CN115370533A - A wind turbine tower clearance control method and system based on the inclination angle of the nacelle - Google Patents

Abstract

The invention discloses a wind turbine generator tower clearance control method and system based on a cabin inclination angle, which comprises the following steps: 1) Obtaining an effective inclination angle of the engine room; 2) Calculating the current effective thrust of the wind wheel according to the effective inclination angle of the engine room; 3) Judging whether the current working condition has a tower clearance risk or not according to the currently calculated wind wheel effective thrust; 4) When the unit enters a tower clearance risk area, setting a sector minimum blade angle in a dangerous sector of a blade close to a tower, comparing a variable-pitch instruction output by a variable-pitch controller with the sector minimum blade angle, and selecting a larger angle as a final variable-pitch instruction; and when the unit does not have the tower clearance risk, the final pitch-changing instruction is the pitch-changing instruction output by the pitch-changing controller. The invention can effectively control the clearance of the tower in a safe area, and has low whole control cost and high reliability.

Description

A wind turbine tower clearance control method and system based on the inclination angle of the nacelle

technical field

The present invention relates to the technical field of wind turbine control, in particular to a method, system, storage medium and computing device for controlling the clearance of a wind turbine tower based on the inclination angle of the nacelle.

Background technique

As a green and clean energy, wind power is widely and rapidly promoted around the world. With the continuous innovation of wind power technology, wind turbines are gradually developing towards large megawatts, high towers, and long blades. In addition, onshore wind power and offshore wind power have been withdrawn from electricity price subsidies, and the cost of wind turbines has been continuously reduced due to the grid parity of land and sea wind power. Therefore, in the era of wind power parity, new technologies and methods must be adopted to realize the lightweight design of large megawatt wind turbines, the design of ultra-long flexible blades and the design of ultra-high flexible towers. Ultra-long flexible blades and super-high soft towers will inevitably cause insufficient clearance between the blades and the tower, increasing the risk of serious accidents such as blade sweeping towers. In terms of structural design, increasing the headroom of the tower by increasing the inclination angle of the main shaft, increasing the cone angle of the wind rotor, and adjusting the pre-bending of the blades will increase the cost and load of the whole machine, and the adjustment range is limited due to the limitation of manufacturing. In terms of control, laser radar can be used to measure blade deformation to realize tower clearance control. However, lidar is easily affected by rain, snow, smog, etc., its reliability is not high, and its high cost is not conducive to batch application.

Contents of the invention

The first purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a wind turbine tower clearance control method based on the inclination angle of the nacelle, which can effectively control the clearance of the tower in a safe area, with low overall control cost and high reliability.

The second object of the present invention is to provide a wind turbine tower clearance control system based on the inclination angle of the nacelle.

A third object of the present invention is to provide a storage medium.

A fourth object of the present invention is to provide a computing device.

The first object of the present invention is achieved through the following technical solutions: a method for controlling the clearance of a wind turbine tower based on the inclination angle of the nacelle, performing the following operations:

1) Collect the inclination angle of the engine room and perform data processing to obtain the effective inclination angle of the engine room;

2) According to the effective inclination angle of the nacelle, the dynamic equation of the tower is established, and the effective thrust of the current wind rotor is calculated;

3) According to the currently calculated effective thrust of the wind rotor, judge whether there is a tower clearance risk in the current working condition, if there is a tower clearance risk, perform step 4), otherwise skip back to step 1);

4) When the unit enters the tower clearance risk area, in the dangerous sector where the blades are close to the tower, set the minimum blade angle of the sector. At this time, the pitch change command output by the pitch controller must be consistent with the minimum blade angle For comparison, the larger angle is selected as the final pitch command to control the tower clearance in the safe area; when the unit does not have the risk of tower clearance, the pitch command output by the pitch controller does not need to be compared with the minimum blade angle of the sector , the final pitch command is the pitch command output by the pitch controller.

