CN101476541A - Independent variable oar control system and control method for wind generator set - Google Patents
Independent variable oar control system and control method for wind generator set Download PDFInfo
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- CN101476541A CN101476541A CNA2008102411440A CN200810241144A CN101476541A CN 101476541 A CN101476541 A CN 101476541A CN A2008102411440 A CNA2008102411440 A CN A2008102411440A CN 200810241144 A CN200810241144 A CN 200810241144A CN 101476541 A CN101476541 A CN 101476541A
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Abstract
The invention relates to an independent feathering control system and a control method for a wind driven generating set, wherein the control system comprises a sampling module, a control module and a driving module. A feathering motor in the driving module is connected with the blades of the wind driven generating set through a speed reducer. The sampling module is used to acquire the signals such as the wind driven generating set power, the boss rotating speed, the impeller position, the feathering angle, the paddle vibration, and the like, and to respectively send the acquired signals to the control module. The control module comprises a wind machine power controller for processing the wind driven generating set power signal and the boss rotating speed signal, a periodic unbalanced load compensation controller for processing the impeller position signal, the wind machine power signal and the boss rotating speed signal, a transient state impact load compensation controller for processing the feathering angle signal, the paddle vibration signal, the impeller position signal, the wind machine power signal and the boss rotating speed signal, and an output coupler for processing the signals outputted from the three controllers and comprehensively outputting the signals to the driving module.
Description
Technical field
The present invention relates to a kind of independent feathering control system and controlling method thereof that is used for wind power generating set, be mainly used in Large-scale Wind Turbines.
Background technique
At present, the variable blade control system that the MW class wind turbine group is used is unified feather technology, as shown in Figure 1, wheel hub is connected with the blade direct mechanical with generator, wheel hub, and its characteristics are: come The real time measure hub rotation speed and power of fan by reaching the voltage and current signal sensor that is provided with at the encoder that is provided with on the generator in wind-driven generator; Reach rated power when above at wind power generating set power; can control the angle of attack of hub rotation speed and wheel hub upper blade by the signal that power of fan controller in the control module is directly exported; thereby the input power of restriction wind-driven generator; to keep stablizing of wind-power electricity generation acc power output and stablizing of rotating speed, the protection wind power generating set.
But, owing to wind shear, turbulent flow, disturbance effect, the tower shadow effect of tower tube, factors such as the gravity of blade, centrifugal force, irregular variation can take place in the load of blade, comprises periodically uneven load and moment impact load.The irregular variation of these load has aggravated the fatigue damage of blade, and causes the fatigue damage of parts such as wheel hub, main shaft, pylon.Simultaneously, along with the development of wind generating technology, the capacity of unit is increasing, and maximum single-machine capacity has reached 6MW, and the also corresponding increase of its impeller diameter has reached 126 meters as 5MW wind-powered electricity generation unit impeller diameter.Rotor diameter increases the aggravation that then means load nonuniformity in the wind wheel plane, and the fatigue load of parts such as blade, wheel hub, main shaft and tower tube increases, and has reduced the life-span of these critical components and the reliability of unit.
Summary of the invention
For this reason, the object of the present invention is to provide a kind of above-mentioned uneven load that can when carrying out the adjusting of the wind-powered electricity generation power of the assembling unit, can reduce wind power generating set again, to increase the independent feathering control system and the controlling method in wind power generating set life-span.
The main purpose of the controlling method among the present invention is exactly that the independent pitch technology is specialized, and the unified control theory that becomes the oar controller that present wind power generating set is commonly used is updated to realize that power control, load are reduced to the pitch control method of comprehensive purpose.
The independent feathering control system that is used for wind power generating set among the present invention includes sampling module, control module and is used to drive the driver module of wind power generating set blade, described driver module includes battery energy storage system, change oar frequency variator, the change oar motor that is electrically connected successively, it is characterized in that, described sampling module is responsible for gathering power of fan signal, hub rotation speed signal, impeller location signal, is become vane angle degree signal, blade oscillating signal, and respectively the signal that is collected is sent to described control module; Described control module includes and is used for described power of fan signal, the power of fan controller that the hub rotation speed signal is handled, be used for the impeller location signal, the power of fan signal, the periodicity uneven load compensating controller that the hub rotation speed signal is handled, be used for becoming vane angle degree signal, blade oscillating signal and impeller location signal, the power of fan signal, the transient impact load compensation controller that the hub rotation speed signal is handled, and be used for described power of fan controller, periodicity uneven load compensating controller, the output integrated treatment of transient impact load compensation controller also exports the output coupler of described driver module to; Described change oar motor connects the blade of wind power generating set through retarder.
