Dynamic independent variable pitch control method and system for wind turbine generator under large yaw error

Abstract

The invention discloses a dynamic independent variable pitch control method and system for a wind turbine generator under a large yaw error. The method comprises the steps that S1, wind speed and wind direction data during operation of the wind turbine generator are obtained; s2, comparing the wind speed and wind direction data with a preset threshold value; when the wind speed and wind direction data are larger than a preset threshold value, it is judged that the unit is in a large yaw error state; when the unit is in a large yaw error state, a dynamic IPC amplitude is obtained according to the current wind speed and direction data and a preset threshold value; and S3, superposing the dynamic IPC amplitude to the variable pitch amount of the unit so as to control the wind turbine unit to continuously operate. When a large yaw error occurs, power and speed are reduced, and an independent variable-pitch operation mode is started, so that a non-stop strategy is adopted while the limit load of important parts such as a hub and a yaw bearing is reduced, the power generation amount is maximized, and the power generation potential is fully excavated.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of wind power, and in particular to a method and system for dynamic independent pitch control of a wind turbine set under large yaw error. Background Art

[0002] Energy is the cornerstone of human social development. In recent years, with the development of wind power technology, wind turbines are moving towards large-scale development, with blades becoming larger, more flexible, and with increasing single-unit capacity. In addition, in order to improve the utilization rate of wind resources, wind farm development has gradually shifted to low wind speed and high turbulence resource areas. However, at the same time, the problem of excessive load on important components such as the hub and yaw bearing of wind turbines under large yaw errors is becoming increasingly serious, and a new control strategy is urgently needed to solve this problem.

[0003] There are many solutions to the problem of excessive load on large components such as hubs and yaw bearings in long-blade turbines under certain extreme yaw error wind conditions. These solutions can be summarized into the following two categories:

[0004] 1. Strengthen the wheel hub, transmission chain and yaw drive components to improve the safety performance of the whole machine;

[0005] 2. By optimizing the control strategy, targeted control strategy optimization can be carried out to reduce the extreme load that occurs during operation.

[0006] Among them, the safety performance of the whole machine is improved by strengthening components such as the hub, transmission chain and yaw drive, that is, replacing materials with higher strength or larger size, but this will inevitably increase the weight and manufacturing cost of the whole machine, which is not conducive to "reducing costs and increasing efficiency"; therefore, the second method is currently mainly used, that is, through targeted optimization of control strategies, to reduce the limit loads that occur during the operation of the whole machine. In the second method, under normal circumstances, the relevant limit loads can be reduced by reducing the pitch rate during the shutdown process, but for long-blade models, the above method is no longer applicable. In addition, shutdown under large yaw errors is bound to result in a loss of power generation, so how to reduce the limit loads of related components while ensuring power generation will be an urgent problem to be solved. Summary of the invention

[0007] In view of the technical problems existing in the prior art, the present invention provides a method and system for dynamic independent pitch control of a wind turbine under large yaw error which is simple to operate and low in cost.

[0008] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0009] A method for dynamic independent pitch control of a wind turbine under large yaw error comprises the following steps:

[0010] S1. Obtain wind speed and direction data when the wind turbine is running;

[0011] S2. Compare the wind speed and direction data with a preset threshold; when the wind speed and direction data is greater than the preset threshold, it is determined that the unit is in a large yaw error state; when the unit is in a large yaw error state, a dynamic IPC amplitude is obtained according to the current wind speed and direction data and the preset threshold;

[0012] S3. Superimposing the dynamic IPC amplitude onto the pitch change amount of the unit to control the wind turbine unit to continue to operate.

[0013] Preferably, in step S1, after obtaining the wind speed and direction data when the wind turbine is running, the wind speed and direction data are preprocessed: the obtained wind speed and direction data are bandpass filtered, and then the wind speed is subjected to a 30s sliding filter, and the wind direction is subjected to a 3s sliding filter, and finally the obtained filtered data is subjected to delay processing.

[0014] Preferably, in step S2, the preset threshold is obtained according to a yaw error judgment threshold interpolation table; in the yaw error judgment threshold interpolation table, each preset wind speed has a corresponding preset yaw error; when the actual wind speed is at the corresponding preset wind speed, and the corresponding actual yaw error is greater than the corresponding preset yaw error at the preset wind speed, it is judged that the wind speed and wind direction data is greater than the preset threshold, and the unit is in a large yaw error state.

