• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    IMPROVED AEROGENERATOR CONTROL METHODS AND SYSTEMS. Improved wind turbine control methods and systems. These are methods of operating a variable speed wind turbine with means for controlling the torque and pitch angle of the blades, which include additional steps to provide the means for controlling the pitch angle of the blades, in the event of a gust of wind, an increment of the pitch angle reference das by the amount necessary to prevent the aerodynamic change added by the wind gust from exceeding a predetermined limit. The invention also relates to an aerogenerator comprising a control system arranged to carry out an additional regulation in the case of wind gusts according to said method.
    公开号:BR102012002202B1
    申请号:R102012002202-8
    申请日:2012-01-31
    公开日:2021-07-20
    发明作者:Octavio HERNANDEZ MASCARELL
    申请人:Gamesa Innovation & Technology, S.L.；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [0001] The invention relates to improved wind turbine control methods and systems and, in particular, improved wind turbine control methods and systems for limiting on speeds caused by gusts of wind. BACKGROUND OF THE INVENTION
    [0002] The harmful effects of wind gusts on wind turbines are well known in the state of the art. If the wind speed increases over a short period of time the generator speed may exceed its allowable limits because the wind turbine controller is not able to generate a sufficiently fast reaction, and this can cause detrimental effects on the generator and other components of the wind turbine.
    [0003] In the case of an extreme operating gust that also produces extreme loads on major structural components, such as the blade root and the lower end of the tower, a typical solution is to stop the wind turbine. In this sense, WO 2004/077068 describes the use of optical radar systems for the detection of gusts long before the change of wind reaches the wind turbine tower, so that the blades can be positioned in a flag using the means of guiding the blades.
    [0004] A known approach to dealing with wind gusts is to use the generator's torque control means to avoid overspeeding problems. However, this technique involves risks of causing enormous loads on various wind turbine components.
    [0005] Another approach described for example in US 7,342,323 is based on measuring the wind speed at a desired distance from the wind turbine and controlling the pitch angle of the wind turbine blades, using said "advanced" wind speed information. However, the complexity and lack of robustness of this technique imply reliability problems.
    [0006] WO 2007/138138, on behalf of the Applicant, describes a solution for an extreme gust of wind that keeps the wind turbine in operation and minimizes the bending moments, realizing a sudden increase in the pitch angle of the blades, saturating the minimum rate of variation of the pitch angle of the blades when the extreme gust of wind is detected. This technique is applicable to a very particular case of a gust of wind.
    [0007] The present invention focuses on finding a solution to these drawbacks. SUMMARY OF THE INVENTION
    [0008] It is an object of the present invention to provide reliable methods and control systems for wind turbines for limiting on speeds caused by wind gusts.
    [0009] Another objective of the present invention is to provide methods and control systems for wind turbines to limit the speeds caused by wind gusts, capable of reacting quickly to them without advanced measurements of wind speed and keeping the wind turbine producing energy.
    [00010] In one aspect, these and other objectives are met by a method of operating a variable speed wind turbine with means for controlling the torque and pitch angle of the blades, which include additional steps to provide the angle control means of blade pitch, in the case of a wind gust, an increment of the blade pitch angle reference Δθref in the amount necessary to prevent the aerodynamic torque added by the wind gust from exceeding a predetermined limit and increasing the rotor speed and consequently the generator speed.
    [00011] In embodiments of the present invention, said blade pitch angle increment is provided/removed from/from the blade pitch angle control means, depending on the value of a switch that indicates the presence/absence of a burst depending on at least the values of wind turbine A acceleration and the speed of generator Q. Therefore, the method includes separate steps to calculate the reference increment of the blade pitch angle Δθref needed to counteract the excess torque aerodynamic due to a "possible" wind gust and to detect the presence/absence of a wind gust according to pre-defined generator acceleration and generator speed conditions (and including an additional user-defined condition) of so that the increment of the calculated blade pitch angle reference Δθref applies only when said switch is "on". This allows on the one hand a quick reaction to wind gusts and on the other hand it avoids unnecessary reactions in certain turbulent wind conditions.
