CN109340048B - Wind generating set operation control method and device and storage medium - Google Patents

Wind generating set operation control method and device and storage medium Download PDF

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Publication number
CN109340048B
CN109340048B CN201811076335.6A CN201811076335A CN109340048B CN 109340048 B CN109340048 B CN 109340048B CN 201811076335 A CN201811076335 A CN 201811076335A CN 109340048 B CN109340048 B CN 109340048B
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blades
encoder
blade
pitch
generating set
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CN109340048A (en
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马磊
李庆江
许东宁
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/101—Purpose of the control system to control rotational speed (n)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • 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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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses a wind generating set operation control method and device and a storage medium, wherein the method comprises the following steps: respectively detecting the working states of encoders arranged on rotating shafts of variable pitch motors in driving connection with blades of the wind generating set; if the encoder of one blade fails and the encoders of other blades are normal, the variable pitch motors of all the blades in the wind generating set are controlled to operate at the same variable pitch speed; if the energy consumption values of the variable pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder in one impeller rotation period from the fault moment of the encoder of one blade, the wind generating set can normally operate under the working condition that the encoder of one blade fails. By adopting the technical scheme in the embodiment of the invention, the redundancy control of the fault working condition of the encoder can be realized, and the power generation loss of the wind generating set is reduced.

Description

Wind generating set operation control method and device and storage medium
Technical Field
The invention relates to the technical field of wind power generation, in particular to a method and a device for controlling the operation of a wind generating set and a storage medium.
Background
The main function of the variable pitch system is to adjust the rotating speed of the generator by controlling the pitch angle of the blades through the variable pitch motor, so as to control the output power of the wind generating set. The control method of the variable pitch system specifically comprises the following steps: and receiving a target pitch angle sent by a main controller of the wind generating set, and performing closed-loop control on the rotating speed and the direction of the variable pitch motor according to a pitch angle change signal and the target pitch angle fed back by an encoder installed on a rotating shaft of the variable pitch motor. The encoder can break down because of rotation overheat, impulse interference, wiring looseness and encoder self quality and life-span etc. in the operation process.
In the prior art, the operation control strategy of the wind generating set related to the encoder fault is as follows: once the failure of the encoder of the variable pitch motor of any blade is detected, the feathering shutdown is carried out on the wind generating set, and the safety problem caused by the failure of the encoder in the operation process of the wind generating set is avoided.
However, by adopting the operation control strategy in the prior art, although the safety problem caused by the failure of the encoder in the operation process of the wind generating set can be avoided, the power generation loss can be caused by frequent shutdown, so how to perform redundant control on the failure condition of the encoder and reduce the power generation loss becomes a technical problem which needs to be solved urgently.
Disclosure of Invention
The embodiment of the invention provides a wind generating set operation control method and device and a storage medium, which can realize redundant control on the fault working condition of an encoder and reduce the loss of generated energy.
In a first aspect, an embodiment of the present invention provides a method for controlling an operation of a wind turbine generator system, where the method includes:
respectively detecting the working states of encoders arranged on rotating shafts of variable pitch motors in driving connection with blades of the wind generating set;
if the encoder of one blade fails and the encoders of other blades are normal, the variable pitch motors of all the blades in the wind generating set are controlled to operate at the same variable pitch speed;
if the energy consumption values of the variable pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder in one impeller rotation period from the fault moment of the encoder of one blade, the wind generating set can normally operate under the working condition that the encoder of one blade fails.
In a possible embodiment of the first aspect, after controlling the pitch motors of all the blades in the wind turbine generator set to operate at the same pitch speed, the method further comprises: and if the energy consumption values of the variable pitch motors of any two blades in all the blades do not meet the preset redundant operation condition of the encoder in one impeller rotation period from the fault moment of the encoder, controlling the wind generating set to execute shutdown operation.
In a possible embodiment of the first aspect, while controlling the pitch motors of all the blades in the wind turbine generator set to operate at the same pitch speed, the method further comprises: and controlling the wind generating set not to execute an error correction function related to the fault of the encoder, and replacing the measurement data of the encoder of the other blade except the blade where the fault encoder is positioned with the measurement data of the encoder of the other blade.
In a possible embodiment of the first aspect, replacing the measurement data of the faulty encoder with measurement data of encoders of other blades than the blade in which the faulty encoder is located comprises: the measured data of the faulty encoder is replaced by the average of the measured data of the encoders of all the blades except the blade where the faulty encoder is located.
In one possible embodiment of the first aspect, after the wind turbine generator set is operated normally under the condition that one blade encoder fails, the method further comprises: judging whether energy consumption values of variable pitch motors of any two blades in all the blades in the rotation period of the impeller meet the preset redundant operation condition of the encoder every other rotation period of the impeller; the energy consumption values include: the method comprises the steps that variable pitch motors of any two blades in all the blades have first energy consumption values in the rotation period of the impeller, or/and the variable pitch motors of any two blades in all the blades have second energy consumption values from the failure time of the encoder of one blade to the current time;
and if the first energy consumption value or the second energy consumption value does not meet the preset redundant running condition of the encoder, controlling the wind generating set to execute shutdown operation.
