CN111779609A - Variable-pitch device of ocean current energy generator set and control method thereof - Google Patents

Variable-pitch device of ocean current energy generator set and control method thereof Download PDF

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Publication number
CN111779609A
CN111779609A CN202010601071.2A CN202010601071A CN111779609A CN 111779609 A CN111779609 A CN 111779609A CN 202010601071 A CN202010601071 A CN 202010601071A CN 111779609 A CN111779609 A CN 111779609A
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hydraulic cylinder
blade
pitch
ocean current
current energy
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Inventor
顾亚京
张鹏鹏
刘宏伟
李伟
林勇刚
王超助
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03BMACHINES OR ENGINES FOR LIQUIDS
    • F03B3/00Machines or engines of reaction type; Parts or details peculiar thereto
    • F03B3/12Blades; Blade-carrying rotors
    • F03B3/14Rotors having adjustable blades
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03BMACHINES OR ENGINES FOR LIQUIDS
    • F03B15/00Controlling
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03BMACHINES OR ENGINES FOR LIQUIDS
    • F03B3/00Machines or engines of reaction type; Parts or details peculiar thereto
    • F03B3/12Blades; Blade-carrying rotors
    • F03B3/14Rotors having adjustable blades
    • F03B3/145Mechanisms for adjusting the blades
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08Characterised by the construction of the motor unit
    • F15B15/14Characterised by the construction of the motor unit of the straight-cylinder type
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08Characterised by the construction of the motor unit
    • F15B15/14Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423Component parts; Constructional details
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08Characterised by the construction of the motor unit
    • F15B15/14Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423Component parts; Constructional details
    • F15B15/1447Pistons; Piston to piston rod assemblies
    • F15B15/1452Piston sealings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04Special measures taken in connection with the properties of the fluid
    • F15B21/041Removal or measurement of solid or liquid contamination, e.g. filtering
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00Function
    • F05B2260/70Adjusting of angle of incidence or attack of rotating blades
    • F05B2260/76Adjusting of angle of incidence or attack of rotating blades the adjusting mechanism using auxiliary power sources
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00Function
    • F05B2260/96Preventing, counteracting or reducing vibration or noise
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00Control
    • F05B2270/60Control system actuates through
    • F05B2270/604Control system actuates through hydraulic actuators
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2215/00Fluid-actuated devices for displacing a member from one position to another
    • F15B2215/30Constructional details thereof
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/20Hydro energy

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

The invention discloses a variable pitch device of an ocean current energy generator set and a control method thereof. The blade root is fixedly and coaxially connected with the sealing end cover, the sealing end cover is fixedly connected with the outer end of the blade supporting shaft, the blade supporting shaft is sleeved in the hub through a tapered roller bearing, a spiral swing hydraulic cylinder is fixedly arranged in the hub, and the inner end of the blade supporting shaft is coaxially and fixedly connected with the output end of the spiral swing hydraulic cylinder; two hydraulic cavities of the spiral swing hydraulic cylinder are connected with a variable pitch control oil way through a hydraulic pipe, and the variable pitch control oil way drives the blades to rotate through the spiral swing hydraulic cylinder to realize variable pitch; the outer end face of the hub is provided with a front end cover. Under the amplification effect of two-stage spiral pairs of the spiral swing hydraulic cylinder, the invention outputs a large rotation angle with a small working stroke, occupies small space and has large moment and high transmission efficiency; the independent variable pitch control can eliminate unbalanced load caused by the movement of the three blades, avoid the problems of vibration, uneven load distribution and the like of a unit, and prolong the service life.

Description

Variable-pitch device of ocean current energy generator set and control method thereof
Technical Field
The invention belongs to the field of ocean current energy power generation, and particularly relates to a variable pitch device of an ocean current energy power generating set and a control method thereof.
Background
The ocean current energy reserves are abundant, and have the advantages of high density, predictability and the like. Ocean current energy power generation is an area with great development prospects. Ocean current energy conversion technology is various in types, 20 power generation devices with different structural forms exist in the world, the advantages and disadvantages in the aspects of development and utilization forms, installation and arrangement modes, impeller sizes, conversion efficiency and the like exist, and currently, no well-known optimal scheme exists. Through the development of recent years, the horizontal-axis ocean current energy power generation device is proved to be a relatively suitable ocean current energy utilization and conversion device, and accounts for 43% of the existing ocean current energy project.
The variable pitch technology is one of key technologies in the ocean current energy power generation technology, and in the actual operation of ocean current energy power generation, the pitch angle of the blades needs to be adjusted from time to obtain the maximum power or reduce the load of a unit due to the fact that the speed of ocean current changes from time to time. The existing ocean current energy pitch-changing scheme can be divided into electric pitch-changing and hydraulic pitch-changing according to different actuating mechanisms; the blade can be divided into independent pitch and unified pitch according to different blade action modes. Common pitch-controlled mechanisms include a rack and pinion mechanism, a crank link mechanism, a bevel gear and other mechanisms, but the above mechanisms have the following disadvantages: the volume is larger, the structure is not compact, and the transmission efficiency is lower.
For a three-blade ocean current energy generator set, the flow shearing action causes different ocean current flow rates on different depths of a rotating impeller surface, unbalanced pitching moment is caused, and yawing moment caused by asymmetric impeller positions in the rotating process causes unbalanced stress on the generator set, uneven load distribution and periodic vibration of a mechanical structure, so that the reliability of the generator set is reduced, and the service life of the generator set is prolonged.