[0015] Preferably, in step S2, the specific process of obtaining the dynamic IPC amplitude according to the current wind speed and direction data and the preset threshold is:

[0016] Obtain the yaw error multiple according to the current wind speed and direction data and the preset threshold;

[0017] Then, the dynamic IPC amplitude is obtained by scheduling the dynamic IPC amplitude interpolation table according to the yaw error multiple and the yaw error multiple;

[0018] In the dynamic IPC amplitude interpolation table for yaw error multiple scheduling, each yaw error multiple corresponds to an IPC amplitude.

[0019] Preferably, the specific process of obtaining the yaw error multiple according to the current wind speed and direction data and the preset threshold is:

[0020] The current yaw error is Yawerr1, and the preset yaw error in the yaw error judgment threshold interpolation table corresponding to the current wind speed is Yawerr2, so the yaw error multiple is Yawerr1 / Yawerr2.

[0021] Preferably, in step S3, the dynamic IPC amplitude is superimposed on the uniform variable pitch angle to obtain a final controlled given pitch angle to control the wind turbine to continue operating.

[0022] Preferably, when the wind speed and direction data are less than a preset threshold, the unit operates according to conventional IPC power generation; when the wind speed and direction data are greater than a shutdown protection threshold, the unit is shut down for protection.

[0023] The present invention also discloses a dynamic independent pitch control system for a wind turbine generator set under large yaw error, comprising:

[0024] Wind speed and direction measurement module, used to obtain wind speed and direction data when the wind turbine is running;

[0025] A logic judgment module is used to compare the wind speed and direction data with a preset threshold; when the wind speed and direction data is greater than the preset threshold, it is judged that the unit is in a large yaw error state; when the unit is in a large yaw error state, a dynamic IPC amplitude is obtained according to the current wind speed and direction data and the preset threshold;

[0026] The control module is used to superimpose the dynamic IPC amplitude onto the pitch change amount of the unit to control the wind turbine unit to continue operating.

[0027] The present invention further discloses a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described above are executed.

[0028] The present invention also discloses a computer device, comprising a memory and a processor connected to each other, wherein a computer program is stored in the memory, and when the computer program is run by the processor, the steps of the method described above are executed.

[0029] Compared with the prior art, the advantages of the present invention are:

[0030] The independent variable pitch control method under large yaw error of the present invention monitors wind speed and yaw error in real time, reduces power and speed when a large yaw error occurs, and starts the independent variable pitch operation mode, thereby adopting a non-stop strategy while reducing the ultimate load of important components such as the hub and yaw bearing, thereby maximizing power generation and fully tapping the power generation potential. The above method is actively judged by the main control program and executes corresponding scheduling and control actions, the operation is simple, and the load reduction effect can be achieved at a lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a topological structure diagram of the control system of the present invention in an embodiment.

[0032] Figure 2 The flowchart of the control method of the present invention is an embodiment.

[0033] Figure 3 This is a flow chart for obtaining the dynamic IPC amplitude in the present invention. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0035] like Figure 2 As shown, an embodiment of the present invention provides a method for controlling a wind turbine generator set under a large yaw error with a dynamic independent pitch control (IPC), comprising the steps of:

[0036] S1. Real-time monitoring of wind speed and direction and other data during the operation of the wind turbine. The wind direction is the characteristic of the wind, which is converted into the yaw error of the turbine. The two are consistent in value.

[0037] S2. Preprocessing the wind speed and wind direction data mainly includes: bandpass filtering the obtained wind speed and wind direction data, then performing 30s sliding filtering on the wind speed, 3s sliding filtering on the wind direction, and finally delaying the obtained filtered data;

[0038] S3, comparing the pre-processed wind speed and direction data with the yaw control threshold in the yaw error judgment threshold interpolation table, and logically judging whether it is in a large yaw error state based on the comparison result;

[0039] Specifically, Table 1 shows an example of the interpolation table of the yaw error judgment threshold. If the measured yaw error is greater than the yaw error threshold at the current wind speed, the unit is judged to be in a large yaw error state. For example, when the wind speed is 5m / s, if the yaw error is greater than 1.1345rad, the unit is judged to be in a large yaw error state; when the wind speed is 10m / s, if the yaw error is greater than 0.785, the unit is judged to be in a large yaw state.

