CN108035848A - A kind of independent pitch control method of wind power generating set based on tower top load - Google Patents
A kind of independent pitch control method of wind power generating set based on tower top load Download PDFInfo
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- CN108035848A CN108035848A CN201711165030.8A CN201711165030A CN108035848A CN 108035848 A CN108035848 A CN 108035848A CN 201711165030 A CN201711165030 A CN 201711165030A CN 108035848 A CN108035848 A CN 108035848A
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- 238000000034 method Methods 0.000 title claims abstract description 15
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- 201000009482 yaws Diseases 0.000 claims description 5
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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
- 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
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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
- 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
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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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
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
-
- 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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a kind of independent pitch control method of wind power generating set based on tower top load, this method is：First, sensor is mounted on tower top, tower top moment M is directly gathered by sensorx、My、Mz, then D axle loads and Q axle loads, i.e. D Q axle loads extrapolated by the tower top load of collection；Secondly, D axle loads and Q axle loads are instructed by wave filter, PI controllers, amplitude limit output for the variable pitch of D Q axis respectively；Finally, D Q axis inverse transformations are passed through in the variable pitch instruction of D Q axis, obtain the variable pitch instruction on each blade, are added in unified variable pitch instruction.The method of the present invention uses feedback quantity of the tower top load as independent feathering control, and the quantity of load transducer is reduced to one group by three groups, while cost is significantly reduced, also improves reliability.
Description
Technical field
The present invention relates to the technical field of wind generating set pitch control control, refer in particular to a kind of wind power generating set and be based on
The independent pitch control method of tower top load.
Background technology
It is known in the industry, with the development of wind power technology, wind-driven generator be gradually intended to big megawatt, high tower, big impeller,
Light-weight design.For big impeller unit, blade root fatigue load My, wheel hub unbalanced load and the unbalanced load of yaw can be shown
Write increase.To realize the light-weight design of impeller and pylon, unit needs to use independent feathering control strategy, is carried with reducing fatigue
Lotus.
Traditional independent feathering control mainly mounts load transducer by root of fan blade, by measuring blade
The load of direction and edgewise direction is waved in root, is converted into draught fan impeller plane face external applied load, obtains the injustice in paddle wheel plane
Weigh load.
Wherein, the single order in paddle wheel plane, asymmetric field of wind-force can be linearized, and pass through two orthogonal point
Amount description, blade loading are closely related with wind speed.Therefore, the unbalanced load of paddle wheel plane can be expressed as " load effect
", any instantaneous load of blade is considered as its sampled value in field of load correspondence position.In addition, for compensating asymmetric load
The additional variable pitch action of lotus can also be expressed as " the pitch applied field " of covering impeller sweeping plane, and the additional change needed for blade
Paddle action can sample pitch applied field correspondence position by it and obtain.Each field energy is enough described as two vertical points
Amount, the controller of a two-output impulse generator, and this number with blade are only needed from load applied field generation pitch applied field
And impeller rotation velocity is unrelated.For three blade wind wheels, three blade root load measured can be used for calculating transient load
Two components in applied field, pitch applied field is generated from double components in load applied field again, double component energy from pitch applied field
Three independent pitch increments are enough transformed into, this process is known as classical independent feathering control.
This independent feathering control is additional by applying one on each blade mainly using blade root load as input quantity
Change propeller angle, to eliminate the unbalanced load of paddle wheel plane, reach load shedding purpose.But how to ensure independent feathering control
Reliability, the cost for reducing independent feathering control, these problems perplex technical staff always.
The content of the invention
The shortcomings that it is an object of the invention to overcome the prior art and deficiency, it is proposed that a kind of wind power generating set is based on tower
The independent pitch control method of load is pushed up, this method uses feedback quantity of the tower top load as independent feathering control, load sensing
The quantity of device is reduced to one by three, while cost is significantly reduced, also improves reliability.