Be used to gather four sensors that every root of blade of wind power generating set is used to obtain corresponding blade loading size that are mounted in of blade oscillating signal in the described sampling module.
Two sensors in described four sensors lay respectively at the two ends that are formed with augular offset with the thin edge direction of root of blade to the shimmy axis of thick edge direction, and other two sensors lay respectively at the two ends of root of blade and the perpendicular axis of this shimmy axis.
Described sensor is to be used to measure described vibration frequency of blade and amplitude obtains the vibration transducer of described blade loading size, or is used to measure root of blade deformation, and obtains the strain gauge of described blade loading size.
Described periodicity uneven load compensating controller is a uneven load of utilizing wind power generating set to produce in running, by real-time monitoring to impeller location, calculate because the offset of the uneven load of periodicity that the impeller rotation produces comprises position uneven load and the load change that is caused by wind shear.
Described transient impact load compensation controller is by measuring the amplitude and the frequency of blade vibration, calculate the various fluctuations of wind-force everywhere of impeller breadth, record change of wind velocity in a period of time by a data memory recording, and then dope the possible wind regime in place, next working position of each blade, provide and become vane angle degree offset, minimizing transient impact load.
Described output coupler is that the offset of change vane angle degree output that the power of fan controller is generated, the periodically change vane angle degree output of the change vane angle degree output of uneven load compensating controller and transient impact load compensation controller is weighted stack, to export correct change oar control setting value, drive each blade by driver module.
The controlling method of the independent feathering control system that is used for wind power generating set among the present invention comprises the steps:
1) sets up the sensor that is used to measure the encoder of impeller location accordingly and is used to measure the root of blade signal at wheel hub and root of blade;
2) by signal pickup assembly, encoder obtain each blade blade oscillating signal, impeller location signal, become vane angle degree signal, power of fan signal, hub rotation speed signal;
3) simultaneously with the signal input control module of above-mentioned measurement gained, wherein power of fan signal, hub rotation speed signal change through the power of fan controller and become vane angle degree setting value and move in safety range with power and the motor speed of keeping wind power generating set; Power of fan signal, hub rotation speed signal, impeller location signal calculate the distribution value of various periodicity uneven loads in the impeller breadth through periodicity uneven load compensating controller by the wind regime model of setting up in advance, and convert the output that offset becomes the vane angle degree to; Power of fan signal, hub rotation speed signal, impeller location signal, blade oscillating signal, change vane angle degree signal handle and export the change oar offset of each blade through transient impact load compensation controller;
4) the change vane angle degree output that the power of fan controller is generated by output coupler, periodically the uneven load compensating controller, and the offset of transient impact load compensation controller output be weighted stack, to export correct change oar control setting value, by driver module drive hub and each blade.
The treatment step of transient impact load compensation controller is in the described step 3):
3a) oscillating signal that will measure gained is derived the bending moment value of three blades respectively;
3b) three bending moment values are converted into the component of horizontal axis and vertical shaft under the rotating coordinate system by 2/3 coordinate converter;
3c) load on horizontal axis and the vertical shaft is generated the change oar instruction of horizontal axis and vertical shaft respectively by the PI controller in horizontal axis or the vertical shaft behind wave filter separately;
3d) convert the change oar offset of each blade once more to by 2/3 coordinate converter.
The described sensor that is used to measure the root of blade oscillating signal is to be used to measure the vibration transducer that described vibration frequency of blade and amplitude obtain described blade loading size, or be used to measure root of blade deformation, and obtain the strain gauge of described blade loading size.
The independent feathering control system and the controlling method thereof that are used for wind power generating set among the present invention, by measuring power of fan signal, hub rotation speed signal, impeller location signal, blade oscillating signal, becoming vane angle degree signal, on the wind regime model and wind power generating set model based set up in advance, the distribution situation of real-time calculation of wind speed and the loading conditions of unit, draw the angle of attack variation value that every blade should be taked, thereby compensation is increased by the wind-powered electricity generation unit fatigue load that fluctuations in wind speed causes.
In addition, the present invention is on the basis of existing electric variable pitch driving mechanism, increase periodically uneven load compensating controller and transient impact load compensation controller, realization is carried out the independent pitch action respectively to three blades, reach the power output of control wind-powered electricity generation unit, obviously reduce simultaneously because the inhomogeneous and fatigue load amplitude of load that effects such as wind shear, turbulent flow, fitful wind cause reduces the mechanical property requirement of unit, improve the reliability and the life-span of unit, reduce the unit cost.