Further, in step 1), the inclination angle of the nacelle is collected by an inclination sensor, the inclination sensor is installed in the nacelle of the wind turbine, moves together with the nacelle platform, and collects the inclination angle of the main axis direction of the nacelle in real time; one or more inclination angles can be installed in the nacelle Sensors, redundant inclination sensors can increase the reliability of cabin inclination measurement; if multiple inclination sensors are used, multiple inclination measurement values can be combined to obtain the cabin inclination angle by weighting, the specific formula is as follows:

表示机舱平均倾角；θ₁表示倾角传感器1的测量倾角；η₁表示倾角传感器1的加权系数；θ₂表示倾角传感器2的测量倾角；η₂表示倾角传感器2的加权系数；θ_n表示倾角传感器n的测量倾角；η_n表示倾角传感器n的加权系数；加权系数η₁、η₂到η_n的取值范围0到1之间，精度高的传感器选大的加权系数，并且满足加权系数之和η₁+η₂+…+η_n等于1；In the above formula,

Indicates the average inclination angle of the cabin; θ ₁ indicates the measured inclination angle of the inclination sensor 1; η ₁ indicates the weighting coefficient of the inclination sensor 1; θ ₂ indicates the measured inclination angle of the inclination sensor 2; η ₂ indicates the weighting coefficient of the inclination sensor ₂ ; The measured inclination angle of n; η _n represents the weighting coefficient of the inclination sensor n; the value range of weighting coefficients η ₁ , η ₂ to η _n is between 0 and 1, and the sensor with high precision selects a large weighting coefficient, and satisfies the weighting coefficient and η ₁ +η ₂ +...+η _n are equal to 1;

In order to avoid the interference of high-frequency noise, transmission chain frequency and 3P frequency on the measurement data, necessary filtering is performed on the average inclination angle of the nacelle. The filter includes second-order low-pass filtering and band-stop filtering. Attenuation of the component of the cabin, the effective inclination angle of the cabin after filtering is expressed as follows:

In the above formula, θ _F represents the effective inclination angle of the nacelle; F(s) represents the inclination angle filter of the nacelle.

Further, in step 2), the tower dynamics equation of establishment, specific formula is as follows:

表示机舱有效倾角的二阶导数；D表示塔架等效阻尼；

表示机舱有效倾角的一阶导数；K表示塔架等效刚度；θ_F表示机舱有效倾角。In the above formula, F _fa represents the effective thrust of the wind rotor; M represents the equivalent inertia of the tower;

Indicates the second derivative of the effective inclination angle of the nacelle; D indicates the equivalent damping of the tower;

Indicates the first-order derivative of the effective inclination angle of the nacelle; K represents the equivalent stiffness of the tower; θ _F represents the effective inclination angle of the nacelle.

Further, the specific values of the tower equivalent inertia M, tower equivalent damping D, and tower equivalent stiffness K are determined by setting the input step wind in the unit design software Bladed, and simulating the effective thrust of the output wind wheel and the effective thrust of the nacelle. The change curve of the inclination angle is obtained by the least quadratic fitting method to obtain the equivalent inertia of the tower, the equivalent damping of the tower and the equivalent stiffness of the tower.

Further, in step 3), due to the dynamic effects of wind speed turbulence, tower motion and pitch change, the effective thrust of the wind rotor is actually distributed near the steady-state curve of the effective thrust of the wind rotor with the wind speed; The state curve includes the section from the cut-in wind speed to the rated wind speed and the section from the rated wind speed to the cut-out wind speed; in the section from the cut-in wind speed to the rated wind speed, the effective thrust of the wind rotor increases with the increase of the average wind speed; in the range from the rated wind speed to the cut-out wind speed, The effective thrust of the wind rotor decreases with the increase of the average wind speed; at the rated wind speed point, the effective thrust of the wind rotor reaches the maximum value;

Therefore, the tower clearance risk area is defined as the range near the rated wind speed, and this area is defined as the AB area, and the effective thrust of the wind rotor is greater than the rated wind speed point; because the wind speed measurement is affected by the wake and wind rotor occlusion, the data accuracy is low, so the tower clearance The boundary of the risk area does not need to be judged by wind speed. The left boundary point A of the tower clearance risk area is judged according to the generator power at point A, and the right boundary point B of the tower clearance risk area is judged according to the pitch angle at point B; The determination conditions for defining the risk area of tower headroom are as follows:

In the above formula, S _f represents the flag position of the clearance risk of the tower, 0 is not in the clearance risk area, 1 is in the clearance risk area; P _gen indicates the measured value of generator power; _PA indicates the power threshold of the clearance risk area; β indicates three The average pitch angle of only the blade; β _B indicates the pitch angle threshold of the clearance risk area; F _fa indicates the effective thrust of the wind rotor; F _D indicates the thrust threshold of the clearance risk area; if indicates the following judgment condition; & indicates logic and operation; else Indicates other situations.