    [00012] In embodiments of the present invention, said reference increment of the pitch angle of the blades Δθref is determined as a function of at least the excess aerodynamic torque Texc due to the wind gust (the product of the generator acceleration and the total moment of inertia) and the torque sensitivity to the pitch angle of the Tsens blades (calculated from a determined table obtained from static simulations, because it is a variable dependent on many physical characteristics of the wind turbine). Therefore, the action of varying the pitch angle of the blades to react to wind gusts is dependent not only on a variable dependent on the gust of wind (the acceleration of the generator), but also on some physical characteristics of the wind turbine with which it works. achieves a more controlled reaction to the gusts of wind.
    [00013] In embodiments of the present invention, said increment of the blade pitch angle reference Δθref is also determined taking into account the expected increment of the speed of the generator ΔQ due to the wind gust and the proximity of the speed of the generator Q to a value predetermined threshold. Therefore, additional variables are used to control the action of varying the pitch angle of the blades that can bring the wind turbine closer to its operating limits.
    [00014] In another aspect, the aforementioned objectives are satisfied with an aerogenerator comprising: a tower and a gondola that houses a generator driven by a wind rotor formed by a rotor hub and one or more blades; devices for measuring at least the speed of the generator Q and the pitch angle θ of each blade; a control system connected to said measuring devices and for, at least, and actuators for controlling the pitch angle of the blades and the engine torque, the control system being arranged to carry out a regulation of the wind turbine in accordance with a given curve of power for wind speeds below cutting speed Vout; the control system being also arranged to carry out an additional regulation for wind gusts by providing the blade pitch angle control means with a reference increment of the blade pitch angle Δθref in the amount necessary to prevent the aerodynamic torque added by a gust of wind exceeds a predetermined limit, and said additional regulation is activated when a wind gust that meets some pre-defined conditions occurs and is deactivated when said wind gust ends.
    [00015] In embodiments of the present invention, the arrangement of the control system to perform said additional regulation, comprises a module for obtaining said increment of the pitch angle reference of the blades Δθref and a switch Sw for activation/deactivation of said additional regulation which has: a first sub-module to calculate the acceleration of generator A and the acceleration reference of generator Aref depending, respectively, on the filtered speed of generator Q and the speed reference of generator Qref used by the angle control means pitch of the blades; a second sub-module for calculating the excess aerodynamic torque Texc added by the wind gust and the required increment of the blade pitch angle reference Δθreq to overcome said excess depending at least on the average value of the measured blade pitch angle and the inertia of the wind turbine; a third sub-module to calculate the expected speed increment of the AQ wind turbine, assuming that the blades varied their pitch angle to the maximum allowed speed; a fourth sub-module for calculating a weighting factor G to be applied to the required increment of the blade pitch angle reference Δθreq depending on the expected increment of generator speed ΔQ and the proximity of generator Q speed to a threshold value; a fifth sub-module for calculating the on/off switch depending at least on the speed of the wind turbine Q and the acceleration of the generator A; a sixth sub-module for calculating the pitch angle reference increment of the blades Δθref to be provided to the pitch angle control means.
    [00016] Therefore, the implementation of the additional regulation according to the present invention is made using, on the one hand, the signals available in the control system of the wind turbine and, on the other hand, the dependent variables of said easily obtainable and configuration parameters related to the relevant physical characteristics of the wind turbine. This allows a simple and robust implementation of said additional regulation.
    [00017] Other features and advantages of the present invention will be understood from the following detailed description of an illustrative and non-illustrative embodiment of its object in relation to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
    [00018] Figure 1 is a schematic cross-sectional view of a wind turbine.
    [00019] Figure 2 shows a typical production curve of a wind turbine.