In a possible embodiment of the first aspect, a proximity switch is provided at a pitch angle position of 3 ° to 5 ° on a pitch path of each blade, and after the wind turbine generator system is caused to operate normally under a condition that one blade encoder fails, the method further includes: responding to a trigger signal of a proximity switch, resetting the energy consumption value, and judging whether the energy consumption values of the variable pitch motors of any two blades in all the blades between the zero-resetting moment and the current moment meet the preset redundant operation condition of the encoder every other impeller rotation period; and if the energy consumption values of the variable pitch motors of any two blades in all the blades between the self-zero moment and the current moment do not meet the preset redundant operation condition of the encoder, controlling the wind generating set to execute the shutdown operation.
In one possible implementation of the first aspect, the energy consumption value comprises a current integral value and/or a voltage integral value, and the preset encoder redundancy operation condition comprises: the difference value of current integral values of the variable pitch motors of any two blades in all the blades in the period is smaller than a first preset threshold value; or the difference values of the voltage integral values of the variable pitch motors of any two blades in all the blades in the period of the variable pitch motors are smaller than a second preset threshold value; or the difference values of the current integral values of the variable pitch motors of any two blades in all the blades in the period to which the variable pitch motors belong are smaller than a first preset threshold, and the difference values of the voltage integral values of the variable pitch motors of any two blades in all the blades in the same period are smaller than a second preset threshold.
In one possible implementation of the first aspect, the output signal of the encoder comprises an absolute value signal and an incremental signal; if the encoder of one blade is in fault and the encoders of other blades are normal, the pitch motors of all the blades in the wind generating set are controlled to operate at the same pitch speed, and the method comprises the following steps: and if the encoder of one blade has an absolute value signal fault and the increment signal is normal, and the absolute value signals and the increment signals of the encoders of other blades are normal, controlling the variable pitch motors of all the blades in the wind generating set to operate at the same variable pitch speed.
In a second aspect, an embodiment of the present invention provides an operation control device for a wind turbine generator system, where the device includes:
the detection module is used for respectively detecting the working states of encoders arranged on rotating shafts of variable pitch motors in driving connection with each blade of the wind generating set;
the pitch control motor control module is used for controlling the pitch control motors of all the blades in the wind generating set to operate at the same pitch control speed if the encoder of one blade fails and the encoders of other blades are normal;
and the fan control module is used for enabling the wind generating set to normally operate under the working condition that the encoder of one blade fails if the energy consumption values of the variable pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder in one impeller rotation period of the wind generating set from the failure moment of the encoder of one blade.
In a possible embodiment of the second aspect, the pitch motor control module is further configured to control the wind park to not perform a fault correction function related to the encoder fault and to replace the measurement data of the faulty encoder with measurement data of encoders of other blades than the blade in which the faulty encoder is located.
In a possible embodiment of the second aspect, the output signal of the encoder comprises an absolute value signal and an incremental signal, the pitch motor control module being provided in the pitch controller; the pitch control motor control module is specifically used for controlling the pitch motors of all the blades in the wind generating set to operate at the same pitch speed if the encoder of one blade has an absolute value signal fault and the increment signal is normal and the absolute value signals and the increment signals of the encoders of other blades are normal.
In a third aspect, an embodiment of the present invention provides an operation control device for a wind turbine generator system, including a memory, a processor, and a program stored in the memory and operable on the processor, where the processor executes the program to implement the operation control method for the wind turbine generator system.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and the program, when executed by a processor, implements the wind turbine generator system operation control method as described above.
As described above, for the case where the encoder of one blade fails and the encoders of other blades are normal, the pitch motors of all the blades in the wind turbine generator system can be controlled to operate at the same pitch speed, and then the energy consumption values of the pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder in one impeller rotation period from the failure time of the encoder of one blade, so that the wind turbine generator system can operate normally under the working condition that the encoder of one blade fails. Compared with the prior art that feathering shutdown is performed on the wind generating set once the fault of the encoder of the variable pitch motor of any blade is detected, the redundant control on the fault working condition of the encoder can be realized, and the power generation loss caused by frequent shutdown of the wind generating set is reduced.
Drawings
The present invention may be better understood from the following description of specific embodiments thereof taken in conjunction with the accompanying drawings, in which like or similar reference characters identify like or similar features.
FIG. 1 is a schematic structural diagram of a pitch system provided in an embodiment of the present invention;
FIG. 2 is a control schematic diagram of a pitch system provided by an embodiment of the invention;
FIG. 3 is a schematic mass-exploded view of a wind turbine blade according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a further mass breakdown of the blade 301 of FIG. 3;
FIG. 5 is a schematic flow chart of a method for controlling operation of a wind turbine generator system according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a method for controlling operation of a wind turbine generator according to another embodiment of the present invention;
FIG. 7 is a schematic flow chart illustrating a method for controlling operation of a wind turbine generator according to another embodiment of the present invention;
FIG. 8 is a schematic flow chart illustrating a method for controlling operation of a wind turbine generator according to still another embodiment of the present invention;
fig. 9 is a schematic structural diagram of an operation control device of a wind turbine generator system according to an embodiment of the present invention.