Further, in step 4), the sector near the tower is defined as a dangerous sector. When the unit is in the risky area of the tower clearance and the blade enters the dangerous sector, by setting the minimum blade of the blade in the dangerous sector Angle, to achieve the purpose of controlling the headroom within a safe range;

An azimuth sensor is installed in the hub of the wind rotor. When the wind rotor rotates, the azimuth angle of each blade can be measured in real time. The minimum blade angle of the defined sector is as follows:

表示叶片1的方位角；β_2，min表示叶片2的扇区最小桨叶角度；

表示叶片2的方位角；β_3，min表示叶片3的扇区最小桨叶角度；

表示叶片3的方位角；

表示扇区最小桨叶角度查表函数；In the above formula, β _{1, min} represents the minimum blade angle of the sector of blade 1;

Indicates the azimuth angle of blade 1; β _{2, min} indicates the minimum blade angle of the sector of blade 2;

Indicates the azimuth angle of blade 2; β _{3, min} indicates the minimum blade angle of the sector of blade 3;

Indicates the azimuth angle of the blade 3;

Indicates the sector minimum blade angle look-up table function;

When the unit is in the tower clearance risk area, the tower clearance risk flag _Sf is equal to 1, at this time, the blade pitch command output by the pitch controller should be compared with the minimum blade angle of each sector, and the larger angle is selected is the final pitch command, the specific formula is as follows:

表示叶片2的最终变桨指令；

表示叶片3的最终变桨指令；β₁ ^c表示变桨控制器输出的叶片1变桨指令；

表示变桨控制器输出的叶片2变桨指令；

表示变桨控制器输出的叶片3的变桨指令；β_1，min表示叶片1的扇区最小桨叶角度；β_2，min表示叶片2的扇区最小桨叶角度；β_3，min表示叶片3的扇区最小桨叶角度；max{}表示取最大值；In the above formula, β ₁ ^set represents the final pitch command of blade 1;

Indicates the final pitch command of blade 2;

represents the final pitch command of blade 3; β ₁ ^c represents the pitch command of blade 1 output by the pitch controller;

Indicates the blade 2 pitch command output by the pitch controller;

Indicates the pitch command of blade 3 output by the pitch controller; β _{1, min} represents the minimum blade angle of the sector of blade 1; β _{2, min} represents the minimum blade angle of the sector of blade 2; β _{3, min} represents the minimum blade angle of blade 2; The minimum blade angle of the sector of 3; max{} indicates the maximum value;

If the tower clearance risk flag S _f is equal to 0, there is no tower clearance risk at this time, the pitch command output by the pitch controller does not need to be compared with the minimum blade angle of the sector, and the final pitch command is the pitch controller The output pitch command.

The second object of the present invention is achieved through the following technical solutions: a modular control system for wind turbines based on optimal control, used to realize the above-mentioned wind turbine tower headroom control method based on the inclination angle of the nacelle, which includes:

The cabin inclination measurement module is used to collect the cabin inclination and perform data processing to obtain the effective inclination of the cabin;

The wind rotor thrust calculation module is used to establish the tower dynamic equation according to the effective inclination angle of the nacelle, and calculate the current effective thrust of the wind rotor;

The tower clearance early warning module is used to judge whether there is a tower clearance risk in the current working condition according to the currently calculated effective thrust of the wind rotor;

The sector pitch control module is used to set the minimum blade angle of the sector and actively increase the clearance of the tower; when the unit enters the risk area of the clearance of the tower, in the dangerous sector where the blade is close to the tower, the pitch controller The output pitch command should be compared with the minimum blade angle of the sector, and the larger angle is selected as the final pitch command to control the tower clearance in a safe area; when the unit does not have the risk of tower clearance, the pitch controller output The pitch command does not need to be compared with the minimum blade angle of the sector, and the final pitch command is the pitch command output by the pitch controller.

The third object of the present invention is achieved by the following technical solution: a storage medium storing a program, and when the program is executed by a processor, the above-mentioned method for controlling the clearance of a wind turbine tower based on the inclination angle of the nacelle is realized.