[0040] Table 1 Interpolation table of yaw error judgment threshold

[0041] Wind speed (m / s) 0 5 10 35 Yaw error (rad) 1.1345 1.1345 0.785 0.523

[0042] If it is determined that the unit is operating in a large yaw error state, it is determined whether to perform dynamic independent pitch control (IPC) adjustment and reduce power operation according to the current wind turbine operating state. Specifically, the dynamic independent pitch control (IPC) calculation logic is as follows: Figure 3 As shown, with the effective value of wind speed and direction as input, linear interpolation is performed according to the dynamic IPC amplitude interpolation table obtained from the unit simulation and actual operation data to obtain the dynamic IPC amplitude P1 under the current operating state;

[0043] In the dynamic IPC amplitude interpolation table, the yaw error multiple corresponds to the corresponding dynamic IPC amplitude, that is, the dynamic IPC amplitude is obtained by linear interpolation through the current yaw error multiple, as shown in Table 2. The calculation of the yaw error multiple is: the current yaw error is Yawerr1, the current wind speed corresponds to the yaw error threshold in Table 1 as Yawerr2, and the yaw error multiple is Yawerr1 / Yawerr2.

[0044] Table 2. Dynamic IPC amplitude interpolation table for yaw error multiple scheduling

[0045] Yaw error multiple 0 1 2 3 IPC Amplitude 1.5 2 2.5 3

[0046] Of course, if the current wind speed and direction data reaches the shutdown protection threshold, the shutdown protection will be triggered;

[0047] S4. The unit superimposes the current dynamic IPC amplitude with the uniform variable pitch angle to obtain the final control given pitch angle to control the unit.

[0048] The independent variable pitch control method under large yaw error of the present invention monitors wind speed and yaw error in real time, reduces power and speed when a large yaw error occurs, and starts the independent variable pitch operation mode, thereby adopting a non-stop strategy while reducing the ultimate load of important components such as the hub and yaw bearing, thereby maximizing power generation and fully tapping the power generation potential. The above method is actively judged by the main control program and executes corresponding scheduling and control actions, the operation is simple, and the load reduction effect can be achieved at a lower cost.

[0049] In addition, the above method cleans the wind speed and direction data and sets the hysteresis for the control threshold, so the control reliability is high and the false operation is less.

[0050] like Figure 1 As shown, an embodiment of the present invention further provides a dynamic independent pitch control (IPC) control system for a wind turbine under large yaw error, comprising a wind speed and direction measurement module, a data processing module, a logic judgment module, a control module and a protection module;

[0051] The wind speed and direction measurement module is an anemometer fixed in the cabin, which is used to measure wind speed and direction. Of course, a laser wind radar can also be used instead to obtain more accurate data.

[0052] The data processing module is used to receive the data input of the anemometer and perform preprocessing: first, the original wind speed and direction data are filtered to remove clutter to obtain a more accurate data signal, and then the wind speed is subjected to a 30s sliding filter, and the wind direction is subjected to a 3s sliding filter; because the control system has a delay characteristic, the data after sliding filtering needs to be subjected to corresponding delay processing to obtain the effective value of the wind speed and direction;

[0053] The logic judgment module is used to compare and judge the effective value of the current wind speed and direction with the set threshold. If it is higher than the control threshold, it is judged that the unit is in the state of large yaw error, and then dynamic IPC control is carried out (at this time, the IPC amplitude is dynamically adjusted and set as P1), and the power is reduced at a specific power set point; if it is higher than the shutdown protection threshold, shutdown protection is carried out; if it is lower than the control threshold, normal conventional IPC power generation operation is continued (the normal operation IPC amplitude is a fixed value, set as P2, and P2 < P1). To avoid frequent actions, a corresponding dead zone is set for the control threshold, as Figure 2 shown in setting the upper and lower limits of the control threshold.

[0054] Specifically, the calculation logic of the dynamic IPC amplitude is as Figure 3 shown. Taking the effective value of the wind speed and direction output by the data processing module as the input, linear interpolation is performed according to the dynamic IPC amplitude interpolation table obtained from the unit simulation and actual operation data to obtain the dynamic IPC amplitude P1 in the current operating state, and it is superimposed with the unified pitch angle to obtain the final control given pitch angle.

[0055] In the dynamic IPC amplitude interpolation table, there is a corresponding dynamic IPC amplitude for the yaw error multiple, that is, the dynamic IPC amplitude is linearly interpolated through the current yaw error multiple, as shown in Table 2 specifically. The calculation of the yaw error multiple is: the current yaw error is Yawerr1, the yaw error threshold corresponding to the current wind speed in Table 1 is Yawerr2, and the yaw error multiple is Yawerr1 / Yawerr2.

