CN111622893A - Variable pitch control method and system for asymmetric airfoil type vertical axis wind turbine - Google Patents

Variable pitch control method and system for asymmetric airfoil type vertical axis wind turbine Download PDF

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CN111622893A
CN111622893A CN202010485263.1A CN202010485263A CN111622893A CN 111622893 A CN111622893 A CN 111622893A CN 202010485263 A CN202010485263 A CN 202010485263A CN 111622893 A CN111622893 A CN 111622893A
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angle
pitch
wind
variable
wind turbine
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CN111622893B (en
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李亮
经来旺
吴建强
王龙
缪广红
李世辉
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Anhui University of Science and Technology
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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
    • F03D3/00—Wind motors with rotation axis substantially perpendicular to the air flow entering the rotor 
    • F03D3/06—Rotors
    • F03D3/062—Rotors characterised by their construction elements
    • 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 
    • F03D7/06—Controlling wind motors  the wind motors having rotation axis substantially perpendicular to the air flow entering the rotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • 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
    • Y02E10/74—Wind turbines with rotation axis perpendicular to the 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 provides a variable pitch control method and system of an asymmetric airfoil type vertical axis wind turbine. The invention has the advantages that: the input of the adopted control law is the wind speed vinThe blade azimuth angle psi is related to constants such as the blade rotation radius R, the rotation speed omega, the aerodynamic coefficient and the like besides the two variables, and the influence of the Reynolds number on the aerodynamic coefficient is small, so that the control law is suitable for various wind conditions; the variable-pitch actuating mechanism controls the adjusting rod to realize the automatic variable-pitch control of the bladesThe expression of the paddle control law is concise, the calculation time is short, the corresponding speed is high, and the defect of lag of the paddle control is overcome.

Description

Variable pitch control method and system for asymmetric airfoil type vertical axis wind turbine
Technical Field
The invention relates to the technical field of wind turbine variable pitch control, in particular to a variable pitch control method and system of an asymmetric airfoil type vertical axis wind turbine.
Background
The wind wheel rotating shaft of the vertical axis wind driven generator is vertical to the bottom surface or airflow, and does not need to face wind when the wind direction changes. However, the vertical axis wind turbine has the defects of poor self-starting capability, low wind energy utilization rate and the like, the variable pitch control is an effective measure for optimizing the pneumatic performance and the wind energy utilization rate of the vertical axis wind turbine, and a large number of variable pitch control methods related to the horizontal axis wind turbine exist in the prior art, but the control methods cannot be directly applied to the vertical axis wind turbine due to different operation modes of the two wind turbines; the prior vertical axis wind turbine adopts a variable pitch mode which mainly comprises the following steps: (1) setting a periodically changed pitch angle by using an eccentric mechanism for adjustment; (2) and determining the optimal pitch angle through a numerical simulation and optimization algorithm for real-time control. Adjustment with an eccentric mechanism is generally less autonomous; through the real-time adjustment of the optimization algorithm, if the iterative algorithm is complex, the problem of lag of variable pitch control is easy to occur, and the real-time adjustment is mostly set according to the wind condition under a certain specific Reynolds number, so that the universality is lacked.
The invention patent application with publication number CN102889177A discloses a variable pitch angle structure of an H-shaped vertical axis wind power generation system and a control method, which improve the self-starting capability and tangential force of a vertical axis wind power generator by acquiring wind direction, wind speed signals and position signals of fan blades in real time, comparing the wind speed with a set cut-out wind speed and giving a variable pitch control result by combining the wind direction.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a system for controlling the variable pitch of an asymmetric airfoil type straight blade high tip speed ratio vertical axis wind turbine.