The fourth object of the present invention is achieved through the following technical solution: a computing device, including a processor and a memory for storing a program executable by the processor, and when the processor executes the program stored in the memory, the above-mentioned cabin inclination angle-based Wind turbine tower clearance control method.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. The tower headroom control method proposed by the present invention uses an inclination sensor to measure the inclination angle of the cabin. The inclination sensor is low in cost and mature in product, and it is easy to realize standard configuration for offshore models.

2. The solution of the present invention adopts the inclination angle of the nacelle, reversely calculates the thrust of the wind rotor, and constructs the identification method of the tower clearance risk area through the power, pitch angle and effective thrust of the wind rotor.

3. The scheme of the present invention proposes a sector minimum blade angle control method, defines the dangerous sector of the blade, only when the blade enters the dangerous sector, the minimum blade angle is limited, and the clearance of the control tower is within the safe range, minimizing the blade angle. The influence of pitch change on power and speed is reduced.

Description of drawings

Figure 1 is a steady-state curve of the effective thrust of the wind rotor versus the wind speed.

Fig. 2 is a schematic diagram of blade azimuth and dangerous sector.

Fig. 3 is a schematic diagram of the sectoral minimum blade angles of three blades.

Fig. 4 is a structure diagram of the system of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Example 1

This embodiment discloses a wind turbine tower clearance control method based on the inclination angle of the nacelle, and the following operations are performed:

1) The inclination angle of the cabin is collected by the inclination sensor and the data is processed to obtain the effective inclination angle of the cabin.

The inclination sensor is installed in the nacelle of the wind turbine and moves together with the nacelle platform to collect the inclination in the direction of the main axis of the nacelle in real time; one or more inclination sensors can be installed in the nacelle, and redundant inclination sensors can increase the reliability of the inclination measurement of the nacelle; If multiple inclination sensors are used, multiple inclination measurement values can be weighted to obtain the cabin inclination angle. The specific formula is as follows:

表示机舱平均倾角；θ₁表示倾角传感器1的测量倾角；η₁表示倾角传感器1的加权系数；θ₂表示倾角传感器2的测量倾角；η₂表示倾角传感器2的加权系数；θ_n表示倾角传感器n的测量倾角；η_n表示倾角传感器n的加权系数；加权系数η₁、η₂到η_n的取值范围0到1之间，精度高的传感器选大的加权系数，并且满足加权系数之和η₁+η₂+…+η_n等于1；In the above formula,

Indicates the average inclination angle of the cabin; θ ₁ indicates the measured inclination angle of the inclination sensor 1; η ₁ indicates the weighting coefficient of the inclination sensor 1; θ ₂ indicates the measured inclination angle of the inclination sensor 2; η ₂ indicates the weighting coefficient of the inclination sensor ₂ ; The measured inclination angle of n; η _n represents the weighting coefficient of the inclination sensor n; the value range of weighting coefficients η ₁ , η ₂ to η _n is between 0 and 1, and the sensor with high precision selects a large weighting coefficient, and satisfies the weighting coefficient and η ₁ +η ₂ +...+η _n are equal to 1;

In order to avoid the interference of high-frequency noise, transmission chain frequency and 3P frequency on the measurement data, necessary filtering is performed on the average inclination angle of the nacelle. The filter includes second-order low-pass filtering and band-stop filtering. Attenuation of the component of the cabin, the effective inclination angle of the cabin after filtering is expressed as follows:

In the above formula, θ _F represents the effective inclination angle of the nacelle; F(s) represents the inclination angle filter of the nacelle.

2) According to the effective inclination angle of the nacelle, the dynamic equation of the tower is established, and the effective thrust of the current wind rotor is calculated.

During the operation of the wind turbine, the wind rotor is thrust by the wind, the tower deforms backwards, and the nacelle produces a backward inclination at the same time. The thrust of the wind rotor is difficult to measure directly, but the effective inclination of the wind rotor can be calculated according to the effective inclination of the nacelle. Thrust; Among them, the established tower dynamic equation, the specific formula is as follows:

表示机舱有效倾角的二阶导数；D表示塔架等效阻尼；

表示机舱有效倾角的一阶导数；K表示塔架等效刚度；θ_F表示机舱有效倾角。In the above formula, F _fa represents the effective thrust of the wind rotor; M represents the equivalent inertia of the tower;

Indicates the second derivative of the effective inclination angle of the nacelle; D indicates the equivalent damping of the tower;

Indicates the first-order derivative of the effective inclination angle of the nacelle; K represents the equivalent stiffness of the tower; θ _F represents the effective inclination angle of the nacelle.

