Method of controlling a wind power plant and wind power plant

Abstract

The invention relates to a method for controlling a wind power installation (100) and to a wind power installation (100), wherein the wind power installation has a rotor (106) with a plurality of rotor blades (108), the blade angle of which is adjustable, each rotor blade (108) being individually controllable.

Description

Technical Field

[0001] This invention relates to a method for controlling a wind energy facility, and also to a corresponding wind energy facility. In particular, this invention relates to the individual blade adjustment of the rotor blades of a rotor of a wind energy facility, which can also be referred to as single blade adjustment. Background Technology

[0002] Wind energy facilities are known to convert kinetic energy from wind into mechanical work by means of a rotor having multiple rotor blades and further into electrical energy by means of a generator. In any case, the present invention relates to wind energy facilities that operate according to the stated principle.

[0003] Modern wind power installations now have rotor diameters exceeding 100 meters. Therefore, the rotor blades sweep across a circular surface with such a large diameter. Typically, there are three rotor blades, which are evenly spaced at 120° intervals relative to each other within the rotor, thus occupying different regions of the rotor surface at any given time. Consequently, the rotor blades may experience different wind conditions at the same time. In particular, the wind speed and direction can be different.

[0004] In particular, the different wind conditions can be perceived as different blade loads. To take this into account, individual blade adjustments can be proposed, which match the blade angle of the corresponding rotor blade to the specific load on the blade.

[0005] Typically, this load cycle occurs periodically, making cyclical blade adjustments meaningful. Simplifying and intuitively, the blade load can be greater in the upper region of the rotor face than in the lower region, and correspondingly, it can be proposed that the rotor blades rotate slightly leeward in the upper region of the rotor face and slightly towards the wind in the lower region. A sinusoidal function can be used for this purpose.

[0006] In order to control the wind energy facility as a whole, a suitable operating point should be set, which includes the overall blade angle. This overall blade angle can also be synonymously referred to as the overall pitch angle.

[0007] This overall blade angle is the same for all rotor blades, and then for each rotor blade, the individual offset angle is individually combined or connected to it.

[0008] In one case, this can be represented by superimposing the individual sinusoidal offset angles onto the overall blade angle. This sinusoidal offset angle can, in principle, be the same for all rotor blades in terms of amplitude and frequency, but is phase-shifted. The sinusoidal offset angle can also have different amplitudes among the individual rotor blades, while the frequency should be the same across all rotor blades.

[0009] In specific conversions, the actual blade angle may not precisely correspond to the preset and / or assumed blade angle. This deviation is usually individual, meaning it must be observed individually for each blade. To account for this deviation, a feedback controller can be provided, which adjusts the deviation between the detected blade angle and the set blade angle. To approach near-stable accuracy, an integral verhalten can be incorporated.

[0010] One consideration here is that modern wind power installations have large rotor blades, necessitating that their dynamics be taken into account when adjusting these blades. In other words, during blade adjustment, the rotor blades rotate about their own longitudinal axis, and this rotation cannot be arbitrarily fast or sudden, because these rotor blades, in addition to their enormous length, also possess a significant depth of several meters, at least in the region near the rotor hub. Therefore, it is generally advantageous to preset the blade angle adjustment rate rather than the absolute value via a higher-level control device.

[0011] In the described single blade adjustment, this means that, in addition to the adjustment rate used to set the blade angle as a whole, there is an adjustment rate for taking into account the offset blade angle of the individual.

[0012] Therefore, complex systems can exist in general, in which the overall blade angle must be preset and considered, and the blade angle of each individual rotor blade must be preset and considered. Various characteristics of the rotor, rotor blades and adjustment device must be considered, and in particular, the dynamics of the corresponding rotor blade or at least one moment of inertia and angular deviation should be considered as well as possible. Summary of the Invention

[0013] Therefore, the objective of this invention is to solve at least one of the aforementioned problems. In particular, a solution should be proposed that improves the adjustment of individual blades in terms of dynamics, accuracy, and / or reliability, or at least one good solution should be proposed. At least alternatives to solutions known to date should be proposed.

[0014] According to the present invention, a method for controlling a wind energy facility is proposed. Therefore, the method relates to the control of a wind energy facility. The wind energy facility on which this method is based has a rotor with multiple rotor blades, particularly with three rotor blades. The rotor blades are adjustable in terms of their blade angles, and each rotor blade can be individually controlled and thus individually adjusted, i.e., in terms of its blade angle. For individual control, a total adjustment rate is preset, which describes the expected rate of change of the corresponding blade angle. Therefore, the adjustment rate describes the change of blade angle per unit time.

[0015] Furthermore, an overall blade angle is provided that is the same for all rotor blades. This overall blade angle can also be synonymously referred to as the overall pitch angle or the common blade angle. Therefore, the overall blade angle is, in principle, a blade angle that does not consider individual differences between individual rotor blades. The overall blade angle specifically determines the current operating point. When the wind speed is still below the rated wind speed, the overall blade angle may, for example, have a fixed value within the partial load range. However, when a corresponding adjustment plan is proposed, the overall blade angle may also be variable within the partial load range. In particular, the overall blade angle is variable outside the partial load range, i.e., especially within the full load range or in the transition range from the partial load range to the full load range. If the overall blade angle is variable, then the variability is therefore the same for all rotor blades. The types considered are also described below.

[0016] Furthermore, a uniform adjustment rate is proposed for all rotor blades, describing the expected rate of change of the overall blade angle. Correspondingly, the uniform adjustment rate can also be synonymously referred to as the common adjustment rate. Therefore, the uniform adjustment rate is closely related to the overall blade angle. Its consideration can be made directly or via the overall blade angle. Similarly, the consideration of the overall blade angle can be made directly or via the consideration of the uniform adjustment rate.

[0017] Furthermore, a preset individual offset angle is provided for each rotor blade, which specifies the deviation of the blade angle from the overall adjustment rate. Therefore, the same value is set for all rotor blades via the overall blade angle or the overall adjustment rate. Individual differences can be considered for each rotor blade via the corresponding individual offset angle.

[0018] For example, the offset angle of each individual blade can be continuously recalculated and / or preset using a periodic function, especially a cyclic periodic function with the same frequency. The frequency can correspond to the rotor's rotational frequency. For example, the offset angle of each rotor blade can be preset using a sine function. However, other functions, such as triangular functions, are also considered. However, the sine function is preferred.

