• 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:
    method for reducing tower sway, pitch control system and wind turbine these are systems and methods for reducing tower 114 sway in a wind turbine 100. the method includes obtaining a rotor speed. further, the method includes obtaining one or more parameters associated with a tower 102 of a wind turbine 100. Additionally, the method includes determining a modified rotor speed based on one or more parameters. further, the method includes determining a first pitch angle based on the modified rotor speed. additionally, the method includes phasing one or more blades 106 of wind turbine 100 based on the first pitch angle to reduce tower 114 wobble.
    公开号:BR102013016115B1
    申请号:R102013016115-2
    申请日:2013-06-24
    公开日:2021-09-21
    发明作者:Pranav Agarwal；Arne Koerber；Charudatta Subhash Mehendale
    申请人:General Electric Company；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [001] The present invention relates to wind turbines, and more particularly to the reduction of tower oscillations in wind turbines. BACKGROUND OF THE INVENTION
    [002] Modern wind turbines operate in a wide range of wind conditions. These wind conditions can be broadly divided into two categories - below rated speed and above rated speed. To produce power in these windy conditions, wind turbines can include sophisticated control systems such as stepper controllers and torque controllers. This amount of controllers for changes in wind conditions and attached changes in wind turbine dynamics. For example, pitch controllers often vary the pitch angle of the rotor blades to account for changing wind conditions and turbine dynamics. During low rated wind speeds, the wind power may be less than the rated power output of the wind turbine. In this situation, the pitch controller may attempt to maximize power output by pitching the rotor blades substantially perpendicular to the wind direction. Alternatively, during above rated wind speeds, the wind power may be greater than the rated power output of the wind turbine. Therefore, in this case, the pitch controller can contain the wind energy conversion by stepping the rotor blades so that only a portion of the wind energy collides with the rotor blades. By controlling the pitch angle, the pitch controller then controls the speed of the rotor blades and in turn the energy generated by the wind turbine.
    [003] Along with maintaining the rotor speed, step controllers can also be used to reduce turret oscillations. Tower oscillations or vibrations occur due to various disturbances, such as turbulence, inefficient damping, or transition between the two wind conditions. Furthermore, the tower can vibrate along with any degree of freedom. For example, the tower may vibrate in a longitudinal direction (commonly called a nutation turret motion), in a side-by-side direction (commonly called a negation turret motion), or along its longitudinal geometric axis (commonly called torsional vibration).
    [004] The nutation movement of the tower is usually caused by the rotation and aerodynamic thrust of the rotor blades. Every time a rotor blade passes in front of the tower, the thrust of the wind collision on the tower decreases. Such continuous vibration in the wind force can induce oscillations in the tower. Also, if the rotor speed is such that a rotor blade passes past the tower each time the tower is in one of its extreme positions (forward or backward), the turret oscillations can be amplified. Typically, oscillations in the longitudinal direction are automatically minimized due to aerodynamic damping. Aerodynamic damping depends on the fact that the top of the tower constantly oscillates in the longitudinal direction. When the top of the tower moves against the wind direction (or forward), the rotor thrust is increased. This increased rotor thrust pushes the tower back into the wind. The downwind thrust in turn helps to dampen the tower's oscillations. Similarly, when the top of the tower moves downwind, the rotor thrust can be decreased. This decrease in rotor thrust pushes the tower back against the wind direction. The upwind thrust also helps to dampen tower swings.
    [005] Although the aerodynamic damping helps in reducing oscillations considerably, if the rotor speed is synchronized with the oscillations of the tower, the results can be harmful to the components of the wind turbine. In such occurrences, the turret can oscillate at a high rate which causes mechanical strain and possible turret damage. In addition, such synchronization can amplify rotor speed at the tower's resonant frequency, thereby potentially damaging generators and/or transmissions connected to the rotor blades. As the amplification of tower oscillations is dependent on the speed of the rotor, which steps the rotor to adjust its speed, can prevent the amplification of tower oscillations. Consequently, by stepping the rotor blades, the stepper controller can control the rotor speed and prevent amplification of the tower oscillations.
