角度。
- 根据权利要求1所述的转子转动控制系统,其特征在于,所述转动单元包括:伸缩缸;安装座,将所述伸缩缸的固定端部与所述机座连接,并且所述安装座与所述机座可拆卸地连接;销体,设置于所述伸缩缸的活动端部,所述销体可松开地固定在所述转子上,通过所述伸缩缸的冲程运动,驱动所述转子相对于所述机座进行转动。
- 根据权利要求5所述的转子转动控制系统,其特征在于,所述驱动单元还包括压力处理模块,压力处理模块包括压力传感器和压力控制器,所述压力传感器用于测量所述伸缩缸的压力值,并将所述压力值发送给所述压力控制器;所述压力控制器用于基于从所述压力传感器获取的所述压力值来控制所述伸缩缸的压力。
- 根据权利要求6所述的转子转动控制系统,其特征在于,所述压力控制器还用于将所述压力值发送到所述处理器,所述处理器还用于根据接收到的所述压力值确定所述弯矩载荷切换位置。
- 根据权利要求7所述的转子转动控制系统,其特征在于,所述处理器还用于:预先存储与所述弯矩载荷切换位置相关联的压力阈值;将接收到的所述压力值与所述压力阈值进行比较;当所述压力值与所述压力阈值相匹配时,向驱动单元输出调节指令。
- 根据权利要求5所述的转子转动控制系统,其特征在于,所述驱动单元还包括运动长度处理模块,运动长度处理模块包括运动长度传感器和运动长度控制器,所述运动长度传感器用于测量所述伸缩缸的运动长度值,并将所述运动长度值发送给所述运动长度控制器;所述运动长度控制器用于基于从所述运动长度传感器获取的所述运动长度值来控制所述伸缩缸的运动长度。
- 根据权利要求9所述的转子转动控制系统,其特征在于,所述长度控制器还用于将所述运动长度值发送到所述处理器,所述处理器还用于根据接收到的所述运动长度值确定所述弯矩载荷切换位置。
- 根据权利要求10所述的转子转动控制系统,其特征在于,所述处理器还用于:预先存储与所述弯矩载荷切换位置相关联的运动长度阈值;将接收到的所述运动长度值与所述运动长度阈值进行比较;当所述运动长度值与所述运动长度阈值相匹配时,向驱动单元输出调节指令。
- 一种用于风力发电机组的转子转动控制方法,其特征在于,所述转子转动控制方法包括:驱动步骤,驱动转动单元,以使与转动单元连接的转子相对于风力发电机组的机座转动;调节步骤,确定转子的转轴上的弯矩载荷切换位置,并且基于所述弯矩载荷切换位置调节转动单元的操作状态,以平衡弯矩载荷切换位置处的弯矩载荷变化。
- 根据权利要求12所述的转子转动控制方法,其特征在于,当在与所述转子连接的轮毂上安装多个叶片时,所述弯矩载荷切换位置与所述多个叶片的安装位置相关联。
- 根据权利要求12所述的转子转动控制方法,其特征在于,所述转子转动控制方法还包括:测量转子的转动角度,所述调节步骤包括:根据转子的转动角度确定所述弯矩载荷切换位置。
- 根据权利要求12所述的转子转动控制方法,其特征在于,所述转子转动控制方法还包括:测量转动单元的伸缩缸的压力值,基于所述压力值来控制所述伸缩缸的压力。
- 根据权利要求15所述的转子转动控制方法,其特征在于,所述调节步骤包括:根据所述压力值来确定所述弯矩载荷切换位置。
- 根据权利要求16所述的转子转动控制方法,其特征在于,所述转子转动控制方法还包括:预先存储与所述弯矩载荷切换位置相关联的压力阈值;所述调节步骤包括:将所述压力值与所述压力阈值进行比较;当所述压力值与所述压力阈值相匹配时,调节转动单元的操作状态。
- 根据权利要求12所述的转子转动控制方法,其特征在于,所述转子转动控制方法还包括:测量转动单元的伸缩缸的运动长度值,基于所述运动长度值来控制所述伸缩缸的运动长度。
- 根据权利要求18所述的转子转动控制方法,其特征在于,所述调节步骤还包括:根据所述运动长度值确定所述弯矩载荷切换位置。
- 根据权利要求19所述的转子转动控制方法,其特征在于,所述转子转动控制方法还包括:预先存储与所述弯矩载荷切换位置相关联的运动长度阈值,所述调节步骤包括:将所述运动长度值与所述运动长度阈值进行比较;当所述运动长度值与所述运动长度阈值相匹配时,调节转动单元的操作状态。
- 一种计算机可读存储介质,存储有计算机程序,所述计算机程序在 被处理器运行时执行如权利要求12-20中任意一项所述的方法。
- 一种计算机,包括:存储器,被配置为存储指令;处理器,被配置为运行存储在存储器中的所述指令以执行如权利要求12-20中任意一项所述的方法。
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EP18884852.7A EP3540215B1 (en) | 2017-12-28 | 2018-04-08 | Rotor rotation control system and control method for wind turbine |
