• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    Control method of a wind turbine comprising the steps of obtaining a first signal of the azimuth position (θ) for each blade, obtaining at least one signal indicative of wind speed (V), and calculating an angle control term in passing (δ β). The step of calculating the blade pitch angle control term (δ β) comprises employing at least one function that depends on the at least one signal indicative of the wind speed (V) and because the at least one function dependent on the at least one signal indicative of the wind speed (V) includes a growing section in a range of wind speed values below a nominal wind speed (vnom). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2551659A1
    申请号:ES201430728
    申请日:2014-05-20
    公开日:2015-11-20
    发明作者:Carlos Molins Garralda；Alberto García Barace；José Luis LABORDA RUBIO；Teresa Arlabán Gabeiras；Alejandro GONZÁLEZ MURÚA；José Luis ARÍSTEGUI LANTERO；José Miguel García Sayés；Miguel Núñez Polo
    申请人:Acciona Windpower SA；
    IPC主号:
    专利说明:

    Wind turbine control method OBJECT OF THE INVENTION
    The present invention is part of the technical field of wind turbine control methods.
    More specifically, a method of cyclic pitch control for a wind turbine is described, whose purpose is to increase the distance from the tip of the blade to the tower by reducing the energy lost associated with said type of controls. BACKGROUND OF THE INVENTION
    The current trend in the design of wind turbines is to increase the length of the blades to increase the annual energy produced, through a compromise between lightness and rigidity. In turn, it is advantageous to have the same platform (understood as the structural elements of the wind turbine, ie the tower and elements of the hub and the gondola) with the same dimensioning valid for use with different dimensions of blades for different kinds of blades. location, as this opens new markets to the product optimizing the cost.
    One of the biggest problems in increasing the length of the blades trying to limit the weight is the increase in their flexibility. This flexibility together with the increase in wind speed also increases the deflection of the blades in the wind direction. That is, for a windward wind turbine (normal configuration), taking the tip of the blades towards the tower.
    There are different solutions to prevent the blades in its deflection from hitting the tower because if this occurs irreparable damage to both components will occur. A very common practice is to design the axis of rotation of the rotor so that it is not horizontal, but endowed with a certain angle with respect to the horizontal, so that the tip of the blades of the tower moves away in front of She turning Said angle is known as tilt angle. The higher said angle, the more flexible and therefore the blades can be manufactured, which has a positive impact on the weight of the other components and finally on the cost of the assembly. However, the effective rotor surface area is reduced.
    Another possibility is to use bushings with a greater conning angle. However, this again produces a reduction in the area swept by the rotor perpendicular to the wind. These already known possibilities imply a reduction in the annual energy produced.
    The zone (or regime) of winds in which the possibility of impact of the tip coincides with the area of the elbow of the power curve of the machine (8-13 m / s) in which the thrust is maximum. In this area, it is usually the blade pitch angle that achieves the highest possible production, commonly called fine pitch.
    In wind turbines whose objective is to maximize the production without problems due to the impact of the tip of the blade with the tower, the thrust grows with the wind from the minimum connection value until the wind turbine reaches the nominal power, the thrust reaching its maximum value in said area and at pitch angles around 0º (fine-pitch). Once the nominal power has been reached, the angle of passage is regulated towards the flag to reduce the energy capture and maintain the power at its nominal value, reducing the thrust again.
    Being the thrust the main cause of the blade's flexion, it can be deduced that the deflection will be maximum near the area of maximum thrust winds and at pitch angles close to fine pitch.
    Methods of controlling the pitch angle of the collective blade (to the same extent in all blades) are known from the state of the art to avoid collisions of the blade with the tower. To do this, in the problematic wind zone, i.e. The elbow area of the machine's power curve (8-13 m / s), increases the angle of passage of the three blades to avoid that due to the gusts of wind, the blade flecks in excess.
    The major drawback of this control method is that it moves the three blades to non-optimal positions from the aerodynamic point of view, which translates into a large annual energy loss.
    To try to solve this energy loss, strategies have been developed in the state of the art in which the pitch angle of the blade is cyclically modified for each blade exclusively in the turning area in which the blade will pass in front of the tower (azimuthal angles between 90º and 270º).