[0019] Furthermore, it is proposed that the feedforward control adjustment rate for each rotor blade be determined from the individual's offset angle, and this is defined as the adjustment rate used to achieve the offset angle. In this regard, it is proposed that the feedforward control adjustment rate be determined directly from the individual's offset angle. In this respect, a transition exists as in open-loop control, because the offset angle is directly passed to the feedforward control adjustment rate. Therefore, no expectation-actual value comparison is performed between the preset individual offset angle and the actual or detected offset angle.

[0020] However, it is also proposed that, for each rotor blade, the individual offset deviation be determined in relation to a comparison between the individual offset angle and the detected, in particular, measured blade angle of the rotor blade. Specifically, it is proposed that the individual offset deviation be determined with overall blade angle correction from the comparison between the individual offset angle and the detected blade angle of the rotor blade. This comparison is specifically the difference between two variables. Correction specifically means subtracting the overall blade angle from the detected blade angle before the comparison, or adding the overall blade angle to the individual offset angle, or subtracting the overall blade angle after the comparison. Here, the offset deviation should describe the deviation between a preset and a set individual offset angle at the rotor blade, in order to monitor the transition. At the rotor blade, however, instead of the offset angle, the sum of the overall blade angle and the individual offset is used; therefore, the comparison is again corrected with overall blade angle correction.

[0021] In this regard, a closed-loop control (Regelung) is also proposed, which performs and uses a comparison of the expected and actual values ​​between a preset individual offset angle and a detected blade angle, as described below.

[0022] The total adjustment rate for each rotor blade is proposed, and the total adjustment rate is related to...

[0023] - Overall blade angle and / or overall adjustment rate,

[0024] -Individual feedforward control adjustment rate, and

[0025] -Individual offset deviation related

[0026] Therefore, the overall adjustment rate is determined in relation to three variables. The projected operating point of the wind power facility is considered via the overall blade angle. Here, the overall blade angle can be considered, or alternatively, the overall adjustment rate can be considered, or both variables can be considered together. The overall blade angle and the overall adjustment rate are closely related, and one of these two variables can be directly used according to the adjustment plan, from which relationships with the other variables can also be established. Also considered...

[0027] Let's consider these two variables directly.

[0028] The individual adjustment rate can be determined from the individual feedforward control adjustment rate and the individual offset deviation. This individual adjustment rate can be integrated into the overall adjustment rate to form the total adjustment rate for the corresponding rotor blade. Therefore, the total adjustment rate for each rotor blade consists of the overall adjustment rate and the individual adjustment rate. In particular, the sum of the overall adjustment rate and the individual adjustment rates forms the total adjustment rate.

[0029] An individual's offset angle affects the determination of its adjustment rate in two ways: one is through the individual's feedforward control adjustment rate, and the other is through the individual's offset deviation. Thus, the individual's offset angle is input via open-loop control and via closed-loop control. Open-loop control can also be called feedforward control, and the open-loop control outputs the individual's feedforward control adjustment rate.

[0030] With this feedforward control, the individual's adjustment rate can be quickly and without the influence of the individual's offset angle, which in turn immediately and directly affects the individual's adjustment rate, whereas such dynamic influence might otherwise be derived through closed-loop control feedback.

[0031] However, the deviation can be adjusted by taking into account individual offset biases. Since feedforward control is also used, this deviation is small, making it preferable to also consider a slow feedback controller that achieves stable accuracy or at least improves near-stable accuracy when the offset angle changes slowly.

[0032] It is also necessary to consider that in closed-loop control that takes into account individual offset deviations, the blade angle or blade angle deviation, i.e., the individual offset deviation, is converted into the adjustment rate.

[0033] The offset angle of each individual can be directly converted. The conversion is fast and simultaneously achieves high accuracy.

[0034] According to one approach, the individual's feedforward control adjustment rate is determined from the individual's offset angle by means of the feedforward control, and the feedback controller adjustment rate is determined from the individual's offset deviation by means of the offset feedback controller, in order to adjust the individual's offset deviation. The total adjustment rate is determined from the overall adjustment rate, the feedforward control adjustment rate, and the feedback controller adjustment rate, particularly from their sum. The individual's adjustment rate is here determined from the feedforward control adjustment rate and the feedback controller adjustment rate. Thus, the individual's offset angle is considered in two ways.

[0035] One approach is to determine the individual's feedforward control adjustment rate from the individual's offset angle, specifically by differentiating the individual's offset angle. In particular, this is based on the understanding that the individual's offset angle is a time-variable function, especially a periodic function. Typically, a sine function is considered. This time function can be differentiated over time and modified as necessary using enhancement coefficients. The result is the individual's feedforward control adjustment rate. Thus, the individual's feedforward control adjustment rate indicates the expected adjustment rate of the blade angle. If the rotor blade angle adjusts at this adjustment rate, then the individual's offset angle is derived as the rotor blade angle when the rotor blade angle is otherwise zero. In other words, if this individual's feedforward control adjustment rate is applied to a rotor blade angle of zero, then the individual's offset angle is ideally obtained.

[0036] During operation, however, an overall blade angle is added, and the overall blade angle can be set as the overall adjustment rate. The overall adjustment rate and the individual feedforward control adjustment rate can be added together to obtain the adjustment rate, i.e., the rate of change of the blade angle, with which the blade angle is adjusted. The result is that, in an ideal transition, the rotor blade angle corresponds to the sum of the overall blade angle and the individual offset angle.

[0037] In this way, especially by utilizing feedforward control to determine the individual blade angle adjustment rate, a rapid conversion between the overall blade angle and the individual blade angle is achieved. Feedforward control, being an open-loop control without feedback, eliminates potential regulation oscillations. The individual blade angle can be directly preset and converted via the individual's feedforward control adjustment rate.

[0038] Possible deviations, particularly stable or near-stable inaccuracies, can be disregarded through this feedforward control. In this context, near-stable inaccuracies are understood as the tracking accuracy for time-varying signals, especially sinusoidal signals, which can be preset with respect to individual offset angles.

[0039] Therefore, to achieve this stable or near-stable accuracy, an offset feedback controller is additionally provided, which determines the adjustment rate of the feedback controller from the individual's offset deviation. This allows for the identification and adjustment of the deviation. However, it should be noted that this offset feedback controller is only provided supplementarily to the feedforward control. This further ensures a rapid and direct dynamic transition from the individual's offset angle to the individual's feedforward control adjustment rate, and additionally, despite this, adjustment—usually small—of the deviation can be achieved. Correspondingly, the feedback controller gain of the offset feedback controller can also be selected such that the offset feedback controller plays a subordinate dynamic role. In particular, oscillations or even instabilities caused by the feedback controller can be avoided, while still achieving a rapid transition of the individual's offset angle.

