A method for controlling blade angle of track-type wind turbine

Abstract

The present invention discloses a blade angle control method for a track-type pneumatic device, comprising the following steps: S1, start-up and conduct self-check, detect whether the slider drive module is abnormal, detect the wind direction and transmit the wind direction signal to the slider control module in real time; S2, establish the slider sequence and position coordinates, a plurality of fixed points are provided on the track as reference positioning points, and the sliders near the reference positioning points are automatically positioned according to the reference positioning points; S3, the slider control module adjusts the windward angle of each blade by controlling the windward angle motor according to the position coordinates of each slider; S4, when the slider stops moving, the slider control module adjusts all blades to maintain a downwind state according to the wind direction. The present invention controls the blades at different positions of the track to change the windward angle according to the wind direction, maintains the state of being exposed to the wind or downwind, reduces the resistance of the blades to the direction of movement, keeps the blades moving in the same direction, and improves the utilization rate of wind force.

Description

Technical Field

[0001] The present invention relates to the technical field of track-type wind turbines, and in particular to a blade angle control method for track-type wind turbines. Background Art

[0002] Track-type wind turbines are a new type of wind turbine. Different from horizontal-axis and vertical-axis wind turbines, track-type wind turbines have blades that move along tracks supported by sliders. The sliders are connected by chains or racks to form a chain structure. Track-type wind turbines are not widely used at present. Compared with traditional wind power generation equipment, large horizontal-axis wind turbines are difficult to use in cities, and most of them are concentrated in suburban areas where the population is evacuated. Track-type wind turbines can use the wind force formed by the flow of high-rise air in the city and be used on the roofs of high-rise buildings; track-type wind turbines can also be used in the suburbs. The blades constantly change their positions under the action of the slider. At different positions, the angle of the windward side of the blades constantly changes. In order to maximize the use of wind force, it is necessary to control the angle of the blades during the movement of the slider. Summary of the invention

[0003] In view of the above technical problems in the related art, the present invention provides a blade angle control method for a track-type wind turbine, which can solve the above problems.

[0004] To achieve the above technical objectives, the technical solution of the present invention is implemented as follows:

[0005] A blade angle control method for a track-type pneumatic device comprises the following steps: S1, starting the device for self-test, detecting whether a slider driving module is abnormal, detecting the wind direction and transmitting the wind direction signal to a slider control module in real time; S2, establishing a slider sequence and position coordinates, a plurality of fixed points are provided on the track as reference positioning points, a slider near the reference positioning point is automatically positioned according to the reference positioning point, a slider control module determines and records the position coordinates of the current positioning slider according to the wind direction, and the slider control module calculates and records the position coordinates of other sliders through the recorded position coordinates of the current positioning slider and the position relationship of all sliders on the entire track; S3, the slider control module adjusts the windward angle of each blade by controlling the windward angle motor according to the position coordinates of each slider; S4, when the slider stops moving, the slider control module adjusts all blades to keep in a downwind state according to the wind direction.

[0006] Furthermore, the relationship between the circumference of the track and the blades is: NL≤S, where N is the number of sliders, L is the width of the blades, and S is the circumference of the track. The total width of all blades cannot be greater than the circumference of the track, otherwise the blades will not be able to rotate normally. When N sliders are connected together by chains and placed in the track, the phase difference between two adjacent sliders is known. As long as the position of one of the sliders is located, the position of the other sliders relative to the positioning slider can be calculated.

[0007] Furthermore, there are 360 ​​calculation points on the track, and the angles between two adjacent calculation points and the track center are 1. The calculation slider calculates the maximum windward angle when the blade is subjected to the maximum thrust in the direction of blade movement at each calculation point. I, The number of calculation points can also be 180, then the angles between two adjacent calculation points relative to the track center are both 2. The more calculation points there are, the more detailed the force analysis of the blade will be.

[0008] Furthermore, the track is divided into several partitions, and the maximum windward angle of the points in each partition is calculated. i Normalize and generate the corresponding i The value change function is i The value change function thus generates corresponding control instructions for each partition to control the windward angle motor.