To achieve the above object, technical solution provided by the present invention is：A kind of wind power generating set is based on tower top load
Independent pitch control method, comprise the following steps：
1) sensor first, is mounted on tower top, tower top moment M is directly gathered by sensorx、My、Mz, Ran Houzai
D axle loads and Q axle loads, i.e. D-Q axle loads are extrapolated by the tower top load of collection, its concrete condition is as follows：
D axle loads are to reflect the disequilibrium of wind wheel plane pitch orientation stand under load, and Q axle loads are reflection paddle wheel plane yaws
The disequilibrium of direction stand under load, in axial fan hub coordinate system, D axle load finger wheel hubs My, and Q axle load finger wheel hubs Mz, wheel hub seat
Mark system is GL coordinate systems, and X-coordinate axle is directed toward tail, Y-coordinate axle level and, Z coordinate vertical with X-axis along hub centre line from head
Axis is perpendicularly oriented to；The purpose of independent feathering control is to eliminate the unbalanced load of paddle wheel plane, thus needing to learn reflection leaf
Take turns the load of plane disequilibrium, i.e. D axle loads and Q axle loads, for this reason, it is outstanding how by tower top load to obtain D-Q axle loads
For key；
The load of pylon apical acquisition has：Tower top moment Mx、My、Mz, pylon coordinate system is fixed coordinate system, i.e. GL coordinates
System, X-coordinate axle energized south, Y-coordinate axle are directed toward east, and vertically upward, coordinate origin is on tower central axes, pylon coordinate system for Z axis
It is different from wheel hub coordinate system, because wheel hub coordinate system is integrally fixed in cabin, yaws and rotate with cabin, and pylon coordinate system is then
It is opposing stationary with ground；
The Q axle loads of D-Q axis are directly related with pylon tip loads Mz, and Q axle loads are equal to Mz, with the tower of sensor collection
Input signal of the load as independent feathering control is pushed up, according to the relation of tower top coordinate system and the yaw angle of wheel hub coordinate system,
To tower top load Mx、MyMake rotation transformation, the D axle loads of D-Q axis are calculated, during conversion, consider cabin gravity pair
The additional bending moment of tower top, therefore, during D axle loads are calculated, also needs to subtract the additional bending moment that cabin gravity applies tower top；
Wherein, converting to obtain D-Q axle loads from tower top load needs to carry out Rotating Transition of Coordinate, the conversion made such as following formula：
In formula, MDRepresent D axle loads, MQRepresent Q axle loads；Mx、My、MzThe load in three directions of tower top is represented respectively；φ
Represent cabin yaw angle；FGCabin gravity is represented, L represents cabin center of gravity to the distance of tower central axes；In this transform
Rotation transformation caused by not only allowing for cabin yaw, it is also considered that additional bending moment caused by cabin gravity；
2) load of D-Q axis is produced into the instruction of D-Q axis variable pitch simultaneously by low-pass filter, notch filter, PI controllers
Amplitude limit exports, its concrete condition is as follows：
Know D-Q axle loads, that is, know the unbalanced load of paddle wheel plane, to eliminate the unbalanced load of paddle wheel plane,
The controller for needing design to be instructed from D-Q axle loads to D-Q axis variable pitch, controls the variable pitch of D-Q axis using PI controllers herein
Instruct to eliminate the unbalanced load of D-Q axis, due to including high-frequency noise in load signal, these radio-frequency components do not have load shedding
It is useful, control system only can be upset, therefore need to add low-pass filter, notch filter in controller, it is safe reason, PI
The variable pitch instruction of controller output also needs to carry out amplitude limiting processing, obtains the instruction of the D-Q axis variable pitch after amplitude limit；Wherein, due to D-Q axis
It is separate, full decoupled, therefore, D axle loads and Q axle loads are separately controlled, i.e., D axle loads pass through PI controllers
D axis variable pitch instruction θ is exported afterwardsD, Q axle loads are by PI controllers generation Q axis variable pitch instruction θQ；
3) the variable pitch instruction inverse transformation of D-Q axis is obtained the variable pitch on each blade to instruct, then the unified variable pitch that is added to refers to
In order, its concrete condition is as follows：
Change from D-Q axis pitch applied fields to the pitch increment of three rotating vanes is referred to as the rotation inverse transformation of D-Q axis, public
Formula is as follows：
In formula, { θ1 θ2 θ3Be each blade pitch angle increment,For impeller azimuth；Consider time delay, D-Q axis
Rotate also needs to introduce an azimuthal displacement amount δ at the impeller azimuth of inverse transformation formula, by increasing at impeller azimuth
One azimuthal displacement amount δ carrys out every time delay of the offset controller in control loop, and therefore, inverse transformation formula is rewritten
For：
Compared with prior art, the present invention having the following advantages that and beneficial effect：
1st, sensor is mounted on tower top, instead of mounting sensor at each blade root, due to only being filled in atop a tower
Sensor, mounts sensor, the number of sensor substantially reduces, and cost is significantly reduced, and technique is also opposite compared in blade root
Easily.
