JP2019065862A - WIND POWER GENERATOR, ITS CONTROLLER, AND ITS CONTROL METHOD - Google Patents

Abstract

To solve problems of mechanical wear and power generation performance deterioration.SOLUTION: A wind power generation device comprises a rotor that rotates by receiving wind, a nacelle that rotatably supports the rotor, a tower that rotatably supports the nacelle, an adjustment device that adjusts a yaw of the nacelle on the basis of a yaw control command, and a control device that sets the yaw control command to be sent to the adjustment device. The control device comprises yaw angle calculation means that calculates a yaw angle from a wind direction measured by wind direction measurement means and a direction of the rotor, and control command preparation means that sets the yaw control command on the basis of the yaw angle, a yaw control start threshold value, and a yaw control end threshold value. The start threshold value and the end threshold value have the same polarity, and the end threshold value is smaller than the start threshold value.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a wind turbine generator, its control device, and its control method.

  The horizontal axis type wind turbine generator is provided with a yaw rotation mechanism that rotates a nacelle on which the wind turbine rotor is mounted in the vertical axis direction. When a wind direction deviation (hereinafter referred to as a yaw angle) representing a deviation angle between a rotation axis of a wind turbine rotor (hereinafter referred to as a nacelle orientation) and a wind direction occurs, the wind turbine generator generates electric power by reducing the wind receiving area of the rotor. It is known to operate to control the yaw rotation mechanism to eliminate the yaw angle in order to prevent a drop in efficiency. For example, Patent Documents 1, 2 and 3 disclose methods of yaw control.

JP, 2010-106727, A U.S. Patent No. 9273668 U.S. Published 2014/012013

  The wind conditions representing the wind direction and the wind speed at a certain point have fluctuating components with various cycles. Also, the characteristics of the periodic fluctuation component differ depending on the time zone. Since the fluctuation in the wind direction includes these fluctuation components at random, a general yaw control method causes the nacelle to become zero so that the yaw angle becomes zero, for example, when the yaw angle in a certain predetermined period exceeds a predetermined threshold. Rotate the yaw.

  When the yaw control can always keep the yaw angle at zero, the amount of power generation is the largest. However, if the speed of change in wind direction is faster than the operating speed of the nacelle, it is difficult to maintain the yaw angle at zero because the wind direction changes before control is completed. In addition, when the yaw rotation is performed, mechanical wear of the nacelle rotation mechanism and the brake mechanism that stops the rotation of the nacelle occurs. If this control method is used to actively suppress the yaw angle, mechanical wear may be increased.

  In the method disclosed in Patent Document 1, in particular, when the degree of disturbance of the wind condition at a certain point is high, after the yaw angle is made zero by the yaw turning, the wind direction fluctuation occurs in the reverse direction and the yaw turning is performed again. Will be repeated frequently. Therefore, not only the number of times of driving the yaw increases and mechanical wear increases, but also the power generation performance may be degraded because the yaw angle can be suppressed for a short period of time.

  It is desirable that the number of yaw rotations be suppressed to suppress mechanical wear and that the yaw angle be reduced to improve power generation.

From the above, according to the present invention, "the rotor rotating in response to the wind, the nacelle rotatably supporting the rotor, the tower rotatably supporting the nacelle, and the nacelle yaw adjustment based on the yaw control command A wind turbine generator comprising: an adjusting device; and a control device that determines a yaw control command to be sent to the adjusting device,
The control device determines a yaw control command based on the yaw angle calculation means for calculating the yaw angle from the wind direction measured by the wind direction measurement means and the direction of the rotor, and the yaw angle, the yaw control start threshold and the yaw control end threshold. Equipped with creation means,
A wind power generator characterized in that the start threshold and the end threshold have the same polarity and the end threshold is smaller than the start threshold. ".

Further, in the present invention, “a method of controlling a wind turbine generator,
Calculate the yaw angle from the measured wind direction and the rotor direction of the wind turbine,
When the yaw angle becomes equal to or larger than the yaw control start threshold value, yaw rotation of the wind turbine nacelle is started to reduce the yaw angle,
When the yaw angle falls below or below the yaw control end threshold, the yaw rotation of the nacelle ends.
The start threshold and the end threshold are the same in polarity, and the end threshold is a value smaller than the start threshold. ".

Further, in the present invention, “the method for repairing a wind power generator,
Acquired data measured in the environment where the wind turbine was installed,
Frequency analysis of wind direction data,
Calculate the yaw control start threshold or the yaw control end threshold based on the analysis result,
A method of repairing a wind turbine generator, wherein the calculated threshold value is set to the wind turbine generator. ".

  ADVANTAGE OF THE INVENTION According to this invention, the wind power generator which can make the frequency | count suppression of yaw rotation, and improvement of power generation performance make compatible can be provided, its control method, and the repair method can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS The side view which shows the structure outline of the wind power generator which concerns on Example 1 of this invention. The top view (plan view) of the wind power generator of FIG. The block diagram which shows the processing outline of the yaw control means 300 mounted in the control apparatus 9 of the wind power generator 1 in Example 1 of this invention. The figure which shows an example of the result of frequency-analyzing the accumulation data of wind direction を w. The figure which shows an example of the result of frequency-analyzing the accumulation data of wind direction を w. 6 is a flowchart showing an outline of processing of the yaw control unit 300 according to the first embodiment. FIG. 6 is a schematic view showing the effect of the yaw control means 300 according to the first embodiment. The block diagram which shows the processing outline of the yaw control means 300 mounted in the control apparatus 9 of the wind power generator 1 in Example 3 of this invention. The figure which shows an example of the characteristic which changes start threshold value と ths and finish threshold value Θthe based on the average value Vave of the wind speed Vw. The figure which shows an example of the characteristic which changes start threshold value と ths and finish threshold value Θthe based on the average value Vave of the wind speed Vw. The block diagram which shows the processing outline of the yaw control means 300 mounted in the control apparatus 9 of the wind power generator 1 in Example 4 of this invention. FIG. 18 is a view for explaining feature data in the fifth embodiment. The block diagram which shows the processing outline of the yaw control means 300 mounted in the control apparatus 9 of the wind power generator 1 in Example 2 of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a side view showing an outline of a configuration of a wind turbine generator according to a first embodiment of the present invention.