[0040] Preferably, a P-feedback controller is provided as the offset feedback controller. It should be noted that the offset feedback controller also outputs a regulation rate, i.e., the rate of change of the angle. A constant rate of change causes the blade angle to continuously increase. Therefore, the system has integral performance. Thus, the closed-loop control loop as a whole, i.e., the P-feedback controller of the system, also has integral performance. Therefore, it has been recognized that when the feedback controller outputs a regulation rate, integral performance can be achieved through an offset feedback controller with P-performance.

[0041] Therefore, it is preferred to propose that the offset feedback controller has a P feedback controller or is configured as a P feedback controller, which converts the angle difference, i.e. the individual offset deviation, into the adjustment rate, i.e. the feedback controller adjustment rate, through the corresponding P coefficient.

[0042] The individual's feedforward control adjustment rate and feedback controller adjustment rate can be added together and thus considered or realized together, representing the individual's offset angle, i.e., its transformation.

[0043] The individual feedforward control adjustment rate can then be added together with the feedback controller adjustment rate to the overall adjustment rate. The sum of these three adjustments thus guides the overall offset feedback controller.

[0044] This allows for rapid, oscillation-free switching of individual blade adjustments, which can be performed on each rotor blade with high adjustment quality.

[0045] According to one approach, the feedforward control adjustment rate is determined independently of the detected blade angle, and particularly independent of the individual offset deviation. The embodiment emphasizes that the signal feedback of the detected blade angle does not affect the determination of the feedforward control adjustment rate. This is ideal for both open-loop and feedforward control. Thus, rapid translatability from the individual offset angle to the feedforward control adjustment rate is achieved, and oscillations caused by closed-loop control are eliminated.

[0046] According to one approach, the individual's offset angle is presupposed as an offset variation curve over time, particularly through a time-dependent and / or rotor position or rotation-dependent offset function. Here, a cyclic periodic function is particularly considered, which can be a sine function, especially when the rotor rotates uniformly, i.e., at a constant speed. However, the assumption or presupposition of a sine function can also be meaningful when the rotor does not rotate perfectly uniformly.

[0047] It is particularly advantageous to set and consider the individual's offset angle variation curve over time in the individual's feedforward control law, i.e., especially through the feedforward control, i.e., without feedback of the blade angle. Avoiding the dynamic feedback through the feedback also avoids design problems for the corresponding feedback controller, which only performs this consideration of the individual's offset angle. It is particularly important to note that the rotor speed can vary considerably depending on the situation. Correspondingly, a correspondingly robust feedback controller is needed in the feedback controller design, or the feedback controller, especially its gain, needs to be individually matched to different speeds.

[0048] Therefore, the individual's offset angle can be preset as an offset change curve over time; however, the individual's offset angle can also be defined as a change curve related to the rotor's rotational position. In this regard, the sine function can be defined as a function related to the rotor's position, i.e., the rotor's rotational position.

[0049] This is, of course, performed individually for each rotor blade. For example, the 12 o'clock position, where the rotor blade points vertically upwards, can be assumed to be a rotational position with a value of 0° or 0π. If the rotor has already rotated once and is again at the 12 o'clock position, then this rotational position can continuously increase to 360° or 2π as the rotor rotates. This rotational position can be used as an input variable for a sine function of the individual's offset angle. Further description below also reveals the extent to which using the sine function for further calculations or transformations within the range determining the individual's feedforward control adjustment rate can be advantageous.

[0050] According to one approach, the offset angle of each individual is preset as an offset variation curve over time with a pitch component for reducing pitch moment and a yaw component for reducing yaw moment.

[0051] By presetting the overall blade angle, the optimal operating settings should be achieved, which, together with the selected rotational speed and generated power, should form the optimal operating point as much as possible. However, wind speed is often not constant over the large rotor surface swept by the rotor blades. In particular, wind speed is usually higher in higher regions than in lower regions, which is exemplary and concise.

[0052] Therefore, a cyclical load change is derived, which should be considered and reduced through blade adjustment. Here, a distinction should be made between the two load directions: one load direction causes the pitching moment of the wind turbine's pod, while the other load direction causes the yaw moment of the wind turbine's pod.

[0053] The pitch moment, also known as torque, is the moment pointing in the pitch direction of the pod, i.e., the torque itself, which is the motion of the pod as it moves forward and backward. This also creates upward and downward components in the rotor region, or forces pointing in those directions. The yaw moment represents the moment along the direction of rotation about the vertical axis of rotation of the pod. Azimuth adjustment can also be made about this axis of rotation, and in this respect, the yaw moment, or its direction, also points in the direction of azimuth adjustment.

[0054] Depending on the position of the rotor blades as they rotate with the rotor, the wind force acts on the rotor blades as pitching or yaw moments of varying intensities. In substantially vertical rotor blades, the force along the direction of the pitching moment and its pitch component are particularly large. If the rotor blades are substantially horizontal, the force acts primarily as a yaw moment.

[0055] Thus, each rotor blade generates a load in the pitch direction and a load in the yaw direction. These two loads can be cyclical and periodic as the rotor rotates, yet they have amplitudes for different rotor positions. In other words, the load in the pitch direction and the load in the yaw direction can have their own amplitudes and their own phases. In other words, these two load functions are displaced relative to each other and have different amplitudes.

[0056] To resist loads in each pitch direction and each yaw direction for each rotor blade, the time-varying deviation curve of the individual rotor blade's deviation angle has a component resisting the pitch moment, called the pitch component, and a component resisting the yaw moment, called the yaw component. Therefore, the pitch and yaw components, which can thus be constituted or considered as partial blade angle variation curves, can also be periodically formed with rotor rotation, possessing their own amplitude and their own phase angle or phase. The pitch and yaw components themselves are also phase-shifted or phase-displaced relative to each other.

[0057] Here, it is proposed that the offset angle of each individual be set as a time-varying curve, which has pitch and yaw components. That is, it is proposed that the pitch and yaw components be superimposed in this offset variation curve over time.

[0058] By superimposing these two components on the time-varying curve of the individual's offset angle, only this time-varying curve of the individual's offset angle is needed. Therefore, the individual feedforward control adjustment rate of the rotor blade can be determined solely based on this time-varying offset curve. In particular, the corresponding feedforward control only requires the time-varying curve of the individual's offset angle as the input variable.

