WO2019171829A1

WO2019171829A1 - Wind turbine generator control method

Info

Publication number: WO2019171829A1
Application number: PCT/JP2019/002850
Authority: WO
Inventors: 悠介大竹; 順弘楠野; 正利吉村
Original assignee: 株式会社日立製作所
Priority date: 2018-03-06
Filing date: 2019-01-29
Publication date: 2019-09-12
Also published as: JP2019152179A; TW201938904A

Abstract

The present invention addresses the problem of preventing an increase in the load applied to a blade root portion or the like of a wind turbine generator even if the direction of wind flowing into the wind turbine generator changes quickly. In order to solve the problem, the present invention provides a wind turbine generator control method for changing the operation mode of a wind turbine generator provided with: a rotor which comprises a hub and blades and rotates at least in the wind; a nacelle which journals the rotor via a main shaft connected to the hub and in which at least a power generator connected to the main shaft is housed; and a tower supporting the nacelle. The wind turbine generator control method is characterized in that the operation mode of the wind turbine generator is changed on the basis of data on the direction of wind that flows into the wind turbine generator and information pertaining to the orientation of the rotating plane of the rotor of the wind turbine generator.

Description

Control method for wind turbine generator

The present invention relates to a method for controlling a wind turbine generator, and more particularly, to a method for controlling a wind turbine generator that is suitable when the wind direction flowing into the wind turbine generator changes abruptly.

In a control method in a wind turbine generator that generates power by receiving wind, when the wind direction flowing into the wind turbine generator changes abruptly, there is a method for controlling the rotor rotation surface of the wind turbine generator to face the wind direction by yaw control. Are known.

However, since the rotation speed of the yaw of the wind power generator is limited, when a sudden change in the wind direction occurs, the yaw control may not be able to follow the sudden change in the wind direction. In this case, since the wind flows obliquely to the wind power generator, there is a problem that an excessive load is generated on the mechanical structure of the wind power generator such as a blade or a yaw bearing of the wind power generator. .

In order to cope with such a problem, a method for controlling the pitch angle of the wind turbine generator according to the wind direction has been proposed.

For example, Patent Document 1 discloses a method for controlling the pitch angle in accordance with the difference in the nacelle direction of the wind turbine generator relative to the wind direction of the wind turbine generator.

That is, Patent Document 1 discloses a rotor including blades of a wind power generator, a nacelle for rotatably supporting the rotor, a yaw drive unit that rotates the nacelle, and a pitch angle of the blades of the wind power generator. And a pitch control step of controlling the pitch drive unit by giving a pitch angle command value to the pitch drive unit, and at least the rotational speed of the rotor between the required value calculating step of calculating the pitch angle demand value, when the angle between the at least wind direction and the nacelle orientation is the threshold value a ₁ or more, a full fine pitch angle and the feather pitch angle based on A limit value setting step for setting the pitch angle as a limit value, and when the pitch angle command value is closer to the full fine pitch angle than the limit value, The limit value is set to the pitch angle command value, and when the required pitch angle value is the limit value or on the full feather pitch angle side, the required pitch angle value is set to the pitch angle command value. And a command value calculating step for controlling the wind power generation facility.

JP 2016-106878 A

However, in the method for controlling a wind power generation facility described in Patent Document 1 described above, when a sudden change in the wind direction is particularly large, for example, wind may flow into the wind power generation apparatus from the lateral direction. There is a problem that a large load is generated at the root of the blade.

The present invention has been made in view of the above points, and the object of the present invention is to increase the load on the root portion of the blade of the wind power generator even if the wind direction flowing into the wind power generator changes suddenly. An object of the present invention is to provide a method for controlling a wind turbine generator that can be prevented.

In order to achieve the above object, a method for controlling a wind turbine generator according to the present invention comprises a hub and blades, and at least supports a rotor that rotates by receiving wind and a main shaft connected to the hub. In addition, when the operation mode of the wind turbine generator having at least the generator connected to the main shaft inside the nacelle and the tower supporting the nacelle is changed, the wind turbine generator flows into the wind turbine generator. The operation mode of the wind power generator is changed based on wind direction data and information on the orientation of the rotating surface of the rotor of the wind power generator.

According to the present invention, even if the wind direction flowing into the wind turbine generator changes suddenly, it is possible to prevent an increase in load on the root portion of the blade of the wind turbine generator.

It is a figure which shows the outline of the whole structure of the wind power generator to which the control method of the wind power generator of this invention is applied. It is a schematic diagram which shows the relationship between the wind power generator to which the control method of the wind power generator of this invention is applied, and a wind direction. It is a schematic diagram which shows an example of the sudden change of the wind direction in the wind power generator to which the control method of the wind power generator of this invention is applied. It is a control block diagram which shows Example 1 of the control method of the wind power generator of this invention. It is a control flowchart which shows Example 1 of the control method of the wind power generator of this invention. It is the schematic which shows the various parameter change in Example 1 of the control method of the wind power generator of this invention. It is a control block diagram which shows Example 2 of the control method of the wind power generator of this invention. It is a control flowchart which shows Example 2 of the control method of the wind power generator of this invention. It is a control block diagram which shows Example 3 of the control method of the wind power generator of this invention. It is a control flowchart which shows Example 3 of the control method of the wind power generator of this invention. It is a control block diagram which shows Example 4 of the control method of the wind power generator of this invention. It is a control flowchart which shows Example 4 of the control method of the wind power generator of this invention.

