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    • 专利摘要:
    The present article is directed to a system and method for dynamically controlling a wind turbine. The method includes operating the wind turbine based on a propulsion set point and a speed set point. A next step includes determining a desired change in actual wind turbine speed in response to control drives that start from an instantaneous operating point. The method also includes determining a desired change in wind turbine propulsion in response to control drives that start from the instantaneous operating point, subsequently the method determines at least one parameter setting point that achieves the desired change in speed and desired change in propulsion, and controls the wind turbine based on the parameter set point so as to maintain the actual propulsion and actual speed of the wind turbine within a certain tolerance of the propulsion set point and speed set point, whereby it regulates the loads acting on the wind turbine while simultaneously maintaining the optimal power output near the optimum.
    公开号:BR102015008181A2
    申请号:R102015008181-2
    申请日:2015-04-13
    公开日:2018-02-14
    发明作者:Peter Slack Robert；Adrian Movsichoff Bernardo；Shane Gerber Brandon；Franklin Perley Thomas
    申请人:General Electric Company；
    IPC主号:
    专利说明:

    (54) Title: METHOD AND SYSTEM FOR DYNAMICALLY CONTROLLING A WIND TURBINE.
    (51) Int. Cl .: F03D 7/04; G05B 11/38 (30) Unionist Priority: 14/04/2014 US 14 / 251,879 (73) Holder (s): GENERAL ELECTRIC COMPANY (72) Inventor (s): ROBERT PETER SLACK; BERNARDO ADRIAN MOVSICHOFF; BRANDON SHANE GERBER; THOMAS FRANKLIN PERLEY (74) Attorney (s): PAOLA CALABRIA MATTIOLI DANTAS (57) Abstract: This matter is directed at a system and a method to dynamically control a wind turbine. The method includes operating the wind turbine, based on a propulsion setpoint and a speed setpoint. A next step includes determining a desired change in the actual speed of the wind turbine in response to control drives that start from an instantaneous point of operation. The method also includes determining a desired change in the propulsion of the wind turbine in response to control drives that start from the instantaneous operating point. Subsequently, the method determines at least one parameter setpoint that achieves the desired change in speed and the desired change in propulsion, and controls the wind turbine, based on the parameter setpoint, so as to keep the actual propulsion and the actual speed of the wind turbine within a certain tolerance of the propulsion setpoint and the speed setting point, through which it regulates the loads acting on the wind turbine, while (...)
    1/37 "METHOD AND SYSTEM FOR DYNAMICALLY CONTROLLING A WIND TURBINE"
    Field Of Invention [001] The present invention relates, generally, to wind turbines and, more particularly, to a system and method for controlling the propulsion of a wind turbine.
    Background to the Invention [002] Wind power is considered one of the cleanest, most environmentally friendly energy sources available today, and wind turbines have gained high attention in this regard. A modern wind turbine typically includes a tower, a generator, a gearbox, a nacelle and a rotor. The rotor typically includes a rotating hub that has one or more rotor blades attached to it. A pitch bearing is typically operably configured between the hub and a blade root of the rotor blade to allow rotation on a pitch geometric axis. Rotor blades capture kinetic energy from the wind using known airfoil principles. The rotor blades transmit kinetic energy in the form of rotating energy, so as to return a rod that attaches to the rotor blades to a gearbox, or, if a gearbox is not used directly to the generator. The generator then converts mechanical energy into electrical energy, which can be distributed to a utility network.
    [003] The amount of power that can be produced by a wind turbine is typically limited by structural limitations of the individual wind turbine components. The power available from the wind is proportional to the rotor area, and the square of the rotor diameter. Then, the amount of power produced at different wind speeds can be significantly greater by increasing the diameter of the wind turbine's rotor. Such an increase in rotor size, however, also increases mechanical loads
    2137 and material costs with what cannot be a proportional increase in energy production. Additionally, although it is useful for controlling rotor power and speed, propulsion from the wind on the rotor truly triggers many dominant fatigue loads, along with any asymmetry of that propulsion. The terms "propulsion", "propulsion value," propulsion parameter "or similar, as used in this document, are intended to encompass a force acting on the wind turbine, due to the wind and the general wind direction. The propulsion force comes from a change in pressure, as the wind passes the wind turbine and decreases. Additionally, the terms "propulsion", "propulsion value," propulsion parameter or similar, as used herein, can describe an entry for a control method, a value that changes in direct proportion to propulsion in a region of operation of interest (for example, individual or mid-plane paddle or fin tilt, turret tilt or turret top acceleration), or a propulsion estimate based on any combination of the above quantities or other standard quantities measures such as wind speed, machine speed or power. The terms "propulsion," propulsion value "," propulsion parameter "or similar can also describe a prospective estimate of future propulsion, for example, as determined by a sensor that measures wind speed against wind from the rotor plane .
    [004] Recent developments in the wind industry have led to new methods of mechanical load reduction controls that allow the larger diameter of the rotors to be employed with less than proportional increases in material costs. For example, some modern wind turbines can deploy drive train and tower shock absorbers to reduce loads. In addition, modern wind turbines can
    3/37 use collective and individual control mechanisms for real paddle pitch to reduce fatigue and extreme loads, thereby allowing greater ratios between rotor diameter and structural loads, while also reducing energy costs.
    [005] In addition, the additional wind turbines employed partial propulsion control, such as peak planes "," propulsion limiters "and / or" propulsion control "in peak propulsion regions only. Such control technologies may impose limitations on actual pitch accuracy settings under certain conditions, or other variants, but do not employ full closed-loop control in propulsion. Although propulsion is related to the power and speed of the wind turbine, propulsion is not synonymous or linearly proportional to both. So, in some operating regions, it may be possible to change the propulsion acting on the wind turbine through controls with less than the proportional effect on power, or vice versa. In addition, it may be possible to control speed and propulsion almost independently in some regions (for example, when considering dynamic excursions from a meaning value, rather than average values over long periods), however, current control technologies do not they control speed and propulsion in this way. In addition, many modern control techniques do not direct propulsion control and / or even accentuate propulsion variations in an attempt to keep power output constant under certain conditions.
    [006] Consequently, a system and method that addresses the problems mentioned above would be welcome in technology. For example, a system and method that incorporate propulsion-speed control to increase the diameter of the rotor in a given structural mass and / or energy production, while also reducing loads acting on the turbine, would be advantageous.
    4/37
    Brief Description of the Invention [007] Aspects and advantages of the invention will be presented in the part in the description below, either they can be obvious from the description or they can be learned through the practice of the invention.
    [008] In one aspect, the present matter is directed to a method for dynamically controlling a wind turbine. The method includes operating the wind turbine, based on a propulsion setpoint and a speed setpoint. A next step includes determining, through a processor, a desired change in the actual speed of the wind turbine, in response to control drives that start from an instantaneous point of operation. The method also includes determining, through the processor, a desired change in the actual propulsion of the wind turbine, in response to control drives that start from the instantaneous operating point. Subsequently, the method determines at least one parameter setpoint that will achieve the desired change in speed and the desired change in propulsion and will control the wind turbine, based on the parameter setpoint, in order to maintain real propulsion and actual speed of the wind turbine within a certain tolerance of the propulsion set point and the speed set point, through which it regulates the loads acting on the wind turbine.