The specific values of the equivalent inertia M of the tower, the equivalent damping D of the tower and the equivalent stiffness K of the tower are determined by setting the input step wind in the unit design software Bladed, and simulating the change curve of the effective thrust of the wind wheel and the effective inclination of the nacelle , the equivalent inertia of the tower, the equivalent damping of the tower and the equivalent stiffness of the tower are obtained by the least quadratic fitting method.

3) According to the currently calculated effective thrust of the wind rotor, judge whether there is a tower clearance risk in the current working condition. If there is a tower clearance risk, perform step 4), otherwise, jump back to step 1).

Due to the dynamic effects of wind speed turbulence, tower motion and pitch change, the effective thrust of the wind rotor is actually distributed near the steady-state curve of the effective thrust of the wind rotor with the wind speed; the steady-state curve of the effective thrust of the wind rotor with the wind speed is shown in Figure 1, Including the section from the cut-in wind speed to the rated wind speed (namely the OM section) and the section from the rated wind speed to the cut-out wind speed (ie the ME section); in the section from the cut-in wind speed to the rated wind speed, the effective thrust of the wind rotor increases with the increase of the average wind speed; From the rated wind speed to the cut-out wind speed range, the effective thrust of the wind rotor decreases with the increase of the average wind speed; at the rated wind speed point (namely point M), the effective thrust of the wind rotor reaches the maximum value;

Therefore, it can be defined that the tower clearance risk area is in the range AB near the rated wind speed, and the effective thrust of the wind rotor is greater than point D; the F area in Figure 1 is the tower clearance risk area. The accuracy is low, so the boundary of the tower clearance risk area does not need to be judged by wind speed; the left boundary point A of the F area is judged according to the generator power at point A; the right boundary point B of the F area is judged according to the pitch angle at point B Judgment; the judgment conditions for defining the risk area of tower headroom are as follows:

In the above formula, S _f represents the flag position of the clearance risk of the tower, 0 is not in the clearance risk area, 1 is in the clearance risk area; P _gen indicates the measured value of generator power; _PA indicates the power threshold of the clearance risk area; β indicates three The average pitch angle of only the blade; β _B indicates the pitch angle threshold of the clearance risk area; F _fa indicates the effective thrust of the wind rotor; F _D indicates the thrust threshold of the clearance risk area; if indicates the following judgment condition; & indicates logic and operation; else Indicates other situations.

4) When the unit enters the tower clearance risk area, in the dangerous sector where the blades are close to the tower, the minimum blade angle of the sector is set to actively increase the tower clearance.

When the unit is in the tower clearance risk area, the thrust of the wind rotor is large, and the blade deformation reaches the maximum; when the blade sweeps past the tower, it is easy to collide with the tower; therefore, the sector near the tower can be defined as a dangerous fan area, as shown in Figure 2; when the unit is in the tower clearance risk area and the blade enters the dangerous sector, the purpose of controlling the clearance within the safe range is achieved by setting the minimum blade angle of the blade in the dangerous sector.

An azimuth sensor is installed in the hub of the wind rotor, and the azimuth angle of each blade can be measured in real time when the wind rotor rotates; Figure 2 is a schematic diagram of the azimuth angle of the blade and the dangerous sector, the azimuth angle of blade 1 in the figure is 30°, the blade The azimuth angle of blade 2 is 150°, and the azimuth angle of blade 3 is 270°; define the minimum blade angle of the sector as follows:

表示叶片1的方位角；β_2，min表示叶片2的扇区最小桨叶角度；

表示叶片2的方位角；β_3，min表示叶片3的扇区最小桨叶角度；

表示叶片3的方位角；

表示扇区最小桨叶角度查表函数；在某时刻，风轮的三只叶片的扇区最小桨叶角度如图3所示。In the above formula, β _{1, min} represents the minimum blade angle of the sector of blade 1;

Indicates the azimuth angle of blade 1; β _{2, min} indicates the minimum blade angle of the sector of blade 2;

Indicates the azimuth angle of blade 2; β _{3, min} indicates the minimum blade angle of the sector of blade 3;

Indicates the azimuth angle of the blade 3;

Indicates the sector minimum blade angle look-up function; at a certain moment, the sector minimum blade angles of the three blades of the wind rotor are shown in Figure 3.