[0009] Furthermore, when the slider moves, the blade axis angle of the blade in the downwind state is 0 degrees, and the blade axis angle of the blade in the headwind state is 15 degrees; when the slider stops moving, the blade axis angle of the blade is 15 degrees.

[0010] Furthermore, the blade shaft angle is adjusted by a blade shaft angle motor, and the blade shaft angle motor is controlled by a slider control module.

[0011] The beneficial effects of the present invention are as follows: the present invention controls the blades at different positions of the track to change the windward angle according to the wind direction, maintains the windward or downwind state, reduces the resistance of the blades to the movement direction, keeps the blades moving in the same direction, and improves the utilization rate of wind force. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] The present invention is further described in detail below with reference to the accompanying drawings.

[0014] Figure 1 It is a simplified structural diagram of a track-type pneumatic device according to an embodiment of the present invention;

[0015] Figure 2 is a schematic diagram of the lower structure of the blade according to an embodiment of the present invention;

[0016] Figure 3 is a simplified structural diagram of the entire blade according to an embodiment of the present invention;

[0017] Figure 4 is a schematic diagram of force analysis of a circular orbit blade according to an embodiment of the present invention;

[0018] Figure 5 The circular orbital blade described in the embodiment of the present invention f、θ、a Angle calculation table;

[0019] Figure 6 It is a calculation and analysis table of the force magnitude of the circular orbit blade according to the embodiment of the present invention;

[0020] Figure 7 The circular track blade of the embodiment of the present invention is at the designated position of the track. Fv A graph of the functional relationship between the maximum value and the 𝜃 value;

[0021] Figure 8 is a function diagram of the windward angle and blade shaft angle controlled by the blade in the circular track A area according to the embodiment of the present invention;

[0022] Figure 9 is a function diagram of the windward angle and blade shaft angle controlled by the blade in the circular track A and B areas according to the embodiment of the present invention;

[0023] Figure 10 is a function diagram of the windward angle and blade shaft angle controlled by the blade in the A, B, and C zones of the circular track according to the embodiment of the present invention;

[0024] Figure 11 is a function diagram of the windward angle and blade shaft angle controlled by the blade in the A, B, C, and D zones of the circular track according to the embodiment of the present invention;

[0025] Figure 12 is a function diagram of the windward angle and blade shaft angle controlled by the blade in the A, B, C, D, and E zones of the circular track according to the embodiment of the present invention;

[0026] Figure 13 is a function diagram of the windward angle and blade shaft angle controlled by the blade in the A, B, C, D, E, and F zones of the circular track according to the embodiment of the present invention;

[0027] Figure 14 is a function diagram of the windward angle and blade shaft angle controlled by the blade in the circular track A, B, C, D, E, F, and G areas according to the embodiment of the present invention;

[0028] Figure 15It is a function diagram of the windward angle and blade shaft angle controlled by the blade in the A, B, C, D, E, F, G, and H zones of the circular orbit described in the embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0030] In one embodiment of the present invention, Figure 1 The figure shows a simplified structural diagram of a track-type pneumatic device, with a circular track in the middle, a slider provided on the track, and blades symmetrically provided on the upper and lower parts of the slider.

[0031] In one embodiment of the present invention, Figure 2 The following is a simplified diagram of the lower structure of the blade of the track-type wind-driven device. The blade can be rotated by the windward angle motor to drive the base at the lower end of the blade to rotate, thereby adjusting the windward angle of the blade. Under normal circumstances, the blade will be slightly deformed and swung by the wind. Actively swinging the blade with the wind and increasing the torque of the blade can improve the utilization rate of wind energy. Generally, the swing angle of the blade with the blade shaft is controlled at 15 degrees.

[0032] In one embodiment of the present invention, Figure 3 The figure shows a simplified structural diagram of the entire blade of the track-type pneumatic device. The lower end of the blade is a Y-shaped moving end, which can be driven by a blade shaft angle motor to adjust a certain angle in the axial direction of the blade plane.