    [009] In one embodiment, the instantaneous operating point includes at least one of a wind speed, a step angle, a generator speed, a power output, a torque output, a peak speed ratio, a rotor speed, a power coefficient, a torque coefficient, a propulsion coefficient, a propulsion, a propulsion response, a blade tilt moment, a rod tilt moment, a tower tilt moment, a
    5/37 speed response, or similar. In another embodiment, the method may additionally include adjusting at least one of the propulsion setpoint or the speed setpoint, based on the instantaneous operating point. In additional embodiments, when a wind speed is above a rated wind speed, the propulsion set point is adjusted according to a filtered or unfiltered power output. In addition, when the wind speed is below the rated wind speed, the propulsion set point is adjusted according to a filtered or unfiltered pitch angle. In addition, when the wind speed is at or near a rated wind speed, the propulsion setpoint is adjusted, based on a maximum projected propulsion from the wind turbine.
    [010] In an additional realization, the method may also include a step of determining a desired change in power output, based on a difference between a real power and a power setpoint and of determining a desired change in the angle of step, based on a difference between a real step and an ideal precision step. In yet additional realizations, the change in the actual speed of the wind turbine can be determined: by determining a real or measured wind turbine speed and by determining a difference between the speed setpoint and the actual speed. In various embodiments, the actual speed may be reflective of a generator speed, a rotor speed, a peak speed ratio, or the like.
    [011] In additional realizations, the desired change in the actual propulsion of the wind turbine can be determined: by determining a real propulsion or measured from the wind turbine and determining a difference between the propulsion set point and the actual propulsion. Additionally, the actual propulsion can be determined using at least one among the
    6/37 following: one or more sensors, a plurality of equations, one or more aerodynamic performance maps or one or more look-up tables.
    [012] In another embodiment, the step of determining the parameter setpoint may additionally include using a multivariable control or a multiobjective optimization function. More specifically, multivariable control can include at least one of a cost function, a loss function, a transfer function or the like.
    [013] In still additional embodiments, the method may also include determining the change in real speed and the change in real propulsion, by calculating at least a partial derivative of the propulsion or speed, in relation to the operating point, and one or more control drives. For example, in various embodiments, the following partial derivatives can be calculated: dT / dQ, ÔT / dM, <9T / ôU, 5ω / 5θ, όω / dM, du / dll, where T is the propulsion, Θ is the pitch angle, M is the moment or torque, ω is the rotor speed and U is the wind speed. In yet another embodiment, the parameter setpoint may include at least one of a pitch angle setpoint, a torque setpoint, or the like. For example, in additional embodiments, the parameter setpoint may include a setpoint or location for one or more aerodynamic devices on the wind turbine's rotor blades, which include, but are not limited to fins, flaps, air blowing active or suction or similar.
    [014] In another aspect, a system for dynamically controlling a wind turbine is revealed. The system includes a processor and a controller coupled communicatively with the processor. The processor is configured to: operate the wind turbine, based on a propulsion setpoint and a speed setpoint, to determine a desired change in the actual speed of the turbine
    7/37 wind, in response to control drives that start from an instantaneous operating point, determine a desired change in the actual propulsion of the wind turbine in response to control drives that start from the instantaneous operating point , and determine a parameter setpoint that will achieve the desired change in actual speed and the desired change in actual propulsion. The controller is configured to control the wind turbine, based on the parameter setpoint, so as to maintain the actual propulsion and the actual speed of the wind turbine within a certain tolerance of the propulsion setpoint and the setpoint of speed, through which the loads act on the wind turbine while simultaneously maintaining the ideal or close to ideal power output. It should be understood that the system can also include any of the additional features described in this document.
    [015] In yet another aspect, the present matter is directed to a method to dynamically control a wind turbine. The method includes operating the wind turbine, based on a propulsion setpoint and a speed setpoint. Another step includes determining, through a processor, a desired change in the actual rotor speed of the wind turbine, in response to control drives that start from an instantaneous operating point. The method also includes determining, through the processor, a desired change in the actual propulsion of the wind turbine, in response to control drives that start from the instantaneous operating point. The method then includes using, through the processor, a multivariable control to determine a pitch set point and a torque set point that will achieve the desired change in the actual rotor speed and the desired change in the actual propulsion. The wind turbine can then be controlled, with
    8/37 base at pitch set point and torque set point, in order to keep the actual propulsion and the actual speed of the wind turbine within a certain tolerance of the propulsion set point and the speed set point respectively, by means of which it regulates the loads acting on the wind turbine. It should be understood that the method can also include any of the additional steps and / or features described in this document.
    [016] These and other features, aspects and advantages of the present invention will become better understood with reference to the description and the appended claims below. The attached Figures, which are incorporated and constitute a part of this specification, illustrate the achievements of the invention and, together with the description, serve to explain the principles of the invention.
    Brief Description of the Figures [017] An enabling and complete disclosure of the present invention, which includes the best mode of the same, directed to one among people versed in the technique, is presented in the specification, which makes reference to the attached figures, in which;
    - Figure 1 illustrates an embodiment of a wind turbine, according to the present disclosure;
    - Figure 2 shows an embodiment of a nacelle of a wind turbine, according to the present disclosure;
    - Figure 3 illustrates a schematic diagram of an embodiment of a wind turbine controller, according to the present disclosure;
    - Figure 4 shows a schematic diagram of an embodiment of a processor, according to the present disclosure;
    - Figure 5 illustrates a three-dimensional graph of a realization of propulsion and velocity sensitivity surfaces in a
    9/37 torque-step at low wind speeds (ie, below a region of variable wind speed), according to the present disclosure;
    - Figure 6 illustrates a three-dimensional graph of a realization of propulsion surfaces and speed sensitivity in a torque-step domain slightly below the evaluated wind speeds, according to the present disclosure;
    - Figure 7 illustrates a three-dimensional graph of a realization of propulsion and velocity sensitivity surfaces, in a torque-step domain, at evaluated wind speeds, according to the present disclosure;
    - Figure 8 illustrates a three-dimensional graph of a realization of propulsion and velocity sensitivity surfaces, in a torque-step domain slightly above the evaluated wind speeds, according to the present disclosure;
    - Figure 9 illustrates a three-dimensional graph of a realization of propulsion and velocity sensitivity surfaces, in a torque-step domain also above the evaluated wind speeds, according to the present disclosure;
    - Figure 10 illustrates a three-dimensional graph of a realization of propulsion and velocity sensitivity surfaces, in a torque-step domain, at high or wind cutting speeds, according to the present disclosure;
    - Figure 11 illustrates a plurality of two-dimensional graphs corresponding to Figures 5 to 10, in which each of the graphs includes a vector that represents propulsion and velocity sensitivities, according to the present disclosure; and,
    - Figure 12 illustrates the graphics in Figure 11, where each of the graphics additionally includes typical directions of
    10/37 torque and pitch on the propulsion and speed sensitivity surfaces, according to the present disclosure; and
    - Figure 13 illustrates a flow chart of an embodiment of a method for dynamically controlling a wind turbine, according to the present disclosure.
