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CN108180111B - Load reduction control method of wind generating set based on blade root load and tower load - Google Patents

Load reduction control method of wind generating set based on blade root load and tower load Download PDF

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Publication number
CN108180111B
CN108180111B CN201711333916.9A CN201711333916A CN108180111B CN 108180111 B CN108180111 B CN 108180111B CN 201711333916 A CN201711333916 A CN 201711333916A CN 108180111 B CN108180111 B CN 108180111B
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China
Prior art keywords
load
blade
bending moment
tower
blade root
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CN108180111A (en
Inventor
李刚
马冲
黄国燕
陈思范
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MingYang Smart Energy Group Co Ltd
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MingYang Smart Energy Group Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/331—Mechanical loads
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses a load reduction control method of a wind generating set based on blade root load and tower frame load, which comprises the following steps: 1) a load sensor is attached to the root of each blade of the impeller, the blade root flapping direction bending moment and the shimmy direction bending moment of the blade are directly measured, and the blade root out-of-plane bending moment and the blade root in-plane bending moment are obtained through calculation; 2) mounting load sensors at the top end and the bottom end of the tower barrel, measuring the bending moment of the tower top, calculating to obtain the bending moment in the pitching direction of the tower top and the bending moment in the left-right direction of the tower top according to a conversion formula, measuring the bending moment of the tower bottom, and calculating to obtain the bending moment in the pitching direction of the tower bottom and the bending moment in the left-right direction of the tower bottom according; 3) defining limit load, safety factor and load trigger mark; 4) whether the unit triggers load limitation can be judged through the Flag bit, and when the load is triggered, corresponding control is adopted. The invention can realize load reduction control of the unit, reduce the load of the unit under the limit working condition and ensure the safe operation of the unit.

Description

Load shedding control method of the wind power generating set based on blade root load Yu pylon load
Technical field
The present invention relates to the technical fields of wind power generating set load shedding control, refer in particular to a kind of wind power generating set and are based on The load shedding control method of blade root load and pylon load.
Background technique
Known in the industry, with the development of wind power technology, wind-driven generator unit is constantly towards big megawatt of type, flexible high tower Frame, large impeller, the development of lightweight unit.The single-machine capacity of wind power generating set from 1MW, 2MW before, be developing progressively 3MW, 5MW, 7MW are even up to 10MW grades.Moreover, wind power generating set running environment is gradually from Plain to mountainous region, from low turbulent flow To the high wind shear of high turbulent flow, from land to ocean, wind regime becomes increasingly complex, and unit ultimate load and fatigue load are also increasingly Greatly.For large impeller unit, impeller diameter is significantly increased, and wind speed variation in any point will all be put down by entire wind wheel in paddle wheel plane Face perception, influence of the wind turbulent flow to blade loading will be more significant.For flexible high tower unit, pylon load is then control The Main Load of system, pylon is higher, and ultimate load is also more significant.
Currently, at the blade blade root of big megawatt of unit, pylon top, pylon bottom end have installed load sensor.It is logical Blade root load transducer acquisition blade root load is crossed, the tower top load and tower bottom acquired by tower top and tower bottom load transducer carries Lotus is mainly used for the detection of unit safety operation state.When load is more than safeguard protection value, generally take shutdown suitable Paddle ensures the safety of unit.However, how effectively reducing the performance load of unit by these load signals, how participating in Load shedding control is more not yet to be explored.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology with it is insufficient, propose a kind of wind power generating set and be based on leaf The load shedding control method of root load and pylon load, this method is using blade root load, tower top load and tower bottom load as feedback Input control quantity realizes the load shedding control of unit, reduces load of the unit under limiting condition, ensure the safe operation of unit.
To achieve the above object, technical solution provided by the present invention are as follows: wind power generating set is based on blade root load and tower The load shedding control method of frame load, comprising the following steps:
1) load transducer is mounted in the root of each blade of wind power generating set impeller, is directly measured by sensor Blade root waves direction moment MFlapWith edgewise direction moment MEdge, blade root face Moments M is calculatedOutPlaneWith blade root face Interior moment MInPlane, blade root face Moments MOutPlaneBlade root is embodied in thrust of impeller direction load, and moment of flexure in blade root face MInPlaneBlade root is embodied in impeller direction of rotation load；
Blade root waves direction moment MFlapWith edgewise direction moment MEdgeIt is defined in chord of blade line coordinates system, chord of blade Line coordinates system is defined as: Y-axis is directed toward rear along string direction, and Z axis is directed toward blade tip along blade square axis, and X-axis is vertical with Y, Z axis；Leaf Root waves direction moment MFlapFor M in chord of blade line coordinates systemYSDirection, edgewise direction moment MEdgeFor in chord of blade line coordinates system MXSDirection；Chord of blade line coordinates system is fixed on blade, covariant propeller angle and rotate；