    This type of control corresponds to that shown in US2013045098 in which a control method is described which aims to increase the distance from the tip of the blade to the tower. With this method, the pitch angle of the blade that approaches the tower is controlled when the rotor is rotated, moving it towards angles of lower power capture (ie, the wind blade is disengaged) when its azimuthal position is detected and is close of the position in which it passes through the tower.
    The method described in this document also compensates for the lost energy associated with the pitch movement towards positive angles in the blade that passes in front of the tower facing the other two blades more to the wind. This also allows reducing the associated power curling. The problem is that this only works in areas of nominal power (in other areas the angle of passage is already optimal, understood as the one that provides the maximum energy capture) in which there is a surplus of power.
    Since the minimum distance between the blade tip and the surface of the tower occurs at 180º of azimuthal position, an additional blade pitch angle term is added that takes a value dependent on the azimuthal position of the blade and that takes its maximum value to the step of shovel by tower (in an azimuthal position that corresponds approximately to 180º, being the origin of the reference the position of the shovel in vertical upwards). DESCRIPTION OF THE INVENTION
    The wind turbine control method of the present invention allows to increase the distance between the tip of the blade that passes through the generator tower at all times and the tower itself, to avoid possible collisions. For this, the control method includes the application of a blade pitch angle control term that is calculated based on at least one signal indicative of the wind speed and as a function of the azimuth angle of each blade.
    The objective of the proposed method is to reduce the loss of energy associated with the variation of the angle of the blade that is made when they pass through the tower (azimuth angle of 180º measured taking as reference the vertical position of the blade upwards). As described above, the variation of the angle of passage at that point is made to avoid possible collisions of the blade tip with the wind turbine tower and the present method allows to reduce said associated energy loss.
    It is a control method that minimizes the energy loss caused by moving the blade towards positive blade pitch angles and that includes the application of a value for the additional term of the blade pitch angle dependent on a signal indicative of wind speed. Thus, the energy loss associated with the imposition of a non-optimal angle is reduced.
    During the operation of the wind turbine, the control function passes through a partial production zone and a nominal production zone. The partial production zone is the zone in which less power is produced than the nominal power of the wind turbine and the nominal production zone is the zone in which a power equal to the nominal power is produced.
    The described method uses as an indicative wind signal:
    - the power generated, in the zone of partial production with potential for collision of the shovel with the tower, and
    - the angle of passage, in the nominal production area with potential for collision of the shovel with the tower.
    Thus, the value of the angle of passage of each blade is controlled according to the possibility of a collision of the blade with the tower to minimize energy loss.
    This probability of collision between the blade and the tower is increasing up to the nominal power, where the rotor's rotational power is usually started by rotating the blade towards greater angles of passage (that is, towards the flag) because in that area There are higher push values. DESCRIPTION OF THE DRAWINGS
    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
    Figure 1.- Shows a view of the positions of the wind turbine blades in which the azimuthal positions of the blades and the azimuthal angle reference corresponding to the position of the blade in vertical upward are appreciated.
    Figure 2.- Shows a graph in which the area with the possibility of collision of the blade with the tower has been scratched depending on the power and wind speed.
    Figure 3.- Shows a graph of the function that governs the value of the term of control shovel to increase the distance from the tip of the blade to the tower depending on the signal indicative of the wind speed.
    Figure 4.- Shows a graph of the function that governs the value of the blade pitch control term applied to the calculation of the maximum amplitude, dependent on the power.
    Figure 5.- Shows a graph of the function that governs the value of the blade pitch control term to increase the distance from the blade tip to the tower for a minimum value of minimum blade pitch angle equal to zero.
    Figure 6.- It shows a graph in which two examples of application of the variable gain dependent on the amplitude of the function that regulates the value of the blade pitch term have been represented and it is observed that the range of azimuthal positions in which the Blade pitch control term is non-zero depends on the maximum amplitude depending on the signal.
    Figure 7.- Shows a schematic view of the block diagram implemented in the generator control unit to carry out the control method.
    Figure 8.- Shows two graphs in which the value of the blade pitch angle is seen as a function of the wind speed and the amplitude of the applied pitch angle control term is reduced by decreasing the wind speed.