Description of reference numerals:
101-a hub; 102. 103-blade; 104-a variable pitch motor; 105-a pitch controller;
106-a pitch bearing; 107-an encoder; 108-a main shaft of the fan; 109-azimuth angle sensor;
201-a fan main controller; 201-slip ring; 203-a pitch drive;
301. 302, 303-blade.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention.
Fig. 1 is a schematic structural diagram of a pitch system according to an embodiment of the present invention.
Fig. 1 shows two blades 102 and 103 mounted on a hub 101. Wherein, the variable pitch driving structure of the blade 102 comprises: pitch motor 104, pitch controller 105 and pitch bearing 106. The control end of pitch motor 104 is connected to pitch controller 105, and the rotating shaft of pitch motor 104 is connected to blade 102 through pitch bearing 106. Pitch controller 105 controls pitch motor 104 to rotate, and pitch motor 104 drives blade 102 to rotate through pitch bearing 106, so as to perform pitch operation on blade 102. The pitch controller 105 is connected to the pitch motors of the three blades simultaneously.
Also shown in fig. 1 is an encoder 107 located at the tail of the rotating shaft of pitch motor 104, and encoder 107 is mechanically connected to the rotating shaft of pitch motor 104 for measuring the actual output rotation speed of pitch motor 104. During operation of pitch motor 104, encoder 107 sends an absolute value signal representing a pitch angle to pitch controller 105, and sends an incremental signal representing a pitch speed to a pitch driver (not shown).
Also shown in fig. 1 is an azimuth angle sensor 109 mounted on the main shaft 108 of the wind turbine for measuring the azimuth angle of the hub 101, the hub 101 rotates one revolution, and the output of the azimuth angle sensor 109 is 360 degrees.
Fig. 2 is a control schematic diagram of a pitch system according to an embodiment of the present invention. In comparison to fig. 1, also shown in fig. 2 are a main fan controller 201, a slip ring 202 and a pitch drive 203.
The fan main controller 201 and the pitch controller 105 are communicated through a slip ring 202, the fan main controller 201 is used for setting a target rotating speed according to unit model characteristics, and a feedback regulator, such as a PI regulator, is arranged in the fan main controller 201.
During operation, the PI regulator in the fan main controller 201 compares the actual rotating speed of the generator with the target rotating speed to output a required variable-pitch speed, and sends the required variable-pitch speed to the variable-pitch controller 105 through the slip ring 202. Pitch controller 105 sends the pitch demand speed to pitch drive 203 while sending an enable signal to pitch drive 203. After receiving the enabling signal and the required pitch speed, the pitch driver 203 controls the pitch motor 104 to brake and release and outputs three-phase voltage (U, V, W) to drive the pitch motor 104 to operate, so that the function of blade pitch adjustment is realized.
Fig. 3 is a schematic mass decomposition diagram of a wind generating set blade according to an embodiment of the present invention, and fig. 3 shows three blades, where the three blades are respectively numbered 301, 302, and 303, and the schematic mass decomposition diagram of the blade 301 is shown in detail.
As shown in fig. 3, the angle a is the azimuth angle of the blade 301. m0 is the equivalent mass of a blade when mounted on a hub for rotation. m1 is the component of mass m0 perpendicular to the direction of the blade 301, i.e., m1 is m0 × sina. m2 is the component of mass m0 parallel to the axis of rotation. m1 and m2 both lie in the plane of rotation of the three blades (also referred to as the rotor plane).
Fig. 4 is a schematic view of the blade 301 in fig. 3, in particular, illustrating the blade 301 in mass-resolved form from a cross-sectional perspective of the blade 301.
As shown in FIG. 4, angle b is the pitch angle of blade 301, which may be measured by encoder 107. P0 is the centroid position of the blade 301 and P1 is the intersection of the axis of rotation of the blade 301 with the rotor plane.
m11 is the component of m1 tangent to the circle in which the blade 301 turns, i.e., m11 is m1 × sinb, and m11 is perpendicular to the blade flank surface, but not to the axis of rotation.
m12 is the component m1 perpendicular to the axis of the blade 301, m12 perpendicular to the axis of rotation. Because the blade shape is an irregular rigid body, the expression of the total moment of inertia I of the blade is as follows:
I＝I1+I2 (1)
wherein I1 is the moment of inertia of the blade when the equivalent mass m rotates, and I2 is the additional moment of inertia I2 when the blade rotates. Wherein:
I1＝m0×L2(2)
I2＝m11×R2(3)
where m0 and m1 have the meaning as described above, L is the diameter of the blade 301 and R is the centroid radius, i.e. the distance from the centroid position P0 to P1.
