CN114562413B - Pitch control method and device and tower damper - Google Patents
Pitch control method and device and tower damper Download PDFInfo
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- CN114562413B CN114562413B CN202011363019.4A CN202011363019A CN114562413B CN 114562413 B CN114562413 B CN 114562413B CN 202011363019 A CN202011363019 A CN 202011363019A CN 114562413 B CN114562413 B CN 114562413B
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The present disclosure provides a pitch control method and apparatus thereof, and a tower damper. The pitch control method may include the steps of: obtaining a tower top acceleration signal and a tower top speed signal; obtaining a pitch control component using the tower top acceleration signal and the tower top speed signal; a pitch operation is performed based on the pitch control component. Tower loading may be effectively reduced by the present disclosure.
Description
Technical Field
The disclosure relates to the technical field of wind power generation, in particular to a variable pitch control method and device and a tower damper.
Background
A wind power generator set is a device that converts wind energy into electrical energy. In the control of wind power generation sets, pitch control is an important link. In general, normal rotational speed control may be performed using concentrated pitch, and accordingly, pitch operation may be performed according to a concentrated pitch reference signal based on rotational speed. However, because the external environment where the wind generating set is located is complex, phenomena such as pitch position deviation, tower oscillation and the like may also occur during the operation of the wind generating set, so that a situation of damaging the load may occur, and the current pitch control scheme cannot meet the requirement of reducing the tower load.
Disclosure of Invention
The present disclosure provides a pitch control method and apparatus and a tower damper to at least address the problem of reducing tower loads.
According to a first aspect of embodiments of the present disclosure, a pitch control method of a wind turbine is provided, the pitch control method may include the steps of: obtaining a tower top acceleration signal and a tower top speed signal; obtaining a pitch control component using the tower top acceleration signal and the tower top speed signal; and performing a pitch operation based on the pitch control component.
Optionally, the step of obtaining the tower top acceleration signal and the tower top velocity signal may comprise: acquiring measured tower top acceleration and estimated thrust; the overhead acceleration signal and the overhead velocity signal are derived based on the measured overhead acceleration and the estimated thrust using a state space observer.
Alternatively, the state space observer may be a Long Beige observer or a kalman filter.
Optionally, the step of deriving a pitch control component using the tower top acceleration signal and the tower top speed signal may comprise: determining a gain value for the pitch control component; the pitch control component is calculated by applying the gain value to the tower overhead acceleration signal and the tower overhead speed signal.
Optionally, the step of determining a gain value for the pitch control component may comprise: the gain value is determined based on at least one of wind speed, turbulence intensity, and ambient temperature.
Alternatively, the gain value may be calculated based on wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
Optionally, the step of deriving a pitch control component using the tower top acceleration signal and the tower top speed signal may comprise: obtaining a first coefficient based on the tower first natural frequency and the tuning parameters for the tower top acceleration signal and the tower top speed signal; obtaining a second coefficient based on the adjustment parameter; the pitch control component is calculated by applying the gain value to a value of the tower top acceleration signal multiplied by a first coefficient and a value of the tower top speed signal multiplied by a second coefficient.
Optionally, the step of performing a pitch operation based on the pitch control component may comprise: determining a centralized pitch reference signal according to the rotational speed signal; a pitch operation is performed using the sum of the collective pitch reference signal plus the pitch control component as a final pitch reference signal.
According to a second aspect of embodiments of the present disclosure, there is provided a pitch control device of a wind turbine, the pitch control device may include: a data acquisition module configured to obtain a tower top acceleration signal and a tower top velocity signal; and a data processing module configured to: obtaining a pitch control component using the tower top acceleration signal and the tower top speed signal; a pitch operation is performed based on the pitch control component.
Alternatively, the data acquisition module may be configured to: acquiring measured tower top acceleration and estimated thrust; the overhead acceleration signal and the overhead velocity signal are derived based on the measured overhead acceleration and the estimated thrust using a state space observer.
Alternatively, the state space observer may be a Long Beige observer or a kalman filter.
Alternatively, the data processing module may be configured to: determining a gain value for the pitch control component; the pitch control component is calculated by applying the gain value to the tower overhead acceleration signal and the tower overhead speed signal.
Alternatively, the data processing module may be configured to: the gain value is determined based on at least one of wind speed, turbulence intensity, and ambient temperature.