    Figure 9.- Shows a graph in which the maximum value of the blade pitch angle control term is reached before reaching an azimuthal position coinciding with an area close to the tower.
    Figure 10.- It shows a graph in which the maximum value of the term of control of the pitch of the blade is maintained throughout the area of influence of the tower to be protected against variations in wind speed. PREFERRED EMBODIMENT OF THE INVENTION
    An embodiment of the wind turbine control method of the present invention is presented below.
    Figure 1 shows an image in which the upper part of a wind turbine has been represented. A rotor with three blades and the top of the tower are appreciated. In this figure the azimuthal angles (θ) that reflect the positions of each blade with respect to the azimuth angle reference corresponding to the position of the blade vertically upwards can be observed.
    Figure 2 shows the generic power curve of a wind turbine in which the generated power (P) is shown as a function of wind speed (v). The starting point of the curve is determined by the wind speed at which the wind turbine begins to deliver power to the power grid (vin) and the end point of the wind speed at which the wind turbine disconnects from the power grid to avoid be subjected to excessive mechanical loads (vout).
    The striped area represents the area where there is a risk of collision of the tip of the blade with the tower and is located between a velocity v1 less than vnom and a velocity v2 greater than vnom. As can be seen in the graph, the striped area covers part of the partial production zone and part of the nominal production zone. Said scratched zone is the zone in which the blade pitch angle control term () can take positive values depending on the azimuthal position.
    As previously described, the thrust is maximum before reaching the nominal power (Pnom) but when this power is reached, the pitch angle (β) of the three blades (when the three move at the same time) starts to take positive values to control the speed of rotation and maintain the bounded power around the nominal power so that the thrust and flexion are reduced (the bending is reduced as a result of the reduction in thrust). At that time, as the flexion has decreased, the probability that the blade collides with the tower also decreases and therefore it is no longer necessary to apply a term dependent on the azimuthal position of the blade to the pitch angle control function.
    The proposed control method is intended to be used in a wind turbine of the type that includes:
     - a tower,
    - a rotor with a plurality of blades comprising in turn respective actuators configured to vary the pitch angle of each blade, and
    - a control unit
    Said method comprises the following steps:
    - obtain a first signal of the azimuthal position (θ) for each blade,
    - obtain at least one signal indicative of wind speed (v), and
    - calculate a pitch angle control term () for each blade according to the azimuth position (θ) of each blade and the at least one signal indicative of the wind speed (v), intended to increase the angle step (β) of the blade.
    Subsequently, the step angle control term () for each blade is sent to each blade so that the respective actuators vary the pitch angle according to said control term.
    In this way it is achieved, increasing the pitch angle (β) of the blade in a range of azimuthal blade positions between 90º and 270º, increasing the distance between the tip of the blade and the tower and thus avoiding potential collisions of the shovel with the tower.
    On the other hand, if the range of azimuthal positions in which the pitch angle (β) of the blade is increased is between 270º and 90º, the wind turbine is protected against extreme load in case of a sharp variation of the profile of wind cut.
    The key to the proposed method is that the step of calculating the blade pitch angle control term ( comprises using at least one function dependent on the at least one signal indicative of wind speed (v) and why The at least one function dependent on the at least one signal indicative of the wind speed comprises an increasing stretch in a range of wind values below a nominal wind speed (vnom).
    The at least one function dependent on the at least one signal indicative of the wind speed includes a decreasing stretch in a range of wind values above a nominal wind speed.
    As can be seen in figure 2, the scratched area is where a non-zero value is applied (value that will be positive in wind turbines with blade-to-flag pitch control) for the step angle control term shovel (). Depending on the azimuthal position (θ) and taking non-null values in a range of azimuthal positions close to the angle of the shovel in front of the tower (ie between 90º-270º according to the references in Figure 1) and null values in a range of azimuthal positions far from the blade pitch angle in front of the tower (ie between 270º-90º according to the references in figure 1), the function is cyclic by changing the value of the blade pitch control term by effect of the variation of the azimuthal position of the blade due to the rotation of the rotor.