Hereinafter, the control method of the wind power generator of the present invention will be described based on the illustrated embodiment. In addition, in each Example, the same code | symbol is used for the same component.

In this specification, a downwind type wind power generator is described as an example of the wind power generator according to the embodiment of the present invention, but the present invention can be similarly applied to an upwind type wind power generator. Although an example in which the rotor is configured with three blades and a hub is shown, the present invention is not limited to this, and the rotor may be configured with a hub and at least one blade.

A method for controlling the wind turbine generator according to the first embodiment will be described with reference to FIGS.

FIG. 1 is an overall configuration diagram of a wind turbine generator to which a method for controlling a wind turbine generator according to the present invention is applied.

As shown in FIG. 1, the wind turbine generator 1 includes a blade 5 that rotates by receiving wind, a hub 4 that supports the blade 5, and a nacelle 3 and a tower 2 that rotatably supports the nacelle 3. Yes. In the nacelle 3, a main shaft 7 that is connected to the hub 4 and rotates together with the hub 4, a speed increasing device 8 that is connected to the main shaft 7 and increases the rotational speed, and a rotational speed increased by the speed increasing device 8. And a generator 9 for generating electricity by rotating the rotor. The blade 5 and the hub 4 constitute a rotor 6.

The part that transmits the rotational energy of the blade 5 to the generator 9 is called a power transmission unit, and in the present embodiment, the main shaft 7 and the speed increaser 8 are included in the power transmission unit. The speed increaser 8 and the generator 9 are held on the main frame 10.

As shown in FIG. 1, the tower 2 includes a power converter 11 that converts a frequency of power, a switching switch and a transformer (not shown) for switching current, and a control device 12. Is arranged.

In FIG. 1, the power converter 11 and the control device 12 are installed at the bottom of the tower 2, but the installation location of these devices is not limited to the bottom of the tower 2 and is inside the wind power generator 1. It may be installed in other places.

Moreover, an anemometer 13 for measuring wind direction data and wind speed data is installed on the upper surface of the nacelle 3. Further, as the control device 12, for example, a control panel or SCADA (Supervision Control And Data Acquisition) is used.

In addition, a controller 15 is installed in the nacelle 3, and this controller 15 includes a yaw error calculation unit 21, a mode determination unit 24, a control determination unit 25, and an actuator controller 27 (described later). The yaw error storage unit 22, the change amount calculation unit 23 of the second and fourth embodiments, and the threshold value calculation unit 26 of the third and fourth embodiments are also provided.

Further, the direction of the nacelle 3 is referred to as a yaw angle, and the wind turbine generator 1 includes a yaw angle control device 14 that controls the direction of the nacelle 3, that is, the direction of the rotating surface of the rotor 6.

As shown in FIG. 1, the yaw angle control device 14 is disposed between the bottom surface of the nacelle 3 and the tip of the tower 2 and includes, for example, at least an actuator (not shown) and a motor that drives the actuator. Based on the yaw angle control command output from the control device 12 via the signal line, the motor constituting the yaw angle control device 14 rotates and the actuator is displaced by a desired amount so that the desired yaw angle is obtained. The nacelle 3 rotates.

FIG. 2 is a schematic diagram showing the relationship between the wind power generation apparatus 1 to which the method for controlling the wind power generation apparatus 1 of the present invention is applied and the wind direction.

2, the deviation between the nacelle direction 16 and the wind direction 17 corresponding to the direction of the wind turbine generator 1 is referred to as a yaw error 18. The nacelle direction 16 is controlled by the yaw angle control device 14 so that the yaw error 18 is reduced. However, since the turning speed of the nacelle direction 16 is limited, when the wind direction 17 changes rapidly, the turning of the nacelle 3 changes the wind direction. There is a problem that the yaw error 18 increases without keeping up with the change of 17.

As mentioned above, there is a phenomenon called gust as a sudden change in wind conditions. FIG. 3 shows an example of a change in wind direction associated with the gust.

In the case of a gust as shown in FIG. 3, although the wind direction changes rapidly as shown by the sudden change 19 in the wind direction, it returns to the wind direction before the change as shown by the wind direction recovery 20 after a certain time.

When such a gust flows into the wind turbine generator 1, the wind turbine generator 1 first starts a yaw turn due to the sudden change 19 in the wind direction. However, if the wind direction changes suddenly, the yaw turn cannot catch up with the sudden change 19 in the wind direction. As a result, the yaw error 18 increases and the load generated in the wind power generator 1 increases. At this time, in order to protect the wind power generator 1, it is also conceivable to stop the wind power generator 1 when the yaw error 18 exceeds a predetermined value.

However, after the wind direction suddenly changes, a wind direction recovery 20 that returns to the original wind direction occurs. At that time, since the wind direction returns before the sudden change 19 in the wind direction, if the wind power generator 1 can be protected only during the gust generation period, it is considered that the wind power generator 1 can continue the operation as usual. It is done.

Therefore, in this embodiment, the wind power generator 1 is temporarily shifted to the degenerate operation mode by using a control mechanism having a quicker control response than the yaw control mechanism of the wind power generator 1, and the load increase when passing through the gust is increased. By avoiding this, the wind power generator 1 is protected while avoiding a decrease in the amount of power generated due to the stop of the wind power generator 1.

FIG. 4 shows a block diagram of control in this embodiment.