When the unit is in the tower clearance risk area, the tower clearance risk flag _Sf is equal to 1, at this time, the blade pitch command output by the pitch controller should be compared with the minimum blade angle of each sector, and the larger angle is selected is the final pitch command, the specific formula is as follows:

表示叶片2的最终变桨指令；

表示叶片3的最终变桨指令；β₁ ^c表示变桨控制器输出的叶片1变桨指令；

表示变桨控制器输出的叶片2变桨指令；

表示变桨控制器输出的叶片3的变桨指令；β_1，min表示叶片1的扇区最小桨叶角度；β_2，min表示叶片2的扇区最小桨叶角度；β_3，min表示叶片3的扇区最小桨叶角度；max{}表示取最大值；In the above formula, β ₁ ^set represents the final pitch command of blade 1;

Indicates the final pitch command of blade 2;

represents the final pitch command of blade 3; β ₁ ^c represents the pitch command of blade 1 output by the pitch controller;

Indicates the blade 2 pitch command output by the pitch controller;

Indicates the pitch command of blade 3 output by the pitch controller; β _{1, min} represents the minimum blade angle of the sector of blade 1; β _{2, min} represents the minimum blade angle of the sector of blade 2; β _{3, min} represents the minimum blade angle of blade 2; The minimum blade angle of the sector of 3; max{} indicates the maximum value;

If the tower clearance risk flag S _f is equal to 0, there is no tower clearance risk at this time, the pitch command output by the pitch controller does not need to be compared with the minimum blade angle of the sector, and the final pitch command is the pitch controller The output pitch command.

Example 2

This embodiment discloses a wind turbine tower clearance control system based on the inclination angle of the nacelle, which is used to implement the wind turbine tower clearance control method based on the inclination angle of the nacelle described in Embodiment 1. As shown in Figure 4, the system includes the following functional module:

The cabin inclination measurement module is used to collect the cabin inclination and perform data processing to obtain the effective inclination of the cabin;

The wind wheel thrust calculation module is used to establish the tower dynamic equation according to the effective inclination angle of the nacelle, and calculate the current effective thrust of the wind wheel;

The tower clearance early warning module is used to judge whether there is a tower clearance risk in the current working condition according to the currently calculated effective thrust of the wind rotor;

The sector pitch control module is used to set the minimum blade angle of the sector and actively increase the clearance of the tower; when the unit enters the risk area of the clearance of the tower, in the dangerous sector where the blade is close to the tower, the pitch controller The output pitch command should be compared with the minimum blade angle of the sector, and the larger angle is selected as the final pitch command to control the tower clearance in a safe area; when the unit does not have the risk of tower clearance, the pitch controller output The pitch command does not need to be compared with the minimum blade angle of the sector, and the final pitch command is the pitch command output by the pitch controller.

Example 3

This embodiment discloses a storage medium, which stores a program. When the program is executed by a processor, the method for controlling the clearance of a wind turbine tower based on the inclination angle of the nacelle described in Embodiment 1 is implemented.

The storage medium in this embodiment may be a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a U disk, a mobile hard disk, and the like.

Example 4

This embodiment discloses a computing device, including a processor and a memory for storing executable programs of the processor. When the processor executes the program stored in the memory, the wind turbine tower based on the inclination angle of the nacelle described in Embodiment 1 is realized. Shelf headroom control method.

The computing device described in this embodiment may be a desktop computer, a notebook computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC, Programmable Logic Controller), or other terminal devices with processor functions.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (9)

1. A wind turbine tower clearance control method based on a cabin inclination angle is characterized by comprising the following operations:

1) Acquiring an engine room inclination angle and performing data processing to obtain an effective engine room inclination angle;

2) Establishing a tower dynamic equation according to the effective inclination angle of the engine room, and calculating the current effective thrust of the wind wheel;

3) Judging whether the tower clearance risk exists in the current working condition or not according to the currently calculated effective thrust of the wind wheel, if so, executing the step 4), otherwise, jumping back to the step 1);

4) When a unit enters a clearance risk area of a tower, setting a minimum blade angle of a sector in a dangerous sector of a blade close to the tower, comparing a variable-pitch instruction output by a variable-pitch controller with the minimum blade angle of the sector, and selecting a larger angle as a final variable-pitch instruction to control the clearance of the tower in a safe area; when the unit does not have the risk of tower clearance, the variable pitch instruction output by the variable pitch controller does not need to be compared with the minimum blade angle of the sector, and the final variable pitch instruction is the variable pitch instruction output by the variable pitch controller.