[0033] In one embodiment of the present invention, Figure 4 The figure shows the force analysis of the blade on the circular track. Select any point on the track for analysis. Assume that the force on the blade surface is Fn , and the force along the track tangent direction is Fv (thrust in the direction of blade movement), Fn and Fv The angle is f . Then there is Fv= FScosθcosφ, in F For wind power, i is the windward angle, which is the angle between F and Fn. In reality, during the operation of the orbital wind turbine, the blades in quadrants II and III are blocked by the blades in quadrants I and IV in the wind direction, and the force will be affected. However, considering that the track of the orbital wind turbine is large enough, this effect can be calculated through further analysis or ignored.

[0034] In one embodiment of the present invention, 360 calculation points are provided on the circular track, and the angles between two adjacent calculation points and the track center are all 1. Here, only the force of one blade needs to be analyzed, and the following is made: Figure 5 shown f、θ、a Angle calculation table, a is the orbital angle of the blade. For example, when the orbital angle of the blade a When is 1, f From 0 to 89 hours, i The corresponding value is in the first quadrant φ+θ+α= 90 o ， In the second quadrant φ+θ+α= 180 o ， In the third quadrant φ+θ+α= 270 o ， In the third quadrant f +θ+a= 360 o , through the formula Fv= FScosθcosφ Combination Figure 5 In f、θ、a Angle calculation table, calculate the blade position at each calculation point f、i The corresponding Fv size and make it as Figure 6 The calculation and analysis table of blade force in circular orbit shown in the figure can obtain the blade force at different calculation points. Fv At maximum value i The corresponding value can theoretically set 360 blades. When the No. 1 slider is at 0 degrees, the No. 2 slider is at 359 degrees, and so on. Through the above calculation, the slider control module can be used to control the windward angle motor at each angle accordingly to obtain the maximum thrust.

[0035] In one embodiment of the present invention, Figure 7 Shown Figure 6 The maximum value of Fv and the corresponding position of each orbital specified position i The function relationship diagram is drawn by the value, where the realization is the change graph of Fv, and the dotted line is the corresponding i The corresponding graph shows that when the blade is on the orbit of quadrants I and II, it is in the downwind movement stage. The thrust Fv on the blade gradually increases from 50% of the wind force F to 100% of the wind force, and the change process is a sine change. Then it gradually decreases and gradually approaches 50% of the wind force F, and the change process is a sine change; when the blade is on the orbit of quadrants III and IV, it is in the headwind movement stage, and the angle between the blade and the wind force F needs to be adjusted. i, using the effect of a sail similar to a sailboat sailing against the wind to move obliquely against the wind. a =180 o When the maximum thrust on the blade is 50% of the wind force F, as the blade moves along the track, the thrust Fv on the blade gradually decreases and gradually approaches 0, and the change process is a sinusoidal change. a =270 o When the blade is subjected to thrust Fv=0, the optimal angle between the blade and the wind force F is i =90 o As the blades move along the track, a The angle continues to increase, and the angle between the blade and F i Gradually increases, Fv gradually increases, gradually approaches 50% of the wind force F, and the change process is a sinusoidal change.