In the present embodiment shown in the figure, first, the wind direction of the wind flowing into the wind power generator 1 is measured by the wind direction anemometer 13 installed on the nacelle 3. Next, the yaw error calculation unit 21 provided in the controller 15 is used to calculate a yaw error 18 that is a deviation between the wind direction 17 flowing into the wind turbine generator 1 and the nacelle direction 16. Next, in the mode determination part 24, the operation mode (normal operation mode, degeneration operation mode, stop mode) of the wind power generator 1 is determined. The operation mode determined by the mode determination unit 24 is sent to the control determination unit 25 of various devices such as the pitch angle and the generator torque, and the control determination unit 25 determines the control method of each actuator. Finally, the wind power generator 1 is controlled by sending the control method of the wind power generator 1 determined by the control determination unit 25 to each actuator controller 27.

FIG. 5 shows a control flow diagram of the wind turbine generator 1 in this embodiment.

First, the wind direction data is acquired by the wind direction anemometer 13 in S101, and the yaw error 18 with respect to the wind turbine generator 1 is calculated by the yaw error calculator 21 in S102. Next, in S104, the mode determination unit 24 determines whether the yaw error 18 is equal to or greater than the threshold value. If the yaw error 18 is equal to or less than the threshold value (No), the operation is continued as usual. Moreover, when it is discriminate | determined by the mode determination part 24 that it is more than a threshold value in S104 (Yes), the wind power generator 1 transfers to S105, and will be in a degeneration operation mode.

Thereafter, the wind direction data is re-acquired by the anemometer 13 in S111 again, and the yaw error 18 for the wind turbine generator 1 is recalculated by the yaw error calculator 21 in S112. In S114, the mode determination unit 24 determines again whether the yaw error 18 is equal to or greater than the threshold. If the yaw error 18 is equal to or less than the threshold (No), the process returns to the normal operation mode in S125.

In S114, if the yaw error 18 is equal to or greater than the threshold (Yes), the mode determination unit 24 determines the duration of the degenerate operation mode in S106. When the duration of the degenerate operation mode is equal to or less than the threshold (No), the process returns to S111 again and the same flow as above is continued. On the other hand, when the duration of the degenerate operation mode exceeds the threshold (Yes), the process shifts to the stop mode in S115.

FIG. 6 shows a schematic diagram of changes in various parameters when the control method of the present invention is applied.

In the figure, when the present invention is applied when the gust as shown in the wind direction change 28 flows into the wind power generator 1, as shown in the output change 29, the operation shifts to the degenerate operation mode and the output of the wind power generator 1. Will be lower than before. Thereafter, when the wind direction recovers in the same direction as before the transition to the degenerate operation mode, the normal operation mode is restored and the output is also recovered. At this time, the load change 30 is reduced by the application of the present invention as compared with the case where the normal operation mode is continued (from FIG. 6, the peak of the load change 30 in the degenerate operation mode (maximum It can be seen that the load is lower in the present invention than in the prior art).

The advantages of the method for controlling the wind turbine generator 1 in the present embodiment are as follows.

That is, in this embodiment, the amount of energy itself obtained by the wind power generator 1 is reduced by changing the operation mode of the wind power generator 1 based on the wind direction 17 flowing into the wind power generator 1 (utilization of the degenerate operation mode). Therefore, it is possible to avoid an increase in the maximum load and to prevent an increase in the load on the root portion of the blade 5 of the wind turbine generator 1.

Further, when the yaw error 18 is continuously large, it is possible to avoid an increase in fatigue load by shifting to the stop mode. In addition, by not immediately shifting to the stop mode when the yaw error 18 is enlarged, it is possible to reduce the number of times that the wind turbine generator 1 is started and stopped, and it is possible to reduce a decrease in the amount of power generation due to a loss of power generation opportunity.

A control method for the wind turbine generator 1 in the second embodiment will be described with reference to FIGS. 1 to 3, 7, and 8. Detailed description of the same points as those in the first embodiment will be omitted.

The feature of this embodiment is that the amount of change in the yaw error 18 per predetermined time is used for the judgment of transition to the degenerate operation mode.

As shown in FIG. 3, when the gust flows into the wind power generator 1, the change in the wind direction 17 is often steep. Therefore, it is desired to predict that gust flows into the wind power generator 1 earlier. Therefore, the present embodiment is characterized in that when the change amount of the wind direction 17 in the predetermined time of the yaw error 18 exceeds the threshold value, the mode is shifted to the degenerate operation mode.

FIG. 7 shows a block diagram of control in the present embodiment.

In the present embodiment shown in the figure, first, the wind direction 17 of the wind flowing into the wind power generator 1 is measured by the wind direction anemometer 13 installed on the nacelle 3. Next, the yaw error calculation unit 21 is used to calculate a yaw error 18 that is a deviation between the wind direction 17 flowing into the wind turbine generator 1 and the nacelle direction 16. The yaw error 18 obtained here is stored in the yaw error storage unit 22 provided in the controller 15. The yaw error 18 stored in the yaw error storage unit 22 is sent to a change amount calculation unit 23 provided in the controller 15, where the change amount of the yaw error 18 in a predetermined time is calculated.

Next, the mode determination unit 24 determines the operation mode (normal operation mode, degenerate operation mode, stop mode) of the wind turbine generator 1 based on the change amount of the yaw error 18. The operation mode determined by the mode determination unit 24 is sent to the control determination unit 25 of various devices such as the pitch angle and the generator torque, and the control determination unit 25 determines the control method of each actuator. Finally, the wind power generator 1 is controlled by sending the control method of the wind power generator 1 determined by the control determination unit 25 to each actuator controller 27.