Alternatively, the data processing module may be configured to: the gain value is calculated based on wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
Alternatively, the data processing module may be configured to: obtaining a first coefficient based on the tower first natural frequency and the tuning parameters for the tower top acceleration signal and the tower top speed signal; obtaining a second coefficient based on the adjustment parameter; the pitch control component is calculated by applying the gain value to a value of the tower top acceleration signal multiplied by a first coefficient and a value of the tower top speed signal multiplied by a second coefficient.
Alternatively, the data processing module may be configured to: determining a centralized pitch reference signal according to the rotational speed signal; a pitch operation is performed using the sum of the collective pitch reference signal plus the pitch control component as a final pitch reference signal.
According to a third aspect of embodiments of the present disclosure, there is provided a tower damper, which may comprise: a tower estimator configured to: obtaining a tower top acceleration signal and a tower top speed signal; and deriving a pitch control component using the tower top acceleration signal and the tower top speed signal.
Alternatively, the tower estimator may be configured to: a measured overhead acceleration and an estimated thrust are acquired and the overhead acceleration signal and the overhead velocity signal are calculated based on the measured overhead acceleration and the estimated thrust using a state space observer.
Alternatively, the state space observer may be a Long Beige observer or a kalman filter.
Alternatively, the tower damper may comprise a booster. The gain booster may be configured to determine a gain value for the pitch control component based on at least one of wind speed, turbulence intensity, and ambient temperature.
Alternatively, the gain booster may be configured to calculate the gain value based on wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
Alternatively, the tower estimator may be configured to: the pitch control component is obtained by applying the gain value to the tower top acceleration signal and the tower top speed signal.
Alternatively, the tower estimator may be configured to: obtaining a first coefficient based on the tower first natural frequency and the tuning parameters for the tower top acceleration signal and the tower top speed signal; obtaining a second coefficient based on the adjustment parameter; the pitch control component is calculated by applying the gain value to a value of the tower top acceleration signal multiplied by a first coefficient and a value of the tower top speed signal multiplied by a second coefficient.
According to a fourth aspect of embodiments of the present disclosure, there is provided an electronic device, which may include: at least one processor; at least one memory storing computer-executable instructions, wherein the computer-executable instructions, when executed by the at least one processor, cause the at least one processor to perform a pitch control method as described above.
According to a fifth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a pitch control method as described above.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
By taking the tower top wind speed as well as external factors (such as environmental variables) into account in pitch control, the tower load is reduced more effectively. In addition, gain scheduling of tower damper gains may be performed based on wind speed or other environmental variables, and load balancing reductions for pitch system or bearing life usage and AEP reduction goals may be achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure and do not constitute an undue limitation on the disclosure.
FIG. 1 is a flow chart of a pitch control method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of performing pitch control according to an embodiment of the present disclosure;
FIG. 3 is a block diagram of a tower damper according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of a method for obtaining a pitch control component according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram for obtaining a pitch control component according to an embodiment of the present disclosure;
FIG. 6 is a block diagram of a pitch control device according to an embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Throughout the drawings, it should be noted that the same reference numerals are used to designate the same or similar elements, features and structures.
Detailed Description
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of the embodiments of the disclosure defined by the claims and their equivalents. Various specific details are included to aid understanding, but are merely to be considered exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. The embodiments described in the examples below are not representative of all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
It should be noted that, in this disclosure, "at least one of the items" refers to a case where three types of juxtaposition including "any one of the items", "a combination of any of the items", "an entirety of the items" are included. For example, "including at least one of a and B" includes three cases side by side as follows: (1) comprises A; (2) comprising B; (3) includes A and B. For example, "at least one of the first and second steps is executed", that is, three cases are juxtaposed as follows: (1) performing step one; (2) executing the second step; (3) executing the first step and the second step.
In the related art, normal rotational speed control may be performed using concentrated pitch, and accordingly, a pitch operation may be performed according to a concentrated pitch reference signal based on rotational speed. However, because the external environment where the wind turbine generator is located is complex, phenomena such as tower oscillation may occur during operation of the wind turbine generator, and thus damage to the load may occur, and the current pitch control scheme cannot meet the requirement of reducing the load.
According to the embodiment of the present disclosure, on the basis of rotational speed control using concentrated pitch, a pitch signal based on rotational speed is combined with a pitch signal based on tower top wind speed to perform a pitch operation in consideration of tower top wind speed control, thereby effectively reducing tower load, particularly tower longitudinal load.
Hereinafter, according to various embodiments of the present disclosure, the method, apparatus, and system of the present disclosure will be described in detail with reference to the accompanying drawings.
