CN100460669C - Wind turbine yaw control method based on wind vane and output power - Google Patents
Wind turbine yaw control method based on wind vane and output power Download PDFInfo
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- CN100460669C CN100460669C CNB2007100373100A CN200710037310A CN100460669C CN 100460669 C CN100460669 C CN 100460669C CN B2007100373100 A CNB2007100373100 A CN B2007100373100A CN 200710037310 A CN200710037310 A CN 200710037310A CN 100460669 C CN100460669 C CN 100460669C
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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
- 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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- 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
- F05B2270/335—Output power or torque
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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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Abstract
本发明涉及一种能源技术领域的基于风向标和输出功率的风力机偏航控制方法，在风向变化绝对值大于15°时，采用风向标控制方法；在风向变化绝对值小于等于15°时则采用功率控制方法，因风向、风速变化会引起发电机输出功率变化，功率检测仪测得发电机输出功率，只有在风向变化时才进行偏航控制，风速变化对功率控制方法仅仅视作干扰信号。其中，功率控制方法又分为逆时针旋转、顺时针旋转和原位停止三种工况。本发明能缩短风力机对风时间，提高风力机对风精度、发电机组风能利用效率和风力机使用寿命。
The invention relates to a wind turbine yaw control method based on a wind vane and output power in the field of energy technology. When the absolute value of the wind direction change is greater than 15°, the wind vane control method is adopted; when the absolute value of the wind direction change is less than or equal to 15°, the power is used. For the control method, the change of wind direction and wind speed will cause the output power of the generator to change. The power detector measures the output power of the generator, and the yaw control is only performed when the wind direction changes. The change of wind speed is only regarded as an interference signal to the power control method. Among them, the power control method is divided into three working conditions: counterclockwise rotation, clockwise rotation and in-situ stop. The invention can shorten the wind-facing time of the wind-driven machine, improve the wind-facing accuracy of the wind-driven machine, the wind energy utilization efficiency of the generating set and the service life of the wind-driven machine.
Description
Technical field
What the present invention relates to is a kind of controlling method of technical field of wind power generation, specifically, relates to a kind of wind energy conversion system Yaw control method based on wind vane and output power.
Background technique
Wind energy is a kind of renewable energy sources, and in recent years, wind energy development is extensively paid much attention to utilization.But wind is a kind of vector, has randomness, no matter is that wind direction or wind speed are always constantly changing, and requires the driftage control system of control wind power generating set, guarantees that the wind energy conversion system cabin is down with the wind positive all the time, the utilization ratio and the wind energy conversion system life-span of improving wind energy.
In the prior art, the someone proposes to adopt the passive yaw system that facings the wind, and by the tail vane control of wind energy conversion system, it is passive to the wind mode to take when change of the wind, is used for small-sized, independent non-grid type wind power generating set more.The somebody proposes to adopt the yaw system that initiatively facings the wind, carry out active wind is controlled according to being positioned at wind direction signals that the following wind transducer of wind direction records, take controlling methods such as PI (proportional integral), fuzzy and optimal control, be applicable to large-scale, grid type wind power generating set.Though these methods can be dealt with problems to a certain extent, all there is deficiency.
Find through literature search prior art, Farret etc. are in " Proc.of The 27th AnnualConference of the IEEE " (the 27th nd Annual Meeting collection of IEEE) (calendar year 2001, the 2nd volume, the 1370--1375 page or leaf) " the Sensorless active yaw control forwind turbines " that delivers on (wind energy conversion system does not have the control of speed active yawing), a kind of HILL CLIMBING (blind person climbs the mountain) controlling method of not using wind transducer has been proposed in this article, concrete grammar is: based on seeking function maximum of points principle, by detecting the output power of generator, and control turning to of yaw motor according to the variation of this output power, seek maximum output value point, small-sized but this method only is applicable to, independent non-grid type wind power generating set.Also find in the retrieval, Kung Chris Wu etc. are in " Proceedings of The FirstIEEE Regional Conference on Aerospace Control Systems " (first IEEE Aero-Space control system regional conference collection of thesis) (on May 25-27th, 1993, the 254-258 page or leaf) " the Evaluation of Classical and Fuzzy LogicControllers for Wind Turbine Yaw Control " that delivers on (wind energy conversion system driftage control typical case and fuzzy controller analysis are relatively), propose in this article at large-scale wind power generator incorporated in power network group, adopt the yaw system that initiatively facings the wind, carry out active wind is controlled according to being positioned at wind direction signals that the following wind transducer of wind direction records, take PI (proportional integral), controlling methods such as fuzzy and optimal control, concrete grammar is: according to anemoscope, sensors such as wind vane record signal, wind energy conversion system is implemented driftage to be controlled wind, its deficiency is: the driftage control signal of yawer is derived from wind transducer, and this sensor is settled on the leeward, influenced by turbulent flow etc., measuring accuracy is not high, causes driftage control effect undesirable.