Disclosure of Invention
The invention aims to solve the technical problems that a traditional ocean current energy generator set variable pitch mechanism is large in size, not compact in structure and low in transmission efficiency. For a three-blade generator set, the problems of unbalanced pitching moment and yawing moment caused by ocean current shearing and impeller position asymmetry are solved.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an independent variable-pitch mechanical structure of an ocean current energy generator set comprises:
the independent variable-pitch mechanical structure comprises a group of independent variable-pitch mechanical structures which mainly comprise blades, blade flanges, sealing end covers, blade supporting shafts and spiral swing hydraulic cylinders, wherein the roots of the blades are fixedly and coaxially connected with the outer ends of the sealing end covers through the blade flanges; the spiral swing hydraulic cylinder is provided with two hydraulic cavities which are respectively connected with a variable pitch control oil way through respective hydraulic pipes, and the variable pitch control oil way drives the blades to rotate through the spiral swing hydraulic cylinder to realize variable pitch; the outer end face of the hub is provided with a front end cover, and the inner end face of the front end cover is fixed on the base.
The spiral swing hydraulic cylinder sequentially comprises a cylinder body, a hydraulic cylinder piston and a hydraulic cylinder output rotating shaft, the hydraulic cylinder piston is sleeved in the cylinder body, the hydraulic cylinder output rotating shaft is sleeved in the hydraulic cylinder piston, and the hydraulic cylinder output rotating shaft is fixedly connected with one end, which is not connected with the sealing end cover, of the blade supporting shaft; the side walls of two ends of the cylinder body are respectively provided with a first oil port and a second oil port which are communicated with the variable-pitch control oil way, the inner wall of one end of the cylinder body is provided with an internal thread, the outer wall of one end of the hydraulic cylinder piston is provided with an external thread, and the internal thread of the cylinder body and the external thread of the hydraulic cylinder piston are matched to form a secondary screw pair; the inner wall of the other end of the hydraulic cylinder piston is provided with internal threads, the middle part of the hydraulic cylinder output rotating shaft is provided with external threads, and the external threads of the hydraulic cylinder output rotating shaft and the internal threads of the hydraulic cylinder piston are matched to form a primary screw pair; therefore, a first oil cavity and a second oil cavity are formed in the inner portion of the cylinder body between the two ends of the piston of the hydraulic cylinder and the two ends of the output rotating shaft of the hydraulic cylinder respectively, and the first oil cavity and the second oil cavity are communicated with the two hydraulic pipes after passing through the first oil port and the second oil port respectively.
An outer flange is arranged on the outer side wall of the end part edge of the hydraulic cylinder piston provided with the internal thread, and the outer flange is connected with the inner wall of the cylinder body in a sealing way; an inner flange is arranged on the inner side wall of the edge of the end part of the hydraulic cylinder piston provided with the external thread, and the inner flange is hermetically connected with the outer wall of the output rotating shaft of the hydraulic cylinder; two ends of the hydraulic cylinder output rotating shaft penetrate through the hydraulic cylinder piston and then are connected with two ports of the cylinder body in a sealing and sleeving manner.
The hub sleeve is arranged outside the blade supporting shaft, and a pair of tapered roller bearings is arranged between the hub and the blade supporting shaft.
The ocean current energy power generating set comprises a plurality of independent variable pitch mechanical structures, wherein the independent variable pitch mechanical structures are uniformly distributed on a base of an ocean current energy power generating set, the independent variable pitch mechanical structures are uniformly distributed around a hub at intervals, each independent variable pitch mechanical structure is connected to an oil tank through a variable pitch control oil circuit, and each independent variable pitch mechanical structure is controlled through the variable pitch control oil circuit to realize variable pitch control.
The variable-pitch control oil path comprises a motor, a hydraulic pump, a first filter, a second filter, an overflow valve, a pressure gauge, an energy accumulator and three identical blade hydraulic driving loops, wherein each blade hydraulic driving loop comprises a first one-way valve, a second one-way valve, a three-position four-way proportional valve, a shuttle valve, a first balance valve, a second balance valve, a first manual stop valve and a second manual stop valve; an output shaft of the motor is connected with an input shaft of the hydraulic pump, an input port of the hydraulic pump is connected with an oil tank, an output port of the hydraulic pump is connected to a P port of the three-position four-way proportional valve after sequentially passing through the first filter and the first check valve, a T port of the three-position four-way proportional valve is connected to the oil tank after sequentially passing through the second check valve and the second filter, one end of the overflow valve is connected with the oil tank, and the other end of the overflow valve, the energy accumulator and the pressure gauge are connected between the first filter and; the port A and the port B of the three-position four-way proportional valve are respectively connected with two input ports of the shuttle valve, one output port of the shuttle valve is respectively connected with control ports of the first balance valve and the second balance valve, input ports of the first balance valve and the second balance valve are respectively connected with the port A and the port B of the three-position four-way proportional valve, and output ports of the first balance valve and the second balance valve are respectively communicated with a first oil cavity and a second oil cavity of the spiral swing hydraulic cylinder through the first manual stop valve and the second manual stop valve.
Secondly, a control method of a mechanical structure of an ocean current energy generator set, wherein the ocean current energy generator set adopts a plurality of independent variable-pitch mechanical structures, and then the control method comprises the following steps:
1) and (3) power control:
by measuring the ocean current flow velocity and the power generation power of the ocean current energy power generator set in real time under the environment of the ocean current energy power generator set, when the power generation power of the ocean current energy power generator set is below the rated power, the pitch angle unified control quantity β is sent out0Controlling a double-helix swing hydraulic cylinder in each independent variable-pitch mechanical structure to work, driving each blade to rotate around the central axis of the blade, and uniformly controlling each blade at a pitch angle of 0 DEG to obtain the maximum capture power;
when the power generation power of the ocean current energy generator set rises to reach the rated power, the pitch angle is increased uniformly according to the measured ocean current flow speed, and the uniform control quantity β is obtained0And controlling the double-helix swing hydraulic cylinders in the independent variable pitch mechanical structures to work, driving each blade to rotate around the central axis of the blade, increasing the pitch angle of each blade, changing the power coefficient, and stabilizing the power of the generated power near the rated power.