    [006] Typically, the stepper controller uses two separate control loops for the two functions - controlling rotor speed and reducing tower oscillations. A rotor speed control loop is used to determine a pitch angle to control the rotor speed and a control loop that damps the tower is used to compute a pitch angle to reduce tower oscillations. Often these feedback loops operate relatively independently of each other. For example, the rotor speed control loop can determine pitch angle based on rotor speed, wind speed, and actual pitch angle. The control loop that damps a tower, on the other hand, can determine pitch angle based on tower deflection, maximum tower speed, top tower acceleration, current pitch angle, and wind speed. Because of this independence, currently available rotor speed control loops can compute a pitch angle to maintain rotor speed that can disadvantageously induce tower oscillations rather than reduce it. Additionally, these rotor speed control loops can cause power amplification at tower resonant frequencies near the rotor. Such amplification can increase tower oscillations and increase the fatigue load placed on the wind turbine. Over time, such fatigue loads can reduce wind turbine parts life and increase costs associated with wind turbines. DESCRIPTION OF THE INVENTION
    [007] According to aspects of the present disclosure, a method for reducing tower oscillations in a wind turbine is presented. The method includes obtaining a rotor speed. In addition, the method includes obtaining one or more parameters associated with the wind turbine tower. Additionally, the method includes determining a modified rotor speed based on one or more parameters. In addition, the method includes determining a first pitch angle based on the modified rotor speed. Additionally, the method includes pitching one or more wind turbine blades based on the first pitch angle to reduce tower oscillations.
    [008] In accordance with another aspect of the present disclosure, a pitch control system is disclosed. The pitch control system includes a tower unit configured to determine one or more parameters associated with a wind turbine tower. Additionally, the pitch control system includes a decoupling unit configured to determine a modified rotor speed based on one or more parameters. Additionally, the pitch control system includes a controller configured to determine a first pitch angle based on the modified rotor speed.
    [009] According to yet another aspect of the present disclosure, a wind turbine is presented. The wind turbine includes a rotor that has one or more rotor blades and a tower operably coupled to the rotor. Additionally, the wind turbine includes a pitch control system to reduce tower oscillations in the wind turbine. The pitch control system includes a rotor unit configured to determine a rotor speed, a tower unit configured to determine at least one of a maximum tower speed and a second pitch angle, a decoupling unit configured to determine a modified rotor speed based on at least one of the maximum turret speed and the second pitch angle, and a controller configured to determine a first pitch angle based on the modified rotor speed. BRIEF DESCRIPTION OF THE DRAWINGS
    [010] These and other features, aspects, and advantages of the present disclosure will be more satisfactorily understood when the following detailed description is read with reference to the accompanying drawings in which similar characters represent similar parts throughout the drawings, in which: A Figure 1 is a diagrammatic representation of the forces and motions experienced by a wind turbine; Figure 2 is a diagrammatic representation of an exemplary pitch control system, in accordance with aspects of the present disclosure; Figure 3 is a graph illustrating the power amplification of the rotor speed of a conventional wind turbine at different wind speeds; Figure 4 is a graph illustrating the power amplification of the rotor speed of a wind turbine employing the exemplary pitch control system of Figure 2 at different wind speeds, in accordance with aspects of the present disclosure; Figure 5 is a diagrammatic representation of another exemplary pitch control system, in accordance with aspects of the present disclosure; Figure 6 is a graph illustrating the power amplification of the rotor speed of a conventional wind turbine with a tower damping unit at different wind speeds; Figure 7 is a graph illustrating the power amplification of the rotor speed of a wind turbine employing the exemplary pitch control system of Figure 5 at different wind speeds, in accordance with aspects of the present disclosure; Figure 8 is a flowchart illustrating an exemplary method for reducing tower oscillations in a wind turbine using the pitch control system of Figure 2, in accordance with aspects of the present disclosure; and Figure 9 is a flowchart illustrating an exemplary method for reducing tower oscillations in a wind turbine using the pitch control system of Figure 5, in accordance with aspects of the present disclosure. DESCRIPTION OF ACHIEVEMENTS OF THE INVENTION
    [011] The following terms, used throughout this revelation, may be defined as follows.
    [012] Tower dynamics - refers to the mechanics related to the movement of a wind turbine tower under the action of various forces such as wind and rotor movement.
    [013] Rotor dynamics - refers to mechanics related to the movement of the rotor under the action of various forces such as wind, tower movement, and inertia.
    [014] Front to back swings - refers to swings of the tower in a direction parallel to the wind direction.
    [015] Tower top speed - refers to the speed of tower oscillations experienced at the top end of a wind turbine tower.
    [016] Tower top acceleration - refers to the acceleration of tower oscillations experienced at the top of the wind turbine tower.
    [017] Tower deflection - refers to the change of position of the top of the wind turbine tower in relation to a reference position.
    [018] Tower resonance - refers to the tendency of a wind turbine to oscillate with maximum amplitude at resonant frequencies of the tower.