Blade root face Moments MOutPlaneWith moment M in blade root faceInPlaneIt is defined in blade root coordinate system；Blade and blade Root coordinate system is defined as: X-axis is directed toward tail along wheel hub rotary shaft, and Y-axis is vertical with Z axis in impeller Plane of rotation, and Z axis refers to along blade To blade tip；Blade root face Moments MOutPlaneFor M in blade root coordinate systemYBDirection, moment M in blade root faceInPlaneFor blade root coordinate system Middle MXBDirection；Blade root coordinate system is fixed on wheel hub, is rotated with the rotation of wheel hub；
Blade root waves direction moment MFlapWith edgewise direction moment MEdgeTransform to blade root face Moments MOutPlaneAnd blade root Moment M in faceInPlaneCalculation formula it is as follows:
Wherein, β1、β2、β3It is the propeller pitch angle of blade 1, blade 2, blade 3, M respectivelyFlap1、MFlap2、MFlap3It is blade respectively 1, blade 2, blade 3 blade root wave moment of flexure, MEdge1、MEdge2、MEdge3It is that blade 1, blade 2, the blade root of blade 3 are shimmy respectively Moment of flexure, MOutPlane1、MOutPlane2、MOutPlane3It is the blade root face Moments of blade 1, blade 2, blade 3, M respectivelyInPlane1、 MInPlane2、MInPlane3It is moment of flexure in the blade root face of blade 1, blade 2, blade 3 respectively；
In formula (1) (2) (3), blade root load MFlap1、MFlap2、MFlap3And MEdge1、MEdge2、MEdge3By load sensing Device measurement obtains, propeller pitch angle β1、β2、β3It also is measured value, blade root load MOutPlane1、MOutPlane2、MOutPlane3And MInPlane1、 MInPlane2、MInPlane3It is calculated by formula；
2) load transducer is mounted on tower barrel of wind generating set top and tower bottom end, tower is directly measured by sensor Push up moment MTopXAnd moment MTopY, tower top pitch orientation moment M is calculated according to conversion formulaTopTiltWith tower top left and right directions Moment MTopSide；By being mounted on the sensor of tower bottom, tower bottom moment M is directly measuredBottomXAnd moment MBottomY, according to conversion Tower bottom pitch orientation moment M is calculated in formulaBottomTiltWith tower bottom left and right directions moment MBottomSide；
Tower top moment MTopXWith moment MTopYIt is defined in pylon tower top coordinate system, tower bottom moment MBottomXWith moment of flexure MBottomYIt is defined in pylon tower bottom coordinate system；The definition of pylon tower top coordinate system and pylon tower bottom coordinate system be it is identical, only It is coordinate origin respectively in tower top and tower bottom；Pylon coordinate system X-axis energized south, Y-axis are directed toward east, and Z axis is vertically upward；
Tower top pitch orientation moment MTopTiltWith tower bottom pitch orientation moment MBottomTiltIt is after considering cabin yaw angle Pylon moment of flexure in the front-back direction, tower top left and right directions moment MTopSideWith tower bottom left and right directions moment MBottomSideIt is to consider cabin The moment of flexure of pylon left and right directions after yaw angle；By tower top moment MTopXAnd moment MTopYIt is transformed into tower top pitch orientation moment of flexure MTopTiltWith tower top left and right directions moment MTopSideFormula it is as follows:
By tower bottom moment MBottomXWith moment MBottomYIt is transformed into tower bottom pitch orientation moment MBottomTiltWith tower bottom right and left To moment MBottomSideFormula it is as follows:
In formula (4) (5),It is cabin yaw angle, tower top moment MTopX、MTopYWith tower bottom moment MBottomX、 MBottomYIt is directly to measure to obtain by load transducer, and tower top moment MTopTilt、MTopSideWith tower bottom moment MBottomTilt、 MBottomSideIt is to be calculated by formula；
3) ultimate load, factor of safety, load trigger flag are defined
For blade, the ultimate load for needing to define has: ultimate load M in blade root faceInPlaneMax, the limit carries outside blade root face Lotus MOutPlaneMax；For tower top, the ultimate load that need to be defined has: tower top pitching ultimate load MTopTiltMaxWith tower top Derivative limit on the left or on the right Load MTopSideMax；For tower bottom, the ultimate load that need to be defined has: tower bottom pitching ultimate load MBottomTiltWith tower bottom or so pole Limit is in MBottomSide；Ultimate load is unit permitted maximum load under various operating conditions, and unit is separate when operating normally Ultimate load, ultimate load needs are provided by designer；
For blade loading, the factor of safety for needing to define has: factor of safety γ in blade root face1With outside blade root face it is safe because Sub- γ2；For tower top load, the factor of safety for needing to define has: tower top pitching factor of safety γ3With tower top or so factor of safety γ4；For tower bottom load, the factor of safety for needing to define has: tower bottom pitching factor of safety γ5With tower bottom or so factor of safety γ6；The value range of factor of safety is 0 to 1, indicates that when load be more than factor of safety and ultimate load into product, will take control System；
For blade loading, the load trigger flag for needing to define has: blade root loads in plane trigger flag Flag1 and blade root Face external applied load trigger flag Flag2；For tower top load, the load trigger flag for needing to define has: the triggering of tower top pitching load Sign of flag 3 and tower top or so load trigger flag Flag4；For tower bottom load, the load trigger flag for needing to define has: tower Bottom pitching load trigger flag Flag5 and tower bottom or so load trigger flag Flag6；Load trigger flag is used to indicate that load is No triggering is transfinited, and load trigger flag is amount of logic, and for each load trigger flag, trigger condition is as follows:
Flag1=(MInPlane1>γ1*MInPlaneMax)OR(MInPlane2>γ1*MInPlaneMax)OR(MInPlane3>γ1* MInPlaneMax)
Flag2=(MOutPlane1>γ2*MOutPlaneMax)OR(MOutPlane2>γ2*MOutPlaneMax)OR(MOutPlane3>γ2* MOutPlaneMax)
Flag3=(MTopTilt>γ3*MTopTiltMax)
Flag4=(MTopSide>γ4*MTopSideMax)
Flag5=(MBottomTilt>γ5*MBottomTiltMax)
Flag6=(MBottomSide>γ6*MBottomSideMax)
In addition to this, it also needs to define a total trigger flag position Flag, when any one trigger flag is triggered, Flag is triggered, and has following logical expression:
Flag=(Flag1) OR (Flag2) OR (Flag3) OR (Flag4) OR (Flag5) OR (Flag6)
In this logical expression, as long as OR represents logic or, having a load to be triggered, Flag will be triggered；
4) it can judge whether unit triggers load limitation by Flag flag bit, when load triggering, will take corresponding Control, load control needs to define four modes: mode -1, mode 0, mode 1 and mode 2, concrete condition is as follows:
Mode -1: this mode is triggered when load trigger flag Flag is TRUE, generator speed setting value is to set The rate set reduces, and generator torque maximum value is also reduced with the rate set, therefore set value of the power is also reducing；
Mode 0: this mode is triggered when load trigger flag Flag becomes FALSE from TRUE, is turned in this mode Fast setting value and torque maximum remain unchanged, and neither increase nor reduce, duration of this mode be a setting when Between, mode 1 is entered after the duration；
Mode 1: in this mode, load trigger flag position Flag needs to be always held at FALSE, and generator speed is with one The rate recovery set, until speed setting value is restored to rated speed；The generator torque maximum value also speed to set Rate is restored, until reaching initial torque maximum, when speed setting value and torque maximum are all restored to initial value, mode Mode 2 will be switched to；
Mode 2: generator speed setting value and generator torque maximum value are held at initial speed setting value and torsion Square maximum value；
When unit normal operation and without load triggering when, generator speed setting value is maintained in initial setting value, For mode 2；When there is load trigger flag position, speed setting value will fall to mode -1, rack load with the rate of setting It will constantly reduce；When load reduction will remain to current value to load Flag flag bit, generator speed setting value is no longer triggered It is constant, it is used up until the retention time, is mode 0；Generator speed setting value is begun to ramp up, until reaching initial setting value, For mode 1；Under any mode, after load triggers again, mode will all be switched to mode -1.
Compared with prior art, the present invention have the following advantages that with the utility model has the advantages that
1, for large impeller unit, flexible high tower unit, using blade root load and pylon load is based on, feedback control is sent out The revolving speed and torque of motor reduce unit operational limit load.
2, using such load shedding control method flexible, unit fortune can be reduced to greatest extent in non-stop-machine situation Row load.
Detailed description of the invention
Fig. 1 is chord of blade line coordinates system.
Fig. 2 is blade root coordinate system.
Fig. 3 is pylon tower top coordinate system.
Fig. 4 is pylon tower bottom coordinate system.
Fig. 5 is generator speed set value calculation logic chart.
Specific embodiment
The present invention is further explained in the light of specific embodiments.
Load shedding control method of the wind power generating set provided by the present embodiment based on blade root load Yu pylon load, including Following steps:
1) load transducer is mounted in the root of each blade of wind power generating set impeller, is directly measured by sensor Blade root waves direction moment MFlapWith edgewise direction moment MEdge, blade root face Moments M is calculatedOutPlaneWith blade root face Interior moment MInPlane.Blade root face Moments MOutPlaneBlade root is embodied in thrust of impeller direction load, and it is curved in blade root face Square MInPlaneBlade root is embodied in impeller direction of rotation load.
Blade root waves direction moment MFlapWith edgewise direction moment MEdgeIt is defined in chord of blade line coordinates system, such as Fig. 1 institute Show.Chord of blade line coordinates system is defined as: Y-axis is directed toward rear along string direction, and Z axis is directed toward blade tip, X-axis and Y, Z along blade square axis Axis is vertical.Blade root waves direction moment MFlapFor M in chord of blade line coordinates systemYSDirection, edgewise direction moment MEdgeFor chord of blade M in line coordinates systemXSDirection.Chord of blade line coordinates system is fixed on blade, covariant propeller angle and rotate.
Blade root face Moments MOutPlaneWith moment M in blade root faceInPlaneIt is defined in blade root coordinate system, such as Fig. 2 It is shown.Blade root coordinate system is defined as: X-axis is directed toward tail along wheel hub rotary shaft, and Y-axis is vertical with Z axis in impeller Plane of rotation, Z axis is directed toward blade tip along blade.Blade root face Moments MOutPlaneFor M in blade root coordinate systemYBDirection, moment M in blade root faceInPlaneFor M in blade root coordinate systemXBDirection.Blade root coordinate system is fixed on wheel hub, is rotated with the rotation of wheel hub.
Blade root waves direction moment MFlapWith edgewise direction moment MEdgeTransform to blade root face Moments MOutPlaneAnd blade root Moment M in faceInPlaneCalculation formula is as follows:
Wherein, β1、β2、β3It is the propeller pitch angle of blade 1, blade 2, blade 3, M respectivelyFlap1、MFlap2、MFlap3It is blade respectively 1, blade 2, blade 3 blade root wave moment of flexure, MEdge1、MEdge2、MEdge3It is that blade 1, blade 2, the blade root of blade 3 are shimmy respectively Moment of flexure, MOutPlane1、MOutPlane2、MOutPlane3It is the blade root face Moments of blade 1, blade 2, blade 3, M respectivelyInPlane1、 MInPlane2、MInPlane3It is moment of flexure in the blade root face of blade 1, blade 2, blade 3 respectively.