2) And (3) load control:
measuring the moments in the pitching and yawing directions borne by each blade in real time through sensors on the blades of the independent variable-pitch mechanical structure to serve as load moments; measuring the real-time azimuth angle of an impeller formed by a plurality of blades and a hub through a photoelectric encoder to obtain the azimuth angle of each blade; the controller judges whether the load borne by the ocean current energy generator set is balanced according to the load synthesis result of the ocean currents borne by the blades:
the synthetic result of the load borne by the ocean current energy generator set is as follows:
Figure BDA0002558641890000031
in the formula: mtiltPitching moment, M, to which ocean current energy generator set is subjectedyawThe yaw moment borne by the ocean current energy generator set; myiThe moment resultant moment of the pitch direction and the yaw direction received by the blade in real time measurement,
Figure BDA0002558641890000032
is the real-time azimuth angle of the blade, i represents the serial number of the blade, n represents the total number of the blade;
when pitching moment MtiltAnd yaw moment MyawWhen the current energy generator set is 0, the load borne by the current energy generator set is balanced, otherwise, the load borne by the current energy generator set is unbalanced;
if the load is unbalanced, the independent control amount β of the pitch angle of each of the three blades is determined based on the load calculation model of the ocean current energy generating set when the total load is balanced1、β2、β3Specifically, the moment resultant moment of the ith blade is linearized and processed by the following formula to obtain the independent control quantity β of the pitch anglei
Myi=hivi+kiβi+giΩ
In the formula hi、ki、giRespectively a moment of force and a resultant moment MyiThe linearization coefficients of the flow velocity, the pitch angle and the impeller rotation speed; v. ofiIs the flow velocity of the ocean current; omega is the rotating speed of the impeller, i represents the serial number of the blade;
3) the independent control quantity of the pitch angle and the unified control quantity of the pitch angle of each blade of the independent variable-pitch mechanical structures are superposed, the superposed independent control quantities are applied to the independent variable-pitch mechanical structures and control actions, and then the double-helix swing hydraulic cylinder works to drive each blade to rotate around the central axis of the blade, so that the pitch angle of each blade is adjusted to a target value respectively.
The invention adopts the spiral swing hydraulic cylinder as the driving mechanism, and can obtain a large output rotation angle only by a small working stroke under the amplification action of the two-stage spiral pair, and has the advantages of small occupied space, large driving torque and high transmission efficiency.
The invention adopts independent variable pitch control, can eliminate unbalanced load caused by the motion of the three blades, thereby avoiding the problems of vibration, uneven load distribution and the like of the unit and prolonging the service life of the unit.
The invention has the beneficial effects that:
the spiral swing hydraulic cylinder is used as a driving mechanism, and under the amplification effect of two-stage spiral pairs, a large output rotation angle can be obtained only by a small working stroke, and the spiral swing hydraulic cylinder has the advantages of small occupied space, large driving torque and high transmission efficiency.
The front end cover is fixedly connected with the hub and forms a shell of an independent variable pitch mechanical structure of the ocean current energy generator set by enclosing with the hub, and meanwhile, the guide cover for guiding the water flow direction is fixed on the front end cover, so that strong impact of water flow on the end cover is effectively avoided, and the service life is prolonged.
The blade pitch angle independent control combining power control and load control is adopted, so that the optimal power capture according to the flow speed and power is realized, and the unbalanced pitching moment and yawing moment of the unit are eliminated.
Drawings
FIG. 1 is a left side view of the mechanical structure of the apparatus of the present embodiment;
FIG. 2 is a front view of the mechanism of the device of this embodiment;
FIG. 3 is a schematic structural diagram of a spiral swing hydraulic cylinder according to the present embodiment;
fig. 4 is a schematic diagram of a variable hydraulic control circuit of the present embodiment.
FIG. 5 shows the energy capture coefficient CpA plot of blade tip speed ratio λ as a function of the different pitch angles β.
Fig. 6 is a control structure block diagram of the present embodiment.
Reference numerals: 40-blade support shaft; 50-a spiral swing hydraulic cylinder; 51-cylinder body; 511-a first oil port; 512-a second oil port; 513 — a first oil chamber; 514-a second oil chamber; 52-hydraulic cylinder piston; 53-hydraulic cylinder output shaft; 54-primary screw pair; 55-secondary screw pair; 60-variable pitch control oil way; 70-a hub; 80-tapered roller bearings; 90-front end cap; 100-a dome; 110-hydraulic pipes; 120-blades; 130-blade flange; 30-sealing the end cover; the hydraulic control system comprises a motor 1, a hydraulic pump 2, a first filter 3, a second filter 5, an overflow valve 4, a pressure gauge 6, an energy accumulator 7, a first one-way valve 8, a second one-way valve 9, a three-position four-way proportional valve 10, a shuttle valve 11, a first balance valve 12, a second balance valve 13, a first manual stop valve 14, a second manual stop valve 15 and a double-helix swing hydraulic cylinder 50.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2, the specific structure includes a group of independent pitch-varying mechanical structures mainly composed of a blade 120, a blade flange 130, a seal end cover 30, a blade support shaft 40 and a spiral swing hydraulic cylinder 50, the root of the blade 120 is fixedly and coaxially connected with the outer end of the seal end cover 30 through the blade flange 130, the inner end of the seal end cover 30 is fixedly connected with the outer end of the blade support shaft 40, one end of the blade flange 130 is fixedly connected with the blade 120, the other end of the blade flange is fixedly connected with the seal end cover 30, and the blade support shaft 40 is fixed on one side of the seal end cover 30 far. The blade 120, the blade flange 130, the end cover 30 and the blade support shaft 40 are fixedly connected in sequence, and can be regarded as a whole during movement. The blade supporting shaft 40 is sleeved in the hub 70 through a tapered roller bearing 80, the spiral swing hydraulic cylinder 50 is fixedly arranged in the hub 70, and the inner end of the blade supporting shaft 40 is coaxially and fixedly connected with the output end of the spiral swing hydraulic cylinder 50; the spiral swing hydraulic cylinder 50 is provided with two hydraulic cavities which are respectively connected with a variable pitch control oil circuit 60 outside the hub 70 through respective hydraulic pipes 110, and the variable pitch control oil circuit 60 drives the blades 120 to rotate through the spiral swing hydraulic cylinder 50 to realize variable pitch; the outer end face of the hub 70 is provided with a front end cover 90, and the inner end face of the front end cover 90 is fixed on a base of the ocean current energy generator set. The hub 70 is in dynamic sealing connection with the end cap 30.