[0059] One approach proposes that the offset angle of each individual component is preset as a offset variation curve over time using a time-dependent offset function to reduce pitch and yaw moments. Here, the time variation curve of the time-dependent offset function is characterized by amplitude and phase parameters. These parameters consider the reduction of both pitch and yaw moments simultaneously. Specifically, the pitch and yaw components are considered separately using the amplitude and phase parameters.

[0060] The pitch component, as a periodic curve changing over time, especially as a sinusoidal curve, can be described separately by means of a corresponding function in terms of amplitude and phase, i.e., particularly related to the rotor position. This also yields a corresponding time function for a rotor rotating uniformly or nearly uniformly, i.e., for a constant or nearly constant rotational speed. A function for the yaw component can be derived in the same manner and method. The difference between these two components is amplitude and phase, but not frequency, because both are related to the rotor position around the same point, i.e., to the same rotational speed.

[0061] It has been recognized that two such functions can be combined into a new function with amplitude and phase, referred to herein as the amplitude parameter or phase parameter. The amplitude parameter thus considers the two amplitudes of the single function, and the phase parameter considers the two phases of the single function. This common function can be determined, especially when assuming two sinusoidal functions with the same frequency.

[0062] Therefore, pitch and yaw components can be considered simultaneously through functions.

[0063] According to one approach, at least one amplitude limit is preset for the offset variation curve. For each rotor blade, it is checked whether the offset variation curve has reached the amplitude limit. If the amplitude limit is reached, the connection of the individual feedforward control adjustment rate to the overall adjustment rate is interrupted. In particular, the feedback controller adjustment rate, or the feedback controller adjustment rate, is continued to be connected to the overall adjustment rate. Specifically, the feedback controller adjustment rate is continued to be connected to, i.e., added to, the overall adjustment rate, so as to form the total adjustment rate. The total adjustment rate is therefore the sum of the overall adjustment rate and the feedback controller adjustment rate.

[0064] If the offset change curve is detected to have reached or exceeded the amplitude limit, then the feedforward control adjustment rate can no longer be connected to the overall adjustment rate.

[0065] Therefore, the amplitude limit value for each individual's offset angle is either the minimum angle that cannot be lowered or the maximum angle that cannot be exceeded. It is important to note that the minimum and maximum angles are preset separately so that the offset angle remains between the minimum and maximum angles, or as described above.

[0066] It is specifically assumed here that the offset variation curve is a periodic, particularly sinusoidal, variation curve, which is in principle below the amplitude limit value, but can reach or even exceed the amplitude limit value towards its maximum. Therefore, it can exceed the maximum angle or be below the minimum angle. In particular, it is based on the assumption that the offset variation curve is continuously preset in relation to the detected load or other operating conditions. Therefore, the amplitude of the offset variation curve can fluctuate.

[0067] If such fluctuations cause the offset curve to temporarily reach or be about to reach its amplitude limit, instead of limiting the offset curve to that limit (i.e., cutting it off vertically), we will only interrupt the feedforward control adjustment rate in this case. Therefore, only the feedforward control is turned off. The closed-loop control of the output feedback controller adjustment rate remains active.

[0068] Therefore, the cutoff described by the periodic function is particularly avoided. It has been particularly recognized that the proposed feedforward control performs differentiation of the offset change curve. If the offset is cut off, then a non-physical inflection point is obtained, which causes undesirable effects during differentiation. This problem is avoided by disabling the feedforward control. By keeping the feedback controller active, the offset angle can still be considered, even if not as well as with feedforward control.

[0069] It has also been recognized that while the proposed individual blade adjustment, i.e. the preset adjustment rate of an individual blade, indicates an improvement and release of wind energy facilities, and in particular can extend the total operating time, it is acceptable that such individual blade adjustment is occasionally and temporarily weakened.

[0070] According to one perspective, the offset change curve is preset by the following offset function f(t):

[0071] f(t)=A*sin(ω*t+φ)

[0072] in

[0073] A represents a preset amplitude.

[0074] ω describes the rotor speed, and

[0075] φ describes the preset angular displacement relative to a reference angle.

[0076] Using this offset function, the offset variation curve can be represented by the amplitude A and the angular displacement φ. The amplitude A can also be called the amplitude parameter, and the angular displacement φ is called the phase parameter. The offset function can simultaneously consider both pitch and yaw components.

[0077] Similarly, the offset function can be well and continuously differentiated. The derivative can be at least partially determined during the preparation phase, resulting in a function related to the magnitude A and angular displacement φ. This derivative, or its corresponding, particularly proportional, variable, can form the output of the feedforward control and / or the individual feedforward control adjustment rate. Therefore, the individual feedforward control adjustment rate already exists persistently as a function, which only needs to be parameterized, i.e., related to the preset magnitude A and angular displacement φ, and the rotor speed ω.

[0078] Therefore, differentiation in feedforward control is avoided during operation. This simplifies computational costs and also avoids potential noise enhancement, which can occur when differentiating noisy signals during operation.

[0079] When the amplitude A and / or angular displacement φ are time-dependent, only further differentiation is required. If they are constant, no further differentiation is needed.

[0080] According to one aspect, the method is characterized in that the feedforward control adjustment rate is preset as a feedforward control change curve via the following feedforward control function v(t):

[0081] v(t)=A*cos(ω*t+φ)*(ω+dφ / dt)+dA / dt*sin(ω*t+φ)

[0082] in

[0083] A represents a preset amplitude.

[0084] ω describes the rotor speed, and

[0085] φ describes the preset angular displacement relative to a reference angle.

[0086] When the amplitude A and angular displacement φ are time-dependent variables or functions, the feedforward control function v(t) is derived, in particular, as a derivative from the offset function f(t) = A*sin(ω*t+φ). Therefore, the preset amplitude A and preset angular displacement φ correspond to the corresponding values ​​of the offset function f(t) = A*sin(ω*t+φ).

[0087] In particular, a portion of the feedforward control function v(t), i.e., a portion of its derivative, can be predetermined or pre-calculated. In practical applications, it is sufficient to either insert the corresponding variables into the feedforward control function v(t) or perform derivative calculations on a pre-defined amplitude A and a pre-defined angular displacement φ. The pre-defined amplitude can also form a pre-described amplitude parameter, and the pre-defined angular displacement φ can form a pre-described phase parameter, especially when these are constant values.