[0056] The present invention further discloses a computer-readable storage medium, on which a computer program is stored, and the computer program executes the steps of the above-mentioned method when being run by a processor. The present invention also discloses a computer device, including a memory and a processor connected to each other, on which a computer program is stored, and the computer program executes the steps of the above-mentioned method when being run by a processor. The system, medium and device of the present invention, corresponding to the above-mentioned method, also have the advantages as described in the above-mentioned method.

[0057] The present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned method embodiment when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable storage media include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. The memory is used to store computer programs and / or modules, and the processor implements various functions by running or executing computer programs and / or modules stored in the memory, and calling data stored in the memory. The memory may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, an internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0058] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A method for dynamic independent pitch control of a wind turbine under large yaw error, characterized in that: Includes steps: S1. Obtain wind speed and direction data when the wind turbine is running; S2. Compare the wind speed and direction data with a preset threshold; when the wind speed and direction data is greater than the preset threshold, it is determined that the unit is in a large yaw error state; when the unit is in a large yaw error state, a dynamic IPC amplitude is obtained according to the current wind speed and direction data and the preset threshold; S3. Superimposing the dynamic IPC amplitude onto the pitch change amount of the unit to control the wind turbine unit to continue to operate.

2. The method for dynamic independent pitch control of a wind turbine generator set under large yaw error according to claim 1 is characterized in that: In step S1, after obtaining the wind speed and direction data when the wind turbine is running, the wind speed and direction data are preprocessed: the obtained wind speed and direction data are band-pass filtered, and then the wind speed is subjected to a 30s sliding filter, and the wind direction is subjected to a 3s sliding filter, and finally the obtained filtered data is subjected to a delay process.

3. The method for dynamic independent pitch control of a wind turbine generator set under large yaw error according to claim 1 or 2, characterized in that: In step S2, the preset threshold is obtained according to a yaw error judgment threshold interpolation table; in the yaw error judgment threshold interpolation table, each preset wind speed has a corresponding preset yaw error; When the actual wind speed is at the corresponding preset wind speed, and the corresponding actual yaw error is greater than the corresponding preset yaw error at the preset wind speed, it is judged that the wind speed and direction data is greater than the preset threshold value, and the unit is in a large yaw error state.

4. The method for dynamic independent pitch control of a wind turbine generator set under large yaw error according to claim 3 is characterized in that: In step S2, the specific process of obtaining the dynamic IPC amplitude according to the current wind speed and direction data and the preset threshold is as follows: Obtain the yaw error multiple according to the current wind speed and direction data and the preset threshold; Then, the dynamic IPC amplitude is obtained by scheduling the dynamic IPC amplitude interpolation table according to the yaw error multiple and the yaw error multiple; In the dynamic IPC amplitude interpolation table for yaw error multiple scheduling, each yaw error multiple corresponds to an IPC amplitude.

5. The method for dynamic independent pitch control of a wind turbine generator set under large yaw error according to claim 4 is characterized in that: The specific process of obtaining the yaw error multiple based on the current wind speed and direction data and the preset threshold is: The current yaw error is Yawerr1, and the preset yaw error in the yaw error judgment threshold interpolation table corresponding to the current wind speed is Yawerr2, so the yaw error multiple is Yawerr1 / Yawerr2.

6. The method for dynamic independent pitch control of a wind turbine under large yaw error according to claim 1 or 2, characterized in that: In step S3, the dynamic IPC amplitude is superimposed on the uniform variable pitch angle to obtain a final controlled given pitch angle to control the wind turbine to continue operating.

7. The method for dynamic independent pitch control of a wind turbine generator set under large yaw error according to claim 1 or 2, characterized in that: When the wind speed and direction data are less than the preset threshold, the unit will operate according to the conventional IPC power generation; when the wind speed and direction data are greater than the shutdown protection threshold, the unit will be shut down for protection.

8. A dynamic independent pitch control system for a wind turbine under large yaw error, characterized in that: include: Wind speed and direction measurement module, used to obtain wind speed and direction data when the wind turbine is running; A logic judgment module, used to compare the wind speed and direction data with a preset threshold; When the wind speed and direction data are greater than a preset threshold, it is determined that the unit is in a large yaw error state; When the unit is in a large yaw error state, the dynamic IPC amplitude is obtained according to the current wind speed and direction data and the preset threshold; The control module is used to superimpose the dynamic IPC amplitude onto the pitch change amount of the unit to control the wind turbine unit to continue operating.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program performs the steps of the method according to any one of claims 1 to 7.

10. A computer device comprising a memory and a processor connected to each other, wherein a computer program is stored in the memory, characterized in that: When the computer program is executed by a processor, the computer program performs the steps of the method according to any one of claims 1 to 7.

Images