Summary of the invention
The objective of the invention is at large-scale, grid type wind generating set yaw control, a kind of wind energy conversion system Yaw control method based on wind vane and output power is proposed, make it when wind direction variation on a large scale, adopt the wind vane controlling method, then adopt Poewr control method when wind direction changes among a small circle, shorten wind energy conversion system to the wind time, improve wind energy conversion system wind precision, generator set Wind Power Utilization efficient and wind energy conversion system working life.
The present invention is achieved by the following technical solutions, the present invention is when wind direction generation wide variation, adopt the wind vane controlling method, Poewr control method takes place then to adopt when changing among a small circle, because of can causing generated output power, wind direction, wind speed variation change, power detecting instrument records generated output power, the control of only when wind direction changes, just going off course, and wind speed changes only regards undesired signal as to Poewr control method.
Described wind vane controlling method, be meant: when wind direction during in wide variation (the wind direction change absolute value is greater than 15 °), directly the direction according to wind changes the control of going off course, send drive signal by dsp controller, start yaw motor, make wind energy conversion system to wind deflector through reduction gear again, until the wind direction change absolute value is smaller or equal to 15 °, yaw motor is gone off course after continuing 5 ° of rotations on the former direction till 3 ° again.
Described Poewr control method is meant: when wind direction changes among a small circle (the wind direction change absolute value is smaller or equal to 15 °), by direct detection generated output power, and adopt the control of going off course of blind person's hill climbing method.Poewr control method is divided into and is rotated counterclockwise, turns clockwise and three operating modes of original position stop, and promptly at first be rotated counterclockwise, and then judge according to the power change values size, be to continue to be rotated counterclockwise, still turn clockwise or original position stop.Voltage and current by the generator amature side is imported dsp controller through signaling conversion circuit, dsp controller calculates and handles, and sends drive signal, starts yaw motor, make wind energy conversion system to wind deflector through reduction gear again, until yaw motor angle of swing absolute value equals till 0.
Described power detecting instrument detects the voltage and current of generator amature side respectively, measures the electric current and the voltage of direct current, interchange and pulse shape by electric current, voltage transducer.
The present invention adopts the wind energy conversion system Yaw control method of wind vane and output power, when wind direction variation on a large scale, adopt the wind vane controlling method, then adopt Poewr control method when wind direction changes among a small circle, shorten wind energy conversion system to the wind time, improve wind energy conversion system wind precision, generator set Wind Power Utilization efficient and wind energy conversion system working life.Behind the wind power generation set grid-connection, initialization driftage control system is also judged wind direction, the wind direction change absolute value is greater than 15 °, carry out wind vane control, until the wind direction change absolute value smaller or equal to 15 °, this moment, yaw motor was gone off course 3 ° again after continuing to rotate 5 ° on the former direction, transferred power control then to; The wind direction change absolute value is smaller or equal to 15 °, judge variable power, if variable power in power difference given range, is returned initial position, greater than power difference setting value, then yaw motor is rotated counterclockwise 5 °, judges wind direction once more, less than 15 °, if after being rotated counterclockwise 5 °, power change values diminishes, and then continues driftage counterclockwise, reaches the setting value scope up to power change values and just stops driftage; If it is big that power change values becomes, then turn clockwise 5 °, judge the power change values size again, if diminishing, power change values then continues driftage clockwise, reach the setting value scope up to power change values and just stop driftage; If power change values still becomes greatly, show then because of wind speed changes to cause variable power that wind direction does not change, the yaw motor original position stop.When the wind-driven generator output power changes, need to judge whether wind direction changes, and the deflection direction of yaw motor.In order to reduce acting blindly of yaw motor, take the measure of 5 ° of the earlier counterclockwise deflections of yaw motor; According to power difference variable quantity, judge that effectively and quickly wind speed changes the output power that causes and changes, implement driftage control.The present invention according to wind direction actual change angular dimension, adopts wind vane and output power control method from the angle of large scale wind power machine driftage control.
That the present invention can satisfy is large-scale, grid type wind energy conversion system driftage control requirement, for shortening wind energy conversion system to the wind time, improves wind energy conversion system wind precision, generator set Wind Power Utilization efficient and wind energy conversion system are had positive effect working life.