FIG. 1 is a flow chart of a pitch control method according to an embodiment of the present disclosure. The pitch control method shown in fig. 1 may be performed by a master controller or a pitch controller of the wind turbine or by another device (e.g. a pitch control arrangement as will be explained below) independent of the master controller and the pitch controller.
Referring to fig. 1, in step S101, a tower top acceleration signal and a tower top velocity signal are obtained. The overhead acceleration signal may be measured using an acceleration sensor. Here, the overhead acceleration signal may be an overhead longitudinal acceleration.
In the present disclosure, the measured overhead acceleration and the estimated thrust force may be utilized to estimate the overhead speed signal. Here, since the thrust force cannot be measured in practice, the thrust force, that is, the estimated thrust force, can be obtained based on the blade load sensor measurement value and a mathematical model for describing the relationship between the blade load and the thrust force.
As an example, a state space observer may be utilized to derive a tower top speed signal based on the measured tower top acceleration and the estimated thrust. Here, the state space observer may be Long Beige observer or kalman filter. The measured tower top acceleration fed back into the tower estimator may be filtered by a band pass filter around the tower frequency comprised in the observer.
Alternatively, the measured overhead acceleration and the estimated thrust may be used to estimate the overhead speed signal and the overhead acceleration signal. For example, a state space observer may be utilized to derive a tower top velocity signal and a tower top acceleration signal based on the measured tower top acceleration and the estimated thrust. Here, the state space observer may be Long Beige observer or kalman filter.
For example, the state space observer of equation (1) below may be utilized to obtain the overhead velocity signal and the overhead acceleration signal:
Where x n is the current state vector, x n+1 is the next state vector, A, B, C, D is the state space model of the tower, L is the space state observer gain, For the estimated thrust, a fa n is the measured tower top acceleration,For the estimated tower top acceleration signal,Is an estimated tower top velocity signal.
Here, the tower model may be built up from a plurality of pattern shapes, different pattern shapes describing different natural movements of the tower at different frequencies. Wherein the tower frequency of the first mode shape is at a minimum and it primarily moves the tower longitudinally and increases in displacement as the tower rises. Thus, with reduced tower longitudinal loads, a, B, C, D may be state space models based at least on the first mode shape of the tower.
Here, L may be calculated based on the tower model and the adjustment target, or L may be obtained based on Long Beige principle or a kalman filter estimator.
Alternatively, the tower top acceleration signal may be measured using an acceleration sensor, and the tower top wind speed signal may be measured using a wind speed sensor.
Thus, the measured overhead acceleration signal and the estimated overhead velocity signal may be utilized as parameters for subsequent use, or the estimated overhead acceleration signal and the estimated overhead velocity signal may be utilized as parameters for subsequent use, or the measured overhead acceleration signal and the measured overhead velocity signal may be utilized as parameters for subsequent use. However, the above examples are merely illustrative, and the present disclosure is not limited thereto.
In step S102, a pitch control component is obtained using the obtained tower top acceleration signal and the tower top speed signal. Specifically, a gain value for the pitch control component may be first determined, and then the pitch control component may be calculated by applying the gain value to the tower top acceleration signal and the tower top speed signal.
In the present disclosure, the reason for setting the gain for the pitch control component is to take into account the influence of external factors such as wind speed, turbulence intensity and ambient temperature on the tower load. Accordingly, a gain value for the pitch control component may be determined based on at least one of wind speed, turbulence intensity, and ambient temperature. Here, the wind speed may be a measured wind speed or a filtered wind speed.
As an example, a gain value for the pitch control component may be calculated based on wind speed using a predefined function. For example, the gain value for the pitch control component may be calculated using equation (2) as follows:
kTD[n]＝f(vw[n]) (2)
Here, the predefined function may be defined based on a lookup table. For example, a look-up table of the form below is used to represent the function used to calculate the gain value:
| I1 | I2 | I3 | I4 | I5 |
| O1 | O2 | O3 | O4 | O5 |
Wherein I1, I2, I3, I4 and I5 are the wind speed points, and O1, O2, O3, O4 and O5 are gain values corresponding to the wind speed points respectively. The look-up table may be set differently based on actual needs and experience.
The gain value based on wind speed may be a linear combination of O values corresponding to the I values. For example, when wind speed v w [ n ] is between I1 and I2, k TD [ n ] may be a function value:
(1- (v w[n]-In1))/(In2-In1)*O1+(1-(In2-vw [ n ]))/(In 2-In 1) O2. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
Furthermore, for other external factors such as turbulence intensity and ambient temperature, gain values for the pitch control component may be calculated in a similar manner as described above.