Description of drawings
Fig. 1 unifies the control block diagram of variable blade control system for existing wind power generating set;
Fig. 2 is the control block diagram of wind power generating set independent feathering control system among the present invention;
Fig. 3 is the scheme of installation of strain gauge among the present invention;
Fig. 4 in the moment impact load compensation controller among the present invention to the blade oscillating signal, become the theory diagram of vane angle degree signal processing;
Fig. 5 is the working principle block diagram of X-axis among the present invention and Y-axis controller.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment among the present invention is described in further detail.
As shown in Figure 2, the independent feathering control system that is used for wind power generating set among the present invention includes sampling module 1, control module 2 and driver module 3:
Sampling module 1 is responsible for gathering power of fan signal 10, hub rotation speed signal 11, impeller location signal 12, is become vane angle degree signal 13, blade oscillating signal 14 etc., and respectively the signal that collects is sent to control module 2.
Sampling module 1 specifically being distributed as in wind power generating set:
Be used to gather the interior power signal collecting device (not shown) of the generator that is mounted in wind power generating set 4 (or frequency converter controller 5) of power of fan signal 10.
Be used to gather the encoder (not shown) on the wind power generating set slip ring of being mounted in of hub rotation speed signal 11.
Be used to gather the change vane angle degree signal pickup assembly that is mounted in (or blade 7) in the wheel hub 6 that becomes vane angle degree signal 13 or be installed on the encoder (not shown) that becomes on the oar motor 32.
Be used to gather the encoder in the wheel hub 6 of being mounted in of impeller location signal 12, residing angle when being used to measure the impeller rotation, promptly rotating to 12 position with blade is zero point, being that the impeller azimythal angle is always measured by pros clockwise, thereby obtain the residing position of each impeller, as the phase angle, can carry out vector calculus with this to suffered external force of blade or deformation values.
Be used to gather four sensors 140,141,142,143 that every blade of wind power generating set 7 roots 70 are used to obtain corresponding blade loading size that are mounted in of blade oscillating signal 14, as shown in Figure 3, two sensors 140,141 in these four sensors lay respectively at the two ends that are formed with augular offset with the thin edge direction of root of blade to the shimmy axis of thick edge direction, and other two sensors 142,143 lay respectively at the two ends of the axis of root of blade and this shimmy axis normal.The sensor that is adopted can be to be used for directly measuring vibration frequency of blade and amplitude and the vibration transducer that obtains the blade loading size; Also can be to be used to measure root of blade deformation and the strain gauge that obtains the blade loading size.Be example with the vibration transducer among the present invention.
What each signal pickup assembly, encoder and the sensor in the sampling module of the present invention all adopted is commercially available matured product, to its concrete structure, working principle and installation explanation no longer separately.
As shown in Figure 2, driver module 3 is used to accept the signal of control module 2 outputs, and drives the blade 7 of wind power generating set according to signal.This driver module 3 is identical with driver module in the existing wind power generating set, include the battery energy storage system 30, change oar frequency variator 31, the change oar motor 32 that are electrically connected successively, wherein become the oar motor and connect each blade 7 through retarder, be direct mechanical connection (by a pitch variable bearings) between wheel hub 6 and the blade 7 simultaneously, therefore this part no longer describes in detail owing to be prior art.
Control module 2 comprises 20,21,22, three change oar controllers of three wave filter and an output coupler 26, and wherein three change oar controllers are respectively power of fan controller 23, periodicity uneven load compensating controller 24, transient impact load compensation controller 25.Wherein be connected with and be used for first data processing module 27 that power of fan signal 10, hub rotation speed signal 11 and impeller location signal 12 are handled, be connected with at the input end of transient impact load compensation controller 25 and be used for power of fan signal 10, hub rotation speed signal 11, impeller location signal 12, become second data processing module 28 that vane angle degree signal 13 and blade oscillating signal 14 are handled at the input end of periodicity uneven load compensating controller 24.
Power of fan controller 23 is the same with existing unified variable blade control system, by wind power generating set is carried out the monitoring of realtime power and hub rotation speed, change change vane angle degree setting value and in safety range, move with power and the motor speed of keeping wind power generating set.
The uneven load that periodicity uneven load compensating controller 24 produces in running according to wind power generating set, by real-time monitoring to impeller location signal 12, compensation is because the periodicity uneven load that the impeller rotation produces comprises position uneven load and the load alternation that is caused by wind shear.Specifically be by measuring impeller location signal 12, power of fan signal 10 and hub rotation speed signal 11, and by the wind regime model set up in advance (wherein the wind regime model is a prior art, can both obtain to one skilled in the art) calculate the distribution value of various periodicity uneven loads in the impeller breadth, convert the output that offset becomes the vane angle degree to by periodicity uneven load compensating controller 24 again, make uneven load reduce.