The invention solves the technical problems through the following technical scheme: the variable-pitch control method of the asymmetric wing type vertical axis wind turbine comprises a connecting rod, two ends of the connecting rod are respectively provided with an asymmetric blade, the center of the connecting rod is provided with a rotating shaft perpendicular to the ground, a variable-pitch executing mechanism for controlling the blades is arranged on the rotating shaft, the variable-pitch executing mechanism is provided with an adjusting rod connected with the blades, the wind turbine is also provided with a wind direction instrument and a wind speed instrument, and the connecting rod is provided with an angle sensor; the optimal pitch angle control rule of the variable pitch actuating mechanism is as follows:
Figure BDA0002518910160000021
wherein, thetapFor the optimum pitch angle to be achieved,
Figure BDA0002518910160000022
psi is the blade azimuth angle, namely the angle rotated when the wind direction rotates along the counterclockwise to the normal line in the circumference of the airfoil profile, and is obtained by the numerical calculation of a wind direction indicator and an angle sensor,
Figure BDA0002518910160000023
is the tip speed ratio, R is the radius of rotation, omega is the rotational speed, vinThe wind speed is obtained by measuring through an anemometer;
c1、c2、c3、bLand bDIs a lift coefficient expression CL(α)＝c0L+c1(α+bL)+c3(α+bL)3And a coefficient of resistance expression CD(α)＝c0D+c2(α+bD)2Aerodynamic coefficient of (5), α, is angle of attack and represents relative wind velocity vrAngle with respect to airfoil chord line, vr＝vin-R Ω; and calculating to obtain a pitch angle according to the control rule, and outputting the pitch angle to a pitch changing actuating mechanism, wherein the pitch changing actuating mechanism controls the adjusting rod 4 to control the pitch changing of the blade.
The expression of the pitch control law adopted by the invention is only equal to the wind speed vinTwo variables of blade azimuth angle psi are related to constant values of blade rotation radius R, rotation speed omega, aerodynamic coefficient and the like, and the Reynolds number to aerodynamic coefficient c can be known from aerodynamic experimental data of common airfoil profiles1、c2、c3、bLAnd bDThe influence of the control law is small, so that the control law is suitable for various wind conditions and has strong universality; the control law expression is simple, the calculation time is short, the response speed is high, and the defect of lag of variable pitch control is overcome.
Preferably, the adjusting rod is a hydraulic telescopic rod, and a signal output end of the variable-pitch control mechanism is in communication connection with a hydraulic system.
The invention also provides a variable-pitch control system of the asymmetric wing type vertical axis wind turbine, which comprises a connecting rod, wherein two ends of the connecting rod are respectively provided with an asymmetric blade, the center of the connecting rod is provided with a rotating shaft vertical to the ground, the rotating shaft is provided with a variable-pitch executing mechanism for controlling the blades, the variable-pitch executing mechanism is provided with an adjusting rod connected with the blades, the wind turbine is also provided with a wind direction indicator and a wind speed indicator, the connecting rod is provided with an angle sensor, the signal output ends of the wind direction indicator, the wind direction indicator and the angle sensor are in communication connection with a controller, and the signal output end of the controller is in; the controller outputs and controls the pitch angle based on the collected data of the anemoscope and the anemoscope, and the control rule of the controller is that
Figure BDA0002518910160000024
Wherein, thetapFor the optimum pitch angle to be achieved,
Figure BDA0002518910160000025
Ψ is the blade azimuth angle, i.e. the angle through which the wind direction rotates when rotating counterclockwise to the normal inside the circumference of the airfoil,
Figure BDA0002518910160000026
tip speed ratio, R is rotationRadius, omega rotational speed, vinIs the wind speed;
c1、c2、c3、bLand bDIs a lift coefficient expression CL(α)＝c0L+c1(α+bL)+c3(α+bL)3And a coefficient of resistance expression CD(α)＝c0D+c2(α+bD)2Aerodynamic coefficient of (5), α, is angle of attack and represents relative wind velocity vrAngle with respect to airfoil chord line, vr＝vin-RΩ。
The variable pitch control method and the variable pitch control system of the symmetrical airfoil type vertical axis wind turbine have the advantages that: the expression of the adopted variable pitch control law is only related to the wind speed vinTwo variables of blade azimuth angle psi are related to constant values of blade rotation radius R, rotation speed omega, aerodynamic coefficient and the like, and the Reynolds number to aerodynamic coefficient c can be known from aerodynamic experimental data of common airfoil profiles1、c2、c3、bLAnd bDThe influence of the control law is small, so that the control law is suitable for various wind conditions and has strong universality; the control law expression is simple, the calculation time is short, the response speed is high, and the defect of lag of variable pitch control is overcome.