By providing a gain value based on wind speed, turbulence intensity or ambient temperature, tower loads may be better reduced while maintaining pitching motion or maintaining annual energy production, AEP, losses.
After obtaining the gain value for the pitch control component, the pitch control component may be calculated by applying the gain value to the tower top acceleration signal and the tower top speed signal. Specifically, a first coefficient is obtained based on the adjustment parameters for the tower top acceleration signal and the tower top speed signal and the tower first natural frequency, a second coefficient is obtained based on the adjustment parameters, and the pitch control component is calculated by applying a gain value to a value of the tower top acceleration signal multiplied by the first coefficient and a value of the tower top speed signal multiplied by the second coefficient.
As an example, the pitch control component may be calculated using equation (3) as follows:
Where β fa [ n ] is the pitch control component, k TD [ n ] is the gain, TD phase is the tuning parameter for balancing the tower top acceleration signal and the tower top speed signal, ω tow is the first tower frequency, As the tower top acceleration signal,Is the tower top velocity signal.
However, the above examples are merely exemplary, and the present disclosure may calculate a corresponding pitch control component based on the tower top speed signal.
In step S103, a pitch operation is performed based on the obtained pitch control component. Specifically, a concentrated pitch reference signal may be determined from the rotational speed signal, and then a pitch operation is performed using the sum of the concentrated pitch reference signal plus the pitch control component as a final pitch reference signal.
According to embodiments of the present disclosure, a final pitch reference signal may be obtained by reading the measured tower top acceleration signal, estimating the thrust and the effective wind speed, calculating the tower damper gain and the tower top speed and tower top acceleration, and then calculating the pitch control component based on the tower damper, in combination with the pitch controller signal.
According to embodiments of the present disclosure, tower top wind speed is taken into account as well as external factors (such as environmental variables) in pitch control to balance tower load and equipment operating costs.
Fig. 2 is a schematic diagram of performing pitch control according to an embodiment of the present disclosure. The obtaining of the pitch control component may be done by a tower damper. Thus, the tower damper may be combined with a rotational speed controller to achieve pitch control of the present disclosure.
Referring to FIG. 2, the rotational speed controller may output a corresponding concentrated pitch reference signal β rs [ n ] based on the current rotational speed ω [ n ].
The tower damper according to the present disclosure may obtain the pitch control component β fa [ n ] based on a state space observer. Specifically, the tower damper may be based on wind speed v w [ n ], measured tower top acceleration a fa [ n ], and estimated thrustTo calculate a pitch control component beta fa n. The structure of the tower damper and how the pitch control component is obtained will be described in detail below with reference to fig. 3.
For example, the master controller may use the sum of the collective pitch reference signal β rs [ n ] plus the pitch control component β fa [ n ] as the final pitch reference signal β [ n ] and send the final pitch reference signal to the pitch controller such that the pitch controller performs the pitch operation in accordance with the final pitch reference control signal.
FIG. 3 is a block diagram of a tower damper according to an embodiment of the present disclosure.
In the related art, since the tower top velocity is difficult to obtain, the measured tower top acceleration signal is generally used as feedback to reduce the tower load. The tower damper of the present disclosure may be a pitch-based tower damper using the tower top speed signal. The tower damper reduces tower longitudinal loads, especially tower bottom longitudinal loads.
Referring to FIG. 3, a tower damper 300 may include a booster 301 and a tower estimator 302. However, each module in tower damper 300 may be implemented by one or more modules, and the name of the corresponding module may vary depending on the type of module. In various embodiments, some modules in tower damper 300 may be omitted, or additional modules (e.g., a pitch control calculator) may also be included. Furthermore, modules/elements according to various embodiments of the present disclosure may be combined to form a single entity, and thus functions of the respective modules/elements prior to combination may be equivalently performed.
Tower estimator 302 may obtain a tower overhead acceleration signal and a tower overhead speed signal and use the obtained tower overhead acceleration signal and tower overhead speed signal to derive a pitch control component.
As an example, tower estimator 302 may obtain a measured tower top acceleration and an estimated thrust force and utilize a state space observer to obtain a tower top acceleration signal and a tower top speed signal that are subsequently used to calculate a pitch control component based on the measured tower top acceleration and the estimated thrust force.