  A wind turbine 1 shown in FIG. 1 includes a rotor 4 configured of a plurality of blades 2 and a hub 3 connecting the blades 2. The rotor 4 is connected to the nacelle 5 via a rotation shaft (not shown in FIG. 1), and the position of the blade 2 can be changed by rotation. The nacelle 5 rotatably supports the rotor 4. The nacelle 5 includes a generator 6, and when the blade 2 receives wind, the rotor 4 is rotated, and the rotational force of the rotor 2 causes the generator 6 to generate electric power.

  The nacelle 5 is installed on the tower 7 and can be yaw-rotated in the vertical axis direction by the yaw drive mechanism 8. The control device 9 controls the yaw drive mechanism 8 based on the wind direction detected by the wind direction and speed sensor 10 that detects the wind direction and the wind speed and the wind speed Vw. The wind direction and wind speed sensor 10 may be Lidar or the like, may be attached to a wind power generator such as a nacelle or a tower, or may be attached to a mast or the like as a separate structure from the wind turbine generator.

  The yaw drive mechanism 8 is composed of a yaw bearing, a yaw gear (gear for yaw drive), a yaw drive motor, a yaw brake, and the like. In addition, a pitch actuator capable of changing the angle of the blade 2 with respect to the hub 3 and a power sensor for detecting active power and reactive power output from the generator 6 are provided at appropriate positions.

  FIG. 2 is a top view (plan view) of FIG. The direction of the rotor rotation axis that forms a wind direction with the predetermined reference direction is Θw, the direction of the rotor rotation axis that makes the predetermined reference direction is Θr, and the yaw angle that is the deviation angle from the wind direction Θw to the rotor rotation axis angle Θr is defined as Δ 関係. It is illustrated. The yaw control start threshold Θths and the yaw control end threshold Θthe are set based on the wind direction Θw, for example, as in the case of the yaw angle. The wind direction Θ w may be a value acquired for each measurement cycle, may be an average direction of a predetermined period, or may be a direction calculated based on the wind condition distribution in the vicinity. Further, the rotor rotation axis angle よ い r may be the direction in which the rotor rotation axis is directed, may be the direction of the nacelle, or may be a value measured by the encoder of the yaw drive unit.

  The present invention starts to drive the yaw drive mechanism 8 by the controller 9 when the yaw angle ΔΘ becomes equal to or larger than the start threshold Θths, and controls until the yaw angle ΔΘ becomes smaller than or equal to the end threshold Θthe It is In this case, when the start threshold Θths is a positive value, the end threshold Θthe is a positive value smaller than the start threshold Θths, and the start threshold Θths is, for example, 8 degrees, and the end threshold Θthe is 3 degrees. . In other words, the start threshold and the end threshold have the same polarity, and the end threshold is smaller than the start threshold. Note that yaw control start / stop may be simply control start / stop at the moment when the threshold is exceeded, or may be start / stop when exceeding a predetermined time, or an average of a plurality of measurement samples Control may be started / stopped when the average exceeds.

  According to the findings of the present inventors, as described later, it is necessary to keep the end threshold value Θthe within the same polarity range (if it is a positive value, it does not become a negative value). It was clarified that it is important from the viewpoint of prevention of power generation performance deterioration.

  In realizing the present invention that the end threshold Θ the is within the same polarity range, it is necessary to set the end threshold Θ the to an appropriate value, and to determine the appropriate value from the past experience value in the environment of the wind power plant installation point. However, as a configuration method of the control device 9, setting values obtained by past experience or calculation in the installation environment of the wind power plant are given as fixed setting values and operated offline, and the wind condition every moment It is conceivable to apply and operate a variable set value calculated on the wind turbine offline or remote on-line in reflection. In the first embodiment, the configuration of the control device 9 that operates the set value variably will be described, and in the second embodiment, the set value obtained by past experience or calculation is given and used as the fixed set value. explain.

  The yaw control means 300 mounted on the control device 9 of the wind turbine 1 according to the first embodiment of the present invention will be described with reference to FIGS. 3 to 7.

  FIG. 3 is a block diagram showing an outline of processing of the yaw control means 300 mounted on the control device 9 of the wind turbine 1 according to the first embodiment of the present invention. The yaw control unit 300 according to the first embodiment calculates a yaw angle ΔΘ, a threshold calculation unit 310 that calculates a start threshold Θths and an end threshold Θthe, and a yaw control command from the yaw angle ΔΘ and the threshold Θths. It is comprised by the control instruction | command preparation means 305 which defines Cy. The threshold calculation unit 310 includes a data storage unit 302, a data analysis unit 303, and a threshold calculation unit 304.

  Among these, the yaw angle calculation means 301 determines the yaw angle ΔΘ based on the rotor shaft angle Θr and the wind direction Θw. As shown in FIG. 2, this yaw angle ΔΘ is the difference between the wind direction Θ w and the rotor shaft angle Θ r, and indicates how much the rotor shaft is from the wind direction. Here, the wind direction Θ w is not limited to the value detected by the wind direction and wind speed sensor 10 installed in the nacelle, and a value installed on the ground or another place may be used. In addition, the yaw angle calculation means 301 is a filter (low pass filter) that passes only a predetermined frequency range of the yaw angle ΔΘ represented by a low pass filter, or an average value of values of immediately preceding predetermined periods represented by a moving average. It is possible to use a statistical value using. Alternatively, Fourier transform may be performed.