Drawings
FIG. 1 is a model diagram of an asymmetric airfoil vertical axis wind turbine according to an embodiment of the present invention;
FIG. 2 is a model diagram of a pitch structure provided by an embodiment of the invention;
FIG. 3 is a pitch control flow diagram provided by an implementation of the present invention.
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments.
The embodiment provides a variable-pitch control method for an asymmetric airfoil vertical axis wind turbine, wherein a simplified model of the wind turbine is shown in fig. 1 and comprises a connecting rod 1, two ends of the connecting rod 1 are respectively provided with an asymmetric blade 2, the center of the connecting rod 1 is provided with a rotating shaft (not shown) perpendicular to the ground, a variable-pitch actuating mechanism 3 for controlling the blade 2 is arranged on the rotating shaft, the variable-pitch actuating mechanism 3 is provided with an adjusting rod 4 connected with the blade 2, the wind turbine is also provided with a wind direction indicator 5 and a wind speed indicator 6, in combination with fig. 2, the connecting rod 1 is provided with an angle sensor 7, the angle sensor 7 is used for acquiring a deviation angle of the connecting rod 1 relative to a reference position, and the reference position can be a certain direction or an initial position and can be the; solving the problem that the pitch control law is converted into the maximum value of the airfoil aerodynamic torque, and expressing the asymmetric airfoil aerodynamic torque as
Figure BDA0002518910160000031
Maximum value needs to be satisfied
Figure BDA0002518910160000032
And
Figure BDA0002518910160000033
wherein M is airfoil aerodynamic torque, θpFor optimum pitch angle, c is the airfoil chord length, ρaIs the density of air, vrThe calculation formula is v for the relative wind speedr＝vinR Ω, where bold represents vectors, non-bold represents numerical magnitude, vinIs the wind speed, is obtained by the measurement of an anemometer 6, R is the rotation radius, omega is the rotation speed,
Figure BDA0002518910160000041
psi is the blade azimuth angle, namely the angle rotated when the wind direction rotates along the anticlockwise to the normal line in the circumference of the wing profile, the blade azimuth angle can be obtained through the numerical values of the anemoscope 5 and the angle sensor 7,
Figure BDA0002518910160000042
in order to obtain the tip speed ratio,
c1、c2、c3、bLand bDIs a lift coefficient expression CL(α)＝c0L+c1(α+bL)+c3(α+bL)3And a coefficient of resistance expression CD(α)＝c0D+c2(α+bD)2α is an angle of attack representing the relative wind speed vrThe included angle between the airfoil chord line and the airfoil chord line;
then the optimal pitch angle control law obtained by solving is as follows:
Figure BDA0002518910160000043
and calculating to obtain a pitch angle according to the control rule, and outputting the pitch angle to the pitch-changing actuating mechanism 3, wherein the pitch-changing actuating mechanism 3 controls the adjusting rod 4 to control the pitch of the blade 2.
The adjusting rod 4 is preferably a hydraulic telescopic rod, the signal output end of the variable pitch executing mechanism 3 is in communication connection with a hydraulic system, and the variable pitch executing mechanism 3 outputs signals to control hydraulic action, so that the length of the adjusting rod 4 is changed, and variable pitch control of the blades 2 is realized.
In the embodiment, the pitch angle corresponding to the maximum value of the asymmetric airfoil aerodynamic torque is used as the optimal pitch angle, so that the obtained pitch control rule can enable the airfoil aerodynamic torque to be maximum under the current wind condition, the pitch is controlled according to the rule, the wind energy utilization rate and the self-starting capability can be improved, and the defects of the prior art are overcome.