With reference to fig. 3, assuming that the vertical upward position is a 0-degree direction angle, the azimuth angle of the blade 302 measured by the azimuth angle sensor 109 is 0 °; the blade 302 azimuth angle is 120 ° and the blade 303 azimuth angle is 240 ° further yielding: and a is 180-120-60 degrees.
In connection with fig. 3 and 4, assuming that the initial pitch angle of the blade 301 is 90 degrees, then:
when the blade 301 is positioned on the right half plane of the wind wheel plane and the pitch direction is the direction of 0 degree, the additional rotational inertia I2 of the blade has a resistance effect on the pitch;
when the blade 301 is located on the right half plane of the wind wheel plane and the pitch direction is 180 degrees, the additional inertia moment I2 of the blade assists the pitch.
When the blade 301 is located on the left half plane of the wind wheel plane, such as the position of the blade 303 in fig. 3, and the pitch direction is the direction of 0 degree, the additional inertia moment I2 of the blade assists the pitch.
When the blade 301 is located on the left half plane of the wind wheel plane, such as the position of the blade 303 in fig. 3, and the pitch direction is the direction of 180 degrees, the additional inertia moment I2 of the blade acts as a resistance to the pitch.
Thus, it can be derived that the magnitude of the additional moment of inertia of the blade is:
Figure BDA0001800861140000081
wherein p represents the pitch direction of the blade, and when the blade pitches towards an angle of 0 degree, p is 1; when the blade is pitched to an angle of 180 degrees, p is-1.
Combining (1) to (4), the total moment of inertia I of the blade can be obtained as follows:
Figure BDA0001800861140000082
according to the kinetic energy formula, the kinetic energy E when the blade rotates can be obtained as follows:
E＝0.5×I×ω2(6)
where ω is the angular velocity of the blade rotation.
As can be seen from the combination of equations (4) and (5), when the pitch system of the wind turbine generator system performs the pitch control operation, the azimuth angles of the three blades are periodically changed, so if the main control sends the same speed command, the average energy consumption or torque value of the three blades is the same in each rotation period (for example, 360 °) of the impeller, that is, the current of the pitch motor is the same.
Based on the above, the embodiment of the invention provides an operation control method and device for a wind generating set and a storage medium, which utilize the synchronism of the variable pitch of three blades and the rotation periodicity of the blade to perform redundant control on the fault working condition of an encoder so as to reduce the power generation loss caused by frequent shutdown.
Fig. 5 is a schematic flow chart of an operation control method of a wind turbine generator system according to an embodiment of the present invention. As shown in fig. 5, the operation control method includes steps 501 to 503.
In step 501, the working states of encoders arranged on rotating shafts of variable pitch motors in driving connection with blades of the wind generating set are respectively detected.
In conjunction with fig. 2, the signals output by the encoder 107 include an absolute value signal S1 and an incremental signal S2.
The absolute value signal S1 is fed back to the pitch controller 105, and the actual pitch angle is calculated by the pitch controller 105 according to the absolute value signal S1. In an example, an encoder signal receiving module is provided in the pitch controller 105, and when the encoder signal receiving module does not receive the absolute value signal S1 fed back by the encoder 107, it may be determined that the encoder 107 has a fault in the absolute value signal S1.
The incremental signal S2 is fed back to the pitch drive 203, and the actual pitch speed is calculated by the pitch drive 203 according to the incremental signal S2. In an example, an encoder signal receiving module is arranged in the pitch drive 203, and when the encoder signal receiving module does not receive the increment signal S2 fed back by the encoder, it can be determined that the encoder 107 has a fault in the increment signal S2.
When the encoder 107 is in the failure state, it may be that the absolute value signal S1 fails, the increment signal S2 fails, or that the absolute value signal S1 fails and the increment signal S2 fails simultaneously, and the type of the encoder failure is not limited herein.
In step 502, if the encoder of one blade fails and the encoders of other blades are normal, the pitch motors of all the blades in the wind turbine generator set are controlled to operate at the same pitch speed.
In step 503, if the energy consumption values of the pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder within one impeller rotation period from the failure time of the encoder of one blade, the wind generating set is enabled to normally operate under the working condition that the encoder of one blade fails.
In one example, the rotation period of the impeller can be measured by an azimuth angle measurer arranged on the hub, and can also be converted by the rotation speed of the wind generating set. For example, if the rotation speed of the wind turbine generator system is n/rpm (revolutions per minute), the required time is (1/n) minute per rotation of the impeller, which is (60/n) after conversion into seconds, i.e., every (60/n) second, the impeller of the wind turbine generator system rotates one revolution, and the azimuth angles of the three corresponding blades synchronously change by 360 degrees.