    Generally, using wind measurements is inadvisable because they have a lot of noise since they are affected by the passage of the blade in front of the anemometer and are specific measures. To avoid these failures the at least one signal indicative of the wind speed comprises a filtered wind measurement. In an exemplary embodiment, obtaining a filtered wind measurement can be done by averaging specific wind measurements over a given time interval, for example, 5s, 10s, etc.
    In one embodiment of the invention the method uses the power generated as an indicative wind signal in the partial production zone (for the range of wind speed values below a nominal wind speed). In this embodiment, the at least one signal indicative of the wind speed comprises a measure of generated power (P) and the function used to calculate the control angle of step angle () is dependent on the generated power (P ) and includes a growing segment in a range of powers below the nominal power (Pnom).
    Specifically, in one embodiment of the invention, the function used to calculate the control term of the blade pitch angle () is a cyclic function, with a period dependent on the azimuthal position of the blade ( and amplitude ( A) dependent on the wind indicative signal (v), therefore A = A (v). Therefore, the function used to calculate the control term of the blade pitch angle has a double dependence on the azimuthal position of the blade and of the wind indicative signal  =  (v).
    In one embodiment, said function is a sine function that takes an expression of the type:
     =  (v) = A (v) * sen () It is also a function in sections that takes the following expression depending on the azimuthal position:
     = A (v) * sen () for 
     = 0 for 
    Alternatively, the function may be a triangular or trapezoidal function or be offset with respect to the tower position as will be shown later.
    As mentioned, a function dependent on the at least one signal indicative of the wind speed (v) is used to calculate a value of the blade pitch control term. Said function, in one embodiment, defines the value of the amplitude (A) of the cyclic function as a function of the wind indicative signal (v).
    Figure 3 shows a graph in which the function defines the value of the amplitude (A) of the cyclic function as a function of the indicative wind signal (v) that will provide as a result when applied to the cyclic function the value that take the term of control of the angle of passage () of the blade to increase the distance from the tip of the blade to the tower depending on the signal indicative of the wind speed.
    Said graph includes an increasing section of V1 to V3, V1 being a speed less than the nominal wind speed, and includes a decreasing section of V4 to V2, V2 being a speed greater than the nominal wind speed. That is, A = A (v) and specifically:
    A = 0 for v <V1
    A = AMax (V3-v) / (V3-V1) for V1 <v <V3 with V1 <V3 <VNom
    A = AMax for V3 <v <V4 with V3 <VNom and V4> VNom
    A = AMax - AMax (v-V4) / (V2-V4) for V4 <v <V2 with V4> VNom
    A = 0 for v> V2
    As indicative wind signals the described method employs for the calculation of the amplitude (A) of the cyclic function, i.e. the function dependent on the at least one signal indicative of the wind speed (v) for the calculation of a value of the blade pitch control term:
    - the power generated (P), in the zone of partial production with potential for collision of the shovel with the tower, and
    - the angle of passage (β), in the nominal production area with potential for collision of the blade with the tower.
    Thus, in one embodiment two functions are used to calculate the amplitude A applied to the cyclic function, one dependent on the power A (P) and another dependent on the pitch angle of blade A (β).
    In this way the function that defines the value of the amplitude (A) of the cyclic function as a function of the indicative wind signal (v) has a double dependence on the generated power and the blade pitch angle so that below in the area of partial powers, ie Below the nominal wind speed, the function depends on the power generated (P) and above the nominal wind speed, the function depends on the blade pitch angle (β):
    A (P, β) = A (P) for v <VNom
    A (P, β) = A (β) for v> VNom
    In one embodiment of the invention, the wind indicative signal is the power generated and the method comprises the following steps:
    - obtain the measure of generated power (P)
    - establish a first generated power value (P1) and a second generated power value (P2), where the second generated power value (P2) is less than the nominal power (Pnom), and the first generated power value (P1 ) is less than the second generated power value (P2),
    - Calculate the control angle of step angle () based on the measure of power generated (P).
    According to said embodiment, the increasing section of the function for calculating the value of the step angle control term () is comprised between the first generated power value (P1) and the second generated power value (P2), such and as seen in Figure 4 for P1 = 0.65 and P2 = 0.8.