Description of drawings
Fig. 1 is a control flow chart of the present invention
Fig. 2 is yaw system of the present invention and power detection schematic representation
Power control schematic representation when Fig. 3 changes for wind direction of the present invention
Power control schematic representation when Fig. 4 changes for wind speed of the present invention
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed mode of execution and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
The wind direction signals that the wind energy conversion system driftage control system of Large-scale Wind Turbines records according to the wind vane sensor, send automatic driftage instruction through wind energy conversion system yawer (dsp controller), what yaw motor and driving mechanism (reduction gear) were formed carries out corrective action to wind system, makes the cabin accurately to wind.
As shown in Figure 1, the concrete implementing procedure of present embodiment is as follows:
A. behind the wind power generation set grid-connection, initialization driftage control system is also judged wind direction;
B. work as wind direction Vd change absolute value greater than 15 °, directly jump to A and partly carry out wind vane control, start yaw motor by dsp controller, drive the reduction gear of coaxial connection by yaw motor, and the pivoting support that drives between cabin and the pylon by the deceleration gearwheel drives the cabin rotation, carry out wind, until wind direction Vd change absolute value is during smaller or equal to 15 °, yaw motor is gone off course 3 ° after continuing 5 ° of rotations on the former direction again and is just carried out power control; Judge according to the first power change values Δ P1, if the changing value of Δ P1 greater than power difference setting value Δ P*, then continues in the control of going off course of former direction, otherwise, then return initial position, finish driftage and control;
C. when wind direction Vd change absolute value during smaller or equal to 15 °, then judge according to power change values, if the first power change values Δ P1 (power difference intermediate variable) is smaller or equal to power difference setting value Δ P*, then return initial position, the control of not going off course, otherwise, after yaw motor is rotated counterclockwise 5 °, if wind direction Vd change absolute value smaller or equal to 15 °, then enters B and partly judges variable power;
D. if Δ P1-Δ P2≤0 establishment, illustrate that yaw direction is correct, still adopt the Poewr control method control of going off course at former deflection direction, judge according to the first power change values Δ P1, if the changing value of Δ P1 greater than power difference setting value Δ P*, continues in the control of going off course of former direction, otherwise, then return initial position, finish driftage control; If be false and then enter the C part in Δ P1-Δ P2≤0, yaw motor turns clockwise 5 °, judges according to the power change values situation again;
E. if Δ P1-Δ P2〉0 establishment, illustrate that variable power is that the wind speed variation causes that yaw motor no longer rotates, directly partly return initial position by the C part through D, the control of not going off course, otherwise, carry out power control, judge according to the first power change values Δ P1, if the changing value of Δ P1 greater than power difference setting value Δ P*, then continues in the control of going off course of former direction, otherwise, then return initial position, finish driftage control.
Vd is a wind direction among this figure, P* is the power given value, P is an intermediate variable, the instantaneous power value of feedback of Pf for detecting, Δ P1, Δ P2 are respectively first power change values, second power change values, Δ P* is a power difference setting value, and Δ is certain constant value that assignment is given Δ P*, and θ is the yaw motor angle of swing.
As shown in Figure 2, yaw system and power detection, wherein: adopt Hall current sensor and voltage sensor senses electric current and magnitude of voltage respectively, just obtained the output power of generator.The current sensor model is LA28-NP, and the specified effective value electric current in former limit is 25mA, employing ± 15V power supply power supply, and precision is ± 0.5%, the primary current measuring range is 0～± 36A.The model of voltage transducer is LV28-P, and the specified effective value electric current in former limit is 10mA, and the specified effective value electric current of secondary is 25mA, employing ± 15V power supply power supply, and precision is ± 0.6%, the primary current measuring range is 0～± 14mA.
As shown in Figure 3, Poewr control method when wind direction changes: suppose that wind speed does not change, when wind direction deflects, P (θ)=P then
* MaxCos (θ), Δ P
1=P
* Max-P (θ)=P
* Max(1-cos θ), wherein, the y axle is a power shaft; The x axle is the yaw motor positioning shaft; θ changes the angle for driftage; Δ P is the variable power difference; Δ P
*Be variable power difference setting value; P (θ) is the power momentary value; Curve V1, V2 are the wind direction curve; Pf is the instantaneous power value of feedback.Owing to change angle θ in driftage
1The time, Δ P
1Δ P
*, yaw motor rotates towards the V2 wind direction, changes angle θ in driftage
2The time Δ P arranged
2=P
f-P, Δ P=Δ P
1-Δ P
2, Δ P〉and Δ P
*So,, yaw motor still rotates to former direction, and sampling relatively changes angle θ until arriving driftage
3Till neighbouring, this moment, power change values reached given range, and the wind-force unit is realized wind.