[0088] The preset amplitude A and / or preset angular displacement φ can be determined, particularly in relation to load sensing. This load sensing can be performed directly at the relevant rotor blades, especially at or near the blade root, or determined in other ways, such as by observing blade bending. There can also be degrees of freedom in determining the amplitude A and angular displacement φ, as described below through filtering, such that the amplitude A and angular displacement φ do not necessarily have to be explicitly derived from the load. Therefore, they can be preset, at least through their calculated selection.

[0089] According to one approach, the amplitude A and angular displacement φ of the offset function f(t) = A*sin(ω*t+φ) are determined in relation to load detection. This determination in relation to load detection has been described above. Here, we particularly consider detecting pitch and yaw moments, or detecting the pitch moment component and the yaw moment component of the corresponding rotor blade. These can be represented separately by sinusoidal functions having amplitude and phase angle, i.e., angular displacement, where the frequencies are the same. From this, the derivative of the sinusoidal function with respect to the two loads, i.e., with respect to the pitch and yaw moments, can be obtained for each rotor blade with respect to both amplitude and angular displacement.

[0090] Specifically, it is proposed that the amplitude A and / or angular displacement φ form filtered variables. In particular, it is considered that performing differentiation in further calculations for determining the feedforward control adjustment rate may also include differentiation with respect to the amplitude A and angular displacement φ. Especially, high-frequency interference variables, particularly noise variables, superimposed on the amplitude or angular displacement are disadvantageous in the differentiation. By filtering, this problem can be resolved or at least reduced.

[0091] In particular, it is proposed that the preliminary amplitude A be obtained in relation to load detection. v and / or preliminary angular displacement φ v In principle, the initial amplitude A v Corresponding to the unfiltered amplitude A and the initial angular displacement φ v This corresponds to the unfiltered angular displacement φ. Correspondingly, from the initial amplitude A... v and / or preliminary angular displacement φ v The initial amplitude A was filtered separately. v Or preliminary angular displacement φ v Determine the amplitude A or angular displacement φ. Also consider the preset ramp as a filter or alternative filter, as a condition for the initial amplitude A. v and / or preliminary angular displacement φ v The maximum rate of change. Therefore, to avoid excessive increases, the maximum amplitude of the signal whose derivative is calculated over time should be preset.

[0092] Alternatively, in relation to load detection, the amplitude A and angular displacement φ are preset to constant values. This allows for the estimation of a simplified feedforward control function vs(t) from the derivative of the offset function f(t) = A*sin(ω*t+φ). Therefore, the simplified feedforward control function vs(t) is obtained as follows:

[0093] vs(t)=A*cos(ω*t+φ)*ω

[0094] In particular, this simplified feedforward control function vs(t) can be well predetermined and avoids the need for continuous differentiation of the amplitude A and angular displacement φ in online applications. Instead, it is only necessary to determine the simplified constant values, especially from the load detection described above, i.e., especially from the pitch moment component and yaw moment component respectively. These values ​​can then be simply input into the simplified feedforward control function vs(t) along with the rotor speed ω. This also avoids the problems associated with differentiating from noise signals.

[0095] Therefore, it is specifically proposed that these two variables, namely the magnitude A and the angular displacement φ, are assumed to be constant only for the purpose of differentiation. Thus, it is simplified to assume that the variables are constant. However, it has been shown that this assumption is generally permissible. In particular, it can usually be assumed that these two variables change only slowly.

[0096] It has been particularly recognized that, although the offset function has a time-varying curve, i.e., a sinusoidal function, the magnitude A and angular displacement φ, as characteristic variables of the function, change significantly more slowly. Therefore, the simplified feedforward control function can be preset, but the changing magnitude A and changing angular displacement φ are still taken into account.

[0097] According to the present invention, a wind power facility is also provided. The wind power facility has a rotor with multiple rotor blades, the blade angles of which are adjustable and each rotor blade can be individually controlled. Furthermore, the wind power facility has a control device prepared for performing individual blade adjustments. Here, the wind power facility, and particularly its control device, is configured to perform a method according to one of the above aspects. Therefore, the method can be implemented in the wind power facility, and particularly in the control device.

[0098] According to one perspective, wind energy facilities have detection devices for detecting the load on the wind energy facility. This can be, in particular, load measuring devices, such as strain gauges located in the region at the root of the rotor blades.

[0099] In particular, the detection device is prepared for detecting the pitch moment component and yaw moment component for each rotor blade. The wind energy facility, and especially the control device, is prepared for determining the individual offset angle for the relevant rotor blade from the detected pitch moment component and the detected yaw moment component. Furthermore, the wind energy facility or its control device is prepared for determining the individual feedforward control adjustment rate from the individual offset angle for the relevant rotor blade.

[0100] The implementation plan for this is derived from the description of the relevant methodological aspects as further elaborated above.

[0101] For wind energy facilities, and also for the overall method, it is also considered that the feedforward control adjustment rate is determined directly from the detected load, in a way that the offset angle of the output individual can be explicitly stated as an intermediate variable and is optional.

[0102] The individual's offset deviation can be derived from the feedforward control adjustment rate, or the individual's offset angle can be determined, for example, from the detected load, but not for the feedforward control adjustment rate. Attached Figure Description

[0103] The present invention will now be described in detail with reference to the accompanying drawings and by way of exemplary embodiments.

[0104] Figure 1 A three-dimensional view of the wind power facility is shown.

[0105] Figure 2 The schematic diagram illustrates a conventional closed-loop control structure for single-blade adjustment.

[0106] Figure 3 The diagram illustrates the control of a single blade via a preset adjustment rate.

[0107] Figure 4 This diagram illustrates a schematic closed-loop control structure with feedforward control and offset feedback controller, which adjusts a single blade via pitch rate to control the angle of a single blade to be engaged.

[0108] Figure 5 The overall structure of a single blade adjustment with feedforward control and offset feedback controller for the offset angle to be engaged is schematically shown.

[0109] Figure 6 A simplified graph showing the possible offset angle variation curves of the rotor blades. Detailed Implementation

[0110] Figure 1 A schematic diagram of a wind power facility according to the present invention is shown. The wind power facility 100 has a tower 102 and a nacelle 104 on the tower 102. An aerodynamic rotor 106 is provided at the nacelle 104, the aerodynamic rotor having three rotor blades 108 and a fairing 110. During the operation of the wind power facility, the aerodynamic rotor 106 rotates due to wind, which in turn also rotates an electrodynamic rotor or impeller of a generator directly or indirectly coupled to the aerodynamic rotor 106. The generator is located in the nacelle 104 and generates electrical energy. The pitch angle of the rotor blades 108 can be changed by a pitch motor at the root 109 of the corresponding rotor blade 108.