As an example, the state space observer may be a Long Beige observer or a kalman filter. The measured tower top acceleration fed back into the tower estimator may be filtered by a band pass filter around the tower frequency comprised in the observer.
For example, the state space observer of equation (1) below may be utilized to obtain the overhead velocity signal and the overhead acceleration signal:
Where x n is the current state vector, x n+1 is the next state vector, A, B, C, D is the state space model of the tower, L is the space state observer gain, For the estimated thrust, a fa n is the measured tower top acceleration,For the estimated tower top acceleration signal,Is an estimated tower top velocity signal.
Here, the tower model may be built up from a plurality of pattern shapes, different pattern shapes describing different natural movements of the tower at different frequencies. Wherein the tower frequency of the first mode shape is at a minimum and it primarily moves the tower longitudinally and increases in displacement as the tower rises. Thus, with reduced tower longitudinal loads, a, B, C, D may be state space models based at least on the first mode shape of the tower.
Here, L may be calculated based on the tower model and the adjustment target, or L may be obtained based on Long Beige principle or a kalman filter estimator.
The gain booster 301 may determine a gain value for the pitch control component based on at least one of wind speed, turbulence intensity, and ambient temperature. In the present disclosure, the gain value for the pitch control component may also be referred to as a tower damper gain value.
The gain 301 may calculate a gain value based on the wind speed using a predefined function. For example, the function may be defined based on a lookup table.
As an example, a gain value for the pitch control component may be calculated based on wind speed using a predefined function. For example, the gain value for the pitch control component may be calculated using equation (2) as follows:
kTD[n]＝f(vw[n]) (2)
Here, the predefined function may be defined based on a lookup table. For example, a look-up table of the form below is used to represent the function used to calculate the gain value:
| I1 | I2 | I3 | I4 | I5 |
| O1 | O2 | O3 | O4 | O5 |
Wherein I1, I2, I3, I4 and I5 are the wind speed points, and O1, O2, O3, O4 and O5 are gain values corresponding to the wind speed points respectively. The look-up table may be set differently based on actual needs and experience.
The gain value based on wind speed may be a linear combination of O values corresponding to the I values. For example, when wind speed v w [ n ] is between I1 and I2, k TD [ n ] may be a function value:
(1- (v w[n]-In1))/(In2-In1)*O1+(1-(In2-vw [ n ]))/(In 2-In 1) O2. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
By providing a gain value based on wind speed, turbulence intensity or ambient temperature, tower loads may be better reduced while maintaining pitching motion or maintaining annual energy production, AEP, losses.
Tower estimator 302 may obtain the pitch control component by applying gain values to the obtained tower overhead acceleration signal and the tower overhead velocity signal. For example, tower estimator 302 may obtain a first coefficient based on the tuning parameters for the tower top acceleration signal and the tower top speed signal and the tower first natural frequency, and a second coefficient based on the tuning parameters; the pitch control component is calculated by applying a gain value to the value of the tower top acceleration signal multiplied by the first coefficient and the value of the tower top speed signal multiplied by the second coefficient.
As an example, tower estimator 302 may calculate a pitch control component using equation (3) as follows:
Where β fa [ n ] is the pitch control component, k TD [ n ] is the gain, TD phase is the tuning parameter for balancing the tower top acceleration signal and the tower top speed signal, ω tow is the first tower frequency, As the tower top acceleration signal,Is the tower top velocity signal. Further, the above-described calculation of the pitch control component may be performed by a pitch control calculator. For example, the pitch control calculator may calculate the pitch control component using equation (3) using the gain, the tower speed signal, and the tower top acceleration signal.
The tower damper according to the present disclosure achieves a better shock absorbing effect in reducing tower loads, especially longitudinal loads. In addition, gain scheduling of tower damper gains may be performed based on wind speed or other environmental variables, and load balancing reductions for pitch system or bearing life usage and AEP reduction goals may be achieved.
Fig. 4 is a flowchart of a method for obtaining a pitch control component according to an embodiment of the present disclosure. The method shown in fig. 4 may be performed by a main control controller or a pitch controller, or by a tower damper as described above.
Referring to fig. 4, in step S401, a measured overhead acceleration and an estimated thrust are acquired. The overhead acceleration signal may be measured using an acceleration sensor. The thrust may be obtained based on blade load sensor measurements and a mathematical model describing the relationship between blade load and thrust.