FIG. 8 shows a control flow diagram of the wind turbine generator 2 in the present embodiment.

First, the wind direction data is acquired by the wind direction anemometer 13 in S101, and the yaw error 18 with respect to the wind turbine generator 1 is calculated by the yaw error calculator 21 in S102. Next, in S <b> 103, the change amount calculation unit 23 calculates the change amount of the yaw error 18. Next, in S134, the mode determining unit 24 determines whether or not the amount of change in the yaw error 18 is equal to or greater than the threshold value. If it is equal to or less than the threshold value (No), the operation is continued as usual. Moreover, when it determines with more than a threshold value (Yes) in S134, the wind power generator 1 transfers to S105, and will be in a degeneration operation mode.

Thereafter, the wind direction data is re-acquired by the anemometer 13 in S111 again, and the yaw error 18 for the wind turbine generator 1 is recalculated by the yaw error calculator 21 in S112. Next, the change amount calculation unit 23 recalculates the change amount of the yaw error 18 in S113. In step S119, the mode determination unit 24 determines whether the amount of change in the yaw error 18 is equal to or greater than the threshold.

At this time, in S119, a threshold value different from that in S134 may be used in order to determine whether the yaw error 18 tends to decrease.

In S119, when the change amount of the yaw error 18 is equal to or less than the threshold (No), the process returns to the normal operation mode in S125. In S119, if the change amount of the yaw error 18 is equal to or greater than the threshold (Yes), the mode determination unit 24 determines the duration of the degenerate operation mode in S106. When the duration time of the degenerate operation mode is equal to or less than the threshold (No), the process returns to S111 again and the same flow as above is continued. On the other hand, when the duration of the degenerate operation mode exceeds the threshold (Yes), the process shifts to the stop mode in S115.

The advantages of the wind power generator 1 in the present embodiment are as follows.

That is, in the present embodiment, the same effect as in the first embodiment can be obtained, and the change amount of the yaw error 18 is used for determining the shift to the degenerate operation mode, so that the arrival of the gust can be determined earlier. Can do. Therefore, it is possible to avoid an increase in the maximum load earlier. Further, when the yaw error 18 is continuously large, an increase in fatigue load can be avoided by shifting to the stop mode. In addition, by not immediately shifting to the stop mode when the yaw error 18 is enlarged, it is possible to reduce the number of times the wind power generator 1 is started and stopped, and it is possible to reduce a decrease in energization amount due to loss of power generation opportunity.

A control method for the wind turbine generator 1 according to the third embodiment will be described with reference to FIGS. 1 to 3, 9, and 10. Detailed description of the same points as those in the first and second embodiments will be omitted.

The feature of this embodiment is that the judgment threshold value of the yaw error 18 is changed according to the wind speed in the judgment of transition to the degenerate operation mode. In general, when the wind speed is low, the fluctuation of the wind direction tends to become larger.If the same threshold is used for the low wind speed and the high wind speed, the fluctuation of the wind direction is erroneously detected as a gust when the wind speed is low. Increase the risk of Therefore, this embodiment is characterized in that the determination threshold value of the yaw error 18 is changed depending on the wind speed.

FIG. 9 shows a block diagram of control in the present embodiment.

In this embodiment shown in the figure, first, the wind direction anemometer 13 installed on the nacelle 3 measures not only the wind direction data of the wind flowing into the wind power generator 1 but also the wind speed data. Next, the yaw error calculation unit 21 is used to calculate a yaw error 18 that is a deviation between the wind direction 17 flowing into the wind turbine generator 1 and the nacelle direction 16. In parallel, the threshold value calculation unit 26 calculates the threshold value of the yaw error 18 corresponding to the measured wind speed. Next, the mode determination unit 24 determines the operation mode (normal operation mode, degenerate operation mode, stop mode) of the wind turbine generator 1 based on the yaw error 18 and its threshold value. The operation mode determined by the mode determination unit 24 is sent to the control determination unit 25 of various devices such as the pitch angle and the generator torque, and the control determination unit 25 determines the control method of each actuator. Finally, the wind power generator 1 is controlled by sending the control method of the wind power generator 1 determined by the control determination unit 25 to each actuator controller 27.

FIG. 10 shows a control flow diagram of the wind turbine generator 1 in this embodiment.

First, the wind direction data and the wind speed data are acquired by the wind direction anemometer 13 in S101, and the yaw error 18 for the wind turbine generator 1 is calculated by the yaw error calculation unit 21 in S102. In parallel, the threshold value calculation unit 26 calculates the threshold value of the yaw error 18 in S122. Next, in S104, the mode determination unit 24 determines whether the yaw error 18 is equal to or greater than the threshold value. If the yaw error 18 is equal to or less than the threshold value (No), the operation is continued as usual. If the mode determination unit 24 determines that the threshold value is equal to or greater than the threshold value in S104 (Yes), the wind turbine generator 1 proceeds to S105 and enters the degenerate operation mode.

Thereafter, the wind direction data and the wind speed data are again acquired by the wind direction anemometer 13 in S111, and the yaw error 18 for the wind turbine generator 1 is recalculated by the yaw error calculator 21 in S112. At this time, the threshold value calculation unit 26 also recalculates the threshold value of the yaw error 18 in S132. Then, in S114, the mode determination unit 24 determines again whether the yaw error 18 is equal to or greater than the threshold value.