With reference to fig. 3 and 4, and the conclusions of equations (4) and (5), when the pitch system of the wind turbine generator system performs a pitch adjustment operation, the azimuth angles of the three blades are periodically changed, so if the master control sends the same speed command, the average energy consumption or torque value of the three blades is the same in each impeller rotation period (for example, 360 °), and therefore, the influence of the fault encoder can be eliminated through the comparison result of the energy consumption values of the pitch motors of the three blades in the impeller rotation period, so that the wind turbine generator system can normally operate under the condition that one blade encoder fails.
As a first characterization manner, if the difference between the current integral values of the pitch motors of any two of the blades in the period to which the pitch motors belong is smaller than a first preset threshold, where the first preset threshold is a minimum value, and the specific value may be determined according to the current integral characteristic of the pitch motor. If the difference value of the current integral values of the variable pitch motors of any two blades in all the blades in the rotation period of the impeller is smaller than the first preset threshold value, the average energy consumption of the variable pitch motors of all the blades in the rotation period of the impeller is the same, the influence of a fault encoder can be eliminated, and the wind generating set can normally operate under the working condition that the encoder of one blade fails.
As a second characterization manner, if the difference between the voltage integral values of the pitch motors of any two of the blades in the period to which the pitch motors belong is smaller than a second preset threshold, where the second preset threshold is also a minimum value, the specific value may be determined according to the voltage integral characteristic of the pitch motor. If the difference value of the voltage integral values of the pitch motors of any two of the blades in the rotation period of the impeller is smaller than the first preset threshold value, the average energy consumption of the pitch motors of all the blades in the rotation period of the impeller is the same, the influence of a fault encoder can be eliminated, and the wind generating set can normally operate under the working condition that the encoder of one blade fails.
As a third characterization mode, if the current integral values of the pitch motors of any two of the blades in the period to which the pitch motors belong are smaller than the first preset threshold value, and the voltage integral values of the pitch motors of any two of the blades in the same period are smaller than the second preset threshold value, different from the first two characterization modes, the third characterization mode combines the current integration mode and the voltage integration mode, and then determines the influence of the fault removal encoder, so that the wind generating set normally operates under the working condition that the encoder of one blade fails, the accuracy of the encoder fault removal is improved, and the problem of operation safety of the wind generating set caused by the error removal of the encoder fault can be avoided.
As described above, for the case where the encoder of one blade fails and the encoders of other blades are normal, the pitch motors of all the blades in the wind turbine generator system can be controlled to operate at the same pitch speed, and then the energy consumption values of the pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder within one impeller rotation period from the failure time of the encoder of one blade, so that the wind turbine generator system can operate normally under the condition that the encoder of one blade fails. Compared with the prior art that feathering shutdown is performed on the wind generating set once the fault of the encoder of the variable pitch motor of any blade is detected, the redundant control on the fault working condition of the encoder can be realized, and the power generation loss caused by frequent shutdown of the wind generating set is reduced.
In addition, because the embodiment of the invention utilizes the synchronism of the variable pitch of the three blades and the rotation periodicity of the impeller, and compares the energy consumption values of the blades in the rotation period of the impeller to eliminate the influence of a fault encoder, the wind generating set can normally operate under the working condition that the encoder of one blade fails, therefore, the internal structure of the variable pitch system does not need to be redesigned, and the invention has the advantages of low cost and easy popularization.
Fig. 6 is a schematic flow chart of a wind turbine generator system operation control method according to another embodiment of the present invention. Fig. 6 differs from fig. 5 in that the operation control method further includes step 504 in fig. 6 after step 502 in fig. 5.
In step 504, if the energy consumption values of the pitch motors of any two blades in all the blades do not meet the preset redundant operation condition of the encoder in one impeller rotation period from the failure time of the encoder of one blade, the wind generating set is controlled to execute the shutdown operation.
With reference to fig. 3 and 4 and the conclusions of formulas (4) and (5), if the energy consumption values of the pitch motors of any two blades in all the blades do not satisfy the preset redundant operation condition of the encoder in one impeller rotation period from the failure time of the encoder of one blade, it is described that the average energy consumption of the pitch motors of each blade in the impeller rotation period is different, and the influence of the failed encoder cannot be eliminated, and in order to avoid the operation safety problem of the wind generating set caused by the encoder failure, the wind generating set needs to be controlled to execute the shutdown operation.
Fig. 7 is a schematic flow chart of a wind turbine generator system operation control method according to still another embodiment of the present invention. Fig. 7 is different from fig. 5 in that step 505 in fig. 7 needs to be executed at the same time as step 502 in fig. 5 is executed.
In step 505, the wind turbine generator system is controlled not to perform error correction functions related to the encoder failure, and the measurement data of the encoders of other blades than the blade where the failed encoder is located is used instead of the measurement data of the failed encoder.
In one example, the error correction function of the wind turbine generator system related to the encoder fault includes: an angle correcting function for keeping the pitch angles of the respective blades uniform.
In this step, the wind generating set does not perform the angle correction function, and the measured data of the encoders of other blades (except the blade where the fault encoder is located) (for example, the actual pitch angle obtained based on the increment signal S2) is used to replace the measured data of the fault encoder, so as to provide data support for the normal operation of the wind generating set under the condition that one blade encoder fails.