    Detailed Description of the Invention [018] Reference will now be made, in detail, to the embodiments of the invention, to one or more examples of which are illustrated in the Figures. Each example is provided by way of explanation of the invention, without limitation of the invention. In reality, it will be apparent to those skilled in the art that various modifications and variations can be made to the present invention, without departing from the scope or spirit of the invention. For example, features illustrated or described as part of one realization can be used with another realization to yield an additional realization. Therefore, the present invention is intended to cover such modifications and variations, as they fall within the scope of the appended claims and their equivalents.
    [019] Generally, the present matter is directed to a system and a method to dynamically control a wind turbine in real time, controlling the speed and propulsion in the most active control circuit, in order to perform a reduction in operation of fatigue in major structural components, for example, the tower, the nacelle, the hub and / or the rotor blades, while simultaneously maximizing power. More specifically, the system operates the wind turbine, based on a propulsion setpoint and a speed setpoint. The system then determines a desired change in the actual speed and a desired change in the actual propulsion of the wind turbine, in response to control drives that start from an instantaneous operating point. It must be understood that the instantaneous operating point can
    11/37 include one or more operational aspects of the wind turbine, which includes, but is not limited to, a wind speed, a pitch angle, a generator speed, a power output, a torque output, a speed ratio tip, a rotor speed, a power coefficient, a torque coefficient, a propulsion coefficient, a propulsion, a propulsion response, a blade tilt moment, a rod tilt moment, a tilt moment tower, a speed response or the like. When using multivariable control, the system then determines a pitch set point and a torque set point that will achieve the desired change in actual speed and actual propulsion, and dynamically controls the wind turbine, based on the set points. torque and pitch configuration, in order to regulate the loads acting on the wind turbine, while simultaneously maintaining the ideal or close to ideal power output.
    [020] The various achievements of the system and method described in this document provide numerous advantages, not present in the prior art. For example, as mentioned, variable propulsion from the wind on the rotor is the main contributor to the fatigue load, along with any asymmetry of that propulsion. Although propulsion is related to power output and rotor speed, it is not synonymous with or is not linearly proportional to each other. As such, in some regions of operation, the present disclosure allows the control of the propulsion acting on the wind turbine with less than the proportional effect on power, or vice versa. The present disclosure also provides speed and propulsion control almost independently of each other, in various regions of operation. The power of the wind turbine is still controlled, but often with a greater allowance for short-term error and for a slower response than conventional wind turbines, which can
    12/37 become particularly notable when observing the rated power output. Then, the deemphasis of rigid instantaneous power control becomes particularly acceptable, as a certain amount of energy storage begins to appear in places that can be used to smooth the power output to the grid, through permitted fluctuations, but it is acceptable in some cases, even without energy storage. In addition, the present disclosure can be deployed using existing components from many modern wind turbines. As such, a user is not required to purchase, install and maintain the new equipment. In addition, the system can be integrated with a broader control system, such as, but not limited to, a wind turbine control system, a plant control system, a remote monitoring system or combinations thereof.
    [021] Referring now to the Figures, Figure 1 illustrates a perspective view of an embodiment of a wind turbine 10 that can deploy the control technology, according to the present disclosure, is illustrated. As shown, wind turbine 10 generally includes a tower 12 that extends from a support surface 14, a nacelle 16 mounted on the tower 12 and a rotor 18 coupled to nacelle 16. Rotor 18 includes a rotating hub 20 and at least one rotor blade 22 coupled and extending out of hub 20. For example, in the illustrated embodiment, rotor 18 includes three rotor blades 22. However, in an alternative embodiment, rotor 18 may include more or less than than three rotor blades 22. Each rotor blade 22 can be moved over the hub 20 to facilitate rotation of the rotor 18, to allow the kinetic energy to be transferred from the wind into usable mechanical energy, and subsequently, electrical energy. For example, hub 20 can be rotatably coupled to an electrical generator 24 (Figure 2), positioned inside nacelle 16 to allow electrical energy to be produced.
    13/37 [022] Wind turbine 10 may also include a wind turbine controller 26 centralized within nacelle 16. However, in other embodiments, controller 26 may be located within any other component of wind turbine 10 or in a location outside the wind turbine. Additionally, the controller 26 can be communicatively coupled to any quantity among the components of the wind turbine 10, in order to control the operation of such components and / or to implement a correction action. As such, controller 26 may include a computer or other suitable processing unit. Then, in various embodiments, controller 26 may include appropriate computer-readable instructions that, when deployed, configure controller 26 to perform several different functions, such as receiving, transmitting and / or executing the wind turbine control signals.
    [023] Referring now to Figure 2, an internal, simplified view of an embodiment of nacelle 16 of wind turbine 10 shown in Figure 1 is illustrated. As shown, generator 24 can be coupled to rotor 18 to produce electrical power from the rotating energy generated by rotor 18. For example, as shown in the illustrated embodiment, rotor 18 can include a rotor stem 34 coupled to hub 20 for rotation with it. The rotor rod 34 can, in turn, be pivotally coupled to a generator rod 36 of the generator 24, via a gearbox 38. As is generally understood, the rotor rod 34 can provide a low speed, a high torque input to gearbox 38 in response to the rotation of rotor blades 22 and hub 20. Gearbox 38 can then be configured to convert low speed, high torque input to speed high, low torque output to drive generator rod 36 and then generator 24.
    [024] Each rotor blade 22 can also include a mechanism
    14/37 pitch adjustment 32 configured to rotate each rotor blade 22 about its pitch geometric axis 28. In addition, each pitch adjustment mechanism 32 can include a stepping drive motor 40 (for example, any suitable motor pneumatic, hydraulic or electric), a stepping drive gearbox 42 and a stepping drive pinion 44. In such embodiments, the stepping motor 40 can be coupled to the stepping drive gearbox 42, so that the stepper drive motor 40 transmits mechanical force to the stepper drive gearbox 42. Similarly, the stepper drive gearbox 42 can be coupled to the stepper drive pinion 44 for rotation therewith. The stepping pinion 44 can, in turn, be in rotating engagement with a stepping bearing 46 coupled between the hub 20 and a corresponding rotor blade 22, such that the rotation of the stepping pinion 44 causes the rotation of the step bearing 46. Then, in such embodiments, the rotation of the stepping motor 40 drives the stepping gear box 42 and the stepping pinion 44, by means of which the stepping bearing 46 rotates and the rotor blade 22 on the pitch axis 28. In additional embodiments, the wind turbine 10 may employ direct drive pitch or separate pitch drive systems, which include hydraulics. Similarly, the wind turbine 10 can include one or more yaw drive mechanisms 66 communicatively coupled with controller 26, where each yaw drive mechanism (s) 66 is configured to change the angle of nacelle 16 with respect to the wind. (for example, by engaging a yaw bearing 68 of wind turbine 10).