    Figure 4 shows a graph that represents the value of the amplitude A as a function of the power P. It can be seen how below the threshold defined by a first generated power value P1 the amplitude A of the function is zero and for a power value between P1 and P2 (P2 being a second value of generated power less than the nominal power Pnom and the first value of generated power being less than the second value of generated power (P1 <P2)) the value of the amplitude grows to reach its maximum value AMax when the power is equal to P2.
    Specifically, in Figure 4 the first value of generated power is equivalent to 0.65 of the nominal power of the wind turbine and the second value of generated power is equivalent to 0.8 of the nominal power of the wind turbine, i.e. P1 = 0.65 and P2 = 0.8. Thus, the function that provides the value of amplitude A is a function in sections given by the following expression:
    A = 0 for P <P1A = A (P) = AMax (P2-P) / (P2-P1) for P1 <P <P2 with P2 <Pnom.
    A = A (P) = AMax P2 <P <Pnom
    The maximum value of the AMax amplitude is calculated to avoid shovel collision in the most unfavorable case of thrust.
    In said figure 4 an example of embodiment is shown in which the first value of generated power (P1) is 0.65 pu and the second value of generated power (P2) is 0.8 pu.
    In an example of the method in which the at least one signal indicative of wind speed comprises a measure of generated power (P), said method comprises the following steps:
    - obtain the measure of generated power (P),
    - establish a first generated power value (P1) and a second generated power value (P2), where the second generated power value (P2) is less than the nominal power (Pnom), and the first generated power value (P1 ) is less than the second generated power value (P2),
    - calculate the step angle control term () using the at least one function dependent on the at least one signal indicative of the wind speed (v) using the measured power signal (P) as the wind indicative signal,
    and where the increasing segment of the at least one function dependent on the at least one signal indicative of the wind speed is comprised between the first value of generated power (P1) and the second value of generated power (P2).
    In another embodiment of the invention, the pitch angle of the blade (β) is used as a signal indicative of the wind speed in the nominal production zone for a range of wind speeds above a nominal wind speed. In this embodiment the at least one signal indicative of the wind speed comprises a measure of blade pitch angle (β).
    The value of the step angle control term () varies, as shown in Figure 5, between the following values:
    • If the measured pitch angle (β) is less than the minimum pitch angle (βmin) plus a first safety threshold then the amplitude of the control term of the wind turbine blade pitch angle is maximum.
    • If the measured step angle (β) is greater than the minimum step angle (βmin) plus a first safety threshold and less than the minimum step angle (βmin) plus a second threshold greater than the first safety security threshold then the amplitude A is less than the maximum amplitude AMax of the blade pitch angle control term.
    • If the measured step angle (β) is greater than the minimum step angle (βmin) plus the value of the control angle of the step angle () second safety threshold then the amplitude of the control angle angle of step is null.
    An example of the function applied to the calculation of the value of the amplitude A dependent on the pitch angle of blade A (β) is shown in said figure 5. It shows an example in which a minimum step angle (βmin) equal to zero has been taken, a first security value equal to 2º and a second security value equal to 3º, being the function to calculate the amplitude A used in the function to calculate the step angle control term () a linear function A (β) and varying the resulting amplitude between 0 and AMax with AMax = 1.
    Thus, the method can further comprise the steps of:
    -  obtain the measure of pitch angle of blade (β),
    - establish a minimum blade pitch angle (βmin), a first safety value and a second safety value,
    - calculate the pitch angle control term () using the at least one function dependent on the at least one signal indicative of the wind speed (v) using the blade pitch angle measurement as the indicative wind signal ( β)
    and where the at least one function dependent on the at least one signal indicative of the wind speed comprises a decreasing section in a range of blade pitch angle values (β) comprised between the minimum pitch angle (βmin) plus the first safety value and the minimum step angle (βmin) plus the second safety value.
    In an exemplary embodiment of the invention the step of calculating the step angle control term () using the at least one function dependent on the at least one signal indicative of the wind speed (v) is performed using as wind indicative signal the measurement of blade pitch angle (β) when the wind speed indicative signal is in the range of wind speed values above the nominal wind speed (vnom). This step is carried out using the measured power signal as the wind signal
    (P) when the wind speed indicative signal is in the range of wind speed values below the nominal wind speed (vnom).