In particular, the measurement data of the faulty encoder may be replaced by the average of the measurement data of the encoders of all the blades other than the blade on which the faulty encoder is located.
Fig. 8 is a schematic flow chart of a wind turbine generator system operation control method according to still another embodiment of the present invention. Fig. 8 differs from fig. 5 in that after step 503 in fig. 5, the operation control method further comprises steps 506 and 507 in fig. 8 for continuously monitoring and comparing the energy consumption values of the pitch motors of all blades of the wind park to confirm the effectiveness of the redundant operation control strategy based on encoder faults.
In step 506, every other impeller rotation period, it is determined whether the energy consumption values of the pitch motors of any two of the blades meet the preset redundant operation condition of the encoder.
Wherein the energy consumption values include: the method comprises the following steps that the variable pitch motors of any two blades in all the blades have a first energy consumption value in the rotation period of the impeller, or/and the variable pitch motors of any two blades in all the blades have a second energy consumption value from the failure time of the encoder of one blade to the current time.
In step 507, if the first energy consumption value or the second energy consumption value does not satisfy the preset redundant operation condition of the encoder, the wind generating set is controlled to execute a shutdown operation.
It should be noted that the difference between the first energy consumption value and the second energy consumption value lies in the calculation data selection manner, where the former selects the operation data of the pitch-variable motor in one impeller rotation, such as current or voltage, for representing the energy consumption value of the pitch-variable motor in one impeller rotation, and does not perform data accumulation; the latter selects operation data from the fault time of the encoder of one blade to the current time of the variable pitch motor, is used for representing the energy consumption value from the fault time of the encoder of one blade to the current time of the variable pitch motor, and is used for confirming the effectiveness of the redundancy operation control strategy based on the encoder fault from the perspective of the energy accumulated value.
As a first calculation data selection manner, taking an energy consumption value as a current integral value as an example, if the difference between the current integral values of the pitch motors of any two blades in all the blades in the impeller rotation period is smaller than a first preset threshold, it is indicated that the average energy consumption of the pitch motors of all the blades in the current impeller rotation period is the same, and the influence of the fault encoder can be eliminated, so that the wind generating set continues to normally operate under the working condition that one blade encoder fails.
If the difference value between the current integral values of the pitch motors of any two blades in the impeller rotation period is not uniform and is smaller than the first preset threshold value, it is indicated that the average energy consumption of the pitch motors of the blades in the impeller rotation period is different, the influence of a fault encoder cannot be eliminated, and in order to avoid the running safety problem of the wind generating set caused by the encoder fault, the wind generating set needs to be controlled to execute the shutdown operation.
As a second calculation data selection method, taking the energy consumption value as the current integral value as an example, if the difference between the current integral values of the pitch motors of any two of the blades from the failure time of the encoder of one blade to the current time is smaller than a first preset threshold, it is indicated that the average energy consumption of the pitch motors of all the blades from the failure time of the encoder to the current time is the same, and the influence of the failure encoder can be eliminated, so that the wind generating set continues to operate normally under the working condition that the encoder of one blade fails.
If the difference value between the current integral values of the pitch motors of any two blades in all the blades from the failure moment of the encoder of one blade to the current moment is not uniform and is smaller than the first preset threshold value, it is indicated that the average energy consumption of the pitch motors of all the blades in the rotation period of the impeller is different, the influence of the failure encoder cannot be eliminated, and in order to avoid the operation safety problem of the wind generating set caused by the failure of the encoder, the wind generating set needs to be controlled to execute the shutdown operation.
In an optional embodiment, in order to eliminate the accumulated error caused by the current integral value from the fault time of the encoder of one blade to the current time, a proximity switch arranged at a pitch angle position of 3-5 degrees on a pitch path of each blade can be used for clearing the current integral data.
Specifically, the energy consumption value can be cleared in response to a trigger signal of the proximity switch, and whether the energy consumption values of the pitch motors of any two blades in all the blades between the clearing time and the current time meet the preset redundant operation condition of the encoder is judged every other impeller rotation period.
For example, if the difference between the current integral values of the pitch motors of any two of the blades from the zero clearing time to the current time is not uniform and is smaller than a first preset threshold, it is indicated that the average energy consumption of the pitch motors of the blades in the impeller rotation period is different, and the influence of the fault encoder cannot be eliminated.
As described above, since the wind turbine generator system operation control method in the embodiment of the present invention performs redundant control on the encoder fault condition based on the consistency of the current of the pitch motor, the method can be applied to the fault condition where the current does not change significantly, such as: the line fault of the encoder, the fault of the acquisition module of the encoder and the like.
For some fault conditions causing obvious current changes, for example, the current of the variable pitch motor is increased sharply due to the fact that the variable pitch motor is locked; the abnormal pitch brake relay can cause the locked rotor of the pitch motor and sharply increase the current of the pitch motor; a fault of a variable pitch driver can cause the current of a variable pitch motor to be 0; the current of a variable pitch motor is sharply increased due to parameter error of the variable pitch driver; the wind generating set is required to automatically exit the redundant operation so as to ensure the safe operation of the wind generating set.
