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WO2013065323A1 - Dispositif de commande pour appareil générateur d'énergie éolienne marin du type à corps flottant - Google Patents

Dispositif de commande pour appareil générateur d'énergie éolienne marin du type à corps flottant Download PDF

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Publication number
WO2013065323A1
WO2013065323A1 PCT/JP2012/007057 JP2012007057W WO2013065323A1 WO 2013065323 A1 WO2013065323 A1 WO 2013065323A1 JP 2012007057 W JP2012007057 W JP 2012007057W WO 2013065323 A1 WO2013065323 A1 WO 2013065323A1
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WO
WIPO (PCT)
Prior art keywords
floating body
power generation
blade pitch
floating
wind power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2012/007057
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English (en)
Japanese (ja)
Inventor
俊司 井上
佳成 南
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Maritime Research Institute
Original Assignee
National Maritime Research Institute
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Filing date
Publication date
Application filed by National Maritime Research Institute filed Critical National Maritime Research Institute
Priority to JP2013541642A priority Critical patent/JP6187935B2/ja
Publication of WO2013065323A1 publication Critical patent/WO2013065323A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/04—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with single hull
    • B63B1/048—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with single hull with hull extending principally vertically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B63B2035/442—Spar-type semi-submersible structures, i.e. shaped as single slender, e.g. substantially cylindrical or trussed vertical bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2240/00—Components
    • F05B2240/90—Mounting on supporting structures or systems
    • F05B2240/93—Mounting on supporting structures or systems on a structure floating on a liquid surface
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/96—Preventing, counteracting or reducing vibration or noise
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/342—Wave conditions, e.g. amplitude, frequency or direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/727—Offshore wind turbines

Definitions

  • the present invention relates to a control device for a floating offshore wind power generation facility that suppresses the movement of the floating offshore wind power generation facility that occurs in response to changes in wind speed or wave external force.
  • Patent Documents 1 to 4 Various proposals have been made for the purpose of controlling various changes that occur in wind power generation facilities (Patent Documents 1 to 4).
  • Patent Document 1 a generator and a generator are analyzed so that the frequency and phase of a detected vibration component are analyzed for the purpose of suppressing or controlling the vibration of the windmill, and a frequency change in the opposite phase to the analyzed phase is generated in the windmill.
  • the configuration for controlling the value of the current flowing through the stator coil and the pitch angle of the blade is described.
  • this relates to onshore wind power generation facilities and not to floating offshore wind power generation facilities.
  • Patent Document 2 discloses that in a wind power generator, wind, wind direction, wave propagation direction, wave propagation speed, wave Based on the measured values of the height and the posture of the floating structure, identify the wind turbine that causes the floating structure to tilt or twist, and determine the rotor brake or tilt angle of the rotor of the identified wind turbine. The configuration to be controlled is described.
  • Patent Document 3 discloses that in a marine wind power plant fixed on the seabed, the critical natural frequency of the plant is always determined for the purpose of avoiding premature failure of the plant, and the forbidden resonance range according to the change in fixed strength. The structure which replaces is described. Further, in Patent Document 4, in the wind turbine system for power generation, the primary resonance frequency of the tower to which the wind turbine is attached can be attenuated, and the turbulent flow is caused so as to maintain the rated torque or force. A configuration for adjusting the blade angle for the purpose of minimizing a change in torque or power is disclosed. However, Documents 3 and 4 do not relate to changes in the output of the generator that occur as a result of floating body motion.
  • JP 2007-205225 A Japanese Patent Laid-Open No. 2005-351087 Special table 2003-530518 JP 58-17884 A
  • the surface wind power generator described in Patent Document 2 relates to a floating wind power generator including a plurality of windmills, and it is necessary to measure many factors in order to identify the cause of the swing and vibration of the floating structure. There is. Further, stabilization of the output of the generator is indirect as a result of damping the swinging and vibration of the floating structure, and the wind turbine adjusting means is not directly related to the control of the generator. Accordingly, the present invention provides a control device for a floating offshore wind power generation facility that can obtain the maximum efficiency while reducing the swing of the floating body with a simple configuration and stabilizing the output of the generator. It is an object.
  • the floating offshore wind power generation facility control apparatus is a floating offshore wind power generation facility having a rotor that is rotated by wind, blade pitch control means for controlling the blade pitch of the rotor, Floating body motion detection means for detecting the motion of the floating body, and the blade pitch control means controls the blade pitch of the rotor based on the detection result of the floating body motion detection means.
  • the force generated by the rotation of the rotor can be changed by controlling the blade pitch, so that the floating body motion caused by the wind speed change and the wave external force can be suppressed, and the output of the generator can be stabilized.
  • the floating body motion detecting means is an inclination detecting means for detecting an inclination of the floating body. To do. According to this configuration, it is possible to reduce the fluctuation of the output of the generator due to the inclination of the floating body without amplifying the inclination of the floating body due to the wind speed change and the wave external force.