The spiral swing hydraulic cylinder 50 sequentially comprises a cylinder body 51, a hydraulic cylinder piston 52 and a hydraulic cylinder output rotating shaft 53 from outside to inside, the hydraulic cylinder piston 52 is sleeved in the cylinder body 51, the hydraulic cylinder output rotating shaft 53 is sleeved in the hydraulic cylinder piston 52, and the hydraulic cylinder output rotating shaft 53 is fixedly connected with one end, which is not connected with the sealing end cover 30, of the blade supporting shaft 40; the side walls of the two ends of the cylinder body 51 are respectively provided with a first oil port 511 and a second oil port 512 which are communicated with the variable-pitch control oil circuit 60, and the first oil port 511 and the second oil port 512 are respectively arranged at the two ends of the hydraulic cylinder piston 52; the inner wall of one end of the cylinder body 51 is provided with internal threads, the outer wall of one end of the hydraulic cylinder piston 52 is provided with external threads, and the internal threads of the cylinder body 51 and the external threads of the hydraulic cylinder piston 52 are matched to form a secondary screw pair 55; the inner wall of the other end of the hydraulic cylinder piston 52 is provided with internal threads, the middle part of the hydraulic cylinder output rotating shaft 53 is provided with external threads, and the external threads of the hydraulic cylinder output rotating shaft 53 are matched with the internal threads of the hydraulic cylinder piston 52 to form a primary screw pair 54; thus, a primary screw pair 54 is arranged between the hydraulic cylinder output rotating shaft 53 and the hydraulic cylinder piston 52, and a secondary screw pair 55 is arranged between the hydraulic cylinder piston 52 and the cylinder body 51. Thus, a first oil chamber 513 and a second oil chamber 514 are formed in the cylinder body 51 between the end portion of the cylinder piston 52 provided with the internal thread and the end portion provided with the external thread and both ends of the cylinder output rotating shaft 53, respectively, and the first oil chamber 513 and the second oil chamber 514 are communicated with the two hydraulic pipes 110 through the first oil port 511 and the second oil port 512, respectively.
Specifically, at least two hydraulic pipes 110 are arranged, the at least two hydraulic pipes 110 are respectively used for communicating the first oil port 511 with the pitch control oil path 60 and the second oil port 512 with the pitch control oil path 60, and the hydraulic pipes 110 are used for communicating the spiral swing hydraulic cylinder 50 with the pitch control oil path 60, so that the space position for arranging the pitch control oil path 60 is not limited.
Seals are arranged between a cylinder body 51 of the spiral swing hydraulic cylinder 50 and a hydraulic cylinder output rotating shaft 53, between the cylinder body 51 and a hydraulic cylinder piston 52, and between the hydraulic cylinder piston 52 and the hydraulic cylinder output rotating shaft 53.
Specifically, the outer side wall of the end edge of the hydraulic cylinder piston 52 provided with the internal thread is provided with an outer flange, and the outer flange is connected with the inner wall of the cylinder body 51 in a sealing manner; the inner side wall of the end part edge of the hydraulic cylinder piston 52 provided with the external thread is provided with an inner flange, and the inner flange is connected with the outer wall of the hydraulic cylinder output rotating shaft 53 in a sealing way; two ends of the hydraulic cylinder output rotating shaft 53 penetrate through the hydraulic cylinder piston 52 and then are provided with outer flanges, and the outer flanges at the two ends of the hydraulic cylinder output rotating shaft 53 are connected with two ports of the cylinder body 51 in a sealing and sleeving manner. This results in the cylinder piston 52 being an annular body formed by rotating about a central axis in a Z-shaped cross section.
The blade 120 and the blade flange 130, the blade flange 130 and the seal end cover 30, the seal end cover 30 and the blade support shaft 40, and the blade support shaft 40 and the spiral swing hydraulic cylinder 50 are connected by bolts.
The hub 70 is sleeved outside the blade support shaft 40, and the front end cover 90 is fixedly connected with the hub 70 and forms a shell of an independent variable pitch mechanical structure of the ocean current energy generator set with the hub 70. And a pair of tapered roller bearings 80 is arranged between the hub 70 and the blade support shaft 40, which is beneficial to reducing the friction torque between the hub and the blade support shaft.
The air guide sleeve 100 is mounted on the front end cover 90, and the air guide sleeve 100 is fixedly connected with the front end cover 90 and then used for guiding the water flow direction, so that strong impact of water flow on the end cover is avoided.
The specific implementation comprises a plurality of independent variable-pitch mechanical structures which are all arranged on a base of the ocean current energy generating set, the plurality of independent variable-pitch mechanical structures are uniformly distributed at intervals around a hub 70, the inner ends of spiral swing hydraulic cylinders 50 of the plurality of independent variable-pitch mechanical structures are fixed together, each independent variable-pitch mechanical structure is connected to an oil tank through a variable-pitch control oil way 60, and each independent variable-pitch mechanical structure is controlled through the variable-pitch control oil way 60 to realize variable-pitch control.