If the yaw error 18 is equal to or greater than the threshold value (Yes) in S114, the mode determination unit 24 determines the duration of the degenerate operation mode in S106. When the duration of the degenerate operation mode is equal to or less than the threshold (No), the process returns to S111 again and the same flow as above is continued. On the other hand, when the duration of the degenerate operation mode exceeds the threshold (Yes), the process shifts to the stop mode in S115.

That is, in the present embodiment, the same effect as in the first embodiment can be obtained, and the determination threshold is determined based on the wind speed with respect to the transition to the degenerate operation mode, so the arrival of the gust is predicted with higher accuracy. be able to. As a result, an increase in the maximum load can be avoided with higher accuracy, erroneous detection can be suppressed, and a decrease in the amount of power generation associated with the implementation of the degenerate operation can be suppressed.

A control method for the wind turbine generator 1 according to the fourth embodiment will be described with reference to FIGS. 1 to 3, 11, and 12. Detailed description of points that overlap with the first to third embodiments will be omitted.

The feature of this embodiment is that the threshold value of the change amount of the yaw error 18 used for determining the transition to the degenerate operation mode and the predetermined time for calculating the change amount are changed according to the wind speed. When the wind speed is low, the fluctuation in the direction perpendicular to the main wind speed is relatively large, and thus the fluctuation in the wind direction tends to be large. In order to avoid erroneous detection of gust when the wind speed is low, it is conceivable to lengthen the evaluation time or increase the determination threshold. In view of this, the present embodiment is characterized in that the threshold value of the amount of change in the yaw error 18 used for the judgment of transition to the reverse operation mode and the evaluation time thereof are changed according to the wind speed.

FIG. 11 shows a block diagram of control in this embodiment.

In the present embodiment shown in the figure, first, not only the wind direction of the wind flowing into the wind power generator 1 but also the wind speed is measured by the anemometer 13 installed on the nacelle 3. Next, the yaw error calculation unit 21 is used to calculate a yaw error 18 that is a deviation between the wind direction 17 flowing into the wind turbine generator 1 and the nacelle direction 16. The yaw error 18 obtained here is stored in the yaw error storage unit 22. The yaw error 18 stored in the yaw error storage unit 22 is sent to the change amount calculation unit 23, where the change amount of the yaw error 18 in a predetermined time is calculated. At this time, the threshold value calculation unit 26 calculates the change amount threshold value of the yaw error 18 and the change amount calculation time from the wind speed obtained by the anemometer 13. Next, the mode determination unit 24 determines the operation mode of the wind turbine generator 1 based on the change amount of the yaw error 18 and the threshold value. The determined operation mode is sent to the control determination unit 25 of various devices such as the pitch angle and the generator torque, and the control determination unit 25 determines the control method of each actuator. Finally, the wind power generator 1 is controlled by sending the control method of the wind power generator 1 determined by the control determining unit 25 to each actuator controller 27.

FIG. 12 shows a control flow diagram of the wind turbine generator 1 in this embodiment.

First, the wind direction data and the wind speed data are acquired by the wind direction anemometer 13 in S101, and the yaw error 18 for the wind turbine generator 1 is calculated by the yaw error calculation unit 21 in S102. At the same time, in S122, the threshold value calculation unit 26 calculates the evaluation time of the amount of change and the threshold value from the obtained wind speed data. Next, in S <b> 103, the change amount calculation unit 23 calculates the change amount of the yaw error 18. Next, in S134, the mode determining unit 24 determines whether or not the amount of change in the yaw error 18 is equal to or greater than the threshold value. If it is equal to or less than the threshold value (No), the operation is continued as usual. If the mode determination unit 24 determines that the threshold value is equal to or greater than the threshold value in S134 (Yes), the wind turbine generator 1 proceeds to S105 and enters the degenerate operation mode.

Thereafter, the wind direction data and the wind speed data are again acquired by the wind direction anemometer 13 in S111, and the yaw error 18 for the wind turbine generator 1 is recalculated by the yaw error calculator 21 in S112. At the same time, in S142, the threshold value calculation unit 26 recalculates the evaluation time of the amount of change and the threshold value from the obtained wind speed data. Next, in S113, the change amount calculation unit 23 recalculates the change amount of the yaw error 18. In step S119, the mode determination unit 24 determines whether the amount of change in the yaw error 18 is equal to or greater than a threshold value.

If the change amount of the yaw error 18 is equal to or less than the threshold value (No) in S119, the normal operation mode is restored in S125.

In S119, if the change amount of the yaw error 18 is equal to or greater than the threshold (Yes), the mode determination unit 24 determines the duration of the degenerate operation mode in S106. When the duration of the degenerate operation mode is equal to or less than the threshold (No), the process returns to S111 again and the same flow as above is continued. On the other hand, when the duration of the degenerate operation mode exceeds the threshold (Yes), the process shifts to the stop mode in S115.

In the present embodiment, an example in which the calculation time and threshold value of the yaw error 18 are sequentially recalculated has been shown, but the values calculated in step S122 may be continuously used as these numerical values.

A control method for the wind turbine generator 1 in the fifth embodiment will be described with reference to FIGS. Detailed description of points that overlap with the first to fourth embodiments will be omitted.

A feature of the fifth embodiment is that pitch control is used as means for shifting to the degenerate operation mode.