Referring to FIG. 3, the input to the control law is wind speed vinAnd the blade azimuth angle psi is also related to constants such as the blade rotation radius R, the rotation speed omega, the aerodynamic coefficient and the like besides the two variables, and the influence of the Reynolds number on the aerodynamic coefficient is small as known from aerodynamic experimental data of a common airfoil, so that the control law is suitable for various wind conditions.
The blade azimuth angle psi can be obtained through the parameters of the anemoscope 5 and the angle sensor 7, and the wind speed value v can be directly obtained through the anemoscope 6in(ii) a The calculation result is output to the variable-pitch executing mechanism 3, and the variable-pitch executing mechanism 3 controls the adjusting rod 4 to realize self-operation of the blade 2The blade pitch control method has the advantages that the blade pitch control is performed through main variable pitch control, the universality of blade pitch control under different wind conditions is improved, the expression of the pitch control law is concise, the calculation time is short, the corresponding speed is high, and the defect of lag of the pitch control is overcome.
The embodiment also provides a variable pitch control system of the asymmetric wing type vertical axis wind turbine, which comprises a connecting rod 1, wherein two ends of the connecting rod 1 are respectively provided with an asymmetric blade 2, the center of the connecting rod 1 is provided with a rotating shaft (not shown) vertical to the ground, the rotating shaft is provided with a variable pitch actuating mechanism 3 for controlling the blade 2, the variable pitch actuating mechanism 3 is provided with an adjusting rod 4 connected with the blade 2, the wind turbine is also provided with a wind direction indicator 5 and a wind speed indicator 6, and the connecting rod 1 is provided with an angle sensor 7; the signal output ends of the anemoscope 6, the anemoscope 5 and the angle sensor 7 are in communication connection with a controller (not shown), and the signal output end of the controller is in communication connection with the variable pitch actuating mechanism 3; the controller outputs and controls the pitch angle based on the collected data of the anemoscope 5, the anemoscope 6 and the angle sensor 7, and the control rule of the controller is that
Figure BDA0002518910160000051
Wherein, thetapFor the optimum pitch angle to be achieved,
Figure BDA0002518910160000052
Ψ is the blade azimuth angle, i.e. the angle through which the wind direction rotates when rotating counterclockwise to the normal inside the circumference of the airfoil,
Figure BDA0002518910160000053
is the tip speed ratio, R is the radius of rotation, omega is the rotational speed, vinIs the wind speed;
c1、c2、c3、bLand bDIs a lift coefficient expression CL(α)＝c0L+c1(α+bL)+c3(α+bL)3And a coefficient of resistance expression CD(α)＝c0D+c2(α+bD)2Aerodynamic coefficient of (5), α, is angle of attack and represents relative wind velocity vrAnd wingAngle between the chord lines, vr＝vin-RΩ。

Claims (3)

1. The variable pitch control method of the asymmetric airfoil vertical axis wind turbine is characterized in that: the wind turbine comprises a connecting rod, two ends of the connecting rod are respectively provided with an asymmetric blade, the center of the connecting rod is provided with a rotating shaft vertical to the ground, the rotating shaft is provided with a variable-pitch actuating mechanism for controlling the blades, the variable-pitch actuating mechanism is provided with an adjusting rod connected with the blades, the wind turbine is also provided with a wind direction instrument and a wind speed instrument, and the connecting rod is provided with an angle sensor; the optimal pitch angle control rule of the variable pitch actuating mechanism is as follows:
Figure FDA0002518910150000011
wherein, thetapFor the optimum pitch angle to be achieved,
Figure FDA0002518910150000012
psi is the blade azimuth angle, namely the angle that the wind direction rotates when rotating to the normal line in the circumference of the wing profile along the counterclockwise, and the blade azimuth angle can be obtained through the numerical values of the anemoscope and the angle sensor;
Figure FDA0002518910150000013
is the tip speed ratio, R is the radius of rotation, omega is the rotational speed, vinIs the wind speed, i.e. the value of the anemometer;
c1、c2、c3、bLand bDIs a lift coefficient expression CL(α)＝c0L+c1(α+bL)+c3(α+bL)3And a coefficient of resistance expression CD(α)＝c0D+c2(α+bD)2Aerodynamic coefficient of (5), α, is angle of attack and represents relative wind velocity vrAngle with respect to airfoil chord line, vr＝vin-R Ω; outputting the pitch angle obtained according to the control rule to a variable pitch actuating mechanism, and controlling an adjusting rod to carry out pitch control on the blades by the variable pitch actuating mechanismAnd (5) pitch control.