When the first oil port 511 is a high-pressure oil inlet and the second oil port 512 is a low-pressure oil outlet, the first oil chamber 513 is a high-pressure chamber and the second oil chamber 514 is a low-pressure chamber, and the piston receives a rightward force and moves rightward. Because the cylinder body 51 is fixed, the hydraulic cylinder piston 52 rotates counterclockwise under the action of the second-stage screw pair 55, the hydraulic cylinder output rotating shaft 53 rotates counterclockwise relative to the hydraulic cylinder piston 52 under the action of the first-stage screw pair 54, at the moment, the hydraulic cylinder output rotating shaft 53 rotates counterclockwise relative to the cylinder body 51, and meanwhile, the hydraulic cylinder output rotating shaft 53 drives the blades 120 to rotate counterclockwise together, so that pitch variation is realized.
On the contrary, when the second port 512 is a high-pressure oil inlet and the first port 511 is a low-pressure oil outlet, the first oil chamber 513 is a low-pressure chamber and the second oil chamber 514 is a high-pressure chamber, and the cylinder piston 52 receives a leftward force and moves leftward. The hydraulic cylinder piston 52 rotates clockwise under the action of the second-stage screw pair 55, the hydraulic cylinder output rotating shaft 53 rotates clockwise relative to the hydraulic cylinder piston 52 under the action of the first-stage screw pair 54, at the moment, the hydraulic cylinder output rotating shaft 53 rotates clockwise relative to the cylinder body 51, and meanwhile, the hydraulic cylinder output rotating shaft 53 drives the blades 120 to rotate clockwise together, so that pitch variation is achieved.
By the amplification effect of the two-stage screw pair, a large output rotation angle can be obtained only by a small working stroke.
The variable-pitch control oil path 60 comprises a motor 1, a hydraulic pump 2, a first filter 3, a second filter 5, an overflow valve 4, a pressure gauge 6, an energy accumulator 7 and three identical blade hydraulic driving loops, wherein each blade hydraulic driving loop comprises a first check valve 8, a second check valve 9, a three-position four-way proportional valve 10, a shuttle valve 11, a first balance valve 12, a second balance valve 13, a first manual stop valve 14 and a second manual stop valve 15; the output shaft of motor 1 and the input shaft of hydraulic pump 2 are connected, motor 1 provides the required torque of the normal work of hydraulic pump, the oil tank is connected to the input port of hydraulic pump 2, the delivery outlet is in proper order through first filter 3, be connected to the P mouth of three-position four-way proportional valve 10 behind first check valve 8, the T mouth of three-position four-way proportional valve 10 is in proper order through second check valve 9, be connected to the oil tank behind second filter 5, two filters are used for filtering debris in the fluid, the effect of two check valves is that the fluid of guaranteeing the oil feed way can not take place the backward flow because of fuel feeding return circuit mechanical failure, prevent that the fluid of oil return way from taking place the refluenc. One end of the overflow valve 4 is connected with an oil tank, and the other end of the overflow valve 4, the energy accumulator 7 and the pressure gauge 6 are connected between the first filter 3 and the first one-way valve 8; the port A and the port B of the three-position four-way proportional valve 10 are respectively connected with two input ports of a shuttle valve 11, one output port of the shuttle valve 11 is respectively connected with control ports of a first balance valve 12 and a second balance valve 13, namely is communicated with control cavities of the first balance valve 12 and the second balance valve 13, input ports of the first balance valve 12 and the second balance valve 13 are respectively connected with the port A and the port B of the three-position four-way proportional valve 10, and output ports of the first balance valve 12 and the second balance valve 13 are respectively communicated with a first oil cavity 513 and a second oil cavity 514 of the spiral swing hydraulic cylinder 50 through a first manual stop valve 14 and a second manual stop valve 15. The valve core of the three-position four-way proportional valve is controlled to act to realize forward and reverse movement of the spiral swing hydraulic cylinder, and 360-degree independent pitch variation of the three blades is realized under the control of the three-blade hydraulic driving circuit.
The output end of the first filter 3 is connected with the input ports of the pressure gauge 6, the energy accumulator 7, the first check valve 8 and the overflow valve 4. The pressure gauge 6 measures the output pressure of the hydraulic pump, the energy accumulator 7 is used for buffering the fluctuation of the output oil pressure when the first variable hydraulic pump 2 adjusts the pitch angle, the pressure required by the system can be maintained for a period of time when the oil supply loop breaks down, and the damage to components is avoided. The other end of the overflow valve 4 is connected with an oil tank and is used for opening a valve port to unload when the output pressure of the hydraulic pump exceeds a limit value so as to prevent the hydraulic pump from being over-pressurized.
The load sensor is mounted on the hydraulic cylinder output rotating shaft 53 of the spiral swing hydraulic cylinder 50, the load sensor is a torque sensor and is used for measuring the pitching and yawing moments of the three blades, and the torque sensor and the three-position four-way proportional valve 10 are connected to the controller.
The three-position four-way proportional valve 10 is used for realizing the forward and reverse movement of the double-helix swing hydraulic cylinder 50, and the shuttle valve is used for opening the balance valve during the pitch variation. The manual stop valves 14 and 15 are in a normally open state when the oil path normally works, and when the balance valve or the three-position four-way proportional valve fails and cannot be closed, an operator manually closes the stop valves, so that the oil path is cut off, the blades are fixed, and a safety effect is achieved.
The balance valve has the function that when the blade is changed, the valve is opened as before, and when the blade is not changed, no oil enters a control cavity of the balance valve, so that the valve is closed, the pressure of an oil cavity of the double-helix swing hydraulic cylinder is maintained, and the blade angle is maintained unchanged.
The manual stop valves 14 and 15 are used for manually closing the stop valves by operators when the balance valve or the three-position four-way proportional valve fails and cannot close the valves, so that oil paths are cut off, the blades are fixed, and a safety function is achieved.