  • the floating body motion detecting means detects two or more degrees of freedom. To do. According to this configuration, in a floating offshore wind power generation facility that swings with 6 degrees of freedom in some cases, by controlling the blade pitch with respect to the movement of the floating body with at least 2 degrees of freedom, the wind speed change and the wave external force The movement of the floating body caused by the above can be suppressed, and the output of the generator can be stabilized.
  • the control apparatus for a floating offshore wind power generation facility according to any one of the first to third aspects, further comprising wind speed detecting means for detecting a wind speed, wherein the blade pitch
  • the control means controls the blade pitch of the rotor based on the detection result of the wind speed detection means.
  • the blade pitch can be controlled using the detection result of the wind speed detection means in addition to the movement of the floating body.
  • the generator output control means for controlling the output of the generator is further provided. It is characterized by having. According to this configuration, the output of the generator can be controlled in addition to the blade pitch.
  • a sixth aspect of the present invention is the control apparatus for a floating offshore wind power generation facility according to one of the first to fifth aspects, further comprising a nacelle that houses a rotating shaft of the rotor.
  • Yawing detection means for detecting yawing of the nacelle is further provided, wherein the blade pitch control means controls the blade pitch of the rotor according to the rotational position based on the detection result of the yawing detection means.
  • the blade pitch is controlled according to the rotational position means that each blade is controlled to have a predetermined blade pitch when it reaches a predetermined position, or each blade has a predetermined position at a predetermined position. This refers to controlling the blade pitch in advance.
  • the blade pitch control means includes the floating body motion detection means. It has a target setting unit for setting a control target value of the blade pitch control means based on a detection result. According to this configuration, the control target value of the blade pitch control means can be set in consideration of the floating body motion.
  • the present invention is the control device for a floating offshore wind power generation facility according to one of claims 1 to 7, wherein the blade pitch control means is the one of the floating body motion detection means. It has a control gain adjusting unit for adjusting the control gain of the blade pitch control means based on the detection result. According to this configuration, the control gain of the blade pitch control means can be adjusted according to the floating body motion.
  • the blade pitch control means is provided in a weak wind region where the wind is weak.
  • the blade pitch of the rotor is controlled based on the detection result of the floating body motion detection means. According to this configuration, it is possible to suppress the movement of the floating offshore wind power generation facility in the low wind region where conventionally only the rotational speed control of the generator is used as the control target value.
  • the blade pitch control means is provided in a weak wind region where the wind is weak.
  • the blade pitch of the rotor is controlled based on the detection result of the floating body motion detection means, and the generator output control means controls the output of the generator based on the rotation state of the rotor in the low wind region. It is characterized by that. According to this configuration, the output of the generator can be controlled based on the rotation state such as the rotation speed and the cycle.
  • the present invention according to claim 11 is the control apparatus for a floating offshore wind power generation facility according to one of claims 1 to 8, wherein the blade pitch control means is the detection of the floating body motion detection means.
  • the blade pitch of the rotor is controlled based on the result and the detection result of the rotation state of the rotor. According to this configuration, a plurality of detection results can be used for blade pitch control.
  • the blade pitch control means is configured to detect the detection result of the floating body motion detection means and the rotational state of the rotor.
  • the blade pitch of the rotor is controlled by weighting detection results. According to this configuration, blade pitch control can be made more appropriate.
  • the target setting unit is configured to detect the detection of the floating body motion detection unit.
  • the target rotational speed of the generator output control means is set and changed based on the result. According to this configuration, it is possible to appropriately set and change the target rotational speed in accordance with the floating body motion, so that the rotational speed at which the output efficiency of the generator is maximized in a state where the floating body motion is occurring.
  • the target setting unit is configured to detect the detection of the floating body motion detection means.
  • the target output set value of the generator output control means is set and changed based on the result. According to this configuration, the target output set value can be appropriately set and changed according to the floating body motion, so that the rotational speed at which the generator is maximized can be achieved.
  • the target is determined in accordance with the swing angle as the detection result of the floating body motion detection means.
  • the rotational speed or the target output set value is changed. According to this configuration, the rotational speed or output of the generator can be controlled in consideration of the swing angle due to the floating body motion.
  • the blade pitch control means is the floating body motion detecting means or the floating body.
  • the blade pitch of the rotor is feedforward controlled based on a detection result of a sea state detection means provided for detecting a sea state around the rotor. According to this configuration, the blade pitch can be controlled based on a sudden change in the sea state.
  • control device for a floating offshore wind power generation facility of the present invention it is possible to suppress the movement of the floating body caused by wind speed change and wave external force, and to improve the efficiency while stabilizing the output of the generator of the floating offshore wind power generation facility. It is possible to get to the maximum.