2nd, the independent feathering control scheme reliability higher of sensor is mounted on tower top, because need to only ensure to be mounted on
The load transducer normal work of tower top, according to the independent pitch scheme of blade root load, need to ensure each blade root load sensing
Device all works normally.
3rd, D-Q axle loads, control loop can more directly be obtained as the input of independent feathering control using tower top load
It is more simple and reliable；And use blade root load to be inputted as independent pitch, need first to transform to blade root load from rotating coordinate system solid
Position fixing system, adds the complexity of control.
Brief description of the drawings
Fig. 1 is the hubload reference frame schematic diagram of the present invention.
Fig. 2 is the pylon load reference coordinate system schematic diagram of the present invention.
Fig. 3 is the independent pitch D-Q axis controller schematic diagrames of the present invention.
Fig. 4 is the independent feathering control bulk loop schematic diagram of the present invention.
Embodiment
With reference to specific embodiment, the invention will be further described.
Independent feathering control side of the wind power generating set based on tower top load shown in Figure 4, that the present embodiment is provided
Method, comprises the following steps：
1) sensor first, is mounted on tower top, tower top moment M is directly gathered by sensorx、My、Mz, Ran Houzai
D axle loads and Q axle loads, i.e. D-Q axle loads are extrapolated by the tower top load of collection, its concrete condition is as follows：
D axle loads are to reflect the disequilibrium of wind wheel plane pitch orientation stand under load, and Q axle loads are reflection paddle wheel plane yaws
The disequilibrium of direction stand under load.In axial fan hub coordinate system, D axle load finger wheel hubs My, and Q axle load finger wheel hubs Mz.Wheel hub is sat
Mark system's (GL coordinate systems) X-coordinate axle is directed toward tail, Y-coordinate axle level and, Z coordinate vertical with X-axis along hub centre line from head
Axis is perpendicularly oriented to, and wheel hub coordinate system is shown in Fig. 1.The purpose of independent feathering control be for eliminate paddle wheel plane unbalanced load, because
And need to learn the load of reflection paddle wheel plane disequilibrium, i.e. D axle loads and Q axle loads.For this reason, how to pass through the tower of measurement
It is particularly critical that top load obtains D-Q axle loads.
The load of pylon apical acquisition has：Tower top moment Mx、My、Mz.Pylon coordinate system is fixed coordinate system (GL coordinates
System), X-coordinate axle energized south, Y-coordinate axle is directed toward east, and vertically upward, coordinate origin is shown in Fig. 2 to Z axis on tower central axes.Pylon
Coordinate system is different from wheel hub coordinate system, because wheel hub coordinate system is integrally fixed in cabin, yaws and rotates with cabin, and pylon is sat
Mark system is then opposing stationary with ground.