  The data accumulation means 302 in the threshold value calculation unit 310 of FIG. 3 accumulates data of the wind direction Θw detected from the wind direction and velocity sensor 10, and outputs accumulation data of the wind direction Θw accumulated appropriately. In Example 3 to be described later, data of the wind speed Vw is further accumulated, and accumulation data of the wind direction Θw and wind speed Vw accumulated as appropriate is output. In the first embodiment, accumulated data of the wind direction Θ w is mainly used for threshold value calculation.

  The data analysis means 303 in the threshold value calculation unit 310 of FIG. 3 outputs the feature data based on the accumulated data of the wind direction Θw. Here, a frequency analysis method of accumulated data is used as a means for calculating feature data.

  FIGS. 4 and 5 show an example of the result of frequency analysis of the accumulated data of the wind direction Θw. The horizontal axis in FIGS. 4 and 5 represents the frequency, and the vertical axis represents the magnitude of the wind direction component Θf representing the fluctuation amount of the wind direction based on the frequency. For convenience, the frequency domain is distinguished from low frequency domain, medium frequency domain, high frequency domain, and very high frequency domain.

  FIG. 4 shows an example of the result of frequency analysis in a period in which wind direction fluctuation in a long cycle is relatively large, and is characterized in that the wind direction component Θf in the low frequency region shows a large value. FIG. 5 shows an example of the frequency analysis result in a period in which the wind direction fluctuation having a cycle shorter than that in FIG. 4 is relatively large, and is characterized in that the wind direction component Θf in the middle frequency region shows a large value. By performing frequency analysis, it is possible to obtain wind characteristic data including frequency components in a predetermined period.

  In addition, how to set each region of low frequency region, medium frequency region, high frequency region, and super high frequency region is used by the environmental circumstances of the place where each wind power generator is installed, yaw angle calculation means 301 It may be appropriately set according to the set value of the filter, the start threshold value Θ ths, and the end threshold value Θ the etc., but roughly, the low frequency region is in the range of 10-5 to 10-3, and the middle frequency region is in the range of 10-3 to The 2 × 10 -2 range, the high frequency range may range from 2 × 10 -2 to 10 -1, and the ultra high frequency range may range from 10 -1 to 10 -0. Further, according to another setting proposal of the area, it is preferable to adopt a range of 10 -3 to 2 × 10 -1 because setting of the middle frequency area is the most important among them.

  The threshold calculation unit 304 in the threshold calculation unit 310 in FIG. 3 determines the yaw control start threshold Θths and the end threshold Θthe based on the feature data. The start threshold Θths is a threshold for starting yaw rotation, and the end threshold Θthe is a threshold for ending yaw rotation. In the description of the present invention, in the standard state, the start threshold 8ths is set to, for example, 8 degrees, and the end threshold Θthe is set to 3 degrees, and is appropriately corrected and set based on the calculation result of the feature data in the threshold calculation means 304 Be done.

  Specifically, in the threshold value calculation means 304, the feature data showing the tendency of FIG. 4 where the wind direction component Θf in the low frequency region is large and the feature data showing the tendency of FIG. 5 where the wind direction component Θf in the middle frequency region is large In some cases, the magnitudes of the start threshold Θ ths and the end threshold Θ the are adjusted to be changed. For example, in the case of FIG. 4 where the wind direction component Θf in the low frequency region is large, the start threshold Θths is 7.5 degrees, and in the case of FIG. 5 where the wind direction component Θf in the middle frequency region is large, the start threshold Θths is 8.5 degrees Ru. Similarly, in the case of FIG. 4 where the wind direction component Θf in the low frequency region is large, the end threshold Θthe is 2.5 degrees, and in the case of FIG. 5 where the wind direction component Θf in the middle frequency region is large, the end threshold Θthe is 3.5 degrees Be done.

  As described above, in the case of FIG. 4 in which the wind direction component 低 f in the low frequency region is relatively large, the start threshold Θths and the end threshold Θthe are reduced. Further, as shown in FIG. 5, when the wind direction component Θf in the middle frequency region is relatively large, the start threshold Θths and the end threshold Θthe are increased.

  Alternatively, for example, when the wind direction component 低 f in the low frequency region and the high frequency region is relatively large, the start threshold Θths is increased and the end threshold Θthe is decreased in combination with feature data of other frequency regions. Here, in view of the load applied to the wind turbine 1, it is preferable that the wind direction component Θf in the high frequency region does not contribute or take much into the determination of the start threshold Θths and the end threshold Θthe. Further, it is preferable that the wind direction component in the ultrahigh frequency region which can not be followed by the performance of the wind turbine 1 is not considered in the determination of the start threshold Θths or the end threshold Θthe.

  As described above, in the first embodiment, the threshold value calculation unit 310 performs frequency analysis of the wind direction data from the wind direction measurement unit 10 to obtain frequency components, and obtains the total value of frequency components in a predetermined frequency region for each frequency region. The start threshold and the end threshold are created based on the value of the frequency component of each region.

  Here, the threshold calculation unit 304 may not sequentially output the start threshold Θths and the end threshold Θthe, and may output each at an arbitrary cycle or timing.

  The yaw control means 305 determines the yaw control command Cy based on the yaw angle ΔΘ, the start threshold value Θths and the end threshold value Θthe. When the yaw rotation is not performed and the absolute value of the yaw angle ΔΘ becomes equal to or more than the start threshold value ths, the yaw control command Cy for starting the yaw rotation is output to the yaw drive mechanism 8. In response, the yaw drive mechanism 8 operates so as to yaw the nacelle 5 in the direction to reduce the yaw angle ΔΘ. Then, when the absolute value of the yaw angle ΔΘ falls below the end threshold value Θ in the state of yaw rotation, the yaw control command Cy for stopping the yaw rotation is output to the yaw drive mechanism 8.

  FIG. 6 is a flowchart showing an outline of processing of the yaw control means 300 according to the first embodiment.