In the wind power generator 1, as shown in FIG. 1, the blade 5 is installed so as to be rotatable (pitch angle change) with respect to the hub 4. Here, the pitch angle represents an attachment angle of the blade 5 to the hub 4.

In addition, it is called fine to change the pitch angle so that the blade 5 faces the wind and the wind energy can be collected with high efficiency, and the wind is released by making the blade parallel to the wind. Changing the pitch angle in this way is called a feather.

In this embodiment, as shown in S105 in FIGS. 5, 8, 10, and 12, when the wind turbine generator 1 is shifted to the degenerate operation mode, the pitch angle is closer to the feather than the reference control value during normal operation. Changed to As a result, the amount of energy collected by the wind turbine generator 1 is reduced, and the amount of power generation is reduced. Therefore, the load applied to the wind turbine generator 1 is also reduced, and the operation mode is reduced. At this time, the pitch angle command value may be a fixed value or may be changed according to wind conditions such as wind speed.

Thereafter, as indicated by S125 in FIGS. 5, 8, 10, and 12, when the operation is shifted to the normal operation, the pitch angle command value is returned to the reference control value during the normal operation, thereby returning to the normal operation mode. .

The advantage of the control method of the wind power generator 1 in the present embodiment is as follows.

That is, in this embodiment, since the pitch angle control is used for the transition to the degenerate operation mode, the energy amount that the wind power generator 1 recovers from the wind can be directly controlled, so the transition to the degenerate operation mode is easily performed. can do.

A control method for the wind turbine generator 1 in the sixth embodiment will be described with reference to FIGS. Detailed description of points that overlap with the first to fifth embodiments will be omitted.

A feature of the sixth embodiment resides in that torque control of the generator 9 installed in the nacelle 3 of the wind power generator 1 is utilized as means for shifting to the degenerate operation mode.

The energy recovered by the wind turbine generator 1 is expressed as the product of the rotational speed of the rotor 6 and the torque in the generator 9. In the normal operation mode, the rotational speed of the rotor 6 is the highest in the blade 5 of the wind power generator 1. The torque is controlled so that the number of rotations can obtain energy efficiently.

In this embodiment, as shown in S105 in FIGS. 5, 8, 10, and 12, when the wind turbine generator 1 is shifted to the degenerate operation mode, the torque command value is set to a value different from that during normal operation. To do. At this time, the torque command value can be both a larger value and a smaller value than the reference control value during normal operation.

Specifically, a method of reducing the amount of energy to be recovered by making the torque command value smaller than the reference control value during normal operation can be considered. Moreover, by making the torque control value larger than the reference control value during normal operation, the rotational speed of the rotor 6 is reduced, and the operation efficiency of the wind turbine generator 1 is reduced, so that the operation mode can be shifted to the degenerate operation mode. Is possible. At this time, the command value for torque control may be a fixed value or may be changed according to wind conditions such as wind speed.

Thereafter, as shown in S125 in FIGS. 5, 8, 10, and 12, when the operation is shifted to the normal operation, the torque command value is returned to the reference control value during the normal operation to return to the normal operation mode.

That is, this embodiment has a feature that the control response is very fast because the torque control of the generator 9 is used for the transition to the degenerate operation mode. Thereby, it becomes possible to shift to the degenerate operation mode earlier, and it is possible to avoid an increase in the maximum load accompanying an increase in yaw error earlier.

In addition, this invention is not limited to the above-mentioned Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

DESCRIPTION OF SYMBOLS 1 ... Wind power generator, 2 ... Tower, 3 ... Nacelle, 4 ... Hub, 5 ... Blade, 6 ... Rotor, 7 ... Main shaft, 8 ... Booster, 9 ... Generator, 10 ... Main frame, 11 ... Power conversion 12 ... Control device, 13 ... Wind direction anemometer, 14 ... Yaw angle control device, 15 ... Controller, 16 ... Nacelle direction, 17 ... Wind direction, 18 ... Yaw error, 19 ... Abrupt change in wind direction, 20 ... Recovery of wind direction 21 ... Yaw error calculation unit, 22 ... Yaw error storage unit, 23 ... Change amount calculation unit, 24 ... Mode determination unit, 25 ... Control determination unit, 26 ... Threshold calculation unit, 27 ... Actuator controller, 28 ... Change in wind direction 29 ... Output change, 30 ... Load change.