    [025] Also, referring to Figure 2, the wind turbine 10 can also include one or more sensors 48, 50, 52 to measure the conditions of
    15/37 wind turbine loading and / or operating 10. For example, in various embodiments, sensors may include blade sensors 48 to measure a pitch angle of one of the rotor blades 22 or to measure a load that acts on one of the rotor blades 22; generator sensors 50 to monitor generator 24 (for example, torque, speed, acceleration and / or power output); and / or various wind sensors 52 to measure various wind parameters, such as wind speed, wind peaks, wind turbulence, wind shear, changes in wind direction, air density or the like. Additionally, the sensors can be located close to the ground of the wind turbine 10, in the nacelle 16, or on a meteorological mast of the wind turbine 10. Also, it must be understood that any other numbers or types of sensors can be used and in any location . For example, the sensors can be Microinertial Measurement Units (MIMUs), voltage meters, accelerometers, pressure sensors, angle of attack sensors, vibration sensors, Light Detection and Variation sensors (LIDAR), camera systems , optical fiber systems, anemometers, weather vane, Sound Detection and Variation sensors (SODAR), infralasers, radiometers, pilot tubes, root probes, other optical sensors and / or any other suitable sensors. It should be noted that, as used in this document, the term "monitor" and its variations indicates that the various sensors can be configured to provide a direct measurement of the parameters being monitored or an indirect measurement of such parameters. Then, the sensors can, for example, be used to generate signals related to the parameter being monitored, which can then be used by the controller 26 to determine the actual parameter.
    [026] Referring now to Figure 3, a block diagram of an embodiment of controller 26, according to the present disclosure, is
    Illustrated 16/37. As shown in Figure 3, controller 26 may include one or more processor (s) 58, a parameter 56 wind turbine estimator and associated memory device (s) 60 configured to perform a variety of functions deployed on a computer (for example, perform methods, steps, calculations and the like and to store relevant data, as disclosed in this document). In addition, controller 26 may also include a communications module 62 to facilitate communications between controller 26 and the various components of the wind turbine 10. Additionally, communications module 62 may include a sensor interface 64 (for example, one or more analog to digital converters) to allow signals transmitted from sensors 48, 50, 52 to be converted into signals that can be understood and processed by processors 58. It should be noted that sensors 48, 50, 52 can be coupled communicatively with the communications module 62 using any suitable means. For example, as shown in Figure 3, sensors 48, 50, 52 are coupled to sensor interface 64, via a wired connection. However, in other embodiments, sensors 48, 50, 52 can be coupled to sensor interface 64, via a wireless connection, such as using any suitable wireless communications protocol known in the art.
    [027] As used in this document, the term “processor refers not only to integrated circuits referred to in the art, as they are included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller. (PLC), an application-specific integrated circuit, a graphics processing unit (GPUs) and / or other programmable circuits known now or developed later. In addition, memory device (s) 60 may generally comprise memory element (s)
    17/37 memory that includes (in), but is not limited to, computer readable medium (for example, random access memory (RAM)), computer readable non-volatile medium (for example, fast memory) , a floppy disk, a compact read-only memory (CD-ROM), an optical-magnetic disk (MOD), a versatile digital disk (DVD) and / or other suitable memory elements. Such memory device (s) 60 can generally be configured to store suitable computer-readable instructions which, when deployed by processor (s) 58, configure controller 26 to perform various functions , as described in this document.
    [028] Referring now to Figure 4, a block diagram to further illustrate processor 58, in accordance with the present disclosure, is illustrated. As shown in the illustrated embodiment, processor 58 includes an internal control circuit 70 and an external control circuit 72. External control circuit 72 is configured to control propulsion set point 74 and speed set point 76, whereas the internal control circuit 70 is configured to provide multivariable control 78 of step and torque, based on the speed and propulsion set points 74, 76. As shown, the internal control circuit 70 uses the set point propulsion 74 and measured or actual propulsion 93 to determine the desired change in propulsion 73 in response to control drives that start from an instantaneous operating point. Similarly, the internal control circuit 70 uses the speed setpoint 76 and the measured or actual speed 93 to determine the desired change in speed 75, in response to control drives that start from the instantaneous operating point. It must be understood that the term “speed” of the wind turbine and variations thereof are representative of a generator speed, a rotor speed, a speed ratio
    18/37 edge or similar. In addition, the propulsion set point 74 can be adjusted via external control circuit 72. For example, in one embodiment, when wind turbine 10 is operating above a rated wind speed, external control circuit 72 determines or controls propulsion setpoint 74, based on a calculated or filtered mean difference 84 between desired power setpoint 80 and real power set 82. In another embodiment, when wind turbine 10 is operating below a evaluated wind speed, the external control circuit 72 determines or controls the propulsion set point 74, based on a calculated or filtered average difference 90 between the optimal precision step 86 and the actual step 88 configuration. the external control circuit 72 may also include a switch 96, configured to switch or rise proportionally between control configurations depending on the region of operation the wind speed. Alternatively, the thrust set point 74 and / or the speed set point 76 can be programmed as an estimated wind speed function or determined by any other suitable means. It should be understood that speed setpoint 76 can change as a function of wind speed, ideal peak speed ratio, component speed limitations or the like.
    [029] External control circuit 72 may also include one or more proportional integral derivative (PID) controllers 95 or similar control circuit feedback mechanisms configured to calculate an error, based on the difference between a measured operating point ( for example, real step 88 or real power 82) and a desired operating point (for example, ideal precision step 86 or power set point 80). Then, the PID 95 controller (s) is (are) configured (s) to minimize the error in the external control circuit 72
    19/37 by adjusting the operating points used as inputs for the internal control circuit 70.
    [030] The internal control circuit 70 can also include a multiobjective optimization or multivariate control structure 78. Multivariable control 78 uses the desired changes 73, 75 in propulsion and speed to determine both torque and 92, 94 or any other suitable drives. The multivariable control 78 of torque drives and pitch 92, 94 in real time differs from conventional wind turbine control, in which it is common to separate such drives, according to a region of operation. More specifically, in certain embodiments, multivariable control 78 may include linear and nonlinear control approaches, such as: a) Sliding Mode Control (SMC) strategies, b) H-infinite controls, c) Gaussian linear quadratic controls (LQG) / H-2 controls (shown to be equivalent), d) a mixed H-2 / H-infinite approach or a combination of b) and c) above, or e) a Linear Parameter Variation (LPV). The SMC strategies, in various realizations, are characterized by the fact that a control action, which is discontinuous through a desired trajectory of the controlled parameters, reaches a movement along the trajectory, and in that model, it has the capacity to guarantee compliance restrictions imposed by the trajectory. The H-infinite controls, in various embodiments, shape the L-2 induced norm of the system (that is, the input energy connected to the connected output energy or, otherwise, or worse, the cause effect on the output energy due to the connected power input) which is achieved by suitable frequency domain that shapes weights in input and output signals, as well as the open circuit transfer function. The LQG / H-2 controls, in particular designs, minimize the variation of systems output to a white noise input, achieved by the appropriate frequency domain that
    20/37 shapes the weights into input and output signals. The control of LPV, in certain realizations, is characterized by the model of the system that linearly depends on a measurable parameter of operation of the wind turbine, through which it provides the ability to continuously change the action of controls, according to a function of its value, among other advanced control strategies.