    [00020] Figure 3 is a schematic block diagram of the additional regulation according to the present invention.
    [00021] Figures 4-9 are schematic block diagrams of an embodiment of the additional regulation according to the present invention. DETAILED DESCRIPTION OF PREFERRED MODALITIES
    [00022] A conventional wind turbine 11 comprises a tower 13 supporting a gondola 21 that houses a generator 19 to convert the rotational energy of the wind turbine rotor into electrical energy. The wind turbine rotor comprises a rotor hub 15 and normally three blades 17. The rotor hub 15 is connected directly or through a gearbox to the wind turbine generator 19 to transfer the torque generated by the rotor 15 to the generator 19 increasing the shaft speed in order to achieve a proper rotation speed of the generator rotor.
    [00023] The energy produced by a modern wind turbine is typically controlled by means of a control system to regulate the pitch angle of the rotor blades and the engine torque of the generator. The speed of rotation of the rotor and the energy production of a wind turbine can be initially controlled in this way.
    [00024] Below the Vout cutting speed, the wind turbine control system is arranged to regulate the energy production according to a curve that defines the desired functional relationship between power and speed to achieve an ideal production. One such curve is curve 25 in Figure 2 which shows that the power output P increases from a minimum wind speed Vmin to the rated wind speed Vn and then remains constant at the rated power output value a te the wind cut speed Vout where it decreases to 0.
    [00025] To implement this regulation a control unit receives input data such as the wind speed V, the generator speed Q, the blade pitch angle θ, the energy output P from the well-known power devices. measuring and sending output data θref, Tref to, respectively, the blade pitch angle actuator system to change the angular position of the blades 17 and a generator control unit to change the reference for energy production.
    [00026] According to the present invention, the control system is also prepared to apply an additional regulation in the case of wind gusts (that is, a regulation that is activated when a gust of wind is detected and that is deactivated when it ends the wind gust), which increases the blade pitch angle reference θref provided to the blade pitch angle actuator by the amount necessary to prevent the aerodynamic torque, added by the wind gust, from exceeding a predetermined limit.
    [00027] As shown in Figure 3 the basic inputs for the control unit that implement said regulation are as follows: the speed of the generator Q, the filtered speed of the Q generator, the filtered speed of the Qfil generator used in the angle controller. blade pitch, the speed reference of the Qref generator generated by said controller is the blade pitch angle and the average value of the blade pitch angle average (an unfiltered value of the measured blade pitch angle). The outputs are the blade pitch angle reference increment Δθref to be supplied to the paddle pitch angle actuator system and a switch Sw to enable/disable additional blade pitch angle regulation.
    [00028] Said control unit 31 comprises a module implementing an appropriate algorithm to determine the increment of the blade pitch angle reference Δθref in the amount necessary to prevent the aerodynamic torque added by the wind gust from exceeding a predetermined limit.
    [00029] In a preferred embodiment, said algorithm is implemented by means of the sub-modules shown in Figures 4 to 9.
    [00030] In the first sub-module shown in Figure 4, the acceleration of generator A is calculated in block 33, as the derivative of the speed of generator Qfil. The acceleration reference of the generator Aref is also calculated in block 35 as the derivative of the speed reference of the generator Qref.
    [00031] The second sub-module shown in Figure 5 calculates the excess of the aerodynamic torque Texc and the required increment of the blade pitch angle reference Δθreq to limit said excess.
    [00032] The excess aerodynamic torque Texc is calculated (block 43) as the product of the acceleration of the Arot rotor and the total moment of inertia P2. The acceleration of the Arot rotor is calculated (block 41) from the acceleration of generator A and the multiplication ratio of powertrain P1
    [00033] The sensitivity of the torque Tsens for the average value of the measured blade pitch angles is calculated (block 47) from a sensitivity reference parameter P3 and an additional factor (block 45), depending on the θaverage that corrects the non-linear sensitivity of torque sensitivity to the pitch angle of the blades.