The Q axle loads of D-Q axis and pylon tip loads MzDirectly related, Q axle loads are equal to Mz, with the tower of sensor collection
Input signal of the load as independent feathering control is pushed up, according to the relation of tower top coordinate system and the yaw angle of wheel hub coordinate system,
To tower top load Mx、MyMake rotation transformation, the D axle loads of D-Q axis are calculated, during conversion, consider cabin gravity pair
The additional bending moment of tower top, therefore, during D axle loads are calculated, also needs to subtract the additional bending moment that cabin gravity applies tower top；
Wherein, converting to obtain D-Q axle loads from tower top load needs to carry out Rotating Transition of Coordinate, the conversion made such as following formula：
In formula, MDRepresent D axle loads, MQRepresent Q axle loads；Mx、My、MzThe load in three directions of tower top is represented respectively；φ
Represent cabin yaw angle；FGCabin gravity is represented, L represents cabin center of gravity to the distance of tower central axes.In this transform
Rotation transformation caused by not only allowing for cabin yaw, it is also considered that additional bending moment caused by cabin gravity.
2) load of D-Q axis is produced into the instruction of D-Q axis variable pitch simultaneously by low-pass filter, notch filter, PI controllers
Amplitude limit exports, its concrete condition is as follows：
D-Q axle loads are aware of, that is, are aware of the unbalanced load of paddle wheel plane, to eliminate the uneven load of paddle wheel plane
Lotus is, it is necessary to design the controller instructed from D-Q axle loads to D-Q axis variable pitch.In the present embodiment, using classical PI controllers
To control the instruction of the variable pitch of D-Q axis to eliminate the unbalanced load of D-Q axis.Due to including the noise of high frequency in load signal,
These radio-frequency components are useless to load shedding, only can upset control system, therefore need to add low-pass filter in controller (mainly
Effect be eliminate load signal in high frequency noise), fall into frequency (Notch) wave filter, fall into frequency (Notch) wave filter main function
It is to filter out 3P (3 frequencys multiplication of wheel rotation frequency), because the energy of 3P frequencies is generally higher, the load after low-pass filter
Still the suitable component of 3P frequencies is saved in signal, therefore also needs notch filter to filter out.D-Q axle loads after filtered
PI (proportional+integral) controller is sent into, the output of PI controllers instructs for the variable pitch of D-Q axis.In addition, being safe reason, PI is controlled
The variable pitch instruction of device output also needs to carry out amplitude limiting processing, obtains the instruction of the D-Q axis variable pitch after amplitude limit.Since D-Q axis is mutually solely
It is vertical, full decoupled, therefore D axle loads and Q axle loads are separately controlled, i.e., D axle loads export D axis after PI controllers
Variable pitch instructs θD, Q axle loads are by PI controllers generation Q axis variable pitch instruction θQ, specific control is as shown in Figure 3.
3) the variable pitch instruction inverse transformation of D-Q axis is obtained the variable pitch on each blade to instruct, then the unified variable pitch that is added to refers to
In order, its concrete condition is as follows：
Change from D-Q axis pitch applied fields to the pitch increment of three rotating vanes is referred to as the rotation inverse transformation of D-Q axis, its
Middle D-Q axis rotation inverse transformation formula is as follows：
In formula, { θ1 θ2 θ3Be each blade pitch angle increment,For impeller azimuth.Consider time delay, D-Q axis
Rotate also needs to introduce an azimuthal displacement amount δ at the impeller azimuth of inverse transformation formula.By increasing at impeller azimuth
One azimuthal displacement amount δ carrys out every time delay of the offset controller in control loop.Therefore, inverse transformation formula is rewritten
For：
Independent feathering control is mainly used for reducing the 1P frequency contents of blade face external applied load, equally also reduces wheel hub and main shaft
Moment of flexure.Through practical proof, in the methods of the invention, these load can be substantially eliminated in the spectrum peak of 1P frequencies,
So so that independent pitch can significantly reduce fatigue load away from control, because 1P frequency load accounts for leading component in fatigue,
Under normal circumstances, impeller blade root face Moments can reduce by 20%, and axis moment of flexure can reduce by 30%~40%.This is compared to existing
Technology, can ensure the reliability of independent feathering control using the method for the present invention and effectively reduce the cost of independent feathering control,
With actual promotional value, it is worthy to be popularized.