In formula (1) (2) (3), blade root load MFlap1、MFlap2、MFlap3And MEdge1、MEdge2、MEdge3By load sensing Device measurement obtains, propeller pitch angle β1、β2、β3It also is measured value, blade root load MOutPlane1、MOutPlane2、MOutPlane3And MInPlane1、 MInPlane2、MInPlane3It is calculated by formula.
2) load transducer is mounted on tower barrel of wind generating set top and tower bottom end, tower is directly measured by sensor Cylinder top moment MTopXAnd moment MTopY, tower top pitch orientation moment M is calculated according to conversion formulaTopTiltWith tower top or so Direction moment MTopSide.In addition, directly measuring tower bottom end moment M by the sensor for being mounted on tower bottomBottomXAnd moment of flexure MBottomY, tower bottom pitch orientation moment M is calculated according to conversion formulaBottomTiltWith tower bottom left and right directions moment MBottomSide。
Tower top moment MTopXWith moment MTopYIt is defined in pylon tower top coordinate system (as shown in Figure 3), tower bottom moment of flexure MBottomXWith moment MBottomYIt is defined in pylon tower bottom coordinate system (as shown in Figure 4).Pylon tower top coordinate system and pylon tower bottom Coordinate system definition be it is identical, only coordinate origin is respectively in tower top and tower bottom；Pylon coordinate system X-axis energized south, Y-axis are directed toward East, Z axis is vertically upward.
Tower top pitch orientation moment MTopTiltWith tower bottom pitch orientation moment MBottomTiltIt is after considering cabin yaw angle Pylon moment of flexure in the front-back direction, tower top left and right directions moment MTopSideWith tower bottom left and right directions moment MBottomSideIt is to consider cabin The moment of flexure of pylon left and right directions after yaw angle.By tower top moment MTopXAnd moment MTopYIt is transformed into tower top pitch orientation moment of flexure MTopTiltWith tower top left and right directions moment MTopSideFormula it is as follows:
By tower bottom moment MBottomXWith moment MBottomYIt is transformed into tower bottom pitch orientation moment MBottomTiltWith tower bottom right and left To moment MBottomSideFormula it is as follows:
In formula (4) (5),It is cabin yaw angle, tower top moment MTopX、MTopYWith tower bottom moment MBottomX、 MBottomYIt is directly to measure to obtain by load transducer, and tower top moment MTopTilt、MTopSideWith tower bottom moment MBottomTilt、 MBottomSideIt is to be calculated by formula.
3) ultimate load, factor of safety, load trigger flag are defined
For blade, the ultimate load for needing to define has: ultimate load M in blade root faceInPlaneMax, the limit carries outside blade root face Lotus MOutPlaneMax.For tower top, the ultimate load for needing to define has: tower top pitching ultimate load MTopTiltMaxWith tower top or so pole Limit for tonnage lotus MTopSideMax.For tower bottom, the ultimate load for needing to define has: tower bottom pitching ultimate load MBottomTiltWith a tower bottom left side Limit on the right-right-hand limit is in MBottomSide.Ultimate load is unit permitted maximum load under various operating conditions, and unit is when operating normally Far from ultimate load.Ultimate load needs are provided by designer.
For blade loading, the factor of safety for needing to define has: factor of safety γ in blade root face1With outside blade root face it is safe because Sub- γ2；For tower top load, the factor of safety for needing to define has: tower top pitching factor of safety γ3With tower top or so factor of safety γ4；For tower bottom load, the factor of safety for needing to define has: tower bottom pitching factor of safety γ5With tower bottom or so factor of safety γ6.The value range of factor of safety is 0 to 1, indicates that when load be more than factor of safety and ultimate load into product, will take control System.
For blade loading, the load trigger flag for needing to define has: blade root loads in plane trigger flag Flag1 and blade root Face external applied load trigger flag Flag2；For tower top load, the load trigger flag for needing to define has: the triggering of tower top pitching load Sign of flag 3 and tower top or so load trigger flag Flag4；For tower bottom load, the load trigger flag for needing to define has: tower Bottom pitching load trigger flag Flag5 and tower bottom or so load trigger flag Flag6.
Load trigger flag is used to indicate whether load triggers to transfinite, and load trigger flag is amount of logic.For each Load trigger flag, trigger condition are as follows:
Flag1=(MInPlane1>γ1*MInPlaneMax)OR(MInPlane2>γ1*MInPlaneMax)OR(MInPlane3>γ1* MInPlaneMax) Flag2=
(MOutPlane1>γ2*MOutPlaneMax)OR(MOutPlane2>γ2*MOutPlaneMax)OR(MOutPlane3>γ2* MOutPlaneMax)
Flag3=(MTopTilt>γ3*MTopTiltMax)
Flag4=(MTopSide>γ4*MTopSideMax)
Flag5=(MBottomTilt>γ5*MBottomTiltMax)
Flag6=(MBottomSide>γ6*MBottomSideMax)
In addition to this, it also needs to define a total trigger flag position Flag, when any one trigger flag is triggered, Flag is triggered, and has following logical expression:
Flag=(Flag1) OR (Flag2) OR (Flag3) OR (Flag4) OR (Flag5) OR (Flag6)
In this logical expression, as long as OR represents logic or, having a load to be triggered, Flag will be triggered.