Fig. 9 is a schematic structural diagram of an operation control device of a wind turbine generator system according to an embodiment of the present invention, and as shown in fig. 9, the operation control device includes a detection module 901, a pitch motor control module 902, and a wind turbine control module 903.
The detection module 901 is configured to detect the operating states of encoders disposed on rotating shafts of pitch motors, which are drivingly connected to blades of the wind turbine generator system, respectively.
The pitch control motor control module 902 is configured to control the pitch motors of all the blades in the wind turbine generator system to operate at the same pitch speed if the encoder of one blade fails and the encoders of the other blades are normal.
In an alternative embodiment, pitch motor control module 902 is further configured to control the wind turbine generator system to not perform error correction functions associated with encoder faults and to replace measurement data of a faulty encoder with measurement data of encoders of other blades than the blade in which the faulty encoder is located.
The fan control module 903 is configured to enable the wind turbine generator system to normally operate under a working condition that the encoder of one blade fails if the energy consumption values of the pitch motors of any two blades in all the blades meet a preset redundant operation condition of the encoder within one impeller rotation period from a failure time of the encoder of one blade.
It should be noted that, in conjunction with fig. 2, when the wind turbine generator set is actually operated, the output signal of the encoder includes an absolute value signal S1 and an increment signal S2, the absolute value signal S1 is fed back to the pitch controller, and the increment signal S2 is fed back to the pitch drive.
For the case that the absolute value signal S1 of the encoder of one blade fails and the increment signal S2 is normal, and the absolute value signal S1 and the increment signal S2 of the encoders of the other blades are normal, it can be understood that: the pitch controller triggers a fault while the pitch drives do not, and the fault of the pitch controller is described as "absolute value signal S1 of the encoder of only one blade is abnormal".
For this situation, the pitch motor control module 902 may be disposed in a pitch controller, and the pitch controller executes a strategy of controlling the pitch motors of all the blades in the wind turbine generator system to operate at the same pitch speed.
In the case that the increment signal S2 of the encoder of one blade fails and the absolute value signal S1 is normal, and the absolute value signal S1 and the increment signal S2 of the encoders of the other blades are normal, it can be understood that: the pitch controller non-triggering fault triggers a fault for the pitch drive, and the fault for the pitch drive is described as "an incremental signal anomaly for the encoder for only one blade".
For this situation, the pitch motor control module 902 may be disposed in a pitch driver, and the pitch driver executes a strategy of controlling the pitch motors of all the blades in the wind turbine generator system to operate at the same pitch speed.
For the case that the encoder of one blade has a fault of the increment signal S2 and a fault of the absolute value signal S1, and the encoders of the other blades have normal absolute value signals S1 and increment signals S2, it can be understood that: the pitch controller and the pitch drive both trigger faults, and the fault of the pitch controller is described as 'absolute value signal abnormity of the encoder of only one blade' and the fault of the pitch drive is described as 'increment signal abnormity of the encoder of only one blade'.
For this situation, the pitch motor control module 902 may be respectively disposed in the pitch controller and the pitch driver, and the pitch controller and the pitch driver control the pitch motors of all the blades of the wind turbine generator system to operate at the same pitch speed.
The embodiment of the invention also provides a wind generating set operation control device which comprises a memory, a processor and a program which is stored on the memory and can be operated on the processor, wherein the wind generating set operation control method is realized when the processor executes the program.
An embodiment of the present invention further provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the method for controlling the operation of the wind turbine generator system is implemented.
It should be clear that the embodiments in this specification are described in a progressive manner, and the same or similar parts in the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. For the device embodiments, reference may be made to the description of the method embodiments in the relevant part. Embodiments of the invention are not limited to the specific steps and structures described above and shown in the drawings. Those skilled in the art may make various changes, modifications and additions to, or change the order between the steps, after appreciating the spirit of the embodiments of the invention. Also, a detailed description of known process techniques is omitted herein for the sake of brevity.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of an embodiment of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
Embodiments of the present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. For example, the algorithms described in the specific embodiments may be modified without departing from the basic spirit of the embodiments of the present invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (13)

1. An operation control method of a wind generating set comprises the following steps: respectively detecting the working states of encoders arranged on rotating shafts of variable pitch motors in driving connection with blades of the wind generating set; characterized in that the method further comprises:
if the encoder of one blade fails and the encoders of other blades are normal, the variable pitch motors of all the blades in the wind generating set are controlled to operate at the same variable pitch speed;
and if the energy consumption values of the variable pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder in one impeller rotation period from the fault moment of the encoder of one blade, enabling the wind generating set to normally operate under the working condition that the encoder of one blade fails.