    [031] So, allowing active control of both torque and pitch 92, 94 drives, with the use of multivariable control, across all operating regions, can provide greater power variation above the assessed wind speed and also modifications higher from the ideal almost static step below the assessed wind speed. Permission to activate both the pitch and the torque does not necessarily cause greater power variation, especially below the rated wind speed; however, propulsion regulation with a diminished relative focus on precise power regulation often provides greater power variation, above the assessed wind speed. The size and gains of these modifications (and limitations placed on them) can, in the end, be managed to provide a beneficial exchange against the corresponding load reductions that could allow the growth, in diameter, of the rotor or other efficiency improvements and of energy cost.
    [032] In addition, the adjustments, based on the optimal precision step 86 (below the rated wind speed) and the actual power output 82 (above the rated wind speed), effectively filter out low pass from root fluctuations of the torque and pitch set points 92, 94 that come from the internal control circuit 70, that is, from plant 98. Then, the thrust set point 74 changes in response to long-term fluctuations in wind speed, but not in response to every gust of wind
    21/37 short. Consequently, controller 26 filters and rejects propulsion variations from higher frequency turbulence.
    [033] Although the source of the propulsion setpoint 74 for the internal control circuit 70 is the subject of the external control circuit 72, the source of the speed setpoint 76 may be similar to conventional methods known in the art. In addition, the values for actual speed 93 and actual propulsion 91 (which are used as inputs to internal control circuit 70) can be determined by means of one or more sensors, for example, 48, 50, 52, or wind parameter estimator 56, as described below. Then, in a particular embodiment, the propulsion input can be a directly measured quantity. In alternative embodiments, the propulsion input can be an early indirect measurement of the load path that is indicative of propulsion, such as slope outside the collective or individual blade plane, blade inclination towards the collective or individual blade, individual movement or collective on the main rod flange sensors (such as those described in US Patent Number 7,160,083, entitled, “Method and Apparatus for Wind Turbine Rotor Load Control” filed on February 3, 2003 and incorporated by reference in this document), or any other nearby server suitable for estimating and / or determining propulsion. As such, propulsion can be determined by sensors or estimated by a computer model. In addition, sensor measurements can be filtered, calibrated and / or verified for plausibility against estimated propulsion, as determined by the computer model, while responding in the form of root before, and with broadband more often than estimated propulsion , which is effectively filtered low pass by the rotor inertia. As such, the actual speed 93 and real propulsion 91 inputs can be measured values from the control transducers.
    22137 [034] In another embodiment, the wind turbine parameter estimator 56 is configured to receive signals from one or more sensors that are representative of various wind turbine loading and / or operating conditions 10. The conditions of operation can consist of any combination of the following: a wind speed, a step angle, a generator speed, a power output, a torque output, a temperature, a pressure, a peak speed ratio, a density of the air, a rotor speed, a power coefficient, a torque coefficient, a propulsion coefficient, a propulsion, a propulsion response, a blade tilt moment, a rod tilt moment, a tower tilt moment , a speed response or the like. In addition, the wind turbine parameter estimator 56 can be considered software that uses the loading and / or operating conditions to calculate, in real time, the speed and / or the propulsion response, as described in this document. In addition, the wind turbine parameter estimator 56 can include firmware that includes the software, which can be run by processor 58. Consequently, in one embodiment, the wind turbine parameter estimator 56 is configured to implement a control algorithm that has several equations to determine actual speed 93 and / or real propulsion 91. As such, the equations are solved using one or more operating conditions, one or more aerodynamic performance maps, one or more look-up tables (LUTs) ), or any combination thereof. In one embodiment, aerodynamic performance maps are dimensional or non-dimensional tables that describe the rotor load and performance (for example, power, propulsion, torque or pitch moment or the like) under given conditions (for example, density, speed wind speed, rotor speed, pitch angle or similar). As such, maps of
    Aerodynamic performance may include: a power coefficient, a propulsion coefficient, a torque coefficient and / or partial derivatives in relation to the pitch angle, rotor speed or peak speed ratio. Alternatively, aerodynamic performance maps can be dimensional power, propulsion and / or torque values instead of coefficients. In various embodiments, LUTs can include: aerodynamic performance parameters, blade tilt load, tower tilt load, rod tilt load or any other turbine component load.
    [035] Referring generally to Figures 5 to 10, an achievement of multivariable control 78 estimates gradients of two surfaces 83, 85, based on the instantaneous operating point, LUTs and / or calculations. In addition, gradients represent propulsion and speed sensitivities for one or more torque and pitch drives. Such sensitivities are used to determine one or more parameter set points (for example, step set point 92 and torque set point 94). For example, referring particularly to Figure 5, each of the illustrated surfaces 83, 85 surrounds an operating point 81 on an aerodynamic performance map of rotor 18 and extends some distance from operating point 81 on direction of the step (geometric axis y) and at some distance in the torque direction (geometric axis x), which can be closely related to, for example, inverse, but not synonymous with the peak speed ratio (TSR) direction on the maps aerodynamic performance. In addition, as shown, the surfaces 83, 85 are flat, effectively aligned at the operating point 81 of the wind turbine 10. In alternative embodiments, it should be understood that the surfaces 83, 85 can also be constructed having curvature. As mentioned, the x-axis and the y-axis represent the
    24/37 torque setting 94 and step 92 setting point, respectively, or the change in them, and the z-axis represents the propulsion or speed setting responses for one surface 83, 85 or the other. In addition, the geometric axes x and y can also be constructed in terms of absolute pitch and torque set points or relative pitch and torque set points.
    [036] In one embodiment, the graphs in Figures 5 to 10 are representative of one or more regions of operation for the wind turbine 10. For example, as shown in the figures, six different regions of operation are evaluated, namely, a region low wind speed operating region (Figure 5), an operating region slightly below the rated wind speed (Figure 6), a rated wind speed operating region (Figure 7), an operating region slightly above the speed assessed wind speed (Figure 8), an operating region well above the assessed wind speed (Figure 9) and a high speed or wind cut operating region (Figure 10). It should be understood by those skilled in the art that any number of operating regions can be evaluated, which includes more than six or less than six and the calculation of surfaces over the operating point can occur during each control cycle, which covers effectively the entire operating space. Each operating region includes an operating point 81. For example, in one embodiment, operating point 81 corresponds to a particular wind speed, a peak speed ratio and a pitch angle. In additional embodiments, it should be understood that the operating point 81 can include any operational point of the wind turbine 10, which includes, but is not limited to, a wind speed, a pitch angle, a generator speed, an output power, a torque output, a speed ratio of
    25/37 tip, a rotor speed, a power coefficient, a torque coefficient, a propulsion coefficient, a propulsion, a propulsion response, a blade tilt moment, a rod tilt moment, a moment of tilt tower slope, a speed response or the like. In addition, it should be understood that operating point 81 can be any dimensional or non-dimensional parameter representative of a wind turbine operating set point 10. More specifically, for wind speeds assessed above, operating point 81 corresponds to a medium or filtered power output 84, while for wind speeds evaluated below, operating point 81 corresponds to a medium or filtered precise step 90. Controller 26 operates wind turbine 10, based on operating point 81, and determines corresponding gradients of propulsion and speed represented by surfaces 83 and 85, respectively.