The double-helix swing hydraulic cylinder 50 is an actuating mechanism for blade pitch variation, and when the directions of oil entering and exiting the hydraulic cylinder are opposite, the double-helix swing hydraulic cylinder 50 drives the output rotating directions of the blades of the moving blades 120 to be opposite.
The oil circuit control of the invention realizes the clockwise and anticlockwise pitch variation of the blades through the matching work of the three-position four-way proportional valve 10 and the shuttle valve 11:
when the three-position four-way proportional valve 10 is in the left position, the port P and the port A of the three-position four-way proportional valve 10 are communicated, the port T and the port B are communicated, hydraulic oil enters the first oil chamber 513 of the double-helix swing hydraulic cylinder through the first balance valve 12 and the first manual stop valve 14, the input port of the shuttle valve 11 at the side close to the first balance valve 12 is high-pressure, the high-pressure oil enters the control chamber in the second balance valve 13, so that the valve of the second balance valve 13 is opened, and the oil in the second oil chamber 514 of the double-helix swing hydraulic cylinder can flow back;
when the three-position four-way proportional valve 10 is in the right position, a port P and a port B of the three-position four-way proportional valve 10 are communicated, a port T and a port A are communicated, hydraulic oil enters a second oil chamber 514 of the double-helix swing hydraulic cylinder through a second balance valve 13 and a second manual stop valve 15, an input port of the shuttle valve 11 on one side close to the second balance valve 13 is high-pressure, the high-pressure oil enters a control chamber in the first balance valve 12, a valve of the second balance valve 12 is opened, and oil in the first oil chamber 513 flows back through the second balance valve 12; when the three-position four-way proportional valve is in the left position and the right position, the directions of oil entering and exiting the double-helix swing hydraulic cylinder are opposite, and the rotating directions of the output rotating shafts of the double-helix swing hydraulic cylinder are opposite, so that the variable pitch in two directions is realized.
When the valve core is in the middle position, the oil path is cut off, and the double-helix swing hydraulic cylinder maintains pressure, so that the pitch angle is kept unchanged.
In specific implementation, the ocean current energy generator set adopts three independent variable-pitch mechanical structures, and then is controlled in the following mode:
1) and (3) power control:
by measuring the ocean current flow velocity and the power generation power of the ocean current energy power generator set in real time under the environment of the ocean current energy power generator set, when the power generation power of the ocean current energy power generator set is below the rated power, the pitch angle unified control quantity β is sent out0Controlling the double-helix swing hydraulic cylinder 50 in each independent variable-pitch mechanical structure to work, driving each blade 120 to rotate around the central axis of the blade, and uniformly controlling each blade at a pitch angle of 0 degrees to obtain the maximum capture power;
this adjusts the pitch angle of the blade blades to a smaller value for optimum capture power. As shown in fig. 5, the power coefficient is maximum for a pitch angle of 0 ° with a fixed ocean current flow rate and tip speed ratio.
When the power generation power of the ocean current energy generator set rises to reach the rated power, the pitch angle is increased uniformly according to the measured ocean current flow speed, and the uniform control quantity β is obtained0Controlling the operation of the double-helix swing hydraulic cylinder 50 in each independent variable-pitch mechanical structure to drive each blade 120 to rotate around the central axis of the blade, so as to increase the pitch angle of each blade to reduce the load of the unit, change the power coefficient and stabilize the power of the generated power near the rated power, and giving a uniform pitch angle control β to the three blades by the controller according to the power and the ocean current flow rate0And realizing power control and start-stop control.
The adjusting range of the pitch angle is 0-20 degrees, the corresponding adjusting range of the power coefficient is 0-0.45, and the target pitch angle β is obtained by performing table lookup according to the chart 5 by combining the measured real-time flow rate and rotation speed values0
2) And (3) load control:
measuring the moments in the pitching and yawing directions borne by each blade in real time through sensors on the blades of the independent variable-pitch mechanical structure to serve as load moments; measuring the real-time azimuth angle of an impeller formed by a plurality of blades and a hub through a photoelectric encoder to obtain the azimuth angle of each blade; and measuring the real-time azimuth angle of the impeller through a photoelectric encoder so as to obtain the azimuth angle of each blade. The controller judges whether the load borne by the ocean current energy generator set is balanced or not according to the load synthesis result of the ocean currents borne by the blades, if the load synthesis result of the ocean currents borne by the blades is zero, the load borne by the ocean current energy generator set is balanced, otherwise, the load borne by the ocean current energy generator set is unbalanced:
the synthetic result of the load borne by the ocean current energy generator set is as follows:
Figure BDA0002558641890000101
in the formula: mtiltPitching moment, M, to which ocean current energy generator set is subjectedyawThe yaw moment borne by the ocean current energy generator set; myiThe moment resultant moment of the pitch direction and the yaw direction received by the blade in real time measurement,
Figure BDA0002558641890000102
the real-time azimuth angle of the blade is represented by i, the serial number of the blade is represented by n, and the total number of the blades is represented by n, namely the total number of the independent variable-pitch mechanical structures;
when pitching moment MtiltAnd yaw moment MyawWhen the current energy generator set is 0, the load borne by the current energy generator set is balanced, otherwise, the load borne by the current energy generator set is unbalanced;
if the load on the ocean current energy generating set is unbalanced, the independent control quantity β of the pitch angle of each of the three blades is determined according to the load calculation model of the ocean current energy generating set when the total load is balanced1、β2、β3The purpose of eliminating unbalanced pitching moment and yawing moment is achieved; according to the nonlinear characteristic of the ocean current energy generator set, the pitching moment MtiltAnd yaw moment MyawResulting from blade moment MyiDetermining that the blade moment resultant moment is related to the flow velocity, the blade pitch angle and the impeller rotating speed, specifically, linearizing the moment resultant moment of the ith (i is 1,2,3) branch blade, and obtaining the pitch angle independent control quantity β by inverse processing according to the following formulai
Myi=hivi+kiβi+giΩ
In the formula hi、ki、giRespectively, blade moment resultant moment MyiObtaining the linear coefficients of the flow velocity, the pitch angle and the impeller rotating speed through steady state simulation; v. ofiThe flow rate of the ocean current is the interference of the system; and omega is the rotating speed of the impeller and is controlled by an electric system, i represents the serial number of the blade, and i is 1,2 and 3.