    In another embodiment, the range of azimuth values (T) in which the blade pitch control term () takes non-zero values depends on the signal indicative of the velocity of
    wind, being able to employ a measure of filtered wind speed, the power generated, the angle of the blade or the amplitude value (A) given by the function dependent on the wind indicative signal. An example of application of said variable gain applied to the period of the cyclic function is shown in Figure 6 in which the variable gain depends on the power at the amplitude of the function that regulates the value of the blade pitch angle.
    The graph of Figure 6 shows the corresponding curve of the control function when the power is greater than P2 and the curve when the power is between P1 and P2 (as described above, the function has a null amplitude when the power is less than P1).
    Additionally, to further increase production, it is proposed that the range (T) of azimuthal positions in which the term of control of pitch angle is non-zero is dependent on the amplitude determined as a function of the indicative wind signal (can be proportional for example to the amplitude), ie T = K * A (P), where K is a constant of proportionality. This allows reducing the energy loss by maintaining the maximum blade pitch angle speed determined to reach the maximum amplitude in the available time (depends on the speed of rotation). Figure 6 shows the range of azimuthal positions (T) in which the blade pitch angle control term is non-zero.
    In an exemplary embodiment of the invention the range (T) of azimuthal positions in which the blade pitch angle control term is non-zero is dependent on the amplitude (A) calculated using the at least one dependent function of the at least one signal indicative of wind speed (v).
    In one of the graphs (dotted line) in which the value of the blade pitch control term for a power between P1 and P2 is shown, it can be seen as the range of azimuthal positions (T2) in which the control term of blade pitch angle is non-zero is coincident with range of azimuthal positions (T2) in which the blade pitch angle control term is non-zero for a power equal to P2 (ie with amplitude equal to maximum amplitude) .
    However, the dashed line shows the value of the blade pitch control term according to an embodiment in which the range (T) of azimuthal positions in which the blade pitch angle control term is non-zero is dependent on the amplitude determined as a function of the indicative wind signal (it can be proportional for example to the amplitude), ie T = K * A (P) = T2 <T1.
    Figure 7 shows the block diagram that has been implemented in the wind turbine control unit to carry out the described method. To the setpoint of pitch angle that depends on the difference between the reference speed of rotation of the rotor and the measured speed, which is common for the three blades (βref), are added respective terms calculated individually for each blade according to the calculations described above, and that depend on the azimuthal position of each blade and the wind speed.
    As seen in said figure 7, the final reference result of blade pitch angle (β) for each blade is:
    β1 = βref + 1
    β2 = βref + 2
    β3 = βref + 3
    As can be seen in Figure 8, the value of the pitch angle of a blade varies depending on the wind speed so that the amplitude of the additional term applied to the average value is reduced by decreasing the wind speed (A1> A2) .
    In one embodiment of the invention the step of calculating a pitch angle control term () for each blade depending on the azimuth position (θ) of each blade and the at least one signal indicative of wind speed (v) comprises using a cyclic function, where an amplitude (A) of the cyclic function is calculated using the at least one function dependent on the at least one signal indicative of the wind speed (v).
    The proposed control method, as indicated, can be carried out in order to avoid the collision of the blade with the tower or in order to reduce extreme loads in the case of modifications in the wind shear profile. Depending on the objective, the range of azimuthal positions in which the control term of the blade pitch angle () takes positive values differs.
    Thus, to ensure the protection of the blade before reaching the area of passage through the tower, the cyclic function for the calculation of the control term of the blade pitch angle () takes positive values when the azimuth position (θ ) of the blade is between 90 ° and 270 ° and preferably reaches the maximum amplitude (A) when the azimuthal position (θ) of the blade is less than or equal to 180 °.
    Additionally and to guarantee the protection of the blade before reaching the area of passage through the tower, as shown in Figure 9, in a preferred embodiment the maximum amplitude (A) is reached when the azimuthal position (θ) of the Shovel is greater than 150º and less than 170º. That is, the maximum amplitude of the control function is reached before reaching the azimuthal position coinciding with the area near the tower.