    [037] In various embodiments, the angular coefficients of the planes of surfaces 83, 85 are the partial derivatives of propulsion or speed in relation to the pitch or resistance torque. For example, in a particular embodiment, partial derivatives are calculated according to Equations 1 to 6 below:
    Equation 1:
    ± pU : fíR ~ (lookup + lookup ^ (r »lookup
    Equation 2:
    £ = ίρί / πΒ ’(ίοο / ηιρ
    Equation 3:
    = (--poonR 3 ) · lookup + (pÍM) · lookup C 7
    Equation 4:
    (lookup
    26/37
    Equation 5:
    0ύύ ^ 1 -
    ÔM / r
    Equation 6:
    5F = Gy ^) '[(“^ P nR í < ú )' lookup + (ftirRjU ') lookup C M ] where
    T is propulsion;
    Θ is the pitch angle;
    M is the moment or torque; ω is the rotor speed;
    C T is the propulsion coefficient;
    U is the wind speed; p is the density of the air; t is time;
    R or R f is the rotor radius;
    Cm is the moment coefficient that corresponds to the aerodynamic torque in the rotor;
    J r is the effective moment of inertia of the rotor and / or the drive train system; and λ is the speed-to-point ratio (TSR).
    [038] As shown, some of the variables in Equations 1 to 6 can be determined using one or more query tables (LUTs), for example, C M , stored inside controller 26, as indicated by the term “search” in the above equations. As shown, the graphs illustrate the potential, normalized propulsion and speed responses of plant 98 as pitch and torque functions around the various operating points 81. In addition, Figures 5 to 10 illustrate gradient directions for each surface 83, 85 superimposed on surfaces
    27/37 response in bold lines.
    [039] Although Figures 5 to 10 provide a visual representation of propulsion-speed control, the graphics in Figures 11 and 12 illustrate gradient directions and inverse angular coefficients for visualization and design purposes. More specifically, Figure 11 illustrates a set of six plots that present the same information depicted in Figures 5 to 10 in a more compact and easier for the user. For example, plots illustrate vectors in the directions of propulsion and speed gradients 83, 85 on the step-torque surface for each region of operation. In the illustrated embodiments, the length of each vector is the drive required to compensate for a predetermined step in the wind speed, for example, 1 rn / s, at each operating point 81, then related to the partial derivatives, in relation to a speed of wind. In an alternative embodiment, controller 26 can generate plots that correspond to the step responses necessary to compensate for a change in wind speed, for example, a 10% change in wind speed, or any other suitable proportionality. Additionally, as shown, sensitivities can be linear or aligned; however, it should be understood by those skilled in the art that there is some probable non-linearity in all regions, and such non-linearity can be included directly, or otherwise, taken into account or corrected for certain achievements.
    [040] Referring particularly to Figures 5 and 11 (A), the propulsion and velocity sensitivity surfaces 83, 85 for low wind speeds, typically about 2 to 4 meters / second (m / s), are illustrated. As shown, surfaces 83, 85 are declined in different directions at low wind speeds. Sensitivities in propulsion and speed with smaller drives, that is, gradients
    28/37 of surfaces 83, 85, are almost perpendicular in the torque-step domain (as shown by the bold line in Figure 5), where the step primarily affects propulsion, and the torque primarily affects speed. Almost perpendicular gradients are desirable and indicate that propulsion drive and speed can be controlled almost independently of each other. So, it is possible to comply with the precise regulation of both propulsion and speed simultaneously, whenever the rates of change of wind speed remain within wide driving bands. As such, at low wind speeds and some rotor designs, propulsion-speed control provides a reduction in fatigue load, while also regulating rotor speed, while the pitch can vary slightly around what is considered ideal for power production. Additionally, the degree to which the pitch deviates from the quasi-static aerodynamic ideal can be chosen by selecting filtering and / or gains in the external control circuit 72, as well as by imposing limitations, which strike a balance between reducing fatigue and / or closed grip for the ideal almost static aerodynamic pitch.
    [041] Figure 6 illustrates the propulsion and speed response surfaces 83, 85 for wind speeds slightly below the assessed wind speed, for example, typically about 4 to 8 m / s. As shown, propulsion-speed control is able to regulate propulsion precisely and simultaneously with rotor speed. Additionally, the benefit of fatigue potential at this wind speed increases when compared to the benefit at lower wind speeds, since both the rotor propulsion and variations in it are greater than at lower wind speeds. For example, Figure 11 (B) illustrates the corresponding propulsion-speed vector in the torque-step domain for the region of operation. As shown, the vector of
    29/37 propulsion-speed is similar to the vector of 11 (A), although the gradients of surfaces 83, 85 are less perpendicular in the torque-step domain.
    [042] At rated or near-rated wind speeds, and before rotor blades 22 start launching back, in at least some embodiments, controller 26 also has the ability to deregulate propulsion precisely and simultaneously with speed, similar to of the wind speed assessed slightly below. The wind speeds assessed vary by wind turbine, but typically range from approximately 8 m / s to approximately 15 m / s. Then, as shown in Figure 7, the propulsion and speed response surfaces 83, 85 can be controlled virtually independently of one another. Figure 11 (C) illustrates the corresponding propulsion-speed vector in the torque-step domain for the region of operation. Consequently, the greatest opportunity for a reduction in fatigue load is typically seen in this operating range, since the average propulsion is high, and potential variations in propulsion are correspondingly large. Additionally, as shown in Figure 11 (C), the vector propulsion-speed is similar to the vector in Figure 11 (B). In certain regions of operation, and particularly, of almost rated power (that is, where the propulsion tends to be high), the propulsion setpoint 74 can saturate in a maximum value or programming of maximum values, which includes, but it is not limited to a value or values derived from the maximum loads on the turbine hardware components, in certain wind conditions or design load cases.
    [043] Referring to Figures 8 and 11 (D), slightly above the rated wind speed, as the rotor blades 22 start to launch back, in some embodiments, there is significantly more influence from the speed step drives of rotor. The regulation of propulsion or speed, each one, does not have a great effect on the other,
    30/37 since there is still a substantial difference in gradient directions in the torque-step domain. So, in this region, it is likely that both propulsion and speed can be regulated simultaneously through most types of turbulence. In one embodiment, however, controller 26 can prioritize speed or propulsion in that operating region or any other operating region that follows a particular gust and provides appropriate control afterwards.
    [044] As shown in Figures 9 and 11 (E), as rotor blades 22 launch back, the trend of pitch drives that increasingly influence speed can continue and pitch drives can dominate the slope of both propulsion and speed response surfaces 83, 85. So, in some embodiments, occasional changes in propulsion and speed may need to be prioritized against each other and managed by controller 26, which may allow a transient change in speed to maintain good propulsion control or vice versa, which depends on the instant operating point.
    [045] High or wind cutting speeds, for example, 20 m / s, gradient alignments progress only slightly beyond those at rated wind speeds and those just above rated wind speeds. For example, as shown in Figures 10 and 11 (F), there is still a degree of separation between propulsion and speed. Then, to a certain extent, speed and propulsion can be regulated independently; however, there is much more crossover effect than at rated wind speeds and below. As such, controller 26 may allow a change in propulsion in order to maintain speed within predetermined connections or may accept a transient change in speed to maintain a propulsion stable.