  • the floating body motion detection means is an inclination detection means for detecting the inclination of the floating body, it does not amplify the inclination of the floating body due to changes in wind speed and wave external force, and also reduces fluctuations in the output of the generator due to the inclination of the floating body. Can do.
  • the floating body motion detecting means detects two or more degrees of freedom, in some cases, in a floating offshore wind power generation facility that swings with six degrees of freedom, the blade pitch with respect to the movement of the floating body with at least two degrees of freedom.
  • the movement of the floating body caused by the change in wind speed and the wave external force can be suppressed, and the output of the generator can be stabilized.
  • the wind speed can be used for blade pitch control in addition to the floating body motion. It can be elaborate.
  • the generator output control means since the generator output can be controlled in addition to the blade pitch, the generator speed and output can be controlled more precisely.
  • the nacelle and yawing detection means are further provided, and the rotor blade pitch is controlled according to the rotational position, it is possible to suppress the nacelle yawing and stabilize the generator output, thereby improving the efficiency. is there.
  • control can be performed based on the control target value based on the floating body motion. While the output is stabilized, the efficiency can be improved by more appropriate control.
  • control gain adjustment unit When the control gain adjustment unit is provided, the control gain of the blade pitch control means can be adjusted according to the floating body movement, so that the floating body movement is suppressed and the efficiency is improved while the generator output is stabilized. Is possible.
  • the blade pitch can be controlled in response to an abrupt change in the sea state.
  • the efficiency can be maximized while the output is stabilized.
  • the front view which shows schematic structure of the floating body type offshore wind power generation facility provided with the control apparatus by the 1st Embodiment of this invention
  • A Side view of floating offshore wind power generation facility explaining floating body swing of wind power generation facility
  • (b) Graph showing change in generator output accompanying swing shown in
  • (a) Graph of generator turbine performance curves showing the relationship between wind speed and generator output and wind speed and generator speed Among the turbine performance curves in the region (1) of FIG. 3, (a) a graph of the target rotational speed when the swing angle is less than a predetermined value, and (b) the target rotational speed when the swing angle is greater than or equal to the predetermined value.
  • Graph showing The block diagram which shows the outline of the control system in the area
  • the perspective view which shows schematic structure of the floating type offshore wind power generation facility by the 2nd Embodiment of this invention The principal part side view which shows the structure of the floating type offshore wind power generation facility by the 2nd Embodiment of this invention
  • the perspective view which shows schematic structure of the floating type offshore wind power generation facility by the 3rd Embodiment of this invention The top view which shows schematic structure of the floating type offshore wind power generation facility by the 4th Embodiment of this invention
  • Blade pitch control means 15 Floating body motion detection means (tilt detection means) 16 Wave height sensor (sea state detection means) 17 Anemometer (wind speed detection means) 18, 51 Nacelle 19 Rotating shaft 20
  • Generator control means 21 Blade pitch control means 22
  • Target scheduler target setting unit
  • Gain Scheduler Control Gain Adjuster
  • Feed forward control means 25
  • Generator 31 Sea state detection means (sea state detection means) 46, 48, 55 Yawing detection means
  • FIG. 1 is a front view showing a schematic configuration of a floating offshore wind power generation facility equipped with a control device according to the present embodiment.
  • the floating offshore wind power generation facility 10 of the present embodiment is a spar type that floats a so-called floating body on the sea surface, and includes a rotor 11 and a floating body 12 as shown in FIG.
  • the rotor 11 includes a plurality of blades 13, blade driving means 14 for changing the pitch of the blades 13, a nacelle 18 having a rotary shaft 19 therein, and a generator (not shown) to which the rotary shaft 19 is connected.
  • the floating offshore wind power generation facility 10 includes a floating body motion detection means 15 that detects the motion of the floating body 12, a wave height sensor (sea state detection means) 16, and an anemometer (wind speed detection means) 17.
  • the plurality of blades 13 are attached to the rotary shaft 19 via the blade driving means 14.
  • the rotor 11 according to the present embodiment includes three blades 13. When the blade 13 receives wind, the rotating shaft 19 rotates and power is generated by a generator provided in the nacelle 13. By changing the pitch of the blades 13, the force in the front-rear direction (front and back in FIG. 1) generated by the rotation of the rotor 11 can be changed.
  • the pitch of the blade 13 refers to the angle of the blade 13 with respect to the rotating surface.
  • the blade pitch is changed by driving the blade 13 by the blade driving means 14 provided in the nacelle 18 and changing the attachment angle of the blade 13 to the rotating shaft 19.
  • the blade driving means 14 for example, a commonly used actuator powered by electricity or hydraulic pressure can be cited.
  • a so-called horizontal axis type windmill having a rotation shaft 19 that is horizontal to the ground is shown as the rotor 11, but a so-called vertical windmill having a rotation axis that is perpendicular to the ground may be used. it can.
  • the floating body 12 includes a sea surface portion 12A that is entirely located below the sea surface P, and a tower portion 12B that is partly located below the sea surface and most of the portion is located on the sea surface P.