The examples of implementation of the above are only the preferred embodiments of the invention, and the implementation model of the present invention is not limited with this
Enclose, therefore the change that all shape, principles according to the present invention are made, it should all cover within the scope of the present invention.
Claims (1)
1. independent pitch control method of a kind of wind power generating set based on tower top load, it is characterised in that comprise the following steps：
1) sensor first, is mounted on tower top, tower top moment M is directly gathered by sensorx、My、Mz, then pass through again
The tower top load of collection extrapolates D axle loads and Q axle loads, i.e. D-Q axle loads, its concrete condition is as follows：
D axle loads are to reflect the disequilibrium of wind wheel plane pitch orientation stand under load, and Q axle loads are reflection paddle wheel plane yaw directions
The disequilibrium of stand under load, in axial fan hub coordinate system, D axle load finger wheel hubs My, and Q axle load finger wheel hubs Mz, wheel hub coordinate system
For GL coordinate systems, X-coordinate axle is directed toward tail along hub centre line from head, and Y-coordinate axle is horizontal and vertical with X-axis, and Z coordinate axis hangs down
Direct at upwards；The purpose of independent feathering control be for eliminate paddle wheel plane unbalanced load, thus need learn reflection impeller put down
The load of face disequilibrium, i.e. D axle loads and Q axle loads, are particularly closed for this reason, how to obtain D-Q axle loads by tower top load
Key；
The load of pylon apical acquisition has：Tower top moment Mx、My、Mz, pylon coordinate system is fixed coordinate system, i.e. GL coordinate systems, X
Reference axis energized south, Y-coordinate axle are directed toward east, and vertically upward, coordinate origin is on tower central axes, pylon coordinate system and wheel for Z axis
Hub coordinate system is different, because wheel hub coordinate system is integrally fixed in cabin, yaws and rotates with cabin, and pylon coordinate system be then with
Ground is opposing stationary；
The Q axle loads of D-Q axis and pylon tip loads MzDirectly related, Q axle loads are equal to Mz, carried with the tower top of sensor collection
Input signal of the lotus as independent feathering control, according to the relation of tower top coordinate system and the yaw angle of wheel hub coordinate system, to tower
Push up load Mx、MyMake rotation transformation, the D axle loads of D-Q axis are calculated, during conversion, consider cabin gravity to tower top
Additional bending moment, therefore, during D axle loads are calculated, also need to subtract the additional bending moment that cabin gravity applies tower top；Its
In, converting to obtain D-Q axle loads from tower top load needs to carry out Rotating Transition of Coordinate, the conversion made such as following formula：
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In formula, MDRepresent D axle loads, MQRepresent Q axle loads；Mx、My、MzThe load in three directions of tower top is represented respectively；φ is represented
Cabin yaw angle；FGCabin gravity is represented, L represents cabin center of gravity to the distance of tower central axes；In this transform not only
Rotation transformation caused by considering cabin yaw, it is also considered that additional bending moment caused by cabin gravity；
2) load of D-Q axis is produced into the instruction of D-Q axis variable pitch and amplitude limit by low-pass filter, notch filter, PI controllers
Output, its concrete condition are as follows：
Know D-Q axle loads, that is, know the unbalanced load of paddle wheel plane, to eliminate the unbalanced load of paddle wheel plane, it is necessary to
The controller instructed from D-Q axle loads to D-Q axis variable pitch is designed, controls the variable pitch of D-Q axis to instruct using PI controllers herein