    [00034] From the excess of the aerodynamic torque Texc and the sensitivity of the torque Tsens, the required increment of the blade pitch angle reference Δθreq is calculated (block 49). This is, then, the necessary increment of the pitch angle of the blades to maintain the current value of the aerodynamic torque.
    [00035] In the third module shown in Figure 6, the excess speed increments ΔVrot, ΔQ due to the wind gust are calculated, assuming that the blades varied the blade pitch angle to the maximum allowed speed P4. These increments are calculated (blocks 53, 55) from the Arot rotor acceleration and the derivative of the deceleration imposed by the maximum allowable speed P4 whose value (block 51) is directly proportional to the torque sensitivity Tsens to the maximum allowable speed P4 and inversely proportional stops at the total moment of inertia of the rotor P2.
    [00036] In the fourth sub-module shown in Figure 7 a weighting factor G of the required increment of the blade pitch angle reference Δθreq is calculated depending on the generator overspeed increment ΔQ due to the wind gust and the proximity of the generator speed Q to a stop generator overspeed limit P4 (blocks 61 , 63, 65). The weighting factor G is greater the greater the expected increase in excess speed in generator ΔQ. The weighting factor G is also greater the closer the generator speed is to the P4 stop generator overflow limit.
    [00037] In the fifth sub-module shown in Figure 8 is calculated (block 75) a switch to enable/disable the algorithm in order to limit its triggering. In this sense, three conditions are taken into account.
    [00038] The first condition (block 71) is that the speed of generator Q is greater than a threshold value P6 below the value of the rated speed of generator P5 to enable the algorithm.
    [00039] The second condition (block 73) is that the acceleration of generator A is greater than a threshold value P7 to avoid enabling the algorithm in start-up processes. The Aref generator acceleration reference is also taken into account.
    [00040] The third condition is a P8 user defined parameter to enable/disable the algorithm.
    [00041] Finally, in the sixth sub-module shown in Figure 8 the pitch angle increment of the blades Δθref is calculated (block 81) by applying the weighting factor G, a user-defined weighting factor for the required increment of the angle of step of the paddles. If the switch to enable/disable the algorithm is on, then the blade pitch angle increment Δθreq is provided to the blade pitch angle controller (block 83).
    [00042] The main differential characteristics of the regulation of wind gusts according to the present invention with regard to the prior art are the following: - Only average values of the speed of the generator Q and the pitch angle of the blades 9 are used that they are reliable and available signals at the wind turbine. Wind speed measurements provided by the wind turbine anemometer or other devices placed on or outside the wind turbine are not used to measure wind speed, as they provide delayed or poorly robust measurements. - It takes into account the physics of the wind turbine, that is, the aerodynamics and mechanics of the wind turbine. The aerodynamic torque received by the wind turbine depends on the aerodynamics of the rotor. Likewise, the acceleration of the wind turbine and, consequently, the excess speed is inversely proportional to the inertia of the wind turbine - Allows the control means to react quickly to wind gusts and keep the wind turbine producing energy in a safe way.
    [00043] Although the present invention has been fully described in connection with preferred embodiments, it is clear that modifications can be introduced within the scope thereof, not considering these as limited by these previous embodiments, but by the following content .
    权利要求:
    Claims (5)
    [0001]
    1- Method of operating a variable speed wind turbine with means for controlling the torque and pitch angle of the blades, characterized in that the method comprises additional steps to provide the means for controlling the pitch angle of the blades, in this case of a wind gust, an increment of the blade pitch angle reference Δθref in the amount necessary to prevent the aerodynamic torque added by the wind gust from exceeding a predetermined limit, said blade pitch angle reference increment Δθref is determined as a function of at least the excess Texc aerodynamic torque due to the gust of wind and the sensitivity of the torque to the pitch angle of the Tsens blades, and said additional steps being activated when a gust of wind in accordance with predefined conditions occur and deactivated when the wind gust ends.