  In processing step S601 of FIG. 6, the rotor shaft angle Θ r is determined, and the process proceeds to the next step. In process step S602, the wind direction Θ w is determined, and the process proceeds to the next step. In processing step S603, the yaw angle ΔΘ is determined based on the rotor shaft angle Θr and the wind direction Θw, and the process proceeds to the next step. These processing steps S601 to S603 correspond to the processing of the yaw angle calculation means 301.

  At processing step S604 corresponding to the processing of the data storage means 302, the value of the wind direction Θw corresponding to the time is stored, and the process proceeds to the next step. At processing step S605 corresponding to the data analysis means 303, feature data is determined based on the accumulated data, and the process proceeds to the next step. In processing step S606 corresponding to the threshold calculation means 304, the start threshold Θths and the end threshold Θthe are determined, and the process proceeds to the next step. These processing steps S604 to S606 correspond to the processing of the threshold value calculation unit 310.

  In processing step S607, it is determined whether or not yawing is in progress, and if NO (no response), processing proceeds to processing step S608, and if YES (content) proceeds to processing step S610. In processing step S608, it is determined whether or not the yaw angle Δ 以上 is equal to or greater than the start threshold Θths. If YES, the processing proceeds to processing step S609, and if NO, the processing returns to processing step S601. At processing step S609, a yaw control command Cy for starting yaw rotation is determined, and the process proceeds to the next step. At processing step S610, the control command generation unit 305 determines whether or not the yaw angle ΔΘ is less than the ending threshold value 、 theta. If YES, the processing proceeds to processing step S611. If NO, the processing returns to processing step S601. In processing step S611, after the yaw control command Cy for stopping the yaw rotation is determined, a series of processing is ended.

  These processing steps S 607 to S 611 correspond to the processing of the control command generation means 305. In this process, when the yaw rotation is not performed and the absolute value of the yaw angle ΔΘ becomes equal to or more than the start threshold value ths, the yaw control command Cy for starting the yaw rotation is output to the yaw drive mechanism 8 , And the yaw drive mechanism 8 operates so as to yaw the nacelle 5 in the direction to reduce the yaw angle ΔΘ. Further, when the absolute value of the yaw angle ΔΘ falls below the end threshold value Θ in the state of yaw rotation, a yaw control command Cy for stopping the yaw rotation is output to the yaw drive mechanism 8.

  Next, in order to clarify the effect of the present embodiment, an outline will be described together with the operation of the comparative example.

  FIG. 7 is a schematic view showing the effect of the yaw control means 300 according to the first embodiment, and the horizontal axes all indicate common times. The vertical axis in FIG. 7A indicates the yaw angle ΔΘ, the vertical axis in FIG. 7B indicates the power generation output Pe, and the vertical axis in FIG. 7C indicates the rotor shaft angle Θr. The broken line shown in FIG. 7 shows, for example, the result of the case where the yaw turning is ended when the yaw angle ΔΘ becomes zero, as a comparative example when the yaw control means 300 according to the present invention is not applied. On the other hand, the solid line shows the result when the yaw control means 300 according to the first embodiment of the present invention is applied.

  In calculating the comparison result in FIG. 7, it is assumed that wind direction fluctuation frequently occurs at a relatively fast cycle as the wind condition. When this wind condition is subjected to frequency analysis, as shown in FIG. 5, the wind direction component Θf in the middle frequency region is large, and the wind direction component Θf in the low frequency region is small. Therefore, the start threshold Θths of the first embodiment becomes somewhat large, and the end threshold Θthe takes a value close to the start threshold Θths. The start threshold Θths of the comparative example is set to the same value as that of the first embodiment in order to clarify the comparison of the effects.

  Referring to FIG. 7A, the number of times the yaw angle ΔΘ exceeds the positive and negative start threshold value ths is smaller in the solid line in the first embodiment than in the dashed comparative example. In this wind condition, the wind direction fluctuation frequently occurs at a relatively fast cycle, so there are many patterns in which the wind direction 方向 w changes in the reverse direction during yaw turning and the yaw angle Δ 変 動 changes in the reverse direction at the end of the yaw turning. Therefore, in the first embodiment, since the yaw turning is ended before the yaw angle ΔΘ becomes zero, even when the yaw angle ΔΘ changes in the opposite direction at the end of the yaw turning, it is difficult to exceed the start threshold value ths.

  Further, since the number of times the yaw angle ΔΘ exceeds the start threshold value ths is smaller in the first embodiment than in the comparative example, it can be seen that the period in which the yaw angle ΔΘ is small increases. In the wind power generation system, the power generation output Pe increases as the rotor faces the wind direction Θw, that is, as the yaw angle ΔΘ decreases. Therefore, as shown to (b) of FIG. 7, the Example 1 of a continuous line has many periods in which the electric power generation output Pe is high compared with the comparative example of a broken line. In other words, Example 1 shows that the annual power generation amount is higher than that of the comparative example.

  Further, looking at (c) in FIG. 7, the solid line embodiment 1 has less number of times and a period during which the rotor shaft angle Θr varies, that is, the number of times of driving the yaw drive mechanism and drive time. This is because the yaw angle ΔΘ in the first embodiment is smaller than the comparative example in the number of times the start threshold Θths is less than the comparative example and the time in which the yaw threshold 下回 る the falls is shorter than FIG.

  As described above, according to the first embodiment, when the magnitude and the period of the wind direction change differ depending on the place and the time, it is possible to achieve both improvement of the power generation performance of the wind turbine and reduction of mechanical wear. .

  The threshold calculation means can set at least either the start threshold or the end threshold for each of a plurality of frequency regions, make the threshold variable, and switch control according to the wind direction. Specifically, based on the frequency analysis result of the wind direction data, at least either the start threshold or the end threshold is created for a plurality of predetermined frequency regions. The control command generation means switches and controls the yaw control start threshold value and the yaw control end threshold value based on the wind direction measured by the wind direction / wind speed measurement means.