Thus, based on the measured blade moment MyiThe rotational speed omega of the impeller and the current velocity viTo determine pitch angle independent control β1、β2、β3Thereby balancing the load experienced by the impeller.
3) The independent control quantity of the pitch angle and the unified control quantity of the pitch angle of each blade of the independent variable-pitch mechanical structures are superposed, the superposed independent control quantities are applied to the independent variable-pitch mechanical structures and control the independent variable-pitch mechanical structures to act, and then the double-helix swing hydraulic cylinder 50 works to drive each blade 120 to rotate around the central axis of the blade 120, so that the pitch angle of each blade 120 is adjusted to a target value respectively.
The control method of the invention is to set the pitch angle unified control quantity β according to the ocean current flow velocity and the ocean current energy generator set power0According to the load borne by the ocean current energy generating set, the independent control quantity β is given to the pitch angle of the three blades when the load is unbalanced1、β2、β3The pitch angle unified control quantity and the pitch angle independent control quantity are combined to control the pitch angle of each blade, and meanwhile, the high efficiency of energy capture and the force balance are considered.
Therefore, the optimal pitch angle can be controlled according to the power of the ocean current energy generator set and the ocean current flow rate through the power control process, so that the ocean current energy generator set can operate optimally.

Claims (7)

1. The utility model provides an independent variable pitch mechanical structure of ocean current energy generating set which characterized in that: the variable-pitch propeller comprises a group of independent variable-pitch mechanical structures which mainly comprise blades (120), blade flanges (130), sealing end covers (30), blade supporting shafts (40) and spiral swing hydraulic cylinders (50), wherein the roots of the blades (120) are fixedly and coaxially connected with the outer ends of the sealing end covers (30) through the blade flanges (130), the inner ends of the sealing end covers (30) are fixedly and fixedly connected with the outer ends of the blade supporting shafts (40), the blade supporting shafts (40) are sleeved in a hub (70) through tapered roller bearings (80), the spiral swing hydraulic cylinders (50) are fixedly arranged in the hub (70), and the inner ends of the blade supporting shafts (40) are coaxially and fixedly connected with the output ends of the spiral swing hydraulic cylinders (50); the spiral swing hydraulic cylinder (50) is provided with two hydraulic cavities which are respectively connected with the variable-pitch control oil circuit (60) through respective hydraulic pipes (110), and the variable-pitch control oil circuit (60) drives the blades (120) to rotate through the spiral swing hydraulic cylinder (50) to realize variable pitch; a front end cover (90) is installed on the outer end face of the hub (70), and the inner end face of the front end cover (90) is fixed on the base.
2. The independent pitch mechanical structure of the ocean current energy generator set according to claim 1, wherein: the spiral swing hydraulic cylinder (50) sequentially comprises a cylinder body (51), a hydraulic cylinder piston (52) and a hydraulic cylinder output rotating shaft (53), the hydraulic cylinder piston (52) is sleeved in the cylinder body (51), the hydraulic cylinder output rotating shaft (53) is sleeved in the hydraulic cylinder piston (52), and the hydraulic cylinder output rotating shaft (53) is fixedly connected with one end, which is not connected with the sealing end cover (30), of the blade supporting shaft (40); the side walls of two ends of the cylinder body (51) are respectively provided with a first oil port (511) and a second oil port (512) which are communicated with the variable pitch control oil circuit (60), the inner wall of one end of the cylinder body (51) is provided with an internal thread, the outer wall of one end of the hydraulic cylinder piston (52) is provided with an external thread, and the internal thread of the cylinder body (51) and the external thread of the hydraulic cylinder piston (52) are matched to form a secondary screw pair (55); the inner wall of the other end of the hydraulic cylinder piston (52) is provided with an internal thread, the middle part of the hydraulic cylinder output rotating shaft (53) is provided with an external thread, and the external thread of the hydraulic cylinder output rotating shaft (53) is matched with the internal thread of the hydraulic cylinder piston (52) to form a primary screw pair (54); therefore, a first oil chamber (513) and a second oil chamber (514) are formed in the cylinder body (51) between the two ends of the hydraulic cylinder piston (52) and the two ends of the hydraulic cylinder output rotating shaft (53), and the first oil chamber (513) and the second oil chamber (514) are communicated with the two hydraulic pipes (110) after passing through the first oil port (511) and the second oil port (512) respectively.
3. The independent pitch mechanical structure of the ocean current energy generator set according to claim 2, wherein: an outer flange is arranged on the outer side wall of the end part edge of the hydraulic cylinder piston (52) provided with the internal thread, and the outer flange is connected with the inner wall of the cylinder body (51) in a sealing way; an inner flange is arranged on the inner side wall of the end part edge of the hydraulic cylinder piston (52) provided with the external thread, and the inner flange is hermetically connected with the outer wall of the hydraulic cylinder output rotating shaft (53); two ends of the hydraulic cylinder output rotating shaft (53) penetrate through the hydraulic cylinder piston (52) and then are connected with two ports of the cylinder body (51) in a sealing and sleeving manner.
4. The independent pitch mechanical structure of the ocean current energy generator set according to claim 1, wherein: the hub (70) is sleeved outside the blade supporting shaft (40), and a pair of tapered roller bearings (80) is arranged between the hub (70) and the blade supporting shaft (40).
