JP2018505349A - グリッド接続を使用しない風力タービンの動作方法および風力タービン - Google Patents
グリッド接続を使用しない風力タービンの動作方法および風力タービン Download PDFInfo
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- 238000004146 energy storage Methods 0.000 claims abstract description 37
- 230000001360 synchronised effect Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000002485 combustion reaction Methods 0.000 claims abstract description 6
- 238000004519 manufacturing process Methods 0.000 claims abstract description 6
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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
- F03D7/026—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for starting-up
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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
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/30—Commissioning, e.g. inspection, testing or final adjustment before releasing for production
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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
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
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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
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- 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
- F03D7/0264—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
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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
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/10—Combinations of wind motors with apparatus storing energy
- F03D9/11—Combinations of wind motors with apparatus storing energy storing electrical energy
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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
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/20—Wind motors characterised by the driven apparatus
- F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
- F03D9/255—Wind motors characterised by the driven apparatus the apparatus being an electrical generator connected to electrical distribution networks; Arrangements therefor
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- 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
- F05B2220/00—Application
- F05B2220/70—Application in combination with
- F05B2220/706—Application in combination with an electrical generator
- F05B2220/7064—Application in combination with an electrical generator of the alternating current (A.C.) type
- F05B2220/70642—Application in combination with an electrical generator of the alternating current (A.C.) type of the synchronous type
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- 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
- F05B2220/00—Application
- F05B2220/70—Application in combination with
- F05B2220/706—Application in combination with an electrical generator
- F05B2220/7068—Application in combination with an electrical generator equipped with permanent magnets
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- 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
- F05B2230/00—Manufacture
- F05B2230/60—Assembly methods
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- 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
- F05B2230/00—Manufacture
- F05B2230/70—Disassembly methods
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- 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
- F05B2240/00—Components
- F05B2240/90—Mounting on supporting structures or systems
- F05B2240/95—Mounting on supporting structures or systems offshore
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- 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
- F05B2270/103—Purpose of the control system to affect the output of the engine
- F05B2270/1032—Torque
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- 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
- F05B2270/107—Purpose of the control system to cope with emergencies
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- 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
- F05B2270/321—Wind directions
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- 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
- F05B2270/327—Rotor or generator speeds
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- 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
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- 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
- F05B2270/329—Azimuth or yaw angle
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- 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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- 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
- Y02E10/727—Offshore wind turbines
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- 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
- Y02E70/00—Other energy conversion or management systems reducing GHG emissions
- Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Control Of Eletrric Generators (AREA)