AU2018386356A AU2018386356B2 (en) | 2017-12-28 | 2018-04-08 | Rotor rotation control system and control method for wind turbine |
ES18884852T ES2870152T3 (es) | 2017-12-28 | 2018-04-08 | Sistema de control de rotación de rotor y método de control para una turbina eólica |
US16/470,889 US11255311B2 (en) | 2017-12-28 | 2018-04-08 | Rotor rotation control system and control method for wind turbine |
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CN201711457856.1 | 2017-12-28 | ||
CN201711457856.1A CN109973304B (zh) | 2017-12-28 | 2017-12-28 | 风力发电机组的转子转动控制系统和控制方法 |
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CN110296112B (zh) * | 2018-03-23 | 2020-06-02 | 江苏金风科技有限公司 | 盘车液压驱动系统及驱动方法 |
CN110657065B (zh) * | 2018-06-28 | 2021-02-02 | 江苏金风科技有限公司 | 盘车作业控制方法、系统及控制转接箱 |
WO2020108715A1 (en) * | 2018-11-27 | 2020-06-04 | Vestas Wind Systems A/S | Active yaw mitigation of wind induced vibrations |
EP3961177B1 (en) * | 2020-08-25 | 2022-06-15 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | A measurement apparatus for determining a bending moment |
CN113982829B (zh) * | 2021-11-12 | 2024-06-07 | 华能如东八仙角海上风力发电有限责任公司 | 一种风力发电机无损偏航控制和故障预警系统及方法 |
WO2023186231A1 (en) * | 2022-03-30 | 2023-10-05 | Vestas Wind Systems A/S | Rotor drive system assisted disengagement of the rotor-lock mechanism |
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EP2415665A2 (en) * | 2010-08-06 | 2012-02-08 | Rohr, Inc. | Rotor Blade |
CN106573764A (zh) * | 2014-08-12 | 2017-04-19 | 乌本产权有限公司 | 用于将转子叶片安装在风能设备上的方法 |
CN106438197A (zh) * | 2016-12-12 | 2017-02-22 | 江苏金风科技有限公司 | 用于转动风力发电机转子的装置、方法及风力发电机组 |
CN206555073U (zh) * | 2017-01-06 | 2017-10-13 | 瑞麦(宁波)机械设计制造有限公司 | 一种风力发电机叶片安装装置的角度调节机构 |
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EP3540215B1 (en) | 2021-02-17 |
EP3540215A1 (en) | 2019-09-18 |
US11255311B2 (en) | 2022-02-22 |
CN109973304B (zh) | 2020-04-28 |
US20210079889A1 (en) | 2021-03-18 |
AU2018386356A1 (en) | 2019-07-18 |
CN109973304A (zh) | 2019-07-05 |
EP3540215A4 (en) | 2019-12-11 |
ES2870152T3 (es) | 2021-10-26 |
AU2018386356B2 (en) | 2020-05-07 |
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