    [0002]
    2- Method according to claim 1, characterized in that said blade pitch angle reference increment Δθref is provided/removed to/from the blade pitch angle control means, depending on the value of a switch that indicates the presence/absence of a gust of wind, depending on at least the acceleration values of generator A and the speed of generator Q.
    [0003]
    3- Method according to claim 1, characterized in that said reference increment of the pitch angle of the blades Δθref is also determined as a function of the expected increment of the speed of the generator ΔQ due to the wind gust and the proximity of the speed generator Q to a predetermined threshold value.
    [0004]
    4- Wind turbine comprising: - a tower (13) and a nacelle (21) housing a generator (19) driven by a wind rotor formed by a rotor hub (15) and one or more blades (17); - devices for measuring at least the speed of the generator Q and the pitch angle θ of each blade; - a control system connected to said measuring devices and to at least the blade pitch angle and torque control actuators, the control system being organized to carry out a regulation of the wind turbine in accordance with a power curve predetermined (25) for wind speeds below the Vout shear speed; characterized by the fact that the control system is also arranged to perform additional regulation for gusts of wind, providing the blade pitch angle control means with an increment of the blade pitch angle reference Δθref in the amount necessary to prevent the aerodynamic torque added by the wind gust exceeds a predetermined limit, said additional regulation being activated when a wind gust presenting the predefined conditions occurs and being deactivated when said wind gust ends, said increment of the angle reference blade pitch Δθref being determined as a function of at least the excess aerodynamic torque Texc due to the wind gust and the torque sensitivity to the pitch angle of the Tsens blades, said additional steps being activated when a gust according to pre-defined conditions occur and deactivated when the wind gust ends.
    [0005]
    5- Wind turbine according to claim 4, characterized in that the arrangement of the control system to carry out said additional regulation comprises a module (31) to obtain said reference increment of the pitch angle of the blades Δθref and a switch Sw to activate/deactivate said additional regulation, the module (31) comprises: -a first sub-model to calculate the acceleration of generator A and the reference of the acceleration of generator Aref depending, respectively, on the filtered speed of the generator Q and the reference of the Qref generator speed used by the blade pitch angle control means; - a second sub-model for calculating the excess aerodynamic torque Texc added by the wind gust and the required increment of the blade pitch angle reference Δθref to overcome said excess according to at least the mean mean value of the angle of θaverage measured blade pitch and wind turbine inertia; - a third sub-model to calculate the expected speed increment of the generator ΔQ assuming that the blades will vary in their pitch angle at the maximum allowed speed; - a fourth sub-model to calculate a weighting factor G to be applied to the required reference increment of blade pitch angle Δθref depending on the expected increment of generator speed ΔQ and the proximity of generator Q speed to a threshold value; - a fifth sub-model to calculate the activation/deactivation of the tap changer depending, at least, on the speed of generator Q and on the acceleration of generator A; - a sixth sub-model for calculating the pitch angle reference increment of the blades Δθref to be supplied to the pitch angle control means.
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    同族专利:
    公开号 | 公开日
    IN2012DE00230A|2015-06-26|
    ES2401857B1|2014-03-10|
    DK2481921T3|2018-07-30|
    US20120193918A1|2012-08-02|
    ES2401857A1|2013-04-25|
    EP2481921B1|2018-04-25|
    EP2481921A3|2015-01-28|
    CN102619685A|2012-08-01|
    BR102012002202A2|2015-08-11|
    US8810055B2|2014-08-19|
    CN102619685B|2016-03-23|
    EP2481921A2|2012-08-01|
    ES2681521T3|2018-09-13|
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    法律状态:
    2015-08-11| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-12-10| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-05-04| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-07-20| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 31/01/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201100090A|ES2401857B1|2011-01-31|2011-01-31|IMPROVED WIND GENERATOR CONTROL SYSTEMS AND METHODS.|
    ESP201100090|2011-01-31|
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