4) it may determine that whether unit triggers load limitation by Flag flag bit, when load triggering, will take corresponding Control.Load control needs to define four modes: mode -1, mode 0, mode 1 and mode 2.Concrete condition is as follows:
Mode -1: this mode is triggered when load trigger flag Flag is TRUE.Generator speed setting value is to set The rate (P_GenSpeedRateDown) set reduces, the generator torque maximum value also rate (P_ to set GenTorqueRateDown it) reduces, therefore set value of the power is also reducing.
Mode 0: this mode is triggered when load trigger flag Flag becomes FALSE from TRUE.Turn in this mode Fast setting value and torque maximum remain unchanged, and neither increase nor reduce.The duration of this mode be one setting when Between (P_HoldOnTime), after the duration enter mode 1.
Mode 1: in this mode, load trigger flag position Flag needs to be always held at FALSE.Generator speed is with one The rate (P_GenSpeedRateUp) set is restored, until speed setting value is restored to rated speed；Generator torque is most Big value is also restored with the rate (P_GenTorqueRateUp) set, until reaching initial torque maximum.When revolving speed is set Definite value and torque maximum are all restored to initial value, and mode will be switched to mode 2.
Mode 2: generator speed setting value and generator torque maximum value are held at initial speed setting value and torsion Square maximum value.
The changing rule of generator speed setting value is as shown in figure 5, when unit normal operation and when without load triggering, hair Motor speed setting value is maintained in initial setting value, is mode 2；When having load trigger flag position, speed setting value (in Fig. 5 AB sections) will be declined with certain rate, is mode -1, rack load also will be reduced constantly；When load reduction is to no longer Load Flag flag bit is triggered, it is constant that generator speed setting value will remain to current value, use up (in Fig. 5 until the retention time BC sections), it is mode 0；Generator speed setting value starts slowly to rise, and until reaching initial setting value (in Fig. 5 CD sections), is Mode 1.Under any mode, after load triggers again, mode will all be switched to mode -1.
In conclusion the method for the present invention passes through using the blade root load of unit, tower top load and tower bottom load as load control Input signal processed, flexible control generator speed variation, can effectively reduce load in unit running process, avoid the unit limit The operation risk of operating condition has actual promotional value, is worthy to be popularized.
The examples of implementation of the above are only the preferred embodiments of the invention, and implementation model of the invention is not limited with this It encloses, therefore all shapes according to the present invention, changes made by principle, should all be included within the scope of protection of the present invention.

Claims (1)

1.风力发电机组基于叶根载荷与塔架载荷的降载控制方法，其特征在于，包括以下步骤：1. The load reduction control method of wind turbine based on blade root load and tower load, is characterized in that, comprises the following steps: 1)在风力发电机组叶轮每一只叶片的根部贴装载荷传感器，通过传感器直接测量叶片叶根挥舞方向弯矩MFlap和摆振方向弯矩MEdge，计算得到叶根面外弯矩MOutPlane和叶根面内弯矩MInPlane，叶根面外弯矩MOutPlane体现叶片叶根在叶轮推力方向载荷，而叶根面内弯矩MInPlane体现叶片叶根在叶轮旋转方向载荷；1) A load sensor is attached to the root of each blade of the wind turbine impeller, and the bending moment M Flap and the bending moment M Edge in the direction of swinging of the blade root are directly measured by the sensor, and the out-of-plane bending moment M OutPlane of the blade root is calculated. and the in-plane bending moment of the blade root M InPlane , the out-of-plane bending moment of the blade root M OutPlane reflects the load of the blade root in the thrust direction of the impeller, and the in-plane bending moment of the blade root M InPlane reflects the blade root load in the direction of impeller rotation; 叶根挥舞方向弯矩MFlap和摆振方向弯矩MEdge是定义在叶片弦线坐标系中，叶片弦线坐标系定义为：Y轴沿弦线方向指向后缘，Z轴沿叶片矩轴指向叶尖，X轴与Y、Z轴垂直；叶根挥舞方向弯矩MFlap为叶片弦线坐标系中MYS方向，摆振方向弯矩MEdge为叶片弦线坐标系中MXS方向；叶片弦线坐标系是固定在叶片上，随变桨角度而旋转；The blade root bending moment M Flap and the sway direction bending moment M Edge are defined in the blade chord line coordinate