In step S402, a tower top velocity signal is calculated from the measured tower top acceleration and the estimated thrust force. A state space observer may be utilized to obtain an overhead velocity signal based on the measured overhead acceleration and the estimated thrust. As an example, the state space observer may be a Long Beige observer or a kalman filter. For example, the overhead velocity signal may be obtained based on the measured overhead acceleration and the estimated thrust using equation (1) above. Here, the state space observer through equation (1) may output the estimated tower overhead acceleration signal and the estimated tower overhead speed signal, and thus, in the present disclosure, the measured tower overhead acceleration signal or the estimated tower overhead acceleration signal and the estimated tower overhead speed signal may be utilized as variables for subsequent calculation of the pitch control component.
In step S403, a gain value for the tower damper is determined. The gain value for the tower damper may be set according to design requirements and practical conditions. For example, the gain value may be set to a constant value.
Alternatively, the gain value for the pitch control component may be determined based on at least one of wind speed, turbulence intensity, and ambient temperature. For example, the gain value for the tower damper may be determined based on wind speed using equation (2) above.
In step S404, a pitch control component is obtained based on the determined gain value and the tower top speed signal. As an example, the pitch control component may be calculated by applying gain values to the tower top acceleration signal and the tower top speed signal. For example, a first coefficient is obtained based on the adjustment parameters for the tower top acceleration signal and the tower top speed signal and the tower first natural frequency, a second coefficient is obtained based on the adjustment parameters, and the pitch control component is calculated by applying a gain value to the value of the tower top acceleration signal multiplied by the first coefficient and the value of the tower top speed signal multiplied by the second coefficient. For example, the pitch control component based on the tower damper may be calculated using equation (3) above.
Fig. 5 is a flow diagram for obtaining a pitch control component according to an embodiment of the present disclosure.
Referring to FIG. 5, wind speed v w [ n ] may be input to a tower booster to obtain a tower damper-based gain k TD [ n ], i.e., a gain value for the pitch control component. For example, the tower gain may calculate the gain value using equation (2) above.
The measured tower top acceleration a fa [ n ] and the estimated thrust force can be usedInputting a state space observer based tower estimator to obtain an estimated tower velocity signalAnd an estimated tower top acceleration signalFor example, the tower estimator may estimate the tower velocity signal and the tower acceleration signal using equation (1) above.
The pitch control calculator of the tower damper then uses the gain k TD [ n ], the tower speed signalAnd tower top acceleration signalTo calculate the pitch control component. For example, the pitch control calculator may calculate the pitch control component β fa [ n ] using equation (3) above. Alternatively, the pitch control calculator may be implemented as part of, i.e. by, the tower damper, the above described process of calculating the pitch control component.
Fig. 6 is a block diagram of a pitch control device according to an embodiment of the present disclosure. Referring to fig. 6, pitch control device 600 may include a data acquisition module 601 and a data processing module 602. Each module in pitch control apparatus 600 may be implemented by one or more modules, and the name of the corresponding module may vary depending on the type of module. In various embodiments, some modules in pitch control device 600 may be omitted, or additional modules may be included. Furthermore, modules/elements according to various embodiments of the present disclosure may be combined to form a single entity, and thus functions of the respective modules/elements prior to combination may be equivalently performed.
The data acquisition module 601 may obtain a tower top acceleration signal and a tower top velocity signal.
The data processing module 602 may use the obtained tower top acceleration signal and the tower top speed signal to derive a pitch control component.
As one implementation, the data acquisition module 601 may acquire the measured overhead acceleration and the estimated thrust and then utilize a state space observer to derive subsequently used overhead acceleration signals and overhead velocity signals based on the measured overhead acceleration and the estimated thrust.
As an embodiment, the state space observer may employ a lobex observer or a kalman filter.
As one implementation, the data processing module 602 may determine a gain value for the pitch control component, which is calculated by applying the gain value to the tower overhead acceleration signal and the tower overhead speed signal.
As one implementation, the data processing module 602 may determine a gain value for the pitch control component based on at least one of wind speed, turbulence intensity, and ambient temperature.
As one implementation, the data processing module 602 may calculate the gain value for the pitch control component based on wind speed using a predefined function, wherein the predefined function is defined based on a lookup table.
As one implementation, the data processing module 602 may obtain a first coefficient based on the adjustment parameters for the tower top acceleration signal and the tower top speed signal and the tower first natural frequency, obtain a second coefficient based on the adjustment parameters, and calculate the pitch control component by applying a gain value to a value of the tower top acceleration signal multiplied by the first coefficient and a value of the tower top speed signal multiplied by the second coefficient.