Claims

A rotor composed of a hub and blades, which rotates at least by receiving wind, and a nacelle that supports the rotor via a main shaft connected to the hub and stores at least a generator connected to the main shaft in the rotor. And changing the operation mode of the wind turbine generator including the tower that supports the nacelle,
A method for controlling a wind turbine generator, comprising: changing an operation mode of the wind turbine generator based on wind direction data flowing into the wind turbine generator and information on a direction of a rotation surface of the rotor of the wind turbine generator.
A method for controlling a wind turbine generator according to claim 1,
When a yaw error, which is a deviation between the direction of the nacelle, which is the direction of the wind power generator, and the direction (wind direction) of the rotating surface of the rotor exceeds a predetermined threshold, the operation mode of the wind power generator is changed. A method for controlling a wind turbine generator, comprising: changing the wind power generator.
A method for controlling a wind turbine generator according to claim 2,
The wind turbine generator control method includes a normal operation mode, a degenerate operation mode, and a stop mode.
It is a control method of the wind power generator according to claim 3,
The wind direction data is measured by an anemometer installed on the nacelle, and the yaw error is calculated using a yaw error calculation unit provided in a controller installed in the nacelle. A control method for a wind turbine generator.
It is a control method of the wind power generator according to claim 4,
In addition to the yaw error calculation unit, the controller includes a mode determination unit that determines an operation mode of the wind turbine generator, a control determination unit that determines a control method of the wind turbine generator, and an actuator that controls the wind turbine generator Equipped with a controller,
The yaw error calculation unit calculates the yaw error, then the mode determination unit determines the operation mode of the wind turbine generator, the operation mode determined by the mode determination unit is sent to the control determination unit, The control determination unit determines a control method for the wind turbine generator, and the wind turbine generator is controlled by sending the control method for the wind turbine generator determined by the control determiner to the actuator controller. A method for controlling a wind turbine generator.
A method for controlling a wind turbine generator according to claim 5,
The wind power generator is controlled by acquiring the wind direction data with the anemometer (S101), calculating the yaw error for the wind power generator with the yaw error calculator (S102), and then calculating the yaw error. The mode determining unit determines whether or not the threshold is equal to or greater than the threshold (S104). If the determination in S104 is equal to or lower than the threshold (No), the normal operation (normal operation mode) is continued, and the determination in S104 is performed. If it is equal to or greater than the threshold (Yes), the wind turbine generator shifts to the degenerate operation mode (S105), and then the wind direction data is reacquired by the wind direction anemometer (S111), The yaw error is recalculated by the yaw error calculation unit (S112), and it is determined again by the mode determination unit whether the yaw error is equal to or greater than a threshold value (S114), and the determination at S114 is performed. If the value is less than the value (No), the normal operation mode is restored (S125). If the determination in S114 is equal to or greater than the threshold (Yes), the duration of the degenerate operation mode is determined by the mode determination unit ( S106) When the determination in S106 is the duration time of the degenerate operation mode is less than or equal to the threshold (No), the process returns to S111 again and the same flow as above is continued, and the determination in S106 is the degenerate operation. When the mode duration time is equal to or greater than the threshold (Yes), the mode is shifted to the stop mode (S115).
It is a control method of the wind power generator according to claim 3,
The wind turbine generator control method according to claim 1, wherein when the amount of change in the wind direction during a predetermined time of the yaw error exceeds a predetermined threshold value, the operation mode is shifted to the degenerate operation mode.
It is a control method of the wind power generator according to claim 7,
The wind direction data is measured by an anemometer installed on the nacelle, and the yaw error is calculated using a yaw error calculation unit provided in a controller installed in the nacelle. A control method for a wind turbine generator.
A method for controlling a wind turbine generator according to claim 8,
In addition to the yaw error calculation unit, the controller includes a yaw error storage unit that stores the yaw error, and a change amount that calculates a change amount of the yaw error transmitted from the yaw error storage unit at a predetermined time. A calculation unit; a mode determination unit that determines an operation mode of the wind turbine generator based on a change amount of the yaw error; a control determination unit that determines a control method of the wind turbine generator; and an actuator controller that controls the wind turbine generator With
The yaw error calculation unit calculates the yaw error, the yaw error obtained here is stored in the yaw error storage unit, and the yaw error stored in the yaw error storage unit is the change amount calculation unit The change amount calculation unit calculates the change amount of the yaw error at a predetermined time,
Next, the mode determination unit determines an operation mode of the wind turbine generator based on the amount of change in the yaw error, and the operation mode determined by the mode determination unit is sent to the control determination unit. The wind power generator is controlled by determining a control method of the wind power generator and sending the control method of the wind power generator determined by the control determination unit to the actuator controller. A method for controlling a wind turbine generator.
A method for controlling a wind turbine generator according to claim 9,
The wind power generator is controlled by acquiring the wind direction data with the anemometer (S101), calculating the yaw error for the wind power generator with the yaw error calculator (S102), and changing the yaw error. The amount is calculated by the change amount calculation unit (S103), and then the mode determination unit determines whether the change amount of the yaw error calculated by the change amount calculation unit is greater than or equal to a threshold value (S134). When the determination at is below the threshold (No), the operation is continued as usual (normal operation mode), and when the determination at S134 is above the threshold (Yes), the wind turbine generator is in the degenerate operation mode. (S105)
Thereafter, the wind direction data is reacquired by the wind direction anemometer (S111), the yaw error for the wind power generator is recalculated by the yaw error calculator (S112), and the change amount of the yaw error is then calculated. The change amount calculation unit recalculates (S113), and the mode determination unit determines whether the change amount of the yaw error is equal to or less than a threshold value (S119), and the determination in S119 determines the change in the yaw error. When the amount is less than or equal to the threshold (No), the normal operation mode (normal operation mode) is restored (S125). When the determination in S119 is that the amount of change in the yaw error is greater than or equal to the threshold (Yes), the degeneration is performed. The operation mode duration is determined by the mode determination unit (S106). If the determination in S106 is less than or equal to the threshold value (No) in the degenerate operation mode, the process returns to S111 again. Control method like continue to flow, if the duration of the degenerate operation mode is judged at the S106 is equal to or higher than the threshold (Yes), a wind power generator, characterized in that the transition (S115) to the stop mode.