[0111] Figure 2A closed-loop control structure 200 is shown, which involves conventional blade angle adjustment using individual blade adjustments. The structure shows an operation control block 202 that presets an overall blade angle α. c The operation control block 202, for example, includes known speed regulation, which outputs the blade angle as an adjustment variable to regulate the speed. Thus, the operation control involves the same blade angle for all rotor blades, referred to as the overall blade angle. The overall blade angle can also be synonymously referred to as the common blade angle.

[0112] In addition, a single blade control 204 is provided, which sets an offset angle α for each rotor blade. of In this regard, Figure 2 The diagram shows the structure used for a single blade. Typically, wind power installations have three rotor blades and require three such control structures accordingly.

[0113] Offset angle α of and the overall blade angle α C The summation at the first summation point 206 gives the desired blade angle α. S In this respect, three blade angles are also derived in the three rotor blades and the corresponding three structures. However, for the sake of illustration, only the structure for one rotor blade is shown here, so possible markings for showing specific rotor blades are omitted. The structure presented is, in this respect, the same for all rotor blades.

[0114] Then the desired blade angle α S At the second summation point 208, the actual angle α detected is... i The comparison results in an adjustment deviation, which is further processed in the blade adjustment according to the blade adjustment block 210 to control the corresponding pitch motor of the wind power installation 212, schematically shown, or the rotor blade therein. This yields the detected blade angle α as feedback, as described. i .

[0115] Therefore, through according to Figure 2 This structure allows for individual blade adjustment; however, the adjustment dynamics, which rely on presetting absolute blade angles for the overall blade angles, can be disadvantageous. In particular, it has been shown that the overall adjustment rate, also known as the overall pitch rate, can be preset advantageously by operating the control block, rather than by adjusting the overall blade angles.

[0116] This structure is in Figure 3 As shown in the image. Figure 3 The closed-loop control structure 300 thus also includes an operation control block 302, which can also include speed regulation and other operation controls, and can generate the overall blade angle. In this structure, the operation control block 302 outputs the overall blade rate R.C .

[0117] Similarly, a single blade control 304 is provided, with an output offset angle α. of The result is summed at the third summation point 314 and compared with the detected blade angle α'. i Comparison. Detected blade angle α' i Therefore, the actual blade angle can be corrected as a whole blade angle. However, it is also considered that the actual blade angle is provided to the third summation point 314, while the offset angle α of The adjustment is not based on the overall blade angle. Instead, the adjustment deviation is obtained by subtraction at the third summation point 314, which shows: offset angle α of To what extent was the connection successful?

[0118] The deviation of the blade angle is then provided to the offset feedback controller 316, which determines the individual adjustment rate R. of The adjustment rate R of the individual. of and the overall adjustment rate R C The sums are added at the first summation point 306 to obtain the desired adjustment rate or desired pitch rate for the relevant rotor blades.

[0119] The actual adjustment rate or actual pitch rate R is compared with that detected at wind power facility 312 at the second summing point 308. i The expected actual value is compared. The adjustment deviation, which is the output of the second summation point 308, is then converted in the adjustment rate control 310 and causes control over the wind power facility, especially the corresponding pitch drive system.

[0120] exist Figure 3 The problem with the aforementioned structure is that the offset angle is compared with the detected blade angle and the deviation is adjusted using the offset feedback controller 316. While such adjustment is desirable, good, stable, and accurate adjustment performance results in poor, particularly slow, dynamics. In particular, the offset feedback controller 316 may have proportional or integral performance and / or incorporate inertial dynamics. Dynamik) to avoid changes in control variables This results in excessively strong adjustment amplitude. In other words, the feedback controller, intended for stable accuracy, is designed to adjust for low deviations. The feedback controller can perform the above operation slowly, making it generally inert, or quickly, which, however, causes strong adjustment behavior when control changes.

[0121] Figure 4 The closed-loop control structure 400 is shown, which, in this respect, is... Figure 3 The closed-loop control structure 300 should be improved, and the solution according to the present invention is explained. Firstly, the overall adjustment rate R is also output in the operation control block 402.C The operation control blocks 402 and 302 can be the same.

[0122] Similarly, a single blade control 404 is provided, with an output offset angle α. of To better illustrate the working principle, the closed-loop control structure 400 is shown, where a single blade control 404 outputs the offset angle α twice. of This, however, can be used for illustration and can be presented just as well, outputting the offset angle α at only one location. of Alternatively, other structural implementation schemes could be considered, such as deriving the feedforward control adjustment rate directly from the load data.

[0123] Regardless of the specific proposal, the offset angle α of Furthermore, it is provided to the feedforward control 418. The feedforward control 418 obtains the individual's offset angle α. of Determine the individual's feedforward control adjustment rate R v The feedforward control adjustment rate R v Set as used to offset angle α of The conversion (umzusetzen) has been largely completed and this should be added to the overall adjustment rate R. C So that the expected adjustment rate can be obtained overall.

[0124] The feedforward control 418 can generate an offset angle α for this. of The derivative, with a gain coefficient where necessary, can be used to directly determine the corresponding adjustment rate. However, it is also considered that an equivalent transformation, such as a simplified derivative, and / or a portion of the derivative be pre-calculated before filtering, can be performed. It is also considered that a simplification can be made such that the derivative can be fully pre-calculated and only the specific parameters arising from the case are used.

[0125] Therefore, this feedforward control allows for rapid and targeted adjustment of the corresponding rate for the offset angle. Stable or near-stable deviations can be neither identified nor adjusted.

[0126] Therefore, it is additionally proposed that the offset angle α of At the third summation point 414, the detected blade angle α' is... i Comparison. For example, in Figure 3 In the closed-loop control structure, the detected blade angle can be a modified blade angle, that is, the measured blade angle is modified by the overall blade angle. Alternatively, this can be replaced by the offset angle α. of The overall blade angle is modified during this process. In this case, however, only the offset angle α at the third summation point 414 is considered. of Perform this modification. The value of feedforward control 418 should not be modified.

[0127] In any case, the expected-actual value comparison is performed at the third summation point 414, and the feedback controller adjustment rate R is determined accordingly. r This is done by means of an offset feedback controller 416, which can now be coupled with... Figure 3 The offset feedback controller 316 is parameterized differently because Figure 4 The offset feedback controller 416 does not need to execute the offset angle α. of The dynamic transition to feedforward control adjustment rate is rapid. The offset feedback controller 416 can be specifically designed to address pure regulation or other considerations of regulation deviation.