As shown in Figure 4, power control when wind speed changes: if wind direction is constant, when wind speed changes to Vs2 by Vs1, Δ P
1=P
* 1max-P
* 2max, Δ P
1Δ P
*, the yaw motor starting is counterclockwise by θ
2Forward θ to
1, sampling is compared, Δ P=Δ P
1+ Δ P
2Δ P
1, the yaw direction mistake is described, clockwise by θ
1Forward θ to
3, still have Δ P=Δ P
1+ Δ P
2Δ P
1, illustrate that then wind direction does not become, just wind speed changes, the yaw motor original position that playbacks.
Claims (6)
1. the wind energy conversion system Yaw control method based on wind vane and output power is characterized in that, during greater than 15 °, adopts the wind vane controlling method at the wind direction change absolute value; Then adopt Poewr control method during smaller or equal to 15 ° at the wind direction change absolute value, because of can causing generated output power, wind direction, wind speed variation change, power detecting instrument records generated output power, the control of only just going off course when wind direction changes, wind speed change only regards undesired signal as to Poewr control method.
2. the wind energy conversion system Yaw control method based on wind vane and output power according to claim 1, it is characterized in that, described wind vane controlling method, directly the direction according to wind changes the control of going off course, send drive signal by dsp controller, start yaw motor, make wind energy conversion system to wind deflector through reduction gear again, until the wind direction change absolute value is smaller or equal to 15 °, yaw motor is gone off course after continuing 5 ° of rotations on the former direction till 3 ° again.
3. the wind energy conversion system Yaw control method based on wind vane and output power according to claim 1, it is characterized in that, described Poewr control method, by direct detection generated output power and adopt the control of going off course of blind person's hill climbing method, voltage and current by the generator amature side is imported dsp controller through signaling conversion circuit, dsp controller calculates and handles, send drive signal, start yaw motor, make wind energy conversion system to wind deflector through reduction gear again, until yaw motor angle of swing absolute value equals till 0.
4. according to claim 1 or 3 described wind energy conversion system Yaw control methods, it is characterized in that described Poewr control method is divided into and is rotated counterclockwise, turns clockwise and three kinds of operating modes of original position stop based on wind vane and output power:
If after being rotated counterclockwise 5 °, power change values diminishes, then continue driftage counterclockwise, reach the setting value scope up to power change values and just stop driftage;
If it is big that power change values becomes, then turn clockwise 5 °, judge the power change values size again, if diminishing, power change values then continues driftage clockwise, reach the setting value scope up to power change values and just stop driftage;
If power change values still becomes greatly, show then because of wind speed changes to cause variable power that wind direction does not change, the yaw motor original position stop.
5. the wind energy conversion system Yaw control method based on wind vane and output power according to claim 1, it is characterized in that, described power detecting instrument detects the voltage and current of generator amature side respectively, measures the electric current and the voltage of direct current, interchange and pulse shape by electric current, voltage transducer.
6. the wind energy conversion system Yaw control method based on wind vane and output power according to claim 1 is characterized in that idiographic flow is as follows:
A. behind the wind power generation set grid-connection, initialization driftage control system is also judged wind direction;
If b. the wind direction change absolute value is greater than 15 °, directly carry out wind vane control, pass through dsp controller, start yaw motor, drive the reduction gear of coaxial connection by yaw motor, and by the pivoting support between deceleration gearwheel drive cabin and the pylon, the rotation of drive cabin, wind energy conversion system realizes wind, until the wind direction change absolute value is during smaller or equal to 15 °, yaw motor is gone off course 3 ° after continuing 5 ° of rotations on the former direction again and just carried out power control;
If c. the wind direction change absolute value is then judged according to power change values smaller or equal to 15 °, if power change values is in power difference given range, then return initial position, otherwise,, then require yaw motor to be rotated counterclockwise 5 ° if greater than power difference setting value; Simultaneously, judge wind direction once more, when the wind direction change absolute value smaller or equal to 15 °, then judge variable power;
D. if after being rotated counterclockwise 5 °, if first power change values deducts the difference of second power change values and sets up smaller or equal to zero, illustrate that yaw direction is correct, still adopt the Poewr control method control of going off course at former deflection direction, otherwise yaw motor is gone off course 5 ° clockwise, simultaneously, repeat to judge power change values once more;
E. if first power change values deduct second power change values difference set up greater than zero, illustrate that variable power is that the wind speed variation causes that yaw motor no longer rotates, return initial position, the control of not going off course, otherwise, carry out power control, judge according to power change values, if power change values is greater than power difference setting value, then continue in the control of going off course of former direction, otherwise, then return initial position, finish driftage control.
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| CN117989057B (en) * | 2024-02-27 | 2025-03-04 | 华能新能源盘州市风力发电有限公司 | Method and device for optimizing yawing control strategy of high mountain wind power plant by considering turbulence wind conditions, electronic equipment and computer readable storage medium |
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