2. The pitch control system of the asymmetric airfoil vertical axis wind turbine as claimed in claim 1, wherein: the adjusting rod is a hydraulic telescopic rod, and the signal output end of the variable pitch control mechanism is in communication connection with a hydraulic system.
3. A variable pitch control system of an asymmetric airfoil vertical axis wind turbine is characterized in that: the wind turbine is also provided with a wind direction instrument and a wind speed instrument, the connecting rod is provided with an angle sensor, signal output ends of the wind speed instrument, the wind direction instrument and the angle sensor are in communication connection with a controller, and a signal output end of the controller is in communication connection with the variable pitch actuating mechanism; the controller outputs and controls the pitch angle based on the collected data of the anemoscope and the anemoscope, and the control rule of the controller is that
Figure FDA0002518910150000014
Wherein, thetapFor the optimum pitch angle to be achieved,
Figure FDA0002518910150000015
Ψ is the blade azimuth angle, i.e. the angle through which the wind direction rotates when rotating counterclockwise to the normal inside the circumference of the airfoil,
Figure FDA0002518910150000016
is the tip speed ratio, R is the radius of rotation, omega is the rotational speed, vinIs the wind speed;
c1、c2、c3、bLand bDIs a lift coefficient expression CL(α)＝c0L+c1(α+bL)+c3(α+bL)3And coefficient of resistanceExpression CD(α)＝c0D+c2(α+bD)2Aerodynamic coefficient of (5), α, is angle of attack and represents relative wind velocity vrAngle with respect to airfoil chord line, vr＝vin-RΩ。
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112431717A (en) * 2020-11-23 2021-03-02 山东科技大学 Unified variable pitch system and method for blades of small wind turbine

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5439745A (en) * 1978-05-08 1979-03-27 Iwanaka Denki Seisakushiyo Kk Fluctuation pitch vertical wing type wind mill
JP2006152922A (en) * 2004-11-29 2006-06-15 Sony Corp Windmill
WO2011130797A1 (en) * 2010-04-18 2011-10-27 Brian Kinloch Kirke Improved cross flow wind or hydrokinetic turbines
CN103410658A (en) * 2013-02-05 2013-11-27 上海理工大学 Wind driven generator
KR20140036424A (en) * 2012-09-14 2014-03-26 한국과학기술원 Performance prediction method of vertical axis turbine blades
CN107559138A (en) * 2017-09-25 2018-01-09 秦春明 Wind power generating set with vertical shaft and its variable pitch control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5439745A (en) * 1978-05-08 1979-03-27 Iwanaka Denki Seisakushiyo Kk Fluctuation pitch vertical wing type wind mill
JP2006152922A (en) * 2004-11-29 2006-06-15 Sony Corp Windmill
WO2011130797A1 (en) * 2010-04-18 2011-10-27 Brian Kinloch Kirke Improved cross flow wind or hydrokinetic turbines
KR20140036424A (en) * 2012-09-14 2014-03-26 한국과학기술원 Performance prediction method of vertical axis turbine blades
CN103410658A (en) * 2013-02-05 2013-11-27 上海理工大学 Wind driven generator
CN107559138A (en) * 2017-09-25 2018-01-09 秦春明 Wind power generating set with vertical shaft and its variable pitch control method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112431717A (en) * 2020-11-23 2021-03-02 山东科技大学 Unified variable pitch system and method for blades of small wind turbine
CN112431717B (en) * 2020-11-23 2021-11-26 山东科技大学 Unified variable pitch system and method for blades of small wind turbine

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