2. The method for controlling the clearance of the tower of the wind turbine generator set based on the cabin inclination angle of claim 1, wherein in the step 1), the cabin inclination angle is acquired through an inclination angle sensor, the inclination angle sensor is installed in a cabin of the wind turbine generator set and moves together with a platform of the cabin, and the inclination angle in the main shaft direction of the cabin is acquired in real time; one or more tilt sensors can be arranged in the engine room, and the redundant tilt sensors can increase the reliability of the measurement of the tilt angle of the engine room; if a plurality of inclination sensors are adopted, the inclination angles of the engine room can be obtained by combining a plurality of inclination angle measurement values in a weighting mode, and the specific formula is as follows:

in the above-mentioned formula, the reaction mixture,

representing the average inclination angle of the cabin; theta ₁ Represents the measured tilt of the tilt sensor 1; eta ₁ A weighting coefficient representing the tilt sensor 1; theta ₂ Represents the measured tilt of the tilt sensor 2; eta ₂ A weighting coefficient representing the tilt sensor 2; theta.theta. _n Represents the measured tilt of the tilt sensor n; eta _n A weighting coefficient representing the tilt sensor n; weighting coefficient eta ₁ 、η ₂ To eta _n The value range of (1) is between 0 and 1, the sensor with high precision selects a large weighting coefficient and meets the sum eta of the weighting coefficients ₁ +η ₂ +…+η _n Equal to 1;

in order to avoid the interference of high-frequency noise, transmission chain frequency and 3P frequency to measurement data, necessary filtering is carried out on the average inclination angle of the cabin, a filter comprises second-order low-pass filtering and band-stop filtering, components above first-order frequency of a tower in the inclination angle data of the cabin are attenuated, and the effective inclination angle of the cabin after filtering is represented as follows:

in the above formula, [ theta ] is _F Representing the effective inclination angle of the engine room; f(s) denotes a cabin pitch filter.

3. The method for controlling the clearance of the tower of the wind turbine generator based on the nacelle inclination angle as claimed in claim 1, wherein in the step 2), the tower dynamics equation is established by the following formula:

in the above formula, F _fa Representing the effective thrust of the wind wheel; m represents tower equivalent inertia;

indicating cabin availability the second derivative of the tilt angle; d represents tower equivalent damping;

a first derivative representing the effective inclination of the nacelle; k represents the equivalent stiffness of the tower; theta _F Representing the effective tilt angle of the nacelle.

4. The wind turbine generator tower clearance control method based on the nacelle inclination angle as claimed in claim 3, wherein the specific values of the tower equivalent inertia M, the tower equivalent damping D and the tower equivalent stiffness K are determined by setting an input ladder wind in the set design software Bladed, simulating a change curve of an output wind turbine effective thrust and the nacelle effective inclination angle, and obtaining the tower equivalent inertia, the tower equivalent damping and the tower equivalent stiffness through a minimum quadratic fitting method.

5. The wind turbine tower clearance control method based on the nacelle inclination angle as claimed in claim 1, wherein in step 3), the effective thrust of the wind turbine is actually distributed near a steady-state curve of the effective thrust of the wind turbine with the wind speed due to wind speed turbulence, tower motion and pitch variation dynamic effects; the steady state curve of the effective thrust of the wind wheel along with the wind speed comprises a section from cut-in wind speed to rated wind speed and a section from rated wind speed to cut-out wind speed; in the section from cut-in wind speed to rated wind speed, the effective thrust of the wind wheel is increased along with the increase of the average wind speed; in the range from the rated wind speed to the cut-out wind speed, the effective thrust of the wind wheel is reduced along with the increase of the average wind speed; at a rated wind speed point, the effective thrust of the wind wheel reaches the maximum value;

therefore, a tower clearance risk area is defined to be in an area near the rated wind speed, the area is defined to be an AB area, and the effective thrust of a wind wheel is larger than the rated wind speed point; the wind speed measurement is influenced by the shielding of a wake flow and a wind wheel, and the data precision is low, so that the boundary of the tower clearance risk area is not judged by the wind speed, the left boundary A point of the tower clearance risk area is judged according to the power of a generator at the point A, and the right boundary B point of the tower clearance risk area is judged according to the variable pitch angle at the point B; the decision conditions for defining the tower clearance risk area are as follows:

in the above formula, S _f Indicating a tower clearance risk zone, wherein 0 is not in a clearance risk area, and 1 is in the clearance risk area; p is _gen Representing a generator power measurement; p _A Representing a headroom risk area power threshold; beta represents the average pitch angle of the three blades; beta is a beta _B Representing a clearance risk area pitch angle threshold; f _fa Representing the effective thrust of the wind wheel; f _D Representing a headroom risk area thrust threshold; if denotes the following judgment condition;&representing a logical and operation; else indicates other cases.