system, and the blade chord line coordinate system is defined as: the Y axis points to the trailing edge along the chord direction, and the Z axis is along the blade moment axis. Point to the tip of the blade, the X axis is perpendicular to the Y and Z axes; the bending moment M Flap of the blade root is the M YS direction in the blade chord coordinate system, and the bending moment M Edge is the M XS direction in the blade chord coordinate system; The blade chord coordinate system is fixed on the blade and rotates with the pitch angle; 叶根面外弯矩MOutPlane和叶根面内弯矩MInPlane是定义在叶片叶根坐标系中；叶片叶根坐标系定义为：X轴沿轮毂旋转轴指向机尾，Y轴在叶轮旋转平面与Z轴垂直，Z轴沿叶片指向叶尖；叶根面外弯矩MOutPlane为叶根坐标系中MYB方向，叶根面内弯矩MInPlane为叶根坐标系中MXB方向；叶根坐标系是固定在轮毂上的，随轮毂的旋转而旋转；The external bending moment of the blade root M OutPlane and the internal bending moment of the blade root M InPlane are defined in the blade root coordinate system; the blade root coordinate system is defined as: the X axis points to the tail along the rotation axis of the hub, and the Y axis rotates in the impeller. The plane is perpendicular to the Z-axis, and the Z-axis points to the tip along the blade; the out-of-plane bending moment M OutPlane is the M YB direction in the blade root coordinate system, and the in-plane bending moment M InPlane is the M XB direction in the blade root coordinate system; The blade root coordinate system is fixed on the hub and rotates with the rotation of the hub; 叶根挥舞方向弯矩MFlap和摆振方向弯矩MEdge变换到叶根面外弯矩MOutPlane和叶根面内弯矩MInPlane的计算公式如下：The calculation formulas of the bending moment M Flap in the flap direction of the blade root and the bending moment M Edge in the sway direction are transformed into the outer bending moment M OutPlane and the inner bending moment M InPlane of the blade root as follows: 其中，β1、β2、β3分别是桨叶1、桨叶2、桨叶3的桨距角，MFlap1、MFlap2、MFlap3分别是桨叶1、桨叶2、桨叶3的叶根挥舞弯矩，MEdge1、MEdge2、MEdge3分别是桨叶1、桨叶2、桨叶3的叶根摆振弯矩，MOutPlane1、MOutPlane2、MOutPlane3分别是桨叶1、桨叶2、桨叶3的叶根面外弯矩，MInPlane1、MInPlane2、MInPlane3分别是桨叶1、桨叶2、桨叶3的叶根面内弯矩；Among them, β 1 , β 2 , and β 3 are the pitch angles of blade 1, blade 2, and blade 3, respectively, and M Flap1 , M Flap2 , and M Flap3 are the angles of blade 1, blade 2, and blade 3, respectively. Blade root swinging moment, M Edge1 , M Edge2 , M Edge3 are the blade root sway bending moments of blade 1 , blade 2 , and blade 3 respectively, M OutPlane1 , M OutPlane2 , M OutPlane3 are blade 1 , blade 2 , and M OutPlane3 respectively The out-of-plane bending moments of blade 2 and blade 3, M InPlane1 , M InPlane2 , and M InPlane3 are the in-plane bending moments of blade 1, blade 2, and blade 3, respectively; 在公式(1)(2)(3)中，叶根载荷MFlap1、MFlap2、MFlap3和MEdge1、MEdge2、MEdge3由载荷传感器测量得到，桨距角β1、β2、β3也为测量值，叶根载荷MOutPlane1、MOutPlane2、MOutPlane3和MInPlane1、MInPlane2、MInPlane3由公式计算得出；In formula (1)(2)(3), the blade root loads M Flap1 , M Flap2 , M Flap3 and M Edge1 , M Edge2 , M Edge3 are measured by the load sensors, and the pitch angles β 1 , β 2 , β 3 are also measured values, the blade root loads M OutPlane1 , M OutPlane2 , M OutPlane3 and M InPlane1 , M InPlane2 , M InPlane3 are calculated by the formula; 2)在风力发电机组塔筒顶端和塔筒底端贴装载荷传感器，通过传感器直接测量塔顶弯矩MTopX和弯矩MTopY，根据转换公式计算得到塔顶俯仰方向弯矩MTopTilt和塔顶左右方向弯矩MTopSide；通过安装在塔底的传感器，直接测量塔底弯矩MBottomX和弯矩MBottomY，根据转换公式计算得到塔底俯仰方向弯矩MBottomTilt和塔底左右方向弯矩MBottomSide；2) Mount load sensors on the top and bottom of the tower of the wind turbine, directly measure the tower top bending moment MTopX and the bending moment MTopY through the sensor, and calculate the tower top pitching direction bending moment MTopTilt and the tower according to the conversion formula. The top left and right direction bending moment M TopSide ; The tower bottom bending moment M BottomX and the tower bottom bending moment M BottomY are directly measured by the sensor installed at the bottom of the tower, and the tower bottom pitch direction bending moment M BottomTilt and the tower bottom left and right direction bending moment are calculated according to the conversion formula. M BottomSide ; 塔顶弯矩MTopX与弯矩MTopY是定义在塔架塔顶坐标系中，塔底弯矩MBottomX与弯矩MBottomY是定义在塔架塔底坐标系中；塔架塔顶坐标系与塔架塔底坐标系定义是相同的，只是坐标原点分别在塔顶和塔底；塔架坐标系X轴指向南，Y轴指向东，Z轴垂直向上；Tower top bending moment M TopX and bending moment M TopY are defined in the tower top coordinate system, tower bottom bending moment M BottomX and bending moment M BottomY are defined