The data processing module 602 may perform a pitch operation based on the pitch control component.
As one implementation, the data processing module 602 may determine a collective pitch reference signal from the rotational speed signal, and perform a pitch operation using the collective pitch reference signal plus a sum of the pitch control components as a final pitch reference signal.
As an example, the data acquisition module 601 may be implemented by the tower estimator described above. The data acquisition module 602 may be implemented by the tower booster, pitch control calculator, and speed controller described above. Here, the pitch control calculator may be implemented as part of the tower estimator. The data acquisition module 601 may estimate the overhead speed signal based on the acquired overhead acceleration and the estimated thrust using a tower estimator. The data processing module 602 may obtain a gain for the pitch control component using the tower gain, a concentrated pitch reference signal using the rotational speed controller, and a pitch control component using the pitch control calculator from the gain for the pitch control component, the tower top acceleration signal and the tower top speed signal obtained by the data acquisition module 601, and then the data processing module 602 may obtain a final pitch reference signal using the pitch control component and the concentrated pitch reference signal.
As another example, the data acquisition module 601 may be implemented by an acceleration sensor and a speed sensor. The data acquisition module 602 may be implemented by a tower booster, a rotational speed controller, and a pitch control calculator. Here, the pitch control calculator may be implemented as part of the tower estimator. However, the above examples are merely exemplary, and the present disclosure is not limited thereto.
In the present disclosure, using an estimated tower velocity or a measured tower velocity in addition to the tower acceleration signal as the signal to be controlled, the combination of the two can significantly reduce the longitudinal load of the tower.
According to embodiments of the present disclosure, an electronic device may be provided. Fig. 7 is a block diagram of an electronic device according to an embodiment of the present disclosure, which may include at least one memory 702 and at least one processor 701, the at least one memory 702 storing a set of computer-executable instructions that, when executed by the at least one processor 701, perform a pitch control method or a method for obtaining a pitch control component according to an embodiment of the present disclosure.
The processor 701 may include a Central Processing Unit (CPU), a Graphics Processor (GPU), a programmable logic device, a special purpose processor system, a microcontroller, or a microprocessor. By way of example, and not limitation, processor 701 may also include an analog processor, a digital processor, a microprocessor, a multi-core processor, a processor array, a network processor, and so forth.
Memory 702, which is one type of storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, a pitch control program, and a database.
The memory 702 may be integrated with the processor 701, for example, RAM or flash memory may be disposed within an integrated circuit microprocessor or the like. In addition, the memory 702 may include a separate device, such as an external disk drive, storage array, or other storage device usable by any database system. The memory and the processor may be operatively coupled or may communicate with each other, for example, through an I/O port, a network connection, etc., such that the processor is able to read files stored in the memory.
In addition, the electronic device 700 may also include a video display (such as a liquid crystal display) and a user interaction interface (such as a keyboard, mouse, touch input device, etc.). All components of the electronic device 700 may be connected to each other via a bus and/or a network.
By way of example, the electronic device 700 may be a PC computer, tablet device, personal digital assistant, smart phone, or other device capable of executing the above-described set of instructions. Here, the electronic device 700 is not necessarily a single electronic device, but may be any apparatus or a collection of circuits capable of executing the above-described instructions (or instruction set) individually or in combination. The electronic device 700 may also be part of an integrated control system or system manager, or may be configured as a portable electronic device that interfaces with either locally or remotely (e.g., via wireless transmission).
It will be appreciated by those skilled in the art that the structure shown in fig. 7 is not limiting and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
According to an embodiment of the present disclosure, there may also be provided a computer-readable storage medium storing instructions, wherein the instructions, when executed by at least one processor, cause the at least one processor to perform a pitch control method or a method for obtaining a pitch control component according to the present disclosure. Examples of the computer readable storage medium herein include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, nonvolatile memory, CD-ROM, CD-R, CD + R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD + R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, blu-ray or optical disk storage, hard Disk Drives (HDD), solid State Disks (SSD), card-type memories (such as multimedia cards, secure Digital (SD) cards or ultra-fast digital (XD) cards), magnetic tapes, floppy disks, magneto-optical data storage devices, hard disks, solid state disks, and any other devices configured to store computer programs and any associated data, data files and data structures in a non-transitory manner and to provide the computer programs and any associated data, data files and data structures to a processor or computer to enable the processor or computer to execute the programs. The computer programs in the computer readable storage media described above can be run in an environment deployed in a computer device, such as a client, host, proxy device, server, etc., and further, in one example, the computer programs and any associated data, data files, and data structures are distributed across networked computer systems such that the computer programs and any associated data, data files, and data structures are stored, accessed, and executed in a distributed fashion by one or more processors or computers.