    31/37 [046] Referring now to Figure 12, the graphics in Figure 11 are illustrated in more detail and additionally include typical directions of torque and pitch drives 92, 94, in accordance with the present disclosure. For example, at point 106, that is, the intersection of dotted lines 104, the requirements for both speed and propulsion control are satisfied. In addition, line 102 represents a typical or predominant direction of a drive (ie, a change in the operating point) for a given operating region. More specifically, in one embodiment, the line 102 can represent an ideal direction of the drive, while it is similarly retained when the wind turbine 10 is slightly off either side of the operating point. If the response steps in the direction of each gradient had an angular coefficient orientation perfectly up and down, on a flat surface, within the aligned partial derivative space, then, logically, the perpendicular direction would be perfectly in cross angular coefficient. Then, in order to regulate speed or propulsion to a constant through a hypothetical step, for example, 1 m / s, controller 26 is configured to follow each surface 83, 85 at the level of each individually ideal response step ( by propulsion or speed). As such, controller 26 can obtain the correct result at any point that is at a level with the response step (deviation perpendicular to its direction), although none other than the direction of the response step will require more of the triggers to achieve such control. Then, the bold lines in Figures 5 to 10 and the vectors in Figure 11 (A-F) represent the points on the response surfaces that will give an ideal result for individual indicators (for example, propulsion, speed) at their respective operating point. Additionally, the point at which the dashed lines intersect in Figure 12 (A-F) represents the point at which both speed and propulsion can be controlled simultaneously.
    32/37
    As the ideal individual steps become more closely aligned in direction, but remain different in size, the control drive to achieve both objectives simultaneously can become very large and / or out of alignment with the ideal direction for both. For example, such is the case where the prioritization between propulsion and speed regulation objectives can occur in various realizations, where restrictions can be imposed to stay within the realistic limits and responses of the drivers.
    [047] In this way, controller 26 can visualize the alignment of the two control objectives and whether the simultaneous control of propulsion and speed, in any region of operation, is realistic. In addition, in various embodiments, controller 26 may be required to determine and / or prioritize whether to regulate speed or propulsion regulation, for example, in which the two gradients address perfect alignment with different magnitude or where they address perfect opposite directions in the step-torque plane for a given rotor 18. For example, as shown in Figure 12, the graphs (E) and (F) illustrate the two response steps that address perfect directional alignment with different magnitude. As shown, the step required to satisfy both speed and propulsion tends to be increasingly out of place, one way or the other, of the ideal steps for propulsion or speed regulation. In these areas, controller 26 is configured to constantly control wind turbine 10 in order to prioritize speed or propulsion and provide realistic drive demands. In other words, the controller 26 is configured to determine and / or calculate a limitation in the step, in order to avoid lost control efforts. For example, in one embodiment, a limit proportional to the angle or half an angle between the propulsion gradient and the speed gradient can be
    33/37 used, such that the general response is limited within a predetermined directional range, based on the best desired effect ratio per unit drive.
    [048] Referring now to Figure 13, a flowchart of method 200 for dynamically controlling the wind turbine 10, according to an embodiment of the present disclosure, is illustrated. As mentioned, the operating point can be determined from any one or more conditions or states of the wind turbine 10, which include, but are not limited to, the pitch angle 90 or a power output 84. In additional embodiments, the operating point can include any of the following operating parameters, which include, but are not limited to, wind speed, pitch angle, generator speed, power output, torque output, peak speed, rotor speed, power coefficient, torque coefficient, propulsion, propulsion coefficient, blade pitch moment (which includes blade pitch moments out of plane or in the fin direction) , a rod tilt moment, a tower tilt moment, a speed response or the like.
    [049] As shown, method 200 includes a first step 202 to operate the wind turbine, based on a propulsion set point and a speed set point. Another step 204 includes determining a desired change in the actual speed of the wind turbine in response to control drives that start from an instantaneous point of operation. Similarly, method 200 also includes a step of determining a desired change in the actual propulsion of the wind turbine, in response to control drives that start from an instantaneous point of operation (step 206). In certain embodiments, the step of determining the desired changes in actual speed and propulsion can
    34/37 include taking the difference between the actual propulsion or the speed and the desired propulsion or speed set points and filtering and / or averaging the differences, respectively.
    [050] A next step 208 includes determining at least one parameter setpoint that will achieve the desired change in real speed and the desired change in real propulsion and velocity and propulsion sensitivities. In various embodiments, for example, the parameter set point (s) includes (s) a step set point 92 and a torque set point 94. So method 200 includes a control step 210 of the wind turbine, based on the parameter set point (s), in order to maintain the actual propulsion and the real speed of the wind turbine, within a certain tolerance of the propulsion set point and the speed set point, through which it regulates the loads acting on the wind turbine.
    [051] This written description uses examples to reveal the invention, including the best way, and also to allow anyone skilled in the art to practice the invention, including making and using any devices or systems and carrying out any built-in methods. The scope of the patentable invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.
    Numerical Reference List
    - Wind turbine
    - Tower
    35/37
    - Foundation / Support surface
    - Nacela
    - Rotor
    - Rotating hub
    - Rotor blade
    - Generator
    - Controller
    - Geometric pitch axis
    - Pitch adjustment mechanism
    - Rotor rod
    - Generator rod
    - Gear box
    - Stepper drive motor
    - Pitch drive gearbox 44 - Pitch drive pinion 46 - Pitch bearing 48 - Paddle sensors
    - Generator sensors
    - Wind sensors
    - Wind turbine parameter estimator 58 - Processor (s)
    - Memory device (s)
    - Communications module
    - Sensor interface
    - Yaw drive mechanisms
    - Yaw bearing
    - Internal control circuit
    - External control circuit
    36/37
    - Desired change in propulsion
    - Propulsion setup point
    - Desired speed change
    - Speed setpoint 78 - Multivariable control
    - Power set point
    - Operation point
    - Real power
    - Propulsion response surface
    - Filtered / average power
    - Speed response surface
    - Optimal precision pitch
    - Response with less performance
    - Real pitch
    - filtered / medium pitch
    - Real propulsion
    - Step configuration point
    - Actual speed
    - Torque set point
    - PID controller
    - Switch
    - Power plant
    102 - Line
    104 - Line
    106 - Point
    200 - Method
    202 - Method step
    204 - Method step
    37/37
    206 - Method step 208 - Method step 210 - Method step
    1/6
    权利要求:
    Claims (20)
    [1]
    Claims
    1. METHOD TO DYNAMICALLY CONTROL A WIND TURBINE, characterized by the fact that the method comprises:
    - operate the wind turbine, based on a propulsion setpoint and a speed setpoint;
    - determine, by means of a processor, a desired change in the real speed of the wind turbine, in response to the control drives that start from an instantaneous point of operation;
    - determine, by means of the processor, a desired change in the actual propulsion of the wind turbine, in response to the control drives that start from the instantaneous operating point;
    - determine, by means of the processor, at least one parameter configuration point that achieves the desired change in real speed and the desired change in real propulsion; and
    - control the wind turbine, based on the parameter set point, in order to maintain the real propulsion and the real speed of the wind turbine within a certain tolerance of the propulsion set point and the speed set point, by regulating, thus, the loads acting on the wind turbine.