in the tower tower bottom coordinate system; tower tower top coordinate system The definition of the coordinate system of the tower bottom is the same, except that the coordinate origin is at the top and bottom of the tower respectively; the X axis of the tower coordinate system points to the south, the Y axis points to the east, and the Z axis is vertically upward; 塔顶俯仰方向弯矩MTopTilt和塔底俯仰方向弯矩MBottomTilt是考虑机舱偏航角度后的塔架前后方向的弯矩，塔顶左右方向弯矩MTopSide和塔底左右方向弯矩MBottomSide是考虑机舱偏航角度后的塔架左右方向的弯矩；由塔顶弯矩MTopX和弯矩MTopY转换到塔顶俯仰方向弯矩MTopTilt和塔顶左右方向弯矩MTopSide的公式如下：The tower top pitching moment M TopTilt and the tower bottom pitching moment M BottomTilt are the front and rear bending moments of the tower after considering the yaw angle of the engine room, the tower top left and right direction M TopSide and the tower bottom left and right direction M BottomSide is the bending moment of the tower in the left and right directions after considering the yaw angle of the nacelle; the formulas converted from the tower top bending moment M TopX and the bending moment M TopY to the tower top pitching direction bending moment M TopTilt and the tower top left and right direction bending moment M TopSide are as follows : 由塔底弯矩MBottomX与弯矩MBottomY转换到塔底俯仰方向弯矩MBottomTilt和塔底左右方向弯矩MBottomSide的公式如下：The formula for converting from the tower bottom bending moment M BottomX and the bending moment M BottomY to the tower bottom pitch direction bending moment M BottomTilt and the tower bottom left and right direction bending moment M BottomSide is as follows: 在公式(4)(5)中，是机舱偏航角度，塔顶弯矩MTopX、MTopY和塔底弯矩MBottomX、MBottomY是通过载荷传感器直接测量得到，而塔顶弯矩MTopTilt、MTopSide和塔底弯矩MBottomTilt、MBottomSide是通过公式计算得到；In formula (4)(5), is the yaw angle of the nacelle, the tower top bending moments M TopX , M TopY and the tower bottom bending moments M BottomX , M BottomY are directly measured by the load cell, while the tower top bending moments M TopTilt , M TopSide and the tower bottom bending moment M BottomTilt , M BottomSide is calculated by formula; 3)定义极限载荷、安全因子、载荷触发标志3) Define limit load, safety factor, load trigger flag 对于叶片，需要定义的极限载荷有：叶根面内极限载荷MInPlaneMax、叶根面外极限载荷MOutPlaneMax；对于塔顶，需定义的极限载荷有：塔顶俯仰极限载荷MTopTiltMax和塔顶左右极限载荷MTopSideMax；对于塔底，需定义的极限载荷有：塔底俯仰极限载荷MBottomTilt和塔底左右极限在MBottomSide；极限载荷为机组在各种工况下所允许的最大载荷；For the blade, the limit loads that need to be defined are: the limit load in the blade root plane M InPlaneMax , the limit load outside the blade root plane M OutPlaneMax ; for the tower top, the limit loads to be defined are: the tower top pitch limit load M TopTiltMax and the tower top left and right Limit load M TopSideMax ; for the tower bottom, the limit loads to be defined are: the tower bottom pitch limit load M BottomTilt and the tower bottom left and right limit at M BottomSide ; the limit load is the maximum load allowed by the unit under various working conditions; 对于叶片载荷，需要定义的安全因子有：叶根面内安全因子γ1和叶根面外安全因子γ2；对于塔顶载荷，需要定义的安全因子有：塔顶俯仰安全因子γ3和塔顶左右安全因子γ4；对于塔底载荷，需要定义的安全因子有：塔底俯仰安全因子γ5和塔底左右安全因子γ6；安全因子的取值范围是0到1，表示当载荷超过安全因子与极限载荷的成积，将采取控制；For blade loads, the safety factors that need to be defined are: blade root in-plane safety factor γ 1 and blade root out-of-plane safety factor γ 2 ; for tower top loads, the safety factors that need to be defined are: tower top pitching safety factor γ 3 and tower Top left and right safety factor γ 4 ; for the tower bottom load, the safety factors to be defined are: tower bottom pitch safety factor γ 5 and tower bottom left and right safety factor γ 6 ; the value range of the safety factor is 0 to 1, indicating that when the load exceeds The product of the safety factor and the ultimate load will be controlled; 对于叶片载荷，需要定义的载荷触发标志有：叶根面内载荷触发标志Flag1和叶根面外载荷触发标志Flag2；对于塔顶载荷，需要定义的载荷触发标志有：塔顶俯仰载荷触发标志Flag3和塔顶左右载荷触发标志Flag4；对于塔底载荷，需要定义的载荷触发标志有：塔底俯仰载荷触发标志Flag5和塔底左右载荷触发标志Flag6；载荷触发标志用来表示载荷是否触发超限，载荷触发标志为逻辑量，对于每一个载荷触发标志，触发条件如下：For the blade load, the load trigger flags that need to be defined are: the load trigger flag Flag1 in the blade root plane and the load trigger flag Flag2 outside the blade root plane; for the tower top load, the load trigger flags that need to be defined are: the tower top pitch load trigger flag Flag3 and the left and right load trigger flag Flag4 at the top of the tower; for the tower bottom load, the load trigger flags that need to be defined are: the