  Next, a wind turbine 1 according to a second embodiment of the present invention will be described with reference to FIG. As described above, in the second embodiment, a value obtained by past experience or calculation is set in advance in the control device 9 as a fixed set value and operated offline.

  In FIG. 3 and FIG. 6 of the first embodiment, the threshold calculation unit 310 calculates and updates the start threshold Θths and the end threshold Θthe at each control cycle or at an appropriate timing.

  On the other hand, the yaw control means 300 of the second embodiment determines the yaw control command Cy from the yaw angle calculation means 301 for obtaining the yaw angle ΔΘ, the yaw angle ΔΘ and the start threshold Θths, and the end threshold 、 the as shown in FIG. The control command generation unit 305 is not provided with the threshold calculation unit 310 that calculates the start threshold 開始 ths and the end threshold Θthe. The start threshold value Θ ths and the end threshold value Θ the given to the control command generation means 305 are preset in the yaw control means 300 in advance or are set from the outside by the threshold value input means 306 at an appropriate timing. The threshold input unit 306 is an input device such as a keyboard, and may be input by a worker.

  The function of the threshold calculation unit 310 is configured in an analysis device provided at a place different from the wind power plant, and for example, the wind power plant in advance is obtained from the environmental conditions obtained in the research and design stage before construction. The start threshold Θths and the end threshold Θthe under typical wind conditions of the power plant are calculated, and are incorporated in the yaw control means 300 as preset values. The typical wind conditions may be prepared, for example, every season, or separately in the evening or in the morning, and may be switched and used under appropriate conditions.

  Alternatively, the function of the threshold calculation unit 310 is configured in an analysis device provided at a location different from the wind power plant, and for example, from the environmental conditions observed at the operation stage after installation of the wind power plant The start threshold Θths and the end threshold Θthe under typical wind conditions of the wind power plant are calculated, and are given to the control command generation means 305 in the yaw control means 300 via the threshold input means 305 provided with communication means. . In this case, the setting of the start threshold value Θ ths and the end threshold value で は the is not in a format corresponding immediately online according to the wind conditions of the site, but the values obtained offline are given and operated at appropriate timings Do.

  It is desirable to set the end threshold value お く the to be set in advance to a value mentioned in the fifth embodiment and FIG. 12 described later and the description thereof.

  According to the second embodiment, there is no need to provide an analysis device in the wind turbine, and the present invention can be updated to be equipped with the control of the present invention without major modification to the existing wind turbine, and control based on the optimized threshold can be performed.

  Next, a wind turbine 1 according to a third embodiment of the present invention will be described.

  The wind turbine generator 1 according to the third embodiment is different in that a yaw control unit 300 shown in FIG. 8 is applied instead of the yaw control unit 300 according to the first embodiment.

  FIG. 8 is a block diagram showing an outline of processing of the yaw control means 300 according to the third embodiment. The yaw control means 300 determines the yaw control command Cy from the yaw angle calculation means 301 for obtaining the yaw angle ΔΘ, the threshold calculation unit 810 for calculating the start threshold Θths and the end threshold Θthe, and the yaw angle ΔΘ and the threshold Θths. It is comprised by the command preparation means 305. The threshold calculation unit 810 includes a data storage unit 802, a data analysis unit 803, and a threshold calculation unit 804.

  In the yaw control unit 300 of the third embodiment, the yaw angle calculation unit 301 and the control command generation unit 305 have the same configuration as that of the first embodiment, but in the processing in the threshold calculation unit 810, the input of the data storage unit 802 is performed. In addition to wind direction Θ w, the point that wind speed Vw is newly added is new.

  The data storage means 802 outputs accumulation data of the wind direction Θw and the wind speed Vw based on the wind direction Θw and the wind speed Vw detected from the wind direction and wind speed sensor 10. The wind velocity Vw measured here is detected from the wind direction and velocity sensor 10 fixed to the nacelle 5, and is the wind velocity in the direction in which the nacelle 5 is directed at that time.

  The data analysis means 803 outputs the feature data based on the accumulated data of the wind direction 風速 w and the wind speed Vw. At this time, the average value Vave of the wind speed Vw in the period in which the feature data is analyzed is also output as the feature data. The wind speed Vw in this case is a wind speed obtained by vector calculation in the direction of the wind direction Θw.

  The threshold calculation means 804 determines the yaw control start threshold sths and the end threshold Θthe based on the average value Vave of the wind speed Vw which is the feature data. At this time, the start threshold 値 ths and the end threshold wthe are changed based on the average value Vave of the wind speed Vw. FIGS. 9 and 10 show examples of characteristics for changing the start threshold value Θths and the end threshold value 基 づ い the based on the average value Vave of the wind speed Vw.

  FIG. 9 shows that the start threshold value Θths is suitable for reducing the lateral load of the wind turbine as in the case where the middle frequency region is fast, or for increasing the amount of power generation at the mountain side site where the wind speed fluctuates a lot. It is an example of a change characteristic of end threshold Θthe. In this case, the start threshold 傾向 ths and the end threshold 高 い the are set to be reduced as the average value Vave of the wind speed Vw is higher.

  FIG. 10 is an example of change characteristics of the start threshold Θths and the end threshold Θthe suitable for increasing power generation at the sea side site where the wind speed fluctuation is small. In this case, as the average value Vave of the wind speed Vw is higher, the start threshold value Θths and the end threshold value Θthe are set to be increased.

  These characteristics may be characteristics which decrease or increase stepwise, or characteristics which approximate to a high-order curve of the wind speed Vw. As an example of the reduction method, consider the following case. That is, the wind speed Vwx included in the range from the cut-in wind speed to the cut-out wind speed is defined, and the start threshold Θths and the end threshold Θthe below the wind speed Vwx are determined larger than the start threshold Θths and the second threshold Θthe above the wind speed Vwx .