  • the floating body 12 is moored to an anchor on the seabed via a mooring line.
  • the floating body motion detection means 15 detects the motion (swing) of the floating body 12, and detects at least two degrees of freedom among the six degrees of freedom of rolling, pitching, yawing, heaving, surging, and swaying. Is preferred.
  • the floating body motion detection means 15 detects the tilt (swing angle ⁇ ) of the floating body 12 as at least the tilt detection means, and detects the tilt motion of the floating body 12 from its temporal change.
  • the time measurement and processing means necessary for detecting the tilt motion can be provided integrally with the floating body motion detection means (tilt detection means) 15 or can be provided as a separate circuit.
  • the inclination detecting means detects at least pitching as an inclination movement of the floating body 12 directly or indirectly.
  • the general floating body motion detection means 15 can be constituted by, for example, a gyro sensor, an inclinometer, an accelerometer, and a GPS alone, or a combination of the same or different types.
  • the two-dimensional sensor as the floating body motion detection means 15, not only pitching but also rolling as the tilting motion of the floating body 12 can be detected directly or indirectly.
  • two one-dimensional sensors can be combined.
  • In order to detect other floating body movements such as yawing, heaving, surging, and swaying, use dedicated floating body movement detection means, or use a gyro sensor that can also function functionally as tilt detection means. You can also.
  • the floating body motion detection means 15 is attached to three positions of the center of gravity of the floating body 12 (under the sea surface portion 12A), the vicinity of the work entrance of the floating body 12 (tower portion 12B), and the nacelle 18. By attaching to the vicinity of the work entrance, maintenance of the floating body motion detection means 15 is facilitated.
  • the swing angle of the floating body 12 can be detected based on accelerations measured by a plurality of accelerometers attached at different heights. Specifically, by measuring the temporal change of the detection value detected by the floating body motion detection means 15 and using it directly as a control input, or by multiplying it by the distance between the center of gravity position and the mounting position of the floating body motion detection means 15. The swing level (swing angle) of the floating body 12 is estimated and used for control.
  • the wave height sensor 16 measures the wave height on the sea surface P.
  • a laser wave height meter, an ultrasonic wave height meter, a capacitive wave height meter, a radar wave height meter, or the like can be used.
  • the configuration in which the wave height sensor 16 is provided on the floating body 12 has been described.
  • the wave height sensor 16 does not necessarily have to be attached to the floating body 12.
  • a configuration may be adopted in which a wave height sensor separate from the floating offshore wind power generation facility 10 is used, and a measurement result is transmitted to the floating offshore wind power generation facility 10 using wired or wireless communication means.
  • the anemometer 17 detects the wind speed as a vector accompanied by the wind direction.
  • a cup-type anemometer, a windmill-type anemometer, an ultrasonic anemometer, or the like can be used.
  • FIG. 2 (a) is a side view of a floating offshore wind power generation facility explaining floating body swing of the wind power generation facility
  • FIG. 2 (b) shows changes in the output of the generator accompanying the swing shown in (a). It is a graph to show.
  • the load applied to the floating body 12 is changed by the change in wind speed and the external force caused by the waves on the sea surface P, and the floating offshore wind power generation as shown by the double-sided arrow in the figure. Movement (swing) occurs before and after the facility 10 (left and right in the figure).
  • the floating offshore wind power generation facility 10 changes the blade pitch of the blade 13 by the blade driving unit 14 based on the detection result of the floating body motion detection unit 15. For example, when the floating body 12 swings back and forth (pitching) as shown in FIG. 2A, the blade driving means 14 changes the blade pitch of the blade 13 during the movement of the floating body 12 in one cycle. One cycle is performed. Thereby, the force generated in the rotor 11 can be changed, and the swinging of the floating body 12 can be reduced.
  • a solid line indicates a large swing of the floating body 12 and a change in the output of the generator
  • a broken line indicates a small swing of the floating body 12 and a change in the output of the generator. .
  • the swing of the floating body 12 By changing the blade pitch of the blade 13 by the blade driving means 14, the swing of the floating body 12 can be reduced as shown by the broken line. By suppressing the swing of the floating body 12 and reducing the swing angle ⁇ , the output of the generator can be stabilized and the quality of the power can be improved.
  • the floating body motion detection means 15 detects a two-dimensional movement of inclination (swing angle ⁇ ′), and the blade driving means 14 changes the blade pitch of the blade 13.
  • the blade pitch of the blade 13 is optimally controlled by the blade driving means 14 in consideration of two-dimensional movement.
  • the blade pitch of the blade 13 can be optimally controlled by the blade driving means 14 in consideration of floating body motion such as yawing, heaving, surging, and swaying.
  • the rocking cycle of the floating body 12 is normally 0.1 to 0.3 Hz, and is 1 Hz or more of a tower of a fixed wind power generation facility (structurally equivalent to the floating body 12) installed on the ground or beach. The numerical range is different from the vibration period.