    [019] First mode resonance frequency - refers to the resonant frequency of a first mode structural wind turbine tower where the mode dynamics are characterized by a second order spring mass dampening system.
    [020] The embodiments of the present disclosure are related to an exemplary system and method for reducing tower oscillations in a wind turbine. More particularly, the present disclosure relates to an exemplary rotor speed control loop that uses a pitch control system as an actuator. In addition, the rotor speed control loop determines a pitch angle that reduces turret oscillations. To that end, the rotor speed control loop includes a decoupling unit that resolves the interdependence between rotor dynamics and tower dynamics using model-based methods to reduce induced oscillations in the longitudinal direction of the tower above speed. nominal.
    [021] Furthermore, the embodiments of the present disclosure are described with reference to a three-blade land-based wind turbine. It will be more satisfactorily understood, however, that such reference is merely exemplary and that the systems and methods described herein may similarly be deployed in floating wind turbines, offshore wind turbines, 2-blade wind turbines or 2-blade wind turbines. 4 blades without departing from the scope of the present disclosure.
    [022] Figure 1 is a diagrammatic representation illustrating forces and motions experienced by a wind turbine 100. The wind turbine 100 includes a tower 102, a rotor 104, one or more rotor blades 106, and a nacelle 108. The tower 102 can be coupled to a ground, ocean floor, or floating foundation using any known fastening means, such as bolting, cementing, welding, and so on.
    [023] Additionally, in Figure 1 the reference numeral 110 generally represents the wind. Wind 110 can have an average speed (u). As the wind 110 blows in the indicated direction, an aerodynamic torque (M) is placed on the rotor blades 106 which causes the rotor blades 106 to rotate in a direction that is substantially perpendicular to the wind direction. Such movement of the rotor blades 106 is represented in Figure 1 by an angular rotor speed (Wr) of the rotating blades 106. Additionally, the nacelle 108 may include a gearbox (not shown) and a generator (not shown). The gearbox can increase the speed of the rotor blades 106 and the generator can convert the rotation of the rotor blades 106 into electricity, thus converting the energy of the wind 110 into electricity. Alternatively, nacelle 108 may include a direct drive system (not shown). In such cases, the inclusion of the gearbox can be bypassed.
    [024] Furthermore, due to an aerodynamic thrust (Fz) of the wind 110 and the rotation of the rotor blades 106, the tower 102 can oscillate in a longitudinal direction. Numerical reference 114 generally represents longitudinal oscillations. It will be more satisfactorily understood that, in addition to the longitudinal wobbles 114, the tower 102 can also experience other wobbles. Exemplary wobbles include side-by-side wobbles, torsional wobbles, sinuous wobbles, and the like. These fluctuations are not illustrated in Figure 1.
    [025] The wind turbine 100 can employ a sensing device to detect the longitudinal oscillations 114. For example, an oscillation velocity detector (not shown) or an oscillation deflection detector (not shown) may be employed. Alternatively, an acceleration meter 112 may be employed in the wind turbine 100 to detect the acceleration of the longitudinal oscillations 114. In some embodiments, the acceleration meter 112 may be disposed within nacelle 108 or on top of tower 102. In other instances, the acceleration gauge 112 can be positioned in the center of the tower 102.
    [026] In addition, to reduce the longitudinal oscillations of the tower 114 and to control the rotor speed, the wind turbine 100 may include an exemplary pitch control system 116 which may include a rotor speed control loop (not shown ). In some embodiments, pitch control system 116 can also include a control loop that damps a turret (not shown). Depending on the average or effective speed of the incoming wind 110, the exemplary pitch control system 116 can be configured to determine the pitch angle of the rotor blades 106 to maximize output power (within nominal limits) and/or minimize the tower swings. As noted previously, some of the previously known pitch controllers may tend to increase turret oscillations, rather than decreasing them. This increase in turret oscillations may be due to the failure of conventional pitch controllers to explain the interdependence between rotor dynamics and turret dynamics.
    [027] The tower dynamics for the wind turbine 100, in an example, can be represented by a second order linear equation:
    where, Xfa is the acceleration of the top of the tower, Çfa is the constant of the damping velocity of the tower 102, wfa is the first resonant frequency mode of the tower, Xfa is the maximum tower speed, and Xfa is the deflection of the tower. Additionally, K is the inverse of a generalized mass for the first mode, Fz is the aerodynamic thrust, cor is the angular velocity, θ is the pitch angle, and ve is the effective wind speed.