  According to the third embodiment, when the yaw angle ΔΘ is present, the load applied to the wind turbine 1 increases as the wind velocity Vw increases. Therefore, the wind turbine 1 according to the third embodiment has the threshold characteristics based on the wind velocity Vw. It is possible to prevent excessive load on the

  In order to cope with the case where the frequency characteristic of the wind direction is different for each wind speed region, the control in consideration of the wind speed of the present embodiment and the control in consideration of the wind direction of the first embodiment can be performed synergistically.

  For example, at least either the start threshold or the end threshold may be set for each wind speed region, and control based on the wind direction frequency region may be changed for each wind speed. Specifically, the average wind speed in a predetermined period is obtained from the wind speed data, and at least according to the two or more different average wind speeds based on the frequency analysis result of the wind direction data in the period when two or more different average wind speeds are obtained. The start threshold or the end threshold is created. Based on that, the control command creation means can switch between the yaw control start threshold and the yaw control end threshold as appropriate based on the wind speed measured by the wind direction measuring device.

  In the control device according to the second embodiment that uses wind speed information, as a protective measure, it is preferable to reduce one or both of the start threshold and the end threshold when the wind speed exceeds a predetermined value. At this time, the predetermined value of the wind speed is preferably larger than the cut-in wind speed and smaller than the cut-out wind speed.

  Next, a wind turbine 1 according to a fourth embodiment of the present invention will be described.

  The wind turbine generator 1 of the fourth embodiment has the same means as the yaw control means 300 of the first embodiment, but the processing in the data analysis means 303 and the threshold calculation means 304 is different.

  The data analysis unit 303 of the fourth embodiment calculates the average value Θave and the standard deviation σ of the wind direction Θw in a predetermined period by statistical analysis based on the wind direction Θw, and outputs it as characteristic data of the wind condition.

  The threshold calculation unit 304 determines the yaw control start threshold Θths and the end threshold Θthe based on the statistically analyzed feature data. Here, when the difference between the average value Θave statistically analyzed before a predetermined time and the average value Θave calculated immediately before is relatively large, that is, when the change is large, the start threshold value Θths and the end threshold value Θthe are decreased. Do.

  On the other hand, when the standard deviation σ is relatively large, the start threshold Θths and the end threshold Θthe are increased. When the average value Θave and the standard deviation σ are relatively large, the start threshold value Θths is increased and the end threshold Θthe is decreased.

  By applying the process of the yaw control means 300 of the fourth embodiment, the same effect as that of the first embodiment can be realized by a simpler process.

  Next, a wind turbine 1 according to a fifth embodiment of the present invention will be described.

  The wind turbine generator 1 of the fifth embodiment is different in that a yaw control unit 300 shown in FIG. 11 is applied instead of the yaw control unit 300 of the first embodiment.

  FIG. 11 is a block diagram showing an outline of processing of the yaw control means 300 according to the fifth embodiment. The yaw control means 300 determines the yaw control command Cy from the yaw angle calculation means 301 for obtaining the yaw angle ΔΘ, the threshold calculation unit 910 for calculating the start threshold Θths and the end threshold Θthe, and the yaw angle ΔΘ and the threshold Θths. It is comprised by the command preparation means 305. The threshold calculation unit 910 includes a data storage unit 902, a data analysis unit 903, and a threshold calculation unit 904.

  In the yaw control unit 300 of the fifth embodiment, the yaw angle calculation unit 301 and the control command generation unit 305 have the same configuration as that of the first embodiment, but Pe is newly added in the processing in the threshold calculation unit 910. The point is new.

  The data storage means 902 stores the accumulated data of the wind direction w, the wind speed Vw, the rotor shaft angle Θr, and the power output Pe based on the wind direction w, the wind speed Vw, the rotor shaft angle Θr, and the power output Pe detected from the wind direction and velocity sensor 10. Output.

  The data analysis means 903 outputs feature data based on accumulated data of the wind direction Θw and the wind speed Vw, the rotor shaft angle Θr, and the power generation output Pe. FIG. 12 is a diagram for explaining feature data in the fifth embodiment. The characteristic data in the fifth embodiment are, as shown in FIG. 12A, a distribution curve in which the abscissa represents the ratio of the end threshold よ う the to the start threshold 、 ths of the yaw control, and the ordinate represents the power generation amount Pwh. As shown in (b) of the figure, the horizontal axis represents a ratio of the end threshold value Θthe to the start threshold value Θths of the yaw control, and the vertical axis represents the number of times of yaw driving Ny.

  First, a method of creating the distribution curve shown in (a) of FIG. 12 will be described. Based on the wind speed Vwx and the power generation output Pex at the start threshold Θthsx and the end threshold Θthex set in the predetermined period tx, the power generation amount Pwhx is calculated. Furthermore, the power generation amount Pwhy is calculated based on the wind speed Vwy and the power generation output Pey at different start threshold Θthsy and end threshold Θthey set in different predetermined periods ty. Thus, the power generation amount Pwh at the plurality of start threshold values Θ ths and end threshold Θ the is calculated, and a distribution curve shown in (a) of FIG. 12 is created.

  According to the distribution curve shown in FIG. 12 (a), the power generation amount Pwhx tends to increase as the ratio of the end threshold value に 対 す る the to the yaw control start threshold value Θths increases from 0 (%), and 100 (%) It shows a mountain-like tendency in which the amount of power generation Pwhx increases slightly as it approaches.

  Next, a method of creating the distribution curve shown in FIG. 12 (b) will be described. The yaw drive number Nyx is calculated based on the rotor shaft angle Θrx at the start threshold Θthsx and the end threshold txthex set in the predetermined period tx. Furthermore, the yaw drive number Nyy is calculated based on the rotor shaft angle Θry at different start threshold Θthsy and end threshold Θthey set in different predetermined periods ty. In this manner, the number of times of yaw drive Ny at the plurality of start threshold values Θ ths and end threshold Θ the is calculated, and the distribution curve shown in FIG. 12 (b) is created.