    In another embodiment shown in Figure 10, and in order to ensure the protection of the blade before reaching the passage zone through the tower, the function for calculating the control term of the blade pitch angle () maintains the amplitude (A) substantially constant and equal to the maximum amplitude to an azimuthal position (θ) of the blade greater than 180 °. Thus, the maximum value is maintained throughout the area of influence of the tower to be protected against variations in wind speed. In an even more preferred embodiment, the function of calculating the control angle of the blade pitch angle () maintains the amplitude
    (A) substantially constant and equal to the maximum amplitude up to an azimuthal position (θ) of the blade between 190º and 210º.
    The above ranges of azimuthal positions in which the control term of the blade pitch angle () takes positive values is also convenient for the wind turbine to be protected against potential reversals of the wind shear profile (the velocity profile of wind happens to have a higher wind speed in areas closer to the ground than in areas farther from it, contrary to usual, in which the wind speed due to the roughness of the ground is lower near the ground than in dimensions superior).
    In the event that the sole purpose is to avoid the collision of the blade with the tower or to protect the wind turbine against reversal of the wind cut profile, the cyclic function has a null amplitude (A) in a range of azimuthal positions ( θ) of the blade between 270º and 90º to reduce the loss of production.
    However, in the event that the objective is to reduce extreme loads in the case of sharp increases in the wind shear profile (in addition to preventing the collision of the blade with the tower or protecting the wind turbine against reversals of the shear profile of wind or exclusively), the cyclic function used to calculate the control term of the blade pitch angle () takes positive values when the azimuth position (θ) of the blade is between 270º and 90º and preferably reaches the maximum amplitude (A) when the azimuthal position (θ) of the blade is substantially equal to 360 °.
    In an exemplary embodiment, the cyclic function is a sine function. In another example of
    realization the cyclic function is a trapezoidal function.
    权利要求:
    Claims (18)
    [1]
    1.- Control method of a wind turbine of the type that includes at least:
     - a tower,
    - a rotor with a plurality of blades comprising in turn respective actuators configured to vary the pitch angle of each blade, and
    - a control unit,
    where the method comprises the following steps:
    - obtain a first signal of the azimuthal position (θ) for each blade,
    - obtain at least one signal indicative of wind speed (v),
    - calculate a pitch angle control term () for each blade according to the azimuth position (θ) of each blade and the at least one signal indicative of the wind speed (v), intended to increase the angle step (β) of the blade,
    and is characterized in that the step of calculating the blade pitch angle control term () comprises employing at least one function that depends on the at least one signal indicative of the wind speed (v) and because the at least a function dependent on the at least one signal indicative of the wind speed (v) includes an increasing stretch in a range of wind speed values below a nominal wind speed (vnom).
    [2]
    2. Control method of a wind turbine according to claim 1 characterized in that the at least one function dependent on the at least one signal indicative of wind speed includes a decreasing section in a range of wind values above a speed of nominal wind (vnom).
    [3]
    3. Control method of a wind turbine according to claim 2 characterized in that the at least one signal indicative of the wind speed comprises a filtered wind measurement.
    [4]
    4. Control method of a wind turbine according to claims 1 or 2 characterized in that the at least one signal indicative of the wind speed comprises a measure of generated power (P).
    [5]
    5. Control method of a wind turbine according to claim 4 characterized in that it comprises the steps of:
    - obtain the measure of generated power (P) - establish a first generated power value (P1) and a second generated power value (P2), where the second generated power value (P2) is less than the nominal power (Pnom) , and the first generated power value (P1) is less than the second generated power value (P2),
    -  calculate the step angle control term () using the at least one function dependent on the at least one signal indicative of the wind speed (v) using the measured power signal (P) as the wind indicative signal,
    and where the increasing segment of the at least one function dependent on the at least one signal indicative of the wind speed is comprised between the first value of generated power (P1) and the second value of generated power (P2).
    [6]
    6. Control method of a wind turbine according to claim 5, characterized in that the first value of generated power (P1) is 0.65 pu and the second value of generated power (P2) is 0.8 pu.