Transient impact load compensation controller 25 is the reasons that produce according to wind power generating set transient impact load, as shown in Figure 2, in the power signal 10 of measuring wind power generating set, hub rotation speed signal 11, impeller location signal 12, change vane angle degree signal 13, increase the oscillating signal 14 of measuring 3 blades, involving vibrations amplitude and frequency, calculate the various fluctuations of wind-force everywhere of impeller breadth, provide change vane angle degree offset.Wherein 25 pairs of transient impact load compensation controllers increase the vibration amplitude of the blade of measuring and the processing of frequency data is bending moment values of earlier oscillating signal of certain propeller pitch angle lower blade being derived three blades, as shown in Figure 4, be converted into the component of X-axis and Y-axis under the rotating coordinate system again by 2/3 coordinate converter 250, load on X-axis and the Y-axis is generated the change oar instruction (setting value) of X-axis and Y-axis respectively by the PI controller in X-axis or the Y-axis 252 behind wave filter 251 separately, as shown in Figure 5, and provide the change oar setting value of each blade once more by 2/3 coordinate converter 253 and output coupler 26.In addition, when handling, 25 pairs of survey data of transient impact load compensation controller write down change of wind velocity in a period of time by data storage 254 (not shown)s, and then dope the possible wind regime in place, next working position of each blade, thereby can reduce transient impact load, and when handling the signal of root of blade vibration transducer 140,141,142,143,, further improve the speed of response of control system also by a feedforward filter 255.
The controlling method that is used for the independent feathering control system of wind power generating set among the present invention comprises the steps:
1) sets up the vibration transducer that is used to measure the encoder of impeller location accordingly and is used to measure root of blade oscillating signal (vibration amplitude and frequency) at wheel hub and root of blade;
2) by signal pickup assembly, encoder etc. obtain each blade blade oscillating signal 14 (can be vibration amplitude and frequency, also can be deformation values), impeller location signal 12, become vane angle degree signal 13, power of fan signal 10, hub rotation speed signal 11 etc.;
3) simultaneously with the signal input control module of above-mentioned measurement gained, wherein power of fan signal 10, hub rotation speed signal 11 change through power of fan controller 23 and become vane angle degree setting value and move in safety range with power and the motor speed of keeping wind power generating set; Power of fan signal 10, hub rotation speed signal 11, impeller location signal 12 calculate the distribution value of various periodicity uneven loads in the impeller breadth through periodicity uneven load compensating controller 24 by the wind regime model of setting up in advance, and convert the output that offset becomes the vane angle degree to; Power of fan signal 10, hub rotation speed signal 11, impeller location signal 12, blade oscillating signal 14, become vane angle degree signal 13 and handle and export the change oar setting value of each blade through transient impact load compensation controller 25, concrete treatment step is:
3a) will measure the blade vibration amplitude of gained and the bending moment value that frequency is derived three blades;
3b) three bending moment values are converted into the component of X-axis under the rotating coordinate system (horizontal axis) and Y-axis (vertical shaft) by 2/3 coordinate converter 250;
3c) load on X-axis and the Y-axis is generated the change oar instruction of X-axis and Y-axis respectively by the PI controller in X-axis and the Y-axis 252 behind wave filter 251 separately;
3d) pass through the change oar offset that 2/3 coordinate converter 253 is exported each blade once more.
4) the change vane angle degree output that power of fan controller 23 is generated by output coupler 26, periodically uneven load compensating controller 24, and the offset of transient impact load compensation controller 25 outputs be weighted stack, to export rational change oar control setting value, drive each blade 7 by driver module 3.
In sum, the control system among the present invention is a cover independent pitch system, can realize the change oar control function of wind power generating set through the coordinate operation of each parts, is one to overlap the integral body of complete hardware and software combination.
Claims (10)
1, a kind of independent feathering control system that is used for wind power generating set, include sampling module, control module and be used for driving the driver module of wind power generating set blade, described driver module includes battery energy storage system, change oar frequency variator, the change oar motor that is electrically connected successively, it is characterized in that, described sampling module is responsible for gathering power of fan signal, hub rotation speed signal, impeller location signal, is become vane angle degree signal, blade oscillating signal, and respectively the signal that is collected is sent to described control module; Described control module includes and is used for described power of fan signal, the power of fan controller that the hub rotation speed signal is handled, be used for the impeller location signal, the power of fan signal, the periodicity uneven load compensating controller that the hub rotation speed signal is handled, be used for becoming vane angle degree signal, blade oscillating signal and impeller location signal, the power of fan signal, the transient impact load compensation controller that the hub rotation speed signal is handled, and be used for described power of fan controller, periodicity uneven load compensating controller, the output integrated treatment of transient impact load compensation controller also exports the output coupler of described driver module to; Described change oar motor connects the blade of wind power generating set through retarder.