  According to the distribution curve shown in FIG. 12B, the yaw drive frequency Ny tends to decrease as the ratio of the end threshold value Θthe to the yaw control start threshold value Θths increases from 0 (%), and 100 (%) The yaw drive frequency Ny tends to increase as it approaches.

  According to the mountain-shaped distribution curve shown in (a) of FIG. 12 and the valley-shaped distribution curve shown in (b) of FIG. 12, an area where the amount of power generation Pwhx is large and the number of times of yaw drive Ny can be reduced There is a ratio of end threshold Θthe to start threshold Θths). The area near the end threshold Θthe2 is a region that satisfies both conditions.

  The threshold calculation means 904 determines the yaw control start threshold Θths and the end threshold Θthe based on the distribution curve which is the feature data. Based on (a) and (b) of FIG. 12, the end threshold Θthe is set to a value larger than zero with respect to the start threshold Θths (for example, 5 to 10 °). For example, it is determined to be the inflection point of the improvement rate of the power generation amount Pwh and Θthe1 or more when the number of times of yaw driving Ny is smaller than the end threshold value of zero. The inflection point Θthe1 corresponds to a position of 30% of the start threshold. In particular, in an environmental condition where wind direction variation is relatively large, such as in a mountainous area, when the start threshold Θths is set to 8 ° or more, Θthe may be set to 2.5 ° or more.

  More preferably, the end threshold value 終了 the is determined between the end threshold value Θthe2 at which the number of times of yaw drive Ny decreases and the end threshold value Θthe3 at which the power generation amount Pwh increases most. Θ the2 corresponds to 75% of the start threshold. Θ the3 corresponds to 95% of the start threshold. In particular, in environmental conditions where wind direction fluctuation is relatively large, such as in a mountainous area, when the start threshold Θths is set to 8 ° or more, mechanical waste reduction and power generation are performed if Θthe is set to 6 ° or more and 7.6 ° or less An increase in quantity results in a more balanced control.

  By performing yaw control based on the distribution curve created in the fifth embodiment, it is possible to know in advance the power generation amount Pwh and the number of times of yaw drive Ny assumed with high accuracy in the start threshold Θths and the end threshold Θthe to be determined. It becomes possible. Here, instead of the number of times of yaw drive Ny, a yaw drive time at which the same effect can be obtained, or a load that can be calculated from the number of times of yaw drive Ny may be used.

  Next, a method of repairing the wind turbine generator 1 according to the sixth embodiment of the present invention will be described.

In the sixth embodiment, a method of applying the control method of the present embodiment to the wind turbine 1 which is not provided with the threshold calculation unit or is controlled by the fixed value of the yaw control end threshold being zero is described. Do.
First, to calculate the optimal threshold value, it is necessary to analyze wind direction data measured in an environment where a wind turbine is installed. Therefore, the wind direction is measured locally, or the data measured by the wind direction installed in the wind turbine is acquired, the wind speed is confirmed, and the frequency analysis of the wind direction is performed to calculate the optimum threshold value.

  Next, when threshold input means connected to the existing wind turbine is already provided in part of the WTC, yaw control termination smaller than the yaw control start threshold and larger than zero as described in the other embodiments is completed. It can be repaired by setting the threshold. In addition, when connected to the network, and when the yaw control end value can be set via the network, it can be repaired by the threshold input means via the network.

  When a threshold calculation unit is newly provided in order to calculate the threshold by the threshold calculation unit, the threshold calculation unit is newly connected to a control device of a wind turbine, a wind farm controller, or a server connected via a network. The control method described in the other embodiments can be implemented.

The present invention is not limited to the embodiments described above, and various modifications are possible. The embodiments described above are illustrated to facilitate understanding of the present invention, and are not necessarily limited to those having all the described configurations. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. In addition, it is possible to delete part of the configuration of each embodiment or to add or replace another configuration. Further, control lines and information lines shown in the drawing indicate those which are considered to be necessary for explanation, and not all the control lines and information lines necessary on the product are shown. In practice, almost all configurations may be considered to be mutually connected. Possible modifications to the above embodiment are, for example, as follows.
(1) The data storage means 302, the data analysis means 303, and the threshold value calculation means 304 in the yaw control means 300 may be provided in an external device instead of the control device 9.
(2) The yaw control start threshold Θths and the end threshold ヨ ー the calculated by the present invention may be applied to other wind power generators 1 at the same site or to wind power generators 1 at other sites in close wind conditions.
(3) The data storage means 302 in the yaw control means 300 may be means for holding only the wind condition data accumulated in the past without sequentially inputting the wind condition data including the wind direction θw.
(4) Although the wind direction and wind speed sensor 10 is installed on the nacelle in each of the above embodiments, it may be installed in the nacelle 5 or around the wind turbine 1 instead of this location.

  According to the embodiment of the present invention, when wind direction fluctuation with a relatively fast cycle frequently occurs, the yaw turning end threshold is brought close to the start threshold, and the yaw turning is stopped before the yaw angle becomes zero, so that after the yaw turning. Even if a wind direction fluctuation equal to or less than the reverse direction occurs, the threshold value for starting yaw rotation is not exceeded. Therefore, since the number of times of driving of the yaw is reduced, mechanical wear of the wind turbine can be reduced. Furthermore, since the yaw angle exceeding the yaw rotation start threshold value is reduced and the wind direction followability is also enhanced, it is possible to simultaneously improve the power generation performance.