[0128] Feedforward control adjustment rate R v and feedback controller adjustment rate R r The summation at the fourth summation point (420) yields the individual's adjustment rate R. of The adjustment rate R of the individual. of Therefore, the overall adjustment rate for the offset angle is generated by the feedforward control 418 and the offset feedback controller 416. These are summed at the first summation point 406 to obtain the overall adjustment rate R. C This leads to the overall expected adjustment rate R. S The total expected adjustment rate can then be compared with... Figure 3 Similarly, at the second summation point 408, the actual adjustment rate R is detected. i The comparison yields the adjustment error. This adjustment error is converted in the blade rate adjustment 410, which in turn controls the wind power facility 412, particularly the corresponding blade adjustment system.

[0129] Figure 5 The diagram illustrates a general overview of the basic method. For this purpose, a wind energy facility 512 is shown. The wind energy facility 512 has three rotor blades 552, of which only two are visible in the schematic diagram. Each rotor blade 552 has multiple load sensors 554. These load sensors may be strain gauges located at the root region of the relevant rotor blade 552; this is just one example.

[0130] This schematically illustrates that the corresponding load signal L is provided to evaluation block 556. The evaluation block evaluates these measurements and may also consider additional operating data, such as rotor speed ω and the corresponding rotor position φ.

[0131] Relatedly, evaluation block 556 can calculate the pitch moment component m. N and yaw moment component m G This is illustrated using pitch moment block 558 and yaw moment block 560. Pitch moment component m N and yaw moment component mG Therefore, it does not generate a total pitching or yaw moment, but only a portion associated with the individually evaluated rotor blades. In this respect, Figure 5 This only describes the evaluation of the rotor blades.

[0132] In pitch moment block 558 and yaw moment block 560, the offset function is calculated. For the pitch moment f N (t) and f for the offset torque G (t). The offset function gives how the offset angle variation curve can be selected in relation to the rotational speed ω of rotor 551 in order to compensate for the pitching moment component m as much as possible. N or yaw moment component m G The first and second individual offset blocks 561 or 562 illustrate the contents. The partial offset functions shown in these two blocks are merged into a common offset function f(t) in the total offset block 564.

[0133] Therefore, the offset function f(t) describes the offset angle α. of The time function. Correspondingly, the total offset block 564 outputs the offset angle α. of This is also true here. Figure 5 The diagram illustrates the process, resulting in the output of two offset angles α. of However, it is possible that they are the same. Therefore, the total offset block 564 can correspond to Figure 4 A single blade controls 404. Therefore, the offset angle α of Further processing also corresponds to Figure 4 The content shown is as shown.

[0134] Therefore, a feedforward control 518 is provided, wherein in Figure 5 It is clear that the feedforward control primarily generates the derivative. This also applies to the feedforward control 518; it does not necessarily have to be an exact derivative, but simplifications and / or additional functions, such as filtering or setting gain coefficients, can also be considered. Therefore, the result is the feedforward control adjustment rate R. v .

[0135] In addition, an offset feedback controller 516 is provided, which obtains the offset angle α as the offset angle α. of and the detected blade angle α' i The adjustment deviation between the differences. It is also indicated here that the detected blade angle α' i Able to use the overall α C Modify. Alternatively, enter the offset angle α of the third summation point 514. of It can be changed.

[0136] Therefore, the offset feedback controller 516 outputs the feedback controller adjustment rate R. rThe adjustment rates of the feedback controllers are summed at the fourth summation point 520 to obtain the individual adjustment rate R. of .

[0137] Individual adjustment rate R of Finally, the sums are added at the first summation point of 506 to the overall adjustment rate R. C Above, so that the expected adjustment rate R can be obtained. S This refers to the overall expected adjustment rate, R. S Then the process proceeds to operation control block 502, which has already generated the overall pitch rate R beforehand. C The operation control block 502 therefore implements multiple functions, namely... Figure 4 The runtime control block 402 contains more functions. Figure 4 The second summation point 408 can also be meaningfully located at... Figure 5 The operation control block 502 is implemented within the structure. In any case, the operation control block 502 interacts with the wind energy facility 512, or the operation control block is ultimately part of the wind energy facility 512, thus enabling not only control interventions but also the reception, evaluation, and forwarding of measurements.

[0138] Therefore, the load is detected, taking into account pitch and yaw moments, and a total offset function is generated to determine the offset angle, and individual blade adjustments are performed accordingly. Individual blade adjustments are performed using a preset individual adjustment rate R. of This is performed and is related to feedforward control 518 and offset feedback controller 516. The individual adjustment rate is then added to the overall pitch rate R. C So that the expected adjustment rate R can be obtained subsequently. S The expected adjustment rate R S Then consider the blade settings for overall facility control and the reduction of individual loads.

[0139] Figure 6 The graph illustrates this offset function f(t). This offset function is plotted here in relation to the rotor angle φ and is clearly periodic over 360°. The offset function can be considered a sine function.

[0140] The offset function does not cross the zero point, but intersects the x-axis in the case of angular displacement φ. The angular displacement is relative to a reference angle and can be considered zero here.

[0141] In this regard, Figure 6 Showing the offset angle α of The offset function of the changing curve. For the offset angle α of An amplitude limit value α can be set. max A horizontal dashed line is also drawn for the amplitude limit. If the offset function f(t), i.e., the offset angle α...of Reaching the amplitude limit value α max Then the offset function f(t) must be cut off, which is shown in the graph by the function segment α. S Graphical explanation. The dashed curve representing the change in the offset function f(t), and α. S No conversion is required.

[0142] However, it is proposed that the non-cuttable offset function, such as this through segment α, is not possible. S As illustrated in the diagram, feedforward control is temporarily suspended. During the suspension, measurement and evaluation can continue, meaning normal operation can continue. Offset angle adjustment can also remain effective; however, feedforward control, and thus the feedforward control adjustment rate, is temporarily disabled.

[0143] Therefore, according to Figure 5 As illustrated in the flowchart, only the feedforward control 518 is disabled. The total offset block 564 can then continue calculating the offset function f(t), despite the interruption of individual blade adjustments, and can subsequently determine whether the amplitude limit α has been reached or will be reached. max Correspondingly, the feedforward control 518 can then be put back into operation.