To eliminate the unbalanced load of D-Q axis, due to including high-frequency noise in load signal, these radio-frequency components do not use load shedding
Place, only can upset control system, therefore need to add low-pass filter, notch filter in controller, be safe reason, and PI is controlled
The variable pitch instruction of device output also needs to carry out amplitude limiting processing, obtains the instruction of the D-Q axis variable pitch after amplitude limit；Wherein, since D-Q axis is phase
Mutually independent, full decoupled, therefore, D axle loads and Q axle loads are separately controlled, i.e., D axle loads are defeated after PI controllers
Go out D axis variable pitch instruction θD, Q axle loads are by PI controllers generation Q axis variable pitch instruction θQ；
3) the variable pitch instruction inverse transformation of D-Q axis is obtained the variable pitch on each blade to instruct, then is added in unified variable pitch instruction,
Its concrete condition is as follows：
Change from D-Q axis pitch applied fields to the pitch increment of three rotating vanes is referred to as the rotation inverse transformation of D-Q axis, and formula is such as
Under：
In formula, { θ1 θ2 θ3Be each blade pitch angle increment,For impeller azimuth；Consider time delay, the rotation of D-Q axis
Also need to introduce an azimuthal displacement amount δ at the impeller azimuth of inverse transformation formula, by increasing by one at impeller azimuth
Azimuthal displacement amount δ carrys out every time delay of the offset controller in control loop, and therefore, inverse transformation formula is rewritten as：
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110439747A (en) * | 2019-08-02 | 2019-11-12 | 明阳智慧能源集团股份公司 | A kind of IPC control method reducing the vibration of wind-power tower left and right directions and load |
| CN111608857A (en) * | 2020-05-09 | 2020-09-01 | 上海电气风电集团股份有限公司 | Wind generating set, control method and system thereof and computer readable storage medium |
| CN112523948A (en) * | 2020-11-20 | 2021-03-19 | 明阳智慧能源集团股份公司 | Wind turbine generator hub ultimate load reduction control method based on independent pitch control |
| CN112610412A (en) * | 2020-12-23 | 2021-04-06 | 山东中车风电有限公司 | Wind turbine generator blade clearance control method based on load detection |
| CN112610411A (en) * | 2020-12-22 | 2021-04-06 | 明阳智慧能源集团股份公司 | Control method and module for solving clearance problem of tower of wind generating set |
| CN114483448A (en) * | 2022-01-18 | 2022-05-13 | 浙江大学 | Pitch amplitude limiting method for independent pitch control of large wind generating set |
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- 2017-11-21 CN CN201711165030.8A patent/CN108035848A/en active Pending
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| CN110439747A (en) * | 2019-08-02 | 2019-11-12 | 明阳智慧能源集团股份公司 | A kind of IPC control method reducing the vibration of wind-power tower left and right directions and load |
| CN110439747B (en) * | 2019-08-02 | 2020-08-11 | 明阳智慧能源集团股份公司 | IPC control method for reducing vibration and load of wind power tower in left and right directions |
| CN111608857A (en) * | 2020-05-09 | 2020-09-01 | 上海电气风电集团股份有限公司 | Wind generating set, control method and system thereof and computer readable storage medium |
| CN112523948A (en) * | 2020-11-20 | 2021-03-19 | 明阳智慧能源集团股份公司 | Wind turbine generator hub ultimate load reduction control method based on independent pitch control |
| CN112610411A (en) * | 2020-12-22 | 2021-04-06 | 明阳智慧能源集团股份公司 | Control method and module for solving clearance problem of tower of wind generating set |
| CN112610412A (en) * | 2020-12-23 | 2021-04-06 | 山东中车风电有限公司 | Wind turbine generator blade clearance control method based on load detection |
| CN112610412B (en) * | 2020-12-23 | 2022-03-01 | 山东中车风电有限公司 | Wind turbine generator blade clearance control method based on load detection |
| CN114483448A (en) * | 2022-01-18 | 2022-05-13 | 浙江大学 | Pitch amplitude limiting method for independent pitch control of large wind generating set |
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