1: Wind power generator 2: Blade 3: Hub 4: Rotor 5: Nacell 6: Generator 7: Tower 8: Yaw drive mechanism 9: Control device 10: Wind direction and velocity sensor 300: Yaw control means 301: Yaw angle calculation means 305 : Control command creation means 310: Threshold calculation part 302, 802, 902: Data storage means 303, 803, 903: Data analysis means 304, 804, 904: Threshold calculation means

Claims (14)

What is claimed is: 1. A wind power generator comprising: a rotor that receives wind and rotates; a nacelle that rotatably supports the rotor; and a tower that rotatably supports the nacelle,
The nacelle starts yaw rotation in a direction to reduce a yaw angle which is an angle difference between a wind direction and the direction of the rotor, and the yaw angle is a predetermined angle before the wind direction matches the direction of the rotor. End yaw rotation when it becomes
The predetermined angle is
When the magnitude of the wind direction fluctuation amount is the first wind direction fluctuation amount, it is a first predetermined angle,
When the magnitude of the fluctuation of the wind direction is the magnitude of the fluctuation of the second wind direction, it is a second predetermined angle,
The magnitude of the first wind direction fluctuation amount is larger than the magnitude of the second wind direction fluctuation amount,
The wind turbine generator according to claim 1, wherein the first predetermined angle is larger than the second predetermined angle. A control method of a wind turbine generator comprising: a rotor that receives and rotates by wind; a nacelle that rotatably supports the rotor; and a tower that rotatably supports the nacelle,
The nacelle starts yaw rotation in a direction to reduce a yaw angle which is an angle difference between a wind direction and the direction of the rotor, and the yaw angle is a predetermined angle before the wind direction matches the direction of the rotor. End yaw rotation when it becomes
The predetermined angle is
When the magnitude of the wind direction fluctuation amount is the first wind direction fluctuation amount, it is a first predetermined angle,
When the magnitude of the fluctuation of the wind direction is the magnitude of the fluctuation of the second wind direction, it is a second predetermined angle,
The magnitude of the first wind direction fluctuation amount is larger than the magnitude of the second wind direction fluctuation amount,
The control method of the wind turbine generator, wherein the first predetermined angle is larger than the second predetermined angle. A rotor that receives and rotates in response to wind, a nacelle that rotatably supports the rotor, and a tower that rotatably supports the nacelle;
The nacelle is a wind power generator that sets a yaw angle, which is an angle between a wind direction and the direction of the rotor, to a predetermined angle,
The nacelle sets the yaw angle to a first predetermined angle which is a first angle among the predetermined angles when the magnitude of the wind direction variation is a magnitude of the first wind direction variation, When the magnitude of the wind direction fluctuation amount is a second wind direction fluctuation amount, the yaw angle is set to a second predetermined angle which is a second angle of the predetermined angles,
The magnitude of the first wind direction fluctuation amount is larger than the magnitude of the second wind direction fluctuation amount,
The wind turbine generator according to claim 1, wherein the first predetermined angle is larger than the second predetermined angle. The wind turbine generator according to claim 3, wherein
The nacelle starts yaw rotation in a direction to reduce the yaw angle, and ends yaw rotation when the wind direction and the direction of the rotor match before the yaw angle reaches the predetermined angle. A wind power generator characterized by The wind turbine generator according to any one of claims 3 to 4, wherein
A wind power generator comprising a wind direction meter for acquiring a wind direction. The wind turbine generator according to any one of claims 3 to 5, wherein
A wind turbine generator comprising a control device for controlling the yaw angle of the nacelle. The wind turbine generator according to any one of claims 3 to 6, wherein
The nacelle sets the yaw angle to a predetermined angle when the yaw angle exceeds a third predetermined angle. A rotor that receives and rotates in response to wind, a nacelle that rotatably supports the rotor, and a tower that rotatably supports the nacelle;
The nacelle is a control device of a wind turbine generator that controls the nacelle of the wind turbine generator, which makes the yaw angle, which is an angle difference between the wind direction and the direction of the rotor, a predetermined angle,
The controller sets the yaw angle to a first predetermined angle which is a first angle among the predetermined angles when the magnitude of the wind direction variation is a first wind direction variation. When the magnitude of the wind direction fluctuation amount is a second wind direction fluctuation amount, the yaw angle is set to a second predetermined angle which is a second angle of the predetermined angles,
The magnitude of the first wind direction fluctuation amount is larger than the magnitude of the second wind direction fluctuation amount,
The control device for a wind turbine generator, wherein the first predetermined angle is larger than the second predetermined angle. A control device of a wind turbine generator according to claim 8, wherein
Starting the yaw rotation in the direction to reduce the yaw angle, and ending the yaw rotation when the wind direction and the direction of the rotor coincide and the yaw angle becomes the predetermined angle. A control device of a wind turbine generator characterized by. A control device of a wind turbine generator according to any one of claims 8 to 9, wherein
A control device of a wind turbine generator, wherein the wind direction is acquired from a wind direction meter. A control device of a wind turbine generator according to any one of claims 8 to 10, wherein
The controller for a wind turbine generator, wherein the yaw angle is set to a predetermined angle when the yaw angle exceeds a third predetermined angle. A control method of a wind turbine generator comprising: a rotor that receives and rotates by wind; a nacelle that rotatably supports the rotor; and a tower that rotatably supports the nacelle,
The nacelle sets a yaw angle, which is an angle between a wind direction and the direction of the rotor, to a predetermined angle, and when the wind direction fluctuation amount is a first wind direction fluctuation amount, the yaw angle is The yaw angle is set to the first predetermined angle which is the first angle of the predetermined angles, and the magnitude of the fluctuation amount of the wind direction is the magnitude of the fluctuation amount of the second wind direction. To a second predetermined angle which is the second of the angles,
The magnitude of the first wind direction fluctuation amount is larger than the magnitude of the second wind direction fluctuation amount,
The control method of the wind turbine generator, wherein the first predetermined angle is larger than the second predetermined angle. The control method of the wind turbine generator according to claim 12,
The nacelle starts yaw rotation in a direction to reduce the yaw angle, and ends yaw rotation when the wind direction and the direction of the rotor match before the yaw angle reaches the predetermined angle. Method of controlling a wind turbine generator characterized by The control method of the wind turbine generator according to any one of claims 12 to 13, wherein
A control method of a wind turbine generator, wherein the nacelle sets the yaw angle to a predetermined angle when the yaw angle exceeds a third predetermined angle.

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