Wind Turbine Trajectory Generator for Fast Position Control
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Solution Overview
Problem
Existing wind turbine control systems struggle to achieve fast and reliable position control of rotatable components, such as the nacelle or rotor blades, which is crucial for efficient energy conversion.
Innovation Solution
A method utilizing a trajectory generator to determine the shortest and fastest trajectory for the rotatable component under constraints like maximum allowed jerk, acceleration, and velocity, ensuring optimal position change while protecting the drive system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the rotatable component is rotated quickly to the target position, then the position control speed is improved, but the drive may be overloaded
Solution Approach 1:
The trajectory is calculated in advance using a trajectory generator, considering all constraints (maximum jerk, acceleration, velocity) before the rotation begins. This preliminary calculation ensures the fastest possible path is selected that still protects the drive from overload, resolving the contradiction between speed and reliability.
Solution Approach 2:
The system dynamically adjusts the rotation trajectory by calculating optimal jerk, acceleration, and velocity profiles in real-time. The trajectory generator continuously determines the fastest safe path based on current position and drive constraints, enabling rapid positioning while maintaining drive protection throughout the motion.
2Loss of time
If the rotation trajectory is optimized for speed, then the position control time is reduced, but the control system complexity increases
Solution Approach 1:
The patent replaces complex mechanical control mechanisms with a computational trajectory generator that calculates optimal rotation profiles. By using mathematical algorithms to determine jerk, acceleration, and velocity trajectories, the system achieves fast positioning without requiring complex mechanical hardware, thus reducing overall system complexity while minimizing position control time.
3Productivity
If the trajectory generator calculates the fastest trajectory, then the position control efficiency is improved, but the constraints on jerk and acceleration increase
Solution Approach 1:
The trajectory generator optimizes the rotation by precisely controlling the time-profile of jerk, acceleration, and velocity parameters. By calculating the optimal sequence and magnitude of these parameters within their maximum allowed values, the system achieves the fastest possible positioning efficiency while ensuring that jerk and acceleration constraints are never exceeded, thus protecting the drive system.
Data Source
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AI summary
The method is for operating a wind turbine (100) having a rotatable component (1 to 4) and at least one drive (di) for rotating the rotatable component by exerting torque. The method comprises a step of providing first information (I1) which is representative of the actual position (P_a) of the rotatable component. In a further step, second information (I2) is provided which is representative of a target position (P_t) of the rotatable component. Then, third information (I3) is determined depending on the first and the second information. The third information is representative of a target trajectory (T_t) for the rotation of the rotatable component from the actual position to the target position using a trajectory generator. In a further step, an operating setpoint (OS_i) for the at least one drive is determined depending on the third information such that, when the at least one drive is operated according to the operating setpoint, the drive exerts torque onto the rotatable component so that it starts to follow the determined target trajectory.