6. The wind turbine tower clearance control method based on the nacelle inclination angle as claimed in claim 1, wherein in step 4), a sector near the tower is defined as a dangerous sector, and when the wind turbine is in a tower clearance risk area and the blade enters the dangerous sector, the aim of controlling the clearance within a safe range is achieved by setting a minimum blade angle of the blade in the dangerous sector;

an azimuth angle sensor is installed in a hub of the wind wheel, when the wind wheel rotates, the azimuth angle of each blade can be measured in real time, and the minimum blade angle of a sector is defined as follows:

in the above formula,. Beta. _1，min Represents the sector minimum blade angle of the blade 1;

indicates the azimuth of the blade 1; beta is a _2，min Represents the sector minimum blade angle of the blade 2;

represents the azimuth angle of the blade 2; beta is a beta _3，min Represents the sector minimum blade angle of the blade 3;

indicating the azimuth of the blade 3;

a table look-up function representing the minimum blade angle of the sector;

when the unit is in a tower clearance risk area, a tower clearance risk mark position S _f And when the pitch angle is equal to 1, comparing the pitch command of each blade output by the pitch controller with the minimum blade angle of each sector, and selecting a larger angle as a final pitch command, wherein the specific formula is as follows:

in the above-mentioned formula, the compound of formula,

representing the final pitch command of the blade 1;

representing the final pitch command of the blade 2;

representing the final pitch command of the blade 3;

representing a blade 1 variable-pitch instruction output by a variable-pitch controller;

representing a blade 2 pitch instruction output by a pitch controller;

a pitch command indicating the blade 3 output by the pitch controller; beta is a _1，min Represents the sector minimum blade angle of the blade 1; beta is a _2，min Represents the sector minimum blade angle of the blade 2; beta is a _3，min Represents the sector minimum blade angle of the blade 3; max { } denotes taking the maximum value;

if the tower clearance risk zone position S _f And when the angle is equal to 0, the tower clearance risk does not exist, the variable pitch instruction output by the variable pitch controller does not need to be compared with the minimum blade angle of the sector, and the final variable pitch instruction is the variable pitch instruction output by the variable pitch controller.

7. A wind turbine tower headroom control system based on a nacelle inclination angle is used for realizing the wind turbine tower headroom control method based on the nacelle inclination angle of any one of claims 1 to 6, and comprises the following steps:

the cabin inclination angle measuring module is used for acquiring an cabin inclination angle and performing data processing to obtain an effective cabin inclination angle;

the wind wheel thrust calculation module is used for establishing a tower dynamic equation according to the effective inclination angle of the engine room and calculating the current wind wheel effective thrust;

the tower clearance early warning module is used for judging whether the tower clearance risk exists under the current working condition or not according to the currently calculated effective thrust of the wind wheel;

the sector variable pitch control module is used for setting the minimum blade angle of the sector and actively increasing the clearance of the tower; when a unit enters a clearance risk area of the tower, in a dangerous sector where the blades are close to the tower, a variable pitch command output by a variable pitch controller is compared with the minimum blade angle of the sector, and a larger angle is selected as a final variable pitch command to control the clearance of the tower in a safe area; when the unit does not have the risk of tower clearance, the variable pitch instruction output by the variable pitch controller does not need to be compared with the minimum blade angle of the sector, and the final variable pitch instruction is the variable pitch instruction output by the variable pitch controller.

8. A storage medium storing a program, wherein the program, when executed by a processor, implements the method for wind turbine tower headroom control based on nacelle inclination of any of claims 1-6.

9. A computing device comprising a processor and a memory for storing a program executable by the processor, wherein the processor, when executing the program stored by the memory, implements the method for wind turbine tower headroom control based on nacelle inclination of any of claims 1-6.

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