    [7]
    7. Control method of a wind turbine according to claims 2 or 4 characterized in that the at least one signal indicative of the wind speed comprises a measure of blade pitch angle (β).
    [8]
    8. Control method of a wind turbine according to claim 7 characterized in that it comprises the steps of:
    - obtain the measure of pitch angle of blade (β),
    - establish a minimum blade pitch angle (βmin), a first safety value and a second safety value,
    - calculate the pitch angle control term () using the at least one function dependent on the at least one signal indicative of the wind speed (v) using the blade pitch angle measurement as the indicative wind signal ( β)
    and where the at least one function dependent on the at least one signal indicative of the wind speed comprises a decreasing section in a range of blade pitch angle values (β) comprised between the minimum pitch angle (βmin) plus the first safety value and the minimum step angle (βmin) plus the second safety value.
    [9]
    9. Control method of a wind turbine according to claims 5 and 8 characterized in that the step of calculating the control angle of step angle () using the at least one function dependent on the at least one signal indicative of the wind speed (v) is performed using the shovel pitch angle measure (β) as the indicative wind signal when the wind speed indicative signal is in the range of wind speed values above the wind speed nominal (vnom) and is carried out using as a wind indicative signal the measurement of generated power (P) when the wind speed indicative signal is in the range of wind speed values below the nominal wind speed (vnom) .
    [10]
    10. Control method of a wind turbine according to any of the preceding claims characterized in that the step of calculating a control angle of step angle () for each blade according to the azimuth position (θ) of each blade and of the at least one signal indicative of the wind speed (v) comprises employing a cyclic function, where an amplitude (A) of the cyclic function is calculated using the at least one function dependent on the at least one signal indicative of the speed of wind (v).
    [11]
    11. Control method of a wind turbine according to claim 10 characterized in that the cyclic function reaches the maximum amplitude (A) when the azimuthal position (θ) of the blade is less than 180 °.
    [12]
    12. Control method of a wind turbine according to claim 10 characterized in that the cyclic function reaches the maximum amplitude (A) when the azimuth position (θ) of the blade is greater than 150 ° and less than 170 °.
    [13]
    13. Control method of a wind turbine according to claims 11 or 12 characterized in that the cyclic function maintains the amplitude (A) substantially constant and equal to the maximum amplitude up to an azimuthal position (θ) of the blade greater than 180 °.
    [14]
    14. Control method of a wind turbine according to claim 13, characterized in that the cyclic function maintains the amplitude (A) substantially constant and equal to the maximum amplitude up to an azimuthal position (θ) of the blade comprised between 190 ° and 210 °.
    [15]
    15. Control method of a wind turbine according to claims 11 to 14 characterized in that the cyclic function has a zero amplitude (A) in a range of azimuthal positions (θ) of the blade comprised between 270 ° and 90 °.
    [16]
    16. Control method of a wind turbine according to claim 10 characterized in that the cyclic function is a sinusoidal function.
    [17]
    17. Control method of a wind turbine according to claim 10 characterized in that the cyclic function is a trapezoidal function.
    [18]
    18. Control method of a wind turbine according to claims 10 to 17, characterized in that the range (T) of azimuthal positions in which the term of blade pitch control is non-zero is dependent on the amplitude (A) calculated using the at least one function dependent on the at least one signal indicative of wind speed (v).
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    同族专利:
    公开号 | 公开日
    ES2551659B1|2016-09-14|
    EP2947313B1|2020-11-25|
    EP2947313A1|2015-11-25|
    DK2947313T3|2021-03-01|
    ES2864650T3|2021-10-14|
    US20150337803A1|2015-11-26|
    US9903341B2|2018-02-27|
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    US14/715,946| US9903341B2|2014-05-20|2015-05-19|Control method for a wind turbine|
    EP15168268.9A| EP2947313B1|2014-05-20|2015-05-19|Wind turbine control method|
    ES15168268T| ES2864650T3|2014-05-20|2015-05-19|Control method of a wind turbine|
    DK15168268.9T| DK2947313T3|2014-05-20|2015-05-19|WIND TURBLE MANAGEMENT PROCEDURE|
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