In accordance with embodiments of the present disclosure, there may also be provided a computer program product in which instructions are executable by a processor of a computer device to perform the above-described pitch control method or method for obtaining a pitch control component.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (13)
1. The pitch control method of the wind generating set is characterized by comprising the following steps of:
obtaining a tower top acceleration signal and a tower top speed signal;
determining a gain value for the pitch control component;
obtaining a first coefficient based on a tuning parameter for weighing the tower overhead acceleration signal and the tower overhead speed signal and a tower first natural frequency;
Obtaining a second coefficient based on the adjustment parameter;
Calculating the pitch control component by multiplying the sum of the value of the tower top acceleration signal multiplied by a first coefficient and the value of the tower top speed signal multiplied by a second coefficient by the gain value;
determining a centralized pitch reference signal according to the rotational speed signal; and
A pitch operation is performed using the sum of the collective pitch reference signal plus the pitch control component as a final pitch reference signal.
2. The method of claim 1, wherein the step of obtaining a tower top acceleration signal and a tower top velocity signal comprises:
acquiring measured tower top acceleration and estimated thrust;
The overhead acceleration signal and the overhead velocity signal are derived based on the measured overhead acceleration and the estimated thrust using a state space observer.
3. The method of claim 2, wherein the state space observer is a Long Beige observer or a kalman filter.
4. The method of claim 1, wherein the step of determining a gain value for the pitch control component comprises:
the gain value is determined based on at least one of wind speed, turbulence intensity, and ambient temperature.
5. The method of claim 1, wherein the gain value is calculated based on wind speed using a predefined function, wherein the predefined function is defined based on a look-up table.
6. A pitch control device of a wind turbine generator system, the pitch control device comprising:
A data acquisition module configured to obtain a tower top acceleration signal and a tower top velocity signal; and
A data processing module configured to:
determining a gain value for the pitch control component;
obtaining a first coefficient based on a tuning parameter for weighing the tower overhead acceleration signal and the tower overhead speed signal and a tower first natural frequency;
Obtaining a second coefficient based on the adjustment parameter;
Calculating the pitch control component by multiplying the sum of the value of the tower top acceleration signal multiplied by a first coefficient and the value of the tower top speed signal multiplied by a second coefficient by the gain value;
determining a centralized pitch reference signal according to the rotational speed signal; and
A pitch operation is performed using the sum of the collective pitch reference signal plus the pitch control component as a final pitch reference signal.
7. A tower damper, the tower damper comprising:
A gain configured to: determining a gain value for the pitch control component; and
A tower estimator configured to:
obtaining a tower top acceleration signal and a tower top speed signal;
obtaining a first coefficient based on a tuning parameter for weighing the tower overhead acceleration signal and the tower overhead speed signal and a tower first natural frequency;
Obtaining a second coefficient based on the adjustment parameter;
calculating the pitch control component by multiplying the sum of the value of the tower top acceleration signal multiplied by a first coefficient and the value of the tower top speed signal multiplied by a second coefficient by the gain value,
Wherein the sum of the pitch control component and a centralized pitch reference signal is used as a final pitch reference signal for performing a pitch operation, the centralized pitch reference signal being determined from a rotational speed signal.
8. The tower damper of claim 7, wherein the tower estimator is configured to: a measured overhead acceleration and an estimated thrust are acquired and the overhead acceleration signal and the overhead velocity signal are calculated based on the measured overhead acceleration and the estimated thrust using a state space observer.
9. The tower damper of claim 8, wherein the state space observer is a Long Beige observer or a kalman filter.
10. The tower damper of claim 7, wherein the booster is configured to determine a gain value for the pitch control component based on at least one of wind speed, turbulence intensity, and ambient temperature.
11. The tower damper of claim 7, wherein the booster is configured to calculate a gain value for the pitch control component based on wind speed using a predefined function, wherein the predefined function is defined based on a lookup table.
12. An electronic device, comprising:
at least one processor;
At least one memory storing computer-executable instructions,
Wherein the computer executable instructions, when executed by the at least one processor, cause the at least one processor to perform the pitch control method of any of claims 1-5.
13. A computer readable storage medium storing instructions which, when executed by at least one processor, cause the at least one processor to perform the pitch control method of any of claims 1-5.
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