[0036] In one embodiment of the present invention, in order to simplify the control of the blade shaft angle and the windward angle motor by the slider control module, Figure 5-7 The force analysis relationship in Figure 4 As shown, the circular orbit is divided into eight partitions A, B, C, D, E, F, G, and H. Each partition is 45 degrees, and each partition is normalized, as shown in FIG. Figure 8 As shown in Figure 2, when the blade is in the A zone, the blade is a The force analysis of the blade can be analyzed as follows: As a changes from 0 degrees to 45 degrees, the blade windward angle i The windward angle needs to be kept constant at 45 degrees. i =45, the blade can keep moving along the track with a larger force Fv. So when the blade moves in area A, that is, when 0 ≤a ≤ 45, the blade control function should be: i =45, in order to increase the moment of the blade, the blade shaft angle β swings to keep β=15 degrees; Figure 9 As shown in the figure, when the blade is in the B area, the force analysis of the blade at point b shows that: as a changes from 45 degrees to 90 degrees, the blade windward angle i It needs to decrease synchronously with a until it reaches 0 degrees. The calculation formula is: i =90-a, 45 ≤a≤ 90, so when the windward angle i As the orbit angle a gradually increases and then decreases until it reaches 0, the force Fv of the blade along the orbit can continue to increase until it reaches the maximum value. Therefore, when the blade moves in area B, that is, when 45 ≤ a ≤ 90, the blade control function should be: i =90- a, in order to increase the moment of the blade, the blade shaft angle β continues to be maintained at β=15 degrees; Figure 10 As shown in the figure, when the blade is in the C zone, the force analysis of the blade at point c shows that as a changes from 90 degrees to 135 degrees, the blade windward angle i It needs to continue to decrease synchronously with a until it reaches -45 degrees. The calculation formula is: i =90- a, 90 ≤a ≤ 135, so as the orbit angle a increases, the windward angle i It needs to be synchronously reduced until it reaches -45 degrees, and the force Fv of the blade along the track decreases from the maximum value, and continues to maintain a sufficiently large force. Therefore, when the blade moves in area C, that is, when 90 ≤a ≤ 135, the blade control function should be: i =90- a, in order to increase the moment of the blade, the blade shaft angle β continues to be maintained at β=15 degrees; Figure 11 As shown in the figure, when the blade is in the D area, the force analysis of the blade at point d shows that as a changes from 135 degrees to 180 degrees, the blade windward angle i Need to keep -45 degrees unchanged, the calculation formula is: i =-45, 135 ≤a ≤ 180, so as the orbit angle a increases, the windward angle i It is necessary to maintain -45 degrees, and the force Fv of the blade along the track continues to be large enough. So when the blade moves in area D, that is, when 135 ≤ a ≤ 180, the blade control function should be: i =-45, in order to increase the blade torque, the blade shaft angle β continues to be maintained at β=15 degrees; Figure 12 As shown in the figure, when the blade is in the E zone, the force analysis of the blade at point e shows that as a changes from 180 degrees to 225 degrees, the windward angle of the blade i It needs to change synchronously from -45 degrees to -90 degrees. The calculation formula is: i =180- a, 180 ≤a ≤225. So when the blade moves in the E zone, that is, when 180 ≤a ≤225, the blade control function should be: i =180- a, in order to increase the moment of the blade, the blade shaft angle β continues to be maintained at β=15 degrees; Figure 13 As shown in the figure, when the blade is in the F zone, the force analysis of the blade at point f shows that as a changes from 225 degrees to 270 degrees, the windward angle θ of the blade needs to change synchronously with a until it becomes -90 degrees. At this time, the blade becomes completely downwind with minimal resistance. The calculation formula is: i =180- a, 225 ≤a ≤ 270, so as the orbit angle a increases, the windward angle i It is necessary to continue to change synchronously until -90 degrees, and the force Fv of the blade along the track continues to maintain a sufficiently large force. Therefore, when the blade moves in the F area, that is, when 225 ≤ a ≤ 270, the blade control function should be: θ = 180- a. In order to increase the moment of the blade, the blade shaft angle β continues to be maintained at β = 15 degrees; Figure 14 As shown in the figure, when the blade moves into the G zone, it is necessary to comprehensively analyze the rotation of the blade. Due to the limitation of the internal structure, the blade cannot fully realize the rotation of 360 degrees or more, that is, the rotation angle of the blade is a restricted state, and the normalized restricted angle range is 0≤a ≤ 315. Therefore, the blade needs to perform two motion states in two stages in the G zone: in the first stage, the blade is kept in the downwind state to reduce the blade resistance; in the second stage, the blade rotates in the opposite direction and returns to the 0 degree angle. The following are respectively explained: When the blade is in the first stage of movement in the G zone, as a changes from 270 degrees to 295 degrees, the blade windward angle θ needs to always maintain the downwind state to maintain the minimum resistance state of the blade, that is, the windward angle θ changes synchronously with a to maintain the relationship between the blade surface normal and the wind direction -90 degrees. The calculation formula is θ=180-a, 270 ≤a ≤ 295; When the blade moves to the rear section of zone G, the blade enters the second stage and starts to rotate back to 0. In order to allow the blade to reset before reaching zone H, the blade angle θ needs to be reset to 0, that is, reversely rotated to 0 degrees, and the rotation time is 2-3τ. Return the blade angle to 0 degrees to enter the next cycle state. The rotation formula is θ=315-a, 295 ≤a ≤ 315. In order to reduce the resistance to the reverse rotation of the blade, it is necessary to first reduce the torque of the blade. The blade shaft angle β needs to be returned from 15 degrees to 0 degrees so that the blade rotates in the opposite direction in a vertical state. The time for the blade shaft angle β to return to 0 can be recorded as τ; such as Figure 15 As shown in the figure, when the blade is in the H zone, the force analysis of the blade at point h shows that as a changes from 315 degrees to 360 degrees, the blade windward angle i It needs to be changed back to 45 degrees and maintained all the time to make the blades bear greater force, that is, the windward angle i =45, so when the blade moves in the H zone, the blade control function should be: i =45, 315 ≤a ≤ 360, so, as the orbit angle a increases, that is, when 315≤a ≤360, the windward angle i The blade control function should be: i =45, in order to increase the torque of the blade, the blade shaft angle β=15, the blade shaft angle needs to be kept at 15 degrees again, and the blade shaft angle β changes for τ.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the blade angle of a track-type wind turbine, characterized in that: The method comprises the following steps: S1, starting the machine to conduct a self-check, detecting whether the slider driving module is abnormal, detecting the wind direction and transmitting the wind direction signal to the slider control module in real time; S2, establishing the slider sequence and position coordinates, a plurality of fixed points are provided on the track as reference positioning points, and the sliders near the reference positioning points are automatically positioned according to the reference positioning points, and the slider control module determines and records the position coordinates of the current positioning slider according to the wind direction, and the slider control module calculates and records the position coordinates of other sliders through the recorded position coordinates of the current positioning slider and the position relationship of all sliders on the entire track; S3, the slider control module adjusts the windward angle of each blade by controlling the windward angle motor according to the position coordinates of each slider, and drives the base at the lower end of the blade to rotate by the windward angle motor to drive the blade to rotate, thereby adjusting the windward angle of the blade; S4, when the slider stops moving, the slider control module adjusts all blades to keep in a downwind state according to the wind direction.