2, the independent feathering control system that is used for wind power generating set according to claim 1, it is characterized in that, be used to gather four sensors that every root of blade of wind power generating set is used to obtain corresponding blade loading size that are mounted in of blade oscillating signal in the described sampling module.
3, the independent feathering control system that is used for wind power generating set according to claim 2, it is characterized in that, two sensors in described four sensors lay respectively at the two ends that are formed with augular offset with the thin edge direction of root of blade to the shimmy axis of thick edge direction, and other two sensors lay respectively at the two ends of root of blade and the perpendicular axis of this shimmy axis.
4, the independent feathering control system that is used for wind power generating set according to claim 3, it is characterized in that, described sensor is to be used to measure the vibration transducer that described vibration frequency of blade and amplitude obtain described blade loading size, or be used to measure root of blade deformation, and obtain the strain gauge of described blade loading size.
5, the independent feathering control system that is used for wind power generating set according to claim 1, it is characterized in that, described periodicity uneven load compensating controller is a uneven load of utilizing wind power generating set to produce in running, by real-time monitoring to impeller location, calculate because the offset of the uneven load of periodicity that the impeller rotation produces comprises position uneven load and the load change that is caused by wind shear.
6, the independent feathering control system that is used for wind power generating set according to claim 1, it is characterized in that, described transient impact load compensation controller is by measuring the amplitude and the frequency of blade vibration, calculate the various fluctuations of wind-force everywhere of impeller breadth, record change of wind velocity in a period of time by a data memory recording, and then dope next possible wind regime in place, working position of each blade, and provide change vane angle degree offset, reduce transient impact load.
7, the independent feathering control system that is used for wind power generating set according to claim 1, it is characterized in that, described output coupler is that the offset of change vane angle degree output that the power of fan controller is generated, the periodically change vane angle degree output of the change vane angle degree output of uneven load compensating controller and transient impact load compensation controller is weighted stack, to export correct change oar control setting value, drive each blade by driver module.
8, be used for the controlling method of the independent feathering control system of wind power generating set described in a kind of claim 1 to 7, comprise the steps:
1) sets up the sensor that is used to measure the encoder of impeller location accordingly and is used to measure the root of blade signal at wheel hub and root of blade;
2) by signal pickup assembly, encoder obtain each blade blade oscillating signal, impeller location signal, become vane angle degree signal, power of fan signal, hub rotation speed signal;
3) simultaneously with the signal input control module of above-mentioned measurement gained, wherein power of fan signal, hub rotation speed signal change through the power of fan controller and become vane angle degree setting value and move in safety range with power and the motor speed of keeping wind power generating set; Power of fan signal, hub rotation speed signal, impeller location signal calculate the distribution value of various periodicity uneven loads in the impeller breadth through periodicity uneven load compensating controller by the wind regime model of setting up in advance, and convert the output that offset becomes the vane angle degree to; Power of fan signal, hub rotation speed signal, impeller location signal, blade oscillating signal, change vane angle degree signal handle and export the change oar offset of each blade through transient impact load compensation controller;
4) the change vane angle degree output that the power of fan controller is generated by output coupler, periodically the uneven load compensating controller, and the offset of transient impact load compensation controller output be weighted stack, to export correct change oar control setting value, by driver module drive hub and each blade.
9, the controlling method that is used for the independent feathering control system of wind power generating set according to claim 8 is characterized in that, the treatment step of transient impact load compensation controller is in the described step 3):
3a) oscillating signal that will measure gained is derived the bending moment value of three blades respectively;
3b) three bending moment values are converted into the component of horizontal axis and vertical shaft under the rotating coordinate system by 2/3 coordinate converter;
3c) load on horizontal axis and the vertical shaft is generated the change oar instruction of horizontal axis and vertical shaft respectively by the PI controller in horizontal axis or the vertical shaft behind wave filter separately;
3d) convert the change oar offset of each blade once more to by 2/3 coordinate converter.
10, the controlling method that is used for the independent feathering control system of wind power generating set according to claim 9, it is characterized in that, the described sensor that is used to measure the root of blade oscillating signal is to be used to measure the vibration transducer that described vibration frequency of blade and amplitude obtain described blade loading size, or be used to measure root of blade deformation, and obtain the strain gauge of described blade loading size.
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