    [2]
    2. METHOD, according to claim 1, characterized by the fact that the instantaneous operating point comprises at least one of a wind speed, a pitch angle, a generator speed, a power output, a torque output , a peak speed ratio, a rotor speed, a power coefficient, a torque coefficient, a propulsion, a propulsion coefficient, a propulsion response, a blade tilt moment, a rod tilt moment, a speed response or a tower tilt moment.
    2/6
    [3]
    3. METHOD, according to claim 1, characterized by the fact that it additionally comprises adjusting at least one of the propulsion set point or the speed set point, based on the instantaneous operating point.
    [4]
    4. METHOD, according to claim 1, characterized by the fact that, in operating regions, when a wind speed is above an evaluated wind speed, the propulsion set point is adjusted according to an output of filtered or unfiltered power, where, when the wind speed is below the rated wind speed, the propulsion set point is adjusted according to a filtered or unfiltered pitch angle, and where, when the speed of wind is at or near the rated wind speed, the propulsion setpoint is adjusted based on a maximum projected propulsion of the wind turbine.
    [5]
    5. METHOD, according to claim 4, characterized by the fact that it additionally comprises determining a desired change in power output, based on a difference between a real power and a power set point and determining a desired change in angle step, based on a difference between a real step and an ideal precision step.
    [6]
    6. METHOD, according to claim 1, characterized by the fact that it additionally comprises determining the desired change in the actual speed:
    - determining a real wind turbine speed; and,
    - determining a difference between the speed setpoint and the actual speed, in which both the speed setpoint and the actual speed are reflective of a generator speed, rotor speed or speed ratio cutting edge.
    3/6
    [7]
    7. METHOD, according to claim 1, characterized by the fact that it additionally comprises determining the desired change in the actual propulsion:
    - determining a real propulsion of the wind turbine; and,
    - determining a difference between the propulsion set point and the actual propulsion.
    [8]
    8. METHOD, according to claim 7, characterized by the fact that determining the actual propulsion additionally comprises using at least one of the following: one or more sensors, a plurality of equations, one or more aerodynamic performance maps or one or more lookup tables.
    [9]
    9. METHOD, according to claim 1, characterized by the fact that determining the parameter set point also includes using the multivariable control.
    [10]
    10. METHOD, according to claim 9, characterized by the fact that the multivariable control comprises at least one among a cost function, a loss function or a transfer function.
    [11]
    11. METHOD, according to claim 9, characterized in that it additionally comprises determining a speed sensitivity and a propulsion sensitivity by calculating at least a partial derivative of the actual propulsion or the actual speed, in relation to the operating point and one or more control drives, and using speed sensitivity and propulsion sensitivity in multivariable control.
    [12]
    12. METHOD, according to claim 1, characterized by the fact that the parameter set point additionally comprises at least one of a step angle set point or a torque set point.
    4/6
    [13]
    13. SYSTEM TO DYNAMICALLY CONTROL A WIND TURBINE, characterized by the fact that the system comprises a processor configured for:
    - operate the wind turbine, based on a desired propulsion setpoint and a desired speed setpoint;
    - determine a desired change in the actual speed of the wind turbine, in response to control drives that start from an instantaneous operating point;
    - determine a desired change in the actual propulsion of the wind turbine, in response to control drives that start from the instantaneous operating point;
    - determine at least one parameter setpoint that achieves the desired change in real speed and the desired change in real propulsion; and a controller communicatively coupled with the processor, the controller being configured to control the wind turbine, based on the parameter set point, in order to keep the real propulsion and the real speed of the wind turbine within a certain tolerance of the propulsion set point and speed set point, through which it regulates the loads acting on the wind turbine.
    [14]
    14. METHOD TO DYNAMICALLY CONTROL A WIND TURBINE, characterized by the fact that the method comprises:
    - operate the wind turbine, based on a propulsion setpoint and a speed setpoint;
    - determine, by means of a processor, a desired change in the actual rotor speed of the wind turbine, in response to control drives that start from an instantaneous operating point;
    5/6
    - determine, by means of the processor, a desired change in the actual propulsion of the wind turbine, in response to the control drives that start from an instantaneous point of operation;
    - use, through the processor, multivariable control to determine a pitch setpoint and a torque setpoint that achieves the desired change in the actual rotor speed and the desired change in the actual propulsion; and
    - control the wind turbine, based on the pitch set point and the torque set point, in order to maintain the real propulsion and the real speed of the wind turbine within a certain tolerance of the propulsion set point and the set point speed setting, through which it regulates the loads acting on the wind turbine.
    [15]
    15. METHOD, according to claim 14, characterized by the fact that the instantaneous operating point comprises at least one of a wind speed, a pitch angle, a generator speed, a power output, a torque output , a peak speed ratio, a rotor speed, a power coefficient, a torque coefficient, a propulsion, a propulsion coefficient, a propulsion response, a blade tilt moment, a rod tilt moment, a speed response or a tower tilt moment.
    [16]
    16. METHOD according to claim 14, characterized by the fact that it additionally comprises adjusting at least one of the propulsion set point or the speed set point, based on the instantaneous operating point.
    [17]
    17. METHOD, according to claim 14, characterized by the fact that, in operating regions, when the wind speed is above an evaluated wind speed, the setpoint of
    6/6 propulsion is adjusted according to a power output, where, when the wind speed is below the rated wind speed, the propulsion set point is adjusted according to a filtered pitch angle, and where , in regions of operation at or near the assessed wind speed, the propulsion set point is adjusted based on a maximum projected propulsion of the wind turbine.
    [18]
    18. METHOD, according to claim 17, characterized by the fact that it additionally comprises determining the power output, based on a difference between a real power and a power set point, and determining the pitch angle, based on in a difference between a real step and an ideal precision step,
    [19]
    19. METHOD, according to claim 14, characterized by the fact that it additionally comprises determining the desired change in the actual rotor speed:
    - determining a real wind turbine rotor speed;
    and,
    - determining a difference between the rotor speed setpoint and the actual rotor speed.
    [20]
    20. METHOD, according to claim 14, characterized by the fact that it additionally comprises determining the desired change in the actual propulsion:
    - determining a real propulsion of the wind turbine; and,
    - determining a difference between the propulsion set point and the actual propulsion.
    1/9
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    同族专利:
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    CA2887089C|2019-06-18|
    US9631606B2|2017-04-25|
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    ES2664825T3|2018-04-23|
    DK2933477T3|2018-04-23|
    EP2933477B1|2018-03-07|
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    法律状态:
    2018-02-14| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|
    2018-10-30| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2020-05-12| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    优先权:
    申请号 | 申请日 | 专利标题
    US14/251,879|US9631606B2|2014-04-14|2014-04-14|System and method for thrust-speed control of a wind turbine|
    US14/251,879|2014-04-14|
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