2. A method for controlling blade angles of a track-type wind turbine according to claim 1, characterized in that: The relationship between the circumference of the track and the blade is: NL≤S, where N is the number of sliders, L is the width of the blade, and S is the circumference of the track.

3. A method for controlling blade angles of a track-type wind turbine according to claim 2, characterized in that: There are 360 ​​calculation points on the track. The angles between two adjacent calculation points and the track center are 1. The calculation slider calculates the maximum windward angle when the blade is subjected to the maximum thrust in the direction of blade movement at each calculation point. θ .

4. A method for controlling blade angles of a track-type wind turbine according to claim 3, characterized in that: Divide the track into several partitions and calculate the maximum wind angle of each point in each partition. θ Normalize and generate the corresponding θ The value change function is θ The value change function thus generates corresponding control instructions for each partition to control the windward angle motor.

5. A method for controlling blade angles of a track-type wind turbine according to claim 4, characterized in that: When the slider moves, the blade axis angle of the blade in the downwind state is 0 degrees, and the blade axis angle of the blade in the headwind state is 15 degrees; when the slider stops moving, the blade axis angle of the blade is 15 degrees.

6. A method for controlling blade angles of a track-type wind turbine according to claim 5, characterized in that: The blade shaft angle is adjusted by a blade shaft angle motor, and the blade shaft angle motor is controlled by a slider control module.

Images