    [028] The effective wind speed (ve) refers to the effective wind speed at the height of the hub of the wind turbine 100. Because the wind 110 is spatially and temporarily distributed, the wind speed varies significantly at different points beyond the swept area by rotor blades 106, and therefore different portions of wind turbine 100 may experience different wind speeds. The effective wind speed (ve) represents the difference between the average wind speed (u) and the maximum tower speed (Xfa) as described in equation (2):

    [029] The left side of equation (1) indicates that the movement of the tower 102 may be dependent on the acceleration of the top of the tower (Xfa), the maximum tower speed (Xfa), the tower deflection (Xfa), the frequency resonant (^fa), and the damping velocity constant (w fa). Additionally, the right side of equation (1) illustrates that the aerodynamic thrust (Fz) experienced by turret 102 may be a function of the angular velocity (ur), the pitch angle (θ) and the effective wind velocity (ye). Additionally, aerodynamic thrust (Fz) can be a function of average wind speed (u) and maximum tower speed (Xfa) as these parameters affect the effective wind speed (ye).
    [030] In addition, the rotor dynamics for the wind turbine 100 can also be represented by a first-order linear equation:
    where, Jr is a moment of inertia of the rotor 104, úr is the exchange rate at the angular rotor speed, N is the gearbox ratio, and Tg is the reaction torque of the generator.
    [031] It will be observed that both rotor dynamics and tower dynamics depend on the effective wind speed (ve). Additionally, it will be noted that the effective wind speed (ve) is a function of the maximum tower speed (Xfa). Therefore, it is evident from equations (1) and (3) that tower dynamics and rotor dynamics are dependent on each other. In fact, these dynamics are related to each other due to maximum turret speed (Xfa), rotor speed (wr), and pitch angle (θ).
    [032] Conventional stepper controllers typically assume that rotor dynamics and tower dynamics are independent. Consequently, these pitch controllers often ignore the maximum tower speed while computing the pitch angle to control rotor speed and/or dampen tower oscillations. Furthermore, due to this exclusion, conventional step controllers can cause instability in rotor dynamics and power amplification at rotor speed at frequencies close to tower resonance. In one embodiment, the exemplary pitch control system 116 can be configured to employ the maximum tower speed in the pitch angle computation. More particularly, the exemplary pitch control system 116 can be configured to deduce the effects of maximum tower speed from rotor speed. By including the maximum tower speed and compensating for that value in the pitch angle computation, the exemplary pitch control system 116 can advantageously decouple rotor dynamics and tower dynamics.
    [033] Figure 2 illustrates an exemplary embodiment 200 of the step control system 116 of Figure 1, according to aspects of the present disclosure. The pitch control system 200 of Figure 2 includes a rotor speed control loop. Additionally, pitch control system 200 may include a rotor unit 202, a tower unit 204, and a controller 206. In addition, the pitch control system 200 may also include a decoupling unit 208. In an embodiment , controller 206 can be arranged in a feedback circuit of rotor unit 202 and decoupling unit 208 can be arranged in an output of rotor unit 202 and tower unit 204.
    [034] The rotor unit 202 can be configured to determine a rotor speed (wr). In one embodiment, the rotor unit 202 can be configured to determine the rotor speed (Wr) by directly measuring the angular speed of the rotor 104 (see Figure 1) using a sensing device such as a speedometer or a angular velocity meter. Alternatively, rotor unit 202 can be configured to determine rotor speed (wr) by determining a power output of wind turbine 100 (see Figure 1) or the rotational speed of a generator. It can be seen that these values are proportional to the rotor speed. Consequently, determining any one of these parameters can assist the rotor unit 202 in determining the rotor speed. It will be more satisfactorily understood that various models and measurement means may be employed to determine rotor speed and any such models or means may be employed to determine rotor speed without departing from the scope of the present disclosure.
    [035] Tower unit 204 can be configured to determine one or more parameters associated with tower 102. These parameters can be representative of tower dynamics. For example, in one embodiment of the pitch control system 200, the tower unit 204 can be configured to determine the maximum tower speed (Xfa). The maximum turret speed (Xfa) can be estimated using the top turret acceleration (Xfa). As noted previously, acceleration meter 112 (see Figure 1) can be employed to capture acceleration from the top of the tower and communicate that information to tower unit 204. Tower unit 204 can be configured to perform any computation known to determine the maximum speed of the turret (Xfa). For example, the tower unit 204 can be configured to determine the maximum tower speed (Xfa) by performing an integration operation on top of the tower acceleration (Xfa). Alternatively, the turret unit 204 can determine the maximum turret speed (Xfa) from the accelerating turret (Xfa) using an evaluator based model such as a Kalman Filter.