Claims

1. A method for controlling a wind energy facility (100), wherein -The wind energy facility has a rotor (106) with multiple rotor blades (108), - The blade angle of the rotor blade (108) is adjustable. - Each rotor blade (108) is individually operable. -For individual control, preset the total adjustment rate R separately. of The total adjustment rate describes the expected rate of change of the corresponding blade angle. - Set the same blade angle for all rotor blades (108) as a whole. -The overall adjustment rate (R) is the same for all rotor blades. C Describe the projected rate of change of the overall blade angle. - The preset offset angle (α) for each rotor blade. of The individual offset angle describes the blade angle, which should be related to the overall blade angle (α). c The value of the deviation, - For each rotor blade (108), the feedforward control adjustment rate is determined from the individual's offset angle, the feedforward control adjustment rate being described as the adjustment rate expected to be achieved at the offset angle. - For each rotor blade, the offset angle (α) relative to the individual blade. of The individual offset deviation is determined in relation to the comparison of the detected blade angles of the rotor blades, and - Determine the total adjustment rate for each rotor blade in relation to the following: -The overall blade angle and / or the overall adjustment rate, -The feedforward control adjustment rate of the individual, and - The offset deviation of the individual.

2. The method according to claim 1, Its features are, - The feedforward control adjustment rate of the individual is determined from the individual's offset angle by means of feedforward control (414); and - The offset deviation of the individual is determined by means of the offset feedback controller (416) to adjust the offset deviation of the individual, wherein - The overall adjustment rate is determined from the overall adjustment rate, the feedforward control adjustment rate, and the feedback controller adjustment rate.

3. The method according to claim 2, Its features are, - The total adjustment rate is determined by the sum of the overall adjustment rate, the feedforward control adjustment rate, and the feedback controller adjustment rate.

4. The method according to any one of claims 1 to 3, Its features are, The feedforward control adjustment rate is determined independently of the detected blade angle.

5. The method according to claim 4, Its features are, The feedforward control adjustment rate is determined independently of the individual's offset deviation.

6. The method according to claim 2, Its features are, The offset angle of the individual is preset as a time offset change curve.

7. The method according to claim 6, Its features are, The offset angle of the individual is preset as a time offset change curve using an offset function that is time-dependent and / or related to the rotation or position of the rotor.

8. The method according to any one of claims 1 to 3, Its features are, The offset angle of each individual is used with - The pitch component used to reduce pitch moment, and - Yaw component used to reduce yaw moment The default setting is a time offset curve.

9. The method according to claim 8, Its features are, The pitch component and the yaw component are superimposed on the time variation curve of the individual's offset angle.

10. The method according to claim 9, Its features are, The offset angle of each individual is preset to a time offset change curve using a time-related offset function, so that... - Reduce pitch and yaw moments, among which The time-varying curve is characterized by its amplitude parameter (A) and phase parameter (φ), and - The amplitude parameter (A) and the phase parameter (φ) take into account the reduction of the pitch moment and the yaw moment.

11. The method according to claim 10, Its features are, The time-dependent offset function is a periodic offset function.

12. The method according to claim 10, Its features are, - The amplitude parameter and the phase parameter respectively take into account the pitch component and the yaw component.

13. The method according to claim 6, Its features are, - At least one amplitude limit value is preset for the offset change curve. - For each rotor blade, check whether the offset variation curve reaches the amplitude limit value, and If the amplitude limit is reached, the feedforward control adjustment rate of the individual is interrupted from being connected to the overall adjustment rate.

14. The method according to claim 13, Its features are, The adjustment rate of the feedback controller is further connected to the overall adjustment rate.

15. The method according to claim 6, Its features are, The offset change curve is preset by the following offset function f(t): f(t)=A*sin(ω*t+φ) in A represents a preset amplitude. ω describes the rotational speed of the rotor, and φ describes the preset angular displacement relative to a reference angle.

16. The method according to any one of claims 1 to 3, Its features are, The feedforward control adjustment rate is preset as the feedforward control variation curve via the following feedforward control function v(t): v(t)=A*cos(ω*t+φ)*(ω+dφ / dt)+dA / dt*sin(ω*t+φ) in A represents a preset amplitude. ω describes the rotational speed of the rotor, and φ describes the preset angular displacement relative to a reference angle.

17. The method according to claim 15, Its features are, - Determine the magnitude A and the angular displacement φ of the offset function f(t) = A*sin(ω*t+φ) in relation to load detection. or In relation to load detection, the amplitude A and the angular displacement φ are preset to constant values, and the simplified feedforward control function vs(t) is preset from the derivative of the offset function f(t) = A*sin(ω*t+φ) as follows: vs(t)=A*cos(ω*t+φ)*ω.

18. The method according to claim 17, Its features are, - The amplitude A and / or angular displacement φ form the filtered variables.

19. The method according to claim 18, Its features are, - Calculate the initial amplitude A in relation to the load detection. v and / or preliminary angular displacement φ v ,and -From the initial amplitude A v And / or the preliminary angular displacement φ v The initial amplitude A is filtered respectively. v And / or the preliminary angular displacement φ v Determine the amplitude A or the angular displacement φ, and / or respectively by presetting the ramp to the initial amplitude A. v And / or for the initial angular displacement φ v The maximum rate of change.

20. A wind energy facility (100), wherein -The wind power facility (100) has a rotor (106) with multiple rotor blades (108), - The blade angle of the rotor blade (108) is adjustable. - Each rotor blade (108) is individually operable, and - The wind power facility (100) has a control device (502) and is prepared for performing individual blade adjustments, and wherein - The wind energy facility is configured to perform the method according to any one of claims 1 to 19.

21. The wind energy facility according to claim 20, Its features are, The control device (502) is configured to perform the method according to any one of claims 1 to 19.

22. The wind energy facility according to claim 20 or 21, Its features are, - The wind energy facility (100) has a detection device (554) for detecting the load of the wind energy facility.

23. The wind energy facility according to claim 22, - The detection device (554) is configured to detect pitch moment components and yaw moment components for each rotor blade (108), and the wind power facility (100) is prepared to determine the offset angle for the relevant individual rotor blade (108) from the detected pitch moment components and the detected yaw moment components, and from there determine the individual feedforward control adjustment rate for the relevant rotor blade.

24. The wind energy facility according to claim 23, The control device (502) is prepared to determine the offset angle for the relevant rotor blade (108) individual from the detected pitch moment component and the detected yaw moment component, and from there determine the feedforward control adjustment rate for the relevant rotor blade.

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