tower bottom pitch load trigger flag Flag5 and the tower bottom left and right load trigger flag Flag6; the load trigger flag is used to indicate whether the load is triggered to exceed the limit, The load trigger flag is a logical quantity. For each load trigger flag, the trigger conditions are as follows: Flag1＝(MInPlane1>γ1*MInPlaneMax)OR(MInPlane2>γ1*MInPlaneMax)OR(MInPlane3>γ1*MInPlaneMax)Flag1=(M InPlane1 >γ 1 *M InPlaneMax )OR(M InPlane2 >γ 1 *M InPlaneMax )OR(M InPlane3 >γ 1 *M InPlaneMax ) Flag2＝(MOutPlane1>γ2*MOutPlaneMax)OR(MOutPlane2>γ2*MOutPlaneMax)OR(MOutPlane3>γ2*MOutPlaneMax)Flag2=(M OutPlane1 >γ 2 *M OutPlaneMax )OR(M OutPlane2 >γ 2 *M OutPlaneMax )OR(M OutPlane3 >γ 2 *M OutPlaneMax ) Flag3＝(MTopTilt>γ3*MTopTiltMax)Flag3=(M TopTilt >γ 3 *M TopTiltMax ) Flag4＝(MTopSide>γ4*MTopSideMax)Flag4=(M TopSide >γ 4 *M TopSideMax ) Flag5＝(MBottomTilt>γ5*MBottomTiltMax)Flag5=(M BottomTilt > γ 5 *M BottomTiltMax ) Flag6＝(MBottomSide>γ6*MBottomSideMax)Flag6=(M BottomSide > γ 6 *M BottomSideMax ) 除此之外，还需定义一个总的触发标志位Flag，当任意一个触发标志被触发时，Flag都被触发，有以下逻辑表达式：In addition, a general trigger flag bit Flag needs to be defined. When any trigger flag is triggered, the Flag will be triggered, with the following logical expressions: Flag＝(Flag1)OR(Flag2)OR(Flag3)OR(Flag4)OR(Flag5)OR(Flag6)Flag=(Flag1)OR(Flag2)OR(Flag3)OR(Flag4)OR(Flag5)OR(Flag6) 在此逻辑表达式中，OR代表逻辑或，只要有一个载荷被触发，Flag将被触发；In this logical expression, OR stands for logical or, and as long as a payload is triggered, the Flag will be triggered; 4)通过Flag标志位能够判断机组是否触发载荷限制，当载荷触发时，将采取相应的控制，载荷控制需要定义四个模式：模式-1、模式0、模式1和模式2，具体情况如下：4) Whether the unit triggers the load limit can be judged through the Flag flag. When the load is triggered, the corresponding control will be taken. The load control needs to define four modes: Mode-1, Mode 0, Mode 1 and Mode 2. The details are as follows: 模式-1：当载荷触发标志Flag为TRUE的时候触发此模式，发电机转速设定值以设定好的速率降低，发电机扭矩最大值也以设定好的速率降低，因此功率设定值也在降低；Mode-1: This mode is triggered when the load triggering flag Flag is TRUE, the generator speed setting value is reduced at the set rate, and the maximum generator torque is also reduced at the set rate, so the power setting value is also decreasing; 模式0：当载荷触发标志Flag从TRUE变为FALSE的时候触发此模式，在此模式中转速设定值和扭矩最大值保持不变，既不增加也不减小，此模式的持续时间为一个设定的时间，持续时间结束后进入模式1；Mode 0: This mode is triggered when the load triggering flag Flag changes from TRUE to FALSE. In this mode, the speed setting value and the maximum torque value remain unchanged, neither increasing nor decreasing. The duration of this mode is one Set time, enter mode 1 after the duration ends; 模式1：在此模式中，载荷触发标志位Flag需要一直保持在FALSE，发电机转速以一设定好的速率恢复，直到转速设定值恢复到额定转速；发电机扭矩最大值也以设定好的速率恢复，直到达到最初的扭矩最大值，当转速设定值和扭矩最大值都恢复到最初的值，模式将切换到模式2；Mode 1: In this mode, the load trigger flag Flag needs to be kept at FALSE all the time, and the generator speed recovers at a set rate until the speed setting value returns to the rated speed; the maximum value of the generator torque is also set to Good rate recovery, until the initial torque maximum value is reached, when both the speed setpoint and the torque maximum value are restored to their original values, the mode will switch to mode 2; 模式2：发电机转速设定值和发电机扭矩最大值都保持在最初的转速设定值和扭矩最大值；Mode 2: Both the generator speed setting value and the generator torque maximum value are kept at the original speed setting value and torque maximum value; 当机组运行正常且没有载荷触发时，发电机转速设定值保持在最初的设定值上，为模式2；当有载荷触发标志位时，转速设定值将以设定的速率下降为模式-1，机组载荷也将不断降低；当载荷降低到不再触发载荷Flag标志位，发电机转速设定值将保持到当前值不变，直到保持时间用尽，为模式0；发电机转速设定值开始上升，直到达到最初的设定值，为模式1；在任何模式下，当载荷再次触发后，模式都将切换到模式-1。When the unit is running normally and there is no load triggering, the generator speed setting value remains at the initial setting value, which is mode 2; when there is a load triggering flag, the speed setting value will decrease at the set rate as the mode -1, the unit load will also continue to decrease; when the load is reduced to the point where the Load Flag is no longer triggered, the generator speed setting value will remain unchanged to the current value until the holding time expires, which is mode 0; the generator speed setting The fixed value starts to rise until it reaches the initial set value, which is mode 1; in any mode, when the load is triggered again, the mode will switch to mode-1.
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