    [036] In other embodiments, the maximum speed of the tower (Xfa) can be estimated by a deflection sensor that detects a degree of deflection of the tower 102 over a determined rest position. By measuring the deflection at various times, the maximum turret speed (Xfa) can be determined. In another embodiment, the tower unit 204 may be configured to perform a tower deflection differentiation operation to determine the maximum tower speed (Xfa). In yet another mode, the maximum tower speed (Xfa) can be directly captured by a speed sensor. It will be more satisfactorily understood that the tower unit 204 can perform various other functions and operations without departing from the scope of the present disclosure. For example, the tower unit 204 can continuously maintain and update a model of tower dynamics.
    [037] In accordance with aspects of the present disclosure, the decoupling unit 208 may be configured to determine a modified rotor speed based on parameters of the tower 102. To that end, the decoupling unit 208 may include an computation unit 210 and a subtraction unit 212. Computing unit 210 may be configured to receive parameters associated with tower 102. By way of example, computing unit 210 may be configured to receive the maximum tower speed from tower unit 204. In addition, the computing unit 210 can be configured to determine a rotor speed component based on the maximum tower speed (hereinafter referred to as the "first rotor speed component"). The first rotor speed component can be representative of the effect of maximum tower speed on rotor speed. To determine the first rotor velocity component, the computing unit 210 can use a linear model of rotor dynamics. The rotor dynamics can be represented by the following first order linear equation:
    or approximations of it, where
    is the partial derivative of aerodynamic torque in relation to rotor speed,
    is the partial derivative of aerodynamic torque in relation to pitch angle, and
    is the partial derivative of aerodynamic torque in relation to average wind speed.
    [038] Additionally, a linear model of rotor dynamics can be represented by the following equation:
    or approximations thereof, where
    权利要求:
    Claims (4)
    [0001]
    1. WIND TURBINE (100), characterized in that it comprises: a rotor (104) comprising one or more rotor blades (106); a tower (102) operably coupled to the rotor (104); a pitch control system (116) configured to reduce the oscillations of the tower (114) in the wind turbine (100), the pitch control system (116) comprising: a rotor unit (502) configured to determine speed of the rotor; a turret unit (504) configured to determine at least one of a maximum turret speed and a second pitch angle; a decoupling unit (510) configured to determine a modified rotor speed based on at least one of the maximum tower speed and the second pitch angle, the decoupling unit comprising: a computing unit (514) for determining by at least one of the first rotor speed component and a second rotor speed component based on at least one of the maximum tower speed and the second pitch angle, respectively; and a subtraction unit (516) configured to deduct at least one of the first rotor speed component and the second rotor speed component from the rotor speed to obtain a modified rotor speed; and a controller (506) configured to determine a first pitch angle based on the modified rotor speed, wherein: the rotor unit (502) further comprises a pitch actuator (214, 518) configured to pitch. one or more rotor blades (106) of the wind turbine (100), based on the first pitch angle; wherein the computing unit (514) is further configured to determine the first rotor speed component and the second rotor speed component using a linear rotor dynamics model, wherein the linear model is represented by:
    [0002]
    2. WIND TURBINE (100) according to claim 1, characterized by the pitch control system (116) further comprising: a tower damping unit (508) configured to determine a second pitch angle; and an addition circuit (512) configured to combine the first pitch angle and the second pitch angle to generate a combined pitch angle.
    [0003]
    3. WIND TURBINE (100) according to any one of claims 1 to 2, characterized in that the computing unit (514) is configured to: receive the maximum speed value from the rotor unit (502); receiving the value of the second pitch angle from the tower damping unit (508).
    [0004]
    4. WIND TURBINE (100) according to any one of claims 1 to 3, characterized in that the step actuator (214, 518) is further configured to adjust the pitch of one or more wind turbine blades (100) based on the combination of pitch angles.
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    法律状态:
    2015-08-18| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2015-09-22| B03H| Publication of an application: rectification [chapter 3.8 patent gazette]|Free format text: REFERENTE A RPI 2328 DE 18/08/2015, QUANTO AO ITEM (71). |
    2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
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    申请号 | 申请日 | 专利标题
    US13/538,161|2012-06-29|
    US13/538,161|US9644606B2|2012-06-29|2012-06-29|Systems and methods to reduce tower oscillations in a wind turbine|
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