- Wind Motors (AREA)
- Supply And Distribution Of Alternating Current (AREA)
Abstract
Description
− ヨー駆動システムに電力を供給するための100kW〜120kW、または
− ヨー駆動システムを始動するための240kW〜260kW(一時的)。
− ヨー駆動システムに連続的に電力を供給するための100kW〜120kW、または
− ヨー駆動システムを始動するために240kW〜260kW(一時的)。
Claims (13)
- 風力タービンを動作させる方法であって、前記風力タービンは、永久磁石(PM)同期発電機と、主コンバータと、主コンバータコントローラと、風力タービンマスタコントローラと、電気エネルギー貯蔵装置を含む電力供給ステージとを備え、前記方法は、電力供給グリッドおよび/または燃焼機関から独立した前記電気エネルギー貯蔵装置からの電気エネルギーを使用して前記風力タービンの始動を実行し、前記主コンバータコントローラにより前記主コンバータの中間電圧を制御し、始動後に前記電気エネルギー貯蔵装置とは独立して前記PM同期発電機から電力を取り出すことにより、前記風力タービンをアイランドモードで動作させることを含む、方法。
- 前記アイランドモードで前記電気エネルギー貯蔵装置を充電することをさらに含む、請求項1に記載の方法。
- 始動中に前記電気エネルギー貯蔵装置によって前記風力タービンの内部にあるサブシステムに電力を供給することをさらに含む、請求項1または2に記載の方法。
- 前記サブシステムは、風の方向に従ってナセルを位置決めするためのヨー駆動装置、ならびに/または、ロータブレードおよび/もしくは空調システムを調整するためのピッチシステムである、請求項3に記載の方法。
- 次の始動を実行する前のグリッド障害後に前記風力タービンを停止させ、および/または前記風力タービンを安全な動作状態にすることをさらに含む、請求項1〜4のいずれか一項に記載の方法。
- 前記PM同期発電機の弱め界磁および/またはブレーキチョッパ制御によって前記主コンバータコントローラによってDCリンク電圧を制御することをさらに含む、請求項1〜5のいずれか一項に記載の方法。
- アイランドモードにおいて前記発電機および/または前記ロータの回転速度に応じて前記ロータブレードのピッチ角を調整するように前記風力タービンマスタコントローラを構成し、アイランドモード中に前記主コンバータコントローラによってトルクを制御することをさらに含む、請求項1〜6のいずれか一項に記載の方法。
- アイランドモードにおける前記風力タービンのピッチ制御を、毎分回転数の最小値を下回る前記ピッチ角、および、毎分回転数の最大値を超える前記ピッチ角のみが調整されることにより、ロータ毎分回転数(nR)および/または発電機毎分回転数(nG)の許容範囲外の値に制限することをさらに含む、請求項1〜7のいずれか一項に記載の方法。
- 永久磁石(PM)同期発電機と、主コンバータと、主コンバータコントローラと、風力タービンマスタコントローラと、電気エネルギー貯蔵装置とを備える風力タービンであって、前記風力タービンは、前記エネルギー貯蔵装置から電力を取り出し、続いてアイランドモードに移行することによって、外部電源から独立して前記風力タービンの最初の始動を実行するように構成されており、前記アイランドモードでは、前記主コンバータコントローラは、トルクおよび/または前記主コンバータの中間電圧(DCリンク電圧)を制御するように構成されている、風力タービン。
- 前記アイランドモードにおいて、主コンバータコントローラは、前記PM同期発電機の弱め界磁および/またはブレーキチョッパ制御によって前記DCリンク電圧を制御するように構成されている、請求項9に記載の風力タービン。
- 前記タービンマスタコントローラは、アイランドモードでの前記発電機および/または前記ロータの回転速度に応答して前記ロータブレードのピッチ角を調整するように構成されている、請求項9または10に記載の風力タービン。
- ロータ毎分回転数(nR)および/または発電機毎分回転数(nG)が許容範囲外である場合、アイランドモードでは前記風力タービンのピッチ制御のみを実行するようにさらに構成されている、請求項9〜11のいずれか一項に記載の風力タービン。
- 風力タービンを製造する方法であって、第1の場所において前記風力タービンを組み立て、前記風力タービンを全負荷で完全にバーンインし、前記第1の場所で前記風力タービンを解体し、第2の場所で前記風力タービンを再組み立てし、前記風力タービンの内部にある電気エネルギー貯蔵装置によって供給される電気エネルギーのみに基づいてグリッドまたは燃焼発電機に接続することなく前記風力タービンの始動または自力起動を実行し、続いて、前記主コンバータコントローラによって前記主コンバータのトルクおよび/またはDCリンクを制御することを含む、方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15153335.3A EP3051124B1 (en) | 2015-01-30 | 2015-01-30 | Method of operating a wind turbine without grid connection and wind turbine |
EP15153335.3 | 2015-01-30 | ||
PCT/EP2016/051972 WO2016120467A1 (en) | 2015-01-30 | 2016-01-29 | Method of operating a wind turbine without grid connection and wind turbine |
Publications (2)
Publication Number | Publication Date |
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JP2018505349A true JP2018505349A (ja) | 2018-02-22 |
JP6563039B2 JP6563039B2 (ja) | 2019-08-21 |
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JP2017558778A Active JP6563039B2 (ja) | 2015-01-30 | 2016-01-29 | グリッド接続を使用しない風力タービンの動作方法および風力タービン |
Country Status (9)
Country | Link |
---|---|
US (1) | US10774808B2 (ja) |
EP (1) | EP3051124B1 (ja) |
JP (1) | JP6563039B2 (ja) |
KR (1) | KR102005980B1 (ja) |
CN (1) | CN108235717B (ja) |
BR (1) | BR112017014250A2 (ja) |
CA (1) | CA2971681C (ja) |
DK (1) | DK3051124T3 (ja) |
WO (1) | WO2016120467A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022054443A (ja) * | 2020-09-25 | 2022-04-06 | ヴォッベン プロパティーズ ゲーエムベーハー | 風力発電設備の無停電電源 |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015201431A1 (de) * | 2015-01-28 | 2016-07-28 | Wobben Properties Gmbh | Verfahren zum Betreiben eines Windparks |
WO2017134208A1 (en) * | 2016-02-05 | 2017-08-10 | Abb Technology Oy | Heating a wind turbine facility |
GB2554075B (en) | 2016-09-15 | 2021-05-19 | Equinor Energy As | Optimising fire protection for an offshore platform |
GB2554077B (en) | 2016-09-15 | 2021-05-19 | Equinor Energy As | Handling of hydrocarbons on an offshore platform |
CN106602599B (zh) * | 2016-12-21 | 2019-03-01 | 天津瑞能电气有限公司 | 一种基于风力发电***的被动式孤岛穿越方法 |
GB2560378B (en) | 2017-03-10 | 2022-05-18 | Equinor Energy As | Power supply system for an offshore platform |
DE102017122695A1 (de) | 2017-09-29 | 2019-04-04 | Wobben Properties Gmbh | Verfahren zum Versorgen von Windenergieanlagenkomponenten mit Energie sowie Energieversorgungseinrichtung und Windenergieanlage damit |
EP3471231A1 (en) | 2017-10-13 | 2019-04-17 | Ørsted Wind Power A/S | A method for black-starting an electrical grid |
DE102018125465A1 (de) * | 2018-10-15 | 2020-04-16 | Wobben Properties Gmbh | Verfahren und Windpark zum Einspeisen elektrischer Leistung in ein elektrisches Versorgungsnetz |
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DK3051124T3 (en) | 2018-10-15 |
CN108235717B (zh) | 2021-08-13 |
CA2971681A1 (en) | 2016-08-04 |
US10774808B2 (en) | 2020-09-15 |
EP3051124A1 (en) | 2016-08-03 |
BR112017014250A2 (pt) | 2018-02-20 |
KR102005980B1 (ko) | 2019-07-31 |
CA2971681C (en) | 2019-10-29 |
JP6563039B2 (ja) | 2019-08-21 |
KR20180019499A (ko) | 2018-02-26 |
WO2016120467A1 (en) | 2016-08-04 |
US20180335014A1 (en) | 2018-11-22 |
EP3051124B1 (en) | 2018-06-27 |
CN108235717A (zh) | 2018-06-29 |
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