It is a control method of the wind power generator according to claim 3,
The wind direction data and the wind speed data flowing into the wind power generator are measured by an anemometer installed on the nacelle, and the yaw error is calculated by a yaw error calculation provided in a controller installed in the nacelle. And calculating a threshold value of the yaw error according to the wind speed data using a threshold value calculation unit provided in the controller in parallel with the calculation. A control method for a wind turbine generator.
It is a control method of the wind power generator according to claim 11,
In addition to the yaw error calculation unit and the threshold value calculation unit, the controller includes a mode determination unit that determines an operation mode of the wind power generator, a control determination unit that determines a control method of the wind power generator, and the wind power generation An actuator controller for controlling the device,
The yaw error calculation unit calculates the yaw error according to the wind direction data, and in parallel with the calculation, uses the threshold value calculation unit to calculate the threshold value of the yaw error according to the wind speed data, The mode determination unit determines the operation mode of the wind power generator, the operation mode determined by the mode determination unit is sent to the control determination unit, the control determination unit determines the control method of the wind power generation device, The wind power generator control method, wherein the wind power generator is controlled by sending the control method of the wind power generator determined by the control determination unit to the actuator controller.
A method for controlling a wind turbine generator according to claim 12,
The wind turbine generator is controlled by acquiring the wind direction data and wind velocity data with the wind direction anemometer (S101), calculating the yaw error for the wind turbine generator with the yaw error calculator (S102), and in parallel. Then, the threshold value of the yaw error is calculated by the threshold value calculation unit (S122), the mode determination unit determines whether the yaw error is equal to or greater than the threshold value (S104), and the determination in S104 is less than the threshold value (S104). In the case of No), the normal operation (normal operation mode) is continued, and when the determination in S104 is equal to or greater than the threshold (Yes), the wind turbine generator shifts to the degenerate operation mode (S105),
Thereafter, the wind direction data and the wind speed data are again acquired by the wind direction anemometer (S111), and the yaw error for the wind turbine generator is recalculated by the yaw error calculator (S112). The threshold value of the yaw error is also recalculated by the threshold value calculation unit (S132), and the mode determination unit determines again whether the yaw error is equal to or greater than the threshold value (S114). In the following (No), it returns to the normal operation mode (S125), and when the determination in S114 is equal to or greater than a threshold value (Yes), the mode determination unit determines the duration of the degenerate operation mode ( S106) If the determination in S106 is that the duration time of the degenerate operation mode is less than or equal to the threshold (No), the flow returns to S111 again and the same flow as above is continued. Determination duration of the degenerate operation mode is greater than or equal to the threshold in the case of (Yes), the control method of a wind power generation apparatus, characterized in that the transition (S115) to the stop mode.
It is a control method of the wind power generator according to claim 3,
The wind direction data and the wind speed data flowing into the wind power generator are measured by an anemometer installed on the nacelle, and the yaw error is calculated by a yaw error calculation provided in a controller installed in the nacelle. And calculating the threshold value of the amount of change in yaw error according to the wind speed data using a threshold value calculation unit provided in the controller in parallel with the calculation. The calculation time of the change amount is calculated, the yaw error calculated by the yaw error calculation unit is stored in the yaw error storage unit provided in the controller, and the yaw error stored in the yaw error storage unit Is sent to a change amount calculation unit provided in the controller, and the change amount calculation unit calculates a change amount of the yaw error in a predetermined time,
Next, a mode determination unit provided in the controller determines an operation mode of the wind turbine generator based on a change amount of the yaw error and a threshold value thereof, and the determined operation mode is provided in the controller. Actuator control in which the control determination unit determines a control method for the wind turbine generator, and the controller determines the control method for the wind turbine generator determined by the control determiner. The wind power generator control method, wherein the wind power generator is controlled by being sent to a generator.
It is a control method of the wind power generator according to claim 14,
The wind turbine generator is controlled by acquiring the wind direction data and wind velocity data with the wind direction anemometer (S101), calculating the yaw error for the wind turbine generator with the yaw error calculator (S102), and in parallel. The change amount calculation time and the threshold value are calculated from the obtained wind speed data by the threshold value calculation unit (S122), and then the change amount of the yaw error is calculated by the change amount calculation unit (S103). Whether the change amount of the yaw error is equal to or greater than a threshold is determined by the mode determination unit (S104). If the determination in S104 is equal to or less than the threshold (No), the normal operation (normal operation mode) is continued. If the determination in S104 is equal to or greater than the threshold (Yes), the wind turbine generator shifts to the degenerate operation mode (S105),
Thereafter, the wind direction data and the wind speed data are reacquired by the wind direction anemometer (S111), and the yaw error for the wind turbine generator is recalculated by the yaw error calculator (S112). The change amount calculation time and the threshold value are recalculated from the obtained wind speed data by the threshold value calculation unit (S142), and then the yaw error change amount is recalculated by the change amount calculation unit (S113). Then, the mode determining unit determines whether the change amount of the yaw error is greater than or equal to a threshold value (S119), and when the determination in S119 is that the change amount of the yaw error is less than or equal to the threshold value (No), When the normal operation mode is restored (S125), and the determination in S119 is that the amount of change in the yaw error is greater than or equal to a threshold (Yes), the duration of the degenerate operation mode is determined by the mode determination unit (S106). When the determination in S106 is the duration time of the degenerate operation mode is less than or equal to the threshold (No), the process returns to S111 and continues the same flow as described above, and the determination in S106 indicates that the degenerate operation mode is in the degenerate operation mode. When the duration time is equal to or greater than the threshold (Yes), the control method of the wind turbine generator is shifted to the stop mode (S115).