2. The method of claim 1, wherein after the pitch motors controlling all blades in the wind park are operating at the same pitch speed, the method further comprises:
and if the energy consumption values of the variable pitch motors of any two blades in all the blades do not meet the preset redundant operation condition of the encoder in one impeller rotation period from the fault moment of the encoder, controlling the wind generating set to execute shutdown operation.
3. The method of claim 1, wherein while the pitch motors controlling all blades in the wind park are operating at the same pitch speed, the method further comprises:
and controlling the wind generating set not to execute an error correction function related to the fault of the encoder, and replacing the measurement data of the encoder of the other blade except the blade where the fault encoder is positioned with the measurement data of the encoder of the other blade.
4. The method of claim 3, wherein replacing the measurement data of the faulty encoder with measurement data of encoders of other blades than the blade in which the faulty encoder is located comprises:
and replacing the measurement data of the fault encoder with the average value of the measurement data of the encoders of all the blades except the blade where the fault encoder is located.
5. The method of claim 1, wherein after said operating the wind turbine generator set normally under a condition where one blade encoder fails, the method further comprises:
judging whether the energy consumption values of the variable pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder every other rotation period of the impeller; the energy consumption values include: the method comprises the steps that variable pitch motors of any two blades in all the blades have first energy consumption values in the rotation period of the impeller, or/and the variable pitch motors of any two blades in all the blades have second energy consumption values from the failure time of the encoder of one blade to the current time;
and if the first energy consumption value or the second energy consumption value does not meet the preset redundant running condition of the encoder, controlling the wind generating set to execute shutdown operation.
6. The method according to claim 1, wherein a proximity switch is provided at a 3-5 ° pitch angle position on each blade pitch path, and after said normal operation of the wind turbine generator set in a condition of a one-blade encoder failure, the method further comprises:
responding to a trigger signal of the proximity switch, resetting the energy consumption value, and judging whether the energy consumption values of the variable pitch motors of any two blades in all the blades between the zero-reset moment and the current moment meet the preset redundant operation condition of the encoder every other impeller rotation period;
and if the energy consumption values of the variable pitch motors of any two blades in all the blades between the self-zero moment and the current moment do not meet the preset redundant operation condition of the encoder, controlling the wind generating set to execute shutdown operation.
7. The method according to any one of claims 1-6, wherein the energy consumption value comprises a current integral value and/or a voltage integral value, and wherein the pre-set encoder redundant operating conditions comprise:
the difference values of current integral values of the variable pitch motors of any two blades in all the blades in the period of the variable pitch motors are smaller than a first preset threshold value; or,
the difference values of voltage integral values of the variable pitch motors of any two blades in all the blades in the period of the variable pitch motors are smaller than a second preset threshold value; or,
the difference values of current integral values of the variable pitch motors of any two blades in all the blades in the period to which the variable pitch motors belong are smaller than the first preset threshold value, and the difference values of voltage integral values of the variable pitch motors of any two blades in all the blades in the same period are smaller than the second preset threshold value.
8. The method of claim 1, wherein the output signal of the encoder comprises an absolute value signal and an incremental signal;
if the encoder of one blade is in fault and the encoders of other blades are normal, the pitch motors of all the blades in the wind generating set are controlled to operate at the same pitch speed, and the method comprises the following steps:
and if the encoder of one blade has an absolute value signal fault and the increment signal is normal, and the absolute value signals and the increment signals of the encoders of other blades are normal, controlling the variable pitch motors of all the blades in the wind generating set to operate at the same variable pitch speed.
9. An operation control device of a wind generating set, comprising: the detection module is used for respectively detecting the working states of encoders arranged on rotating shafts of variable pitch motors in driving connection with each blade of the wind generating set; it is characterized in that the device further comprises:
the pitch control motor control module is used for controlling the pitch control motors of all the blades in the wind generating set to operate at the same pitch control speed if the encoder of one blade fails and the encoders of other blades are normal;
and the fan control module is used for enabling the wind generating set to normally operate under the working condition that the encoder of one blade fails if the energy consumption values of the variable pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder in one impeller rotation period of the wind generating set from the failure moment of the encoder of one blade.
10. The apparatus of claim 9, wherein the pitch motor control module is further configured to control the wind turbine generator system to not perform error correction functions associated with encoder failure and to replace measurement data of the failed encoder with measurement data of encoders of other blades than the blade in which the failed encoder is located.
11. The apparatus of claim 10, wherein the output signal of the encoder comprises an absolute value signal and an incremental signal, the pitch motor control module being disposed in the pitch controller;
the pitch control motor control module is specifically used for controlling the pitch motors of all the blades in the wind generating set to operate at the same pitch speed if the encoder of one blade has an absolute value signal fault and the increment signal is normal and the absolute value signals and the increment signals of the encoders of other blades are normal.
12. A wind turbine generator system operation control device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor executes the program to implement the wind turbine generator system operation control method according to any one of claims 1 to 8.
13. A computer-readable storage medium, on which a program is stored, which, when being executed by a processor, carries out a wind park operation control method according to any one of claims 1-8.
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