5. The independent pitch mechanical structure of the ocean current energy generator set according to claim 1, wherein:
the ocean current energy power generating set comprises a plurality of independent variable pitch mechanical structures, wherein the independent variable pitch mechanical structures are uniformly distributed on a base of an ocean current energy power generating set, the independent variable pitch mechanical structures are uniformly distributed at intervals around a hub (70), each independent variable pitch mechanical structure is connected to an oil tank through a variable pitch control oil circuit (60), and the variable pitch control of each independent variable pitch mechanical structure is realized through the variable pitch control oil circuit (60).
6. The independent pitch mechanical structure of the ocean current energy generator set according to claim 5, wherein: the variable-pitch control oil way (60) comprises a motor (1), a hydraulic pump (2), a first filter (3), a second filter (5), an overflow valve (4), a pressure gauge (6), an energy accumulator (7) and three identical blade hydraulic driving circuits, wherein each blade hydraulic driving circuit comprises a first one-way valve (8), a second one-way valve (9), a three-position four-way proportional valve (10), a shuttle valve (11), a first balance valve (12), a second balance valve (13), a first manual stop valve (14) and a second manual stop valve (15); an output shaft of the motor (1) is connected with an input shaft of the hydraulic pump (2), an input port of the hydraulic pump (2) is connected with an oil tank, an output port of the hydraulic pump sequentially passes through the first filter (3) and the first check valve (8) and then is connected to a port P of the three-position four-way proportional valve (10), a port T of the three-position four-way proportional valve (10) sequentially passes through the second check valve (9) and the second filter (5) and then is connected to the oil tank, one end of the overflow valve (4) is connected with the oil tank, and the other end of the overflow valve (4), the energy accumulator (7) and the pressure gauge (6) are connected between the first filter (3) and the first; an A port and a B port of the three-position four-way proportional valve (10) are respectively connected with two input ports of the shuttle valve (11), one output port of the shuttle valve (11) is respectively connected to control ports of a first balance valve (12) and a second balance valve (13), input ports of the first balance valve (12) and the second balance valve (13) are respectively connected with the A port and the B port of the three-position four-way proportional valve (10), and output ports of the first balance valve (12) and the second balance valve (13) are respectively communicated with a first oil chamber (513) and a second oil chamber (514) of the spiral swing hydraulic cylinder (50) through a first manual stop valve (14) and a second manual stop valve (15).
7. The control method applied to the mechanical structure of the ocean current energy generator set of any one of claims 1 to 6 is characterized by comprising the following steps: the ocean current energy generating set adopts a plurality of independent variable pitch mechanical structures according to any one of claims 1-9, and then is controlled in the following way:
1) and (3) power control:
by measuring the ocean current flow velocity and the power generation power of the ocean current energy power generator set in real time under the environment of the ocean current energy power generator set, when the power generation power of the ocean current energy power generator set is below the rated power, the pitch angle unified control quantity β is sent out0Controlling a double-helix swing hydraulic cylinder (50) in each independent variable-pitch mechanical structure to work, driving each blade (120) to rotate around the central axis of the blade, and uniformly controlling each blade at a pitch angle of 0 DEG to obtain the maximum capture power;
when the power generation power of the ocean current energy generator set rises to reach the rated power, the pitch angle is increased uniformly according to the measured ocean current flow speed, and the uniform control quantity β is obtained0The double-helix swing hydraulic cylinder (50) in each independent variable-pitch mechanical structure is controlled to work to drive each blade (120) to rotate around the central axis of the blade, so that the size of each blade is increasedAnd the pitch angle changes the power coefficient, so that the generated power is stabilized near the rated power.
2) And (3) load control:
measuring the moments in the pitching and yawing directions borne by each blade in real time through sensors on the blades of the independent variable-pitch mechanical structure to serve as load moments; measuring the real-time azimuth angle of an impeller formed by a plurality of blades and a hub through a photoelectric encoder to obtain the azimuth angle of each blade; the controller judges whether the load borne by the ocean current energy generator set is balanced according to the load synthesis result of the ocean currents borne by the blades:
the synthetic result of the load borne by the ocean current energy generator set is as follows:
Figure FDA0002558641880000031
in the formula: mtiltPitching moment, M, to which ocean current energy generator set is subjectedyawThe yaw moment borne by the ocean current energy generator set; myiThe moment resultant moment of the pitch direction and the yaw direction received by the blade in real time measurement,
Figure FDA0002558641880000032
is the real-time azimuth angle of the blade, i represents the serial number of the blade, n represents the total number of the blade;
when pitching moment MtiltAnd yaw moment MyawWhen the current energy generator set is 0, the load borne by the current energy generator set is balanced, otherwise, the load borne by the current energy generator set is unbalanced;
if the load is unbalanced, the independent control amount β of the pitch angle of each of the three blades is determined based on the load calculation model of the ocean current energy generating set when the total load is balanced1、β2、β3Specifically, the moment resultant moment of the ith blade is linearized and processed by the following formula to obtain the independent control quantity β of the pitch anglei
Myi=hivi+kiβi+giΩ
In the formula hi、ki、giRespectively a moment of force and a resultant moment MyiThe linearization coefficients of the flow velocity, the pitch angle and the impeller rotation speed; v. ofiIs the flow velocity of the ocean current; omega is the rotating speed of the impeller, i represents the serial number of the blade;
3) the independent control quantity and the unified control quantity of the pitch angle of each blade of the independent variable-pitch mechanical structures are superposed, the superposed independent control quantity and the unified control quantity of the pitch angle are applied to the independent variable-pitch mechanical structures and control actions, and then the double-helix swing hydraulic cylinder (50) works to drive each blade (120) to rotate around the central axis of the blade, so that the pitch angle of each blade (120) is adjusted to a target value respectively.
CN202010601071.2A 2020-06-28 2020-06-28 Variable-pitch device of ocean current energy generator set and control method thereof Pending CN111779609A (en)

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JP2002276535A (en) * 2001-03-21 2002-09-25 Kayaba Ind Co Ltd Variable vane mechanism
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