  • FIG. 3 is a graph of the turbine performance curve of the generator showing the relationship between the wind speed and the output of the generator, and the relationship between the wind speed and the generator speed.
  • the horizontal axis of the figure shows the wind speed, and in the graph located on the upper side indicated by a thick solid line, the vertical axis indicates the number of revolutions of the generator, and in the graph located on the lower side indicated by a thin solid line, the vertical axis Indicates the output of the generator.
  • the floating offshore wind power generation facility 10 performs control in three different modes depending on the magnitude of the wind speed.
  • control modes (1) to (3) corresponding to the areas indicated by (1) to (3) separated by vertical broken lines, and are based on the magnitude of the wind speed as follows.
  • Mode (2) After reaching the maximum generator speed, but before reaching the rated output of the generator Control the generator speed to be constant (change the pitch angle of the blade)
  • Mode (3) After reaching the rated output of the generator, control the generator output to be constant (change the pitch angle of the blade)
  • the wind speed area before reaching the maximum rotational speed of the generator is referred to as a weak wind area, and the wind speed area until reaching the rated output of the generator after reaching the maximum rotational speed of the generator.
  • the floating offshore wind power generation facility 10 monitors the swing angle ⁇ of the floating body 12 by the floating body motion detection means 15 in addition to the rotational speed of the rotor 11 and the output of the generator.
  • the swinging angle ⁇ of the floating body 12 is increased, the pitch angle of the blade 13 is controlled by the blade driving means 14 for each mode specified based on the wind speed measured by the anemometer 17, and the floating body 12. Reduce exercise. Thereby, the output change of a generator can be suppressed and electric power quality can be improved.
  • FIG. 4 shows a turbine performance curve in the region (1) of FIG. 3, where (a) is a graph of the target rotational speed when the swing angle is less than a predetermined value, and (b) is the swing angle. It is a graph which shows the target rotation speed in the case of more than predetermined value.
  • control means such as the generator control means 20 and the blade pitch control means 21, are comprised by the memory
  • FIG. 5 is a block diagram showing an outline of the control system in the area (1) of FIG.
  • the floating offshore wind power generation facility 10 includes a generator control means 20 and a blade pitch control means 21 as control means.
  • the generator control means 20 controls the rotation speed N of the turbine in the generator 25 that constitutes the power generation system 30 by changing the generator torque Trq based on the target rotation speed Nd. From the power generation system 30, the rotational speed N of the turbine of the generator 25 is fed back.
  • the rotational speed N is detected by the rotational speed detection means 28 attached to the shaft of the generator 25. Since the shaft of the generator 25 is directly connected to the rotational shaft 19 of the rotor 11, the rotational speed N is substantially equal to the rotational speed N of the rotor 11. The same value.
  • the blade pitch control means 21 changes the blade pitch angle ⁇ ⁇ by the blade driving means 14 constituting the power generation system 30 when the swing angle ⁇ detected by the floating body motion detection means 15 is equal to or greater than a predetermined value. 12 is suppressed and the output of the generator 25 is stabilized. The oscillation angle ⁇ is fed back from the power generation system 30 to the blade pitch control means 21.
  • the control for changing the blade pitch angle beta theta by the blade pitch control means 21 is performed.
  • the predetermined value may be set as appropriate according to the required power quality.
  • the blade pitch control means 21 always controls the blade pitch angle beta theta. This also applies to the control in the middle wind region and the strong wind region, which will be described later.
  • the generator control means 20 changes the setting to a lower rotational speed than the target rotational speed Nd used to obtain the rotational speed Cpmax that maximizes the power generation efficiency, that is, the target rotational speed Nd is not oscillated.
  • the setting lower than the rotational speed at which the power generation efficiency at the maximum is set the average value of the efficiency of the fluctuating generator 25 is maximized in the state where the floating body motion of the predetermined swing angle ⁇ or more is occurring, Further, the output fluctuation range of the generator 25 can be minimized. Thereby, electric power quality can be improved.
  • FIG. 6 shows a turbine performance curve in the region (2) of FIG. 3, (a) is a graph of the target rotational speed when the swing angle is less than a predetermined value, and (b) is the swing angle. It is a graph which shows the target rotation speed in the case of more than predetermined value.
  • FIG. 7 is a block diagram showing an outline of the control system in the region (2) of FIG.
  • the floating offshore wind power generation facility 10 includes a generator control means 20 and a blade pitch control means 21 as control means.
  • the generator control means 20 changes the blade pitch as means for maintaining the rotational speed N at the maximum rotational speed.
  • the rotational speed N of the turbine of the generator 25 is fed back.
  • the rotational speed N is detected by the rotational speed detection means 28 attached to the shaft of the generator 25. Since the shaft of the generator 25 is directly connected to the rotational shaft 19 of the rotor 11, the rotational speed N is substantially equal to the rotational speed N of the rotor 11. The same value.
  • the blade pitch control means 21 functions in the same manner as the region (1) (light wind region). However, in the region (2) (medium wind region), unlike the weak wind region, the blade pitch is also used as means for controlling the rotational speed N of the generator 25 by the generator control means 20. Therefore, unlike the region (1), the output ⁇ N from the generator control means 20 and the output ⁇ ⁇ from the blade pitch control means 21 are added and then output to the power generation system 30 to generate the generator 25 and the blade driving means. 14 is used for control. As described above, the blade angle of the rotor 11 is controlled by the blade driving means 14 based on the outputs from the generator control means 20 and the blade pitch control means 21. This suppresses the swinging of the floating body 12 and controls the rotational speed N of the generator 25 to maximize the power generation efficiency while stabilizing the output of the generator 25 of the floating offshore wind power generation facility 10. Is possible.
  • the blade pitch control in the power generation system 30 may be performed based on the result of weighting and adding ⁇ N and ⁇ ⁇ .
  • the weighting can be performed based on the rocking angle ⁇ detected by the floating body motion detection means 15 and the wind speed V. For example, when importance is attached to the stability of the power quality (stability of the output), when the swing angle ⁇ is less than a predetermined value by controlling the power generation system 30 based only on the beta N, swing angle ⁇ is equal to or higher than the predetermined value sometimes it may be controlled based only on beta theta.
  • the swinging angle ⁇ that greatly affects the power generation efficiency of the generator 25 is set as a predetermined value, and when the swinging angle ⁇ is less than the predetermined value, the power generation system 30 is based only on ⁇ . It is also possible to control based on ⁇ N only when the swing angle ⁇ is greater than or equal to a predetermined value. Of course, it is also possible to control based on both outputs by multiplying ⁇ N and ⁇ ⁇ by appropriate weighting factors.
  • FIG. 8A is a graph of the target rated output when the swing angle is less than a predetermined value and when the swing angle is greater than or equal to the predetermined value in the turbine performance curve in the region (3) of FIG.
  • the rocking angle ⁇ (see FIG. 2) of the floating body 12 detected by the floating body motion detecting means 15 is less than a predetermined value
  • the change in the output due to the rocking of the floating body 12 does not significantly affect the quality of power. Absent. Therefore, as shown by a broken line in FIG. 8A, the power generation efficiency can be improved by controlling the generator 25 to have a rated output.
  • the blade pitch control means 21 suppresses the swinging of the floating body 12. Thereby, the output change of the electric power by rocking
  • Fig. 8 (b) is a graph showing the change in the output of the generator accompanying the target output and swinging. If the rated output is the target output when the floating body 12 is oscillating, the rated output of the generator 25 may be exceeded when the floating body 12 oscillates and the relative wind power increases. Therefore, when a swing angle ⁇ greater than a predetermined value is detected, the setting is changed so that a value lower than the rated output becomes the target output. Thereby, it is possible to prevent the generator 25 from being operated in a state where the rated output is exceeded, and to improve the safety of the floating offshore wind power generation facility 10.
  • FIG. 9 is a block diagram showing an outline of the control system in the area (3) of FIG.
  • the floating offshore wind power generation facility 10 includes a generator control means 20 and a blade pitch control means 21 as control means.
  • the region (3) strong wind region
  • the rotational speed N of the generator 25 reaches the maximum rotational speed
  • the output P of the generator 25 reaches the rated output (see FIG. 3). Therefore, the rated output of the generator 25 is set as the target output Pd.
  • the generator control means 20 changes the blade pitch as a means for maintaining the output P of the generator 25 at the rated output. From the power generation system 30, the output P of the generator 25 is fed back.
  • the output P of the generator 25 is detected by the output detection means 29.
  • the blade pitch control means 21 has the same function as the region (1) (light wind region). However, the blade pitch is also used as means for controlling the output P of the generator 25 by the generator control means 20 in the strong wind region. Therefore, the area (2) Similarly, the output beta theta from the output beta P and the blade pitch control means 21 from the generator control unit 20 is added, is output to the power generation system 30. In addition of both, it is good also as weighting like area
  • region (2) medium wind area
  • FIG. 10 is a block diagram showing a schematic configuration of a control system of the floating offshore wind power generation facility of the present embodiment.
  • the floating offshore wind power generation facility 10 includes a target scheduler (target setting unit) 22, a gain scheduler (control gain adjustment unit) in addition to the generator control unit 20 and blade pitch control unit 21 described above. ) 23, feedforward control means 24, and sea state detection means 31 for comprehensively grasping the sea state.
  • the target scheduler 22 switches the control mode and changes the target rotational speed Nref or the target output Pref depending on which of the low wind area, the medium wind area, and the strong wind area it belongs to.
  • the target scheduler 22 can be configured by using a storage unit and an arithmetic processing unit in which a table of information corresponding to a turbine performance curve graph (see FIG. 3) of the generator 25 is stored.
  • the wind speed V measured by the anemometer 17 of the power generation system 30 (see FIG. 1) and / or the rotational speed N of the generator 25 can be used.
  • the target scheduler 22 can automatically perform control by switching to an appropriate control mode according to the wind speed V and the rotational speed N of the generator 25 detected by the rotational speed detection means 28.
  • the swing angle ⁇ is used as a trigger for changing the target rotational speed Nref or the target output Pref.
  • the target scheduler 22 receives from the power generation system 30 the rotational speed N of the generator 25 detected by the rotational speed detection means 28, the output P detected by the output detection means 29, the wind speed V detected by the anemometer 17, the floating body
  • the rocking angle ⁇ by the motion detector 15 and the yaw angle ⁇ detected by the yawing detector 46 are fed back. These fed back outputs are used according to the control mode.
  • the target rotational speed Nref is used as the control target value, so the rotational speed N is used for feedback control (see FIGS. 5 and 7).
  • the output P is used for feedback control (see FIG. 9).
  • the swing angle ⁇ is output to the blade pitch control means 21 via the gain scheduler 23 and used for blade pitch control in the entire region. It should be noted that the control by the blade pitch control means 21 may be configured to start when the swing angle ⁇ is greater than or equal to a predetermined value.
  • the gain scheduler 23 adjusts a control gain that is a ratio of output to input in the generator control means 20 and the blade pitch control means 21.
  • a generally used method such as PID control can be used.
  • the gain scheduler 23 adjusts the control gain of the blade pitch control means 21 based on the detection result of the swing angle ⁇ by the floating body motion detection means 15 that has passed through the filter 26 ′. Thereby, the blade drive means 14 changes the blade pitch of the rotor 11 and suppresses the output change of the generator 25 due to the swinging of the floating body 12.
  • the feedforward control means 24 includes a filter 26 and a feedforward control system 27.
  • the state of the sea around the floating body 12 detected by the sea state detection unit 31 is reflected in the control of the generator control unit 20 and the blade pitch control unit 21.
  • the filter 26 removes various noises from the signal corresponding to the sea state detected by the sea state state detecting means 31.
  • the feedforward control system 27 predicts the disturbance detected by the sea state detection means 31 and reflects it in the control of the generator control means 20 and the blade pitch control means 21.
  • the sea state detection means 31 detects the sea state around the floating body 12. Examples of sea state include wave height, wave direction, wave period, flow velocity, flow direction, and the like.
  • the sea state detection means 31 can also be configured as a separate body from the floating body 12. Moreover, when making it a different body, it is good also as a structure which transmits a sea state to the floating-type offshore wind power generation facility 10, for example via a radio
  • the sea state detected by the sea state detection means 31 is used for controlling the blade driving means 14 and the generator 25 via the feedforward control means 24. That is, as shown in FIG. 10, the generator control means 20 uses the signal from the feedforward control means 24 in addition to the feedback signal from the power generation system 30 and the signal from the gain scheduler 23 for control.
  • the feedforward control it is possible to predict the floating body motion based on the detection result of the sea state detection means 31 and calculate the necessary control amount in advance. If there is a delay in the control time due to the response time of the blade driving means 14 as an actuator, the floating body swing may be amplified by feedforward control. Therefore, the feedforward control improves the speed response to the output fluctuation while ensuring the robustness by the feedback control.
  • FIG. 11 is a detailed block diagram of essential parts of the block diagram shown in FIG.
  • the feedforward control system 27 shown in FIG. 10 includes a rotation speed correction unit that outputs a torque change amount ⁇ Tq with respect to the output of the generator control means 20, and a blade pitch change amount ⁇ with respect to the output of the blade pitch control means 21. It consists of a blade pitch correction unit that outputs ⁇ .
  • the rotation speed correction unit includes a motion model unit 27a and a PID control unit 27b of the rotor 11 and the floating body 12.
  • the rotor and floating body motion model unit 27a has a response function calculated in advance, and the wave height and wave direction measurement data Hw (t) immediately before from the sea state detection means 31 and
  • the rotational speed deviation ⁇ N is output by inputting the rotational speed N of the generator 25 and the swing angle ⁇ immediately before being detected by the floating body motion detecting means 15.
  • the blade pitch correction unit includes a motion model unit 27c, a PID control unit 27d, and a blade pitch change amount conversion unit 27e for the rotor 11 and the floating body 12.
  • the motion model unit 27c of the rotor 11 and the floating body 12 has a response function calculated in advance, and the wave height and wave direction measurement data Hw (t) immediately before the sea state detection unit 31 and the power generation system 30
  • the output deviation ⁇ P is output by inputting the rotation speed N of the immediately preceding generator 25 and the swing angle ⁇ immediately before being detected by the floating body motion detecting means 15.
  • the PID control unit 27d receives the output deviation ⁇ P, and outputs the torque change amount ⁇ Tq by performing P control, PI control, or PID control.
  • the blade pitch change amount conversion unit 27e receives the torque change amount ⁇ Tq and outputs the blade pitch change amount ⁇ .
  • FIG. 12 is a perspective view showing a schematic configuration of a floating offshore wind power generation facility according to the present embodiment
  • FIG. 13 is a side view of a main part showing a structure of the floating offshore wind power generation facility according to the present embodiment.
  • the yawing detection means 46 which detects the yawing of the nacelle 18 which accommodated the rotating shaft 19 of the rotor 11 is provided.
  • the portions other than the configuration related to detecting yawing of the nacelle 18 and controlling the blade pitch of the rotor 11 according to the rotation position based on the detection result are the same as in the first embodiment.
  • the floating offshore wind power generation facility 40 has a floating body 12 moored to an anchor 43 on the seabed B via a mooring line 42.
  • a line extending from the bottom of the floating body 12 is a power transmission line 44.
  • the floating offshore wind power generation facility 40 includes a rotor 11 that is rotated by wind, a nacelle 18 that accommodates a rotating shaft 19 of the rotor 11, and a rotary seat bearing 45 that rotatably supports the nacelle 18 with respect to the water surface.
  • the floating body 12 and the yawing detection means 46 for detecting the yawing which is the rotational swing of the nacelle 18 with respect to the water surface are provided.
  • the rotor 11 includes a hub 47 in which a plurality of blades 13 are provided radially, and a rotating shaft 19 connected to the hub 47.
  • the rotating shaft 19 is rotatably supported in the nacelle 18, and the rotating shaft 19 rotates by receiving wind from the rotor 11, and power is generated by a generator (not shown) provided in the nacelle 18. I do.
  • the nacelle 18 is rotatably supported with respect to the sea surface P by a rotating seat bearing 45 provided on the upper part of the floating body 12. Thereby, the direction of the rotating shaft 19 can be changed according to the change of a wind direction by rotation of the nacelle 18, and the rotating surface of the rotor 11 can be made to face a wind.
  • the yawing detection means 46 detects a rotational swing (yawing) that occurs in the nacelle 18 when a vertical force is applied by waves while the rotor 11 is rotating.
  • the yawing detection means 46 is provided on the floating body 12, but the yawing detection means 46 may be provided on the nacelle 18 side.
  • a gyro sensor or the like can be used as the yawing detection means 46.
  • the blade drive means 14 drives the blade 13 so as to change individually for each blade 13 according to the rotational position. For example, the blade pitch at the rotation position A and the rotation position B indicated by the two-dot chain line on the rotation surface L of the rotor 11 in FIG. 12 is individually controlled for each blade 13 to suppress yawing indicated by T in FIG. can do.
  • FIG. 14 is a perspective view showing a schematic configuration of a floating offshore wind power generation facility according to the third embodiment.
  • the floating offshore wind power generation facility 50 is configured such that the nacelle 51 and the floating body 52 are integrated so that the nacelle 51 does not rotate with respect to the floating body 52.
  • the floating body 52 floats on water, and a nacelle 51 is fixed to the upper end of the floating body 52, and the lower end of the floating body 52 is connected to the anchor 54 of the seabed B through the rotation means 53.
  • the rotating means 53 connects the floating body 52 to the anchor 54 so that the floating body 52 can rotate according to the change in the wind direction W.
  • the yawing detection means 55 provided in the floating body 52 detects the yawing of the floating body 52 (the nacelle 51), like the yawing detection means 46.
  • the floating offshore wind power generation facility 50 suppresses yawing by means similar to the floating offshore wind power generation facility 40 based on the detection result of the yawing detection means 55.
  • the floating body 52 can also be moored by using other mooring methods such as mooring lines.
  • FIG. 15 is a top view showing a schematic configuration of a floating offshore wind power generation facility according to the fourth embodiment.
  • the nacelle 15 in the floating offshore wind power generation facility shown in FIG. 1, the nacelle 15 is rotatably supported from the tower portion 12 ⁇ / b> B, and the rotor 11 faces the wind direction.
  • yawing detection means 48 is also incorporated in the nacelle 15.
  • the wind direction and the swinging direction of the floating body 12 are often different, unlike a wind power generation facility in which a tower installed on land or on a beach is fixed.
  • the direction of the rotor 11, that is, the yaw angle of the nacelle 15 with respect to the floating body 12, or the yawing movement is taken into consideration, and the blade driving means 14 further.
  • the blade pitch of the blade 13 can be controlled. As a result, the output of the generator of the floating offshore wind power generation facility can be further stabilized and the efficiency can be improved.
  • the present invention can be used as a control device for suppressing movement of a floating body and improving power generation quality and safety in a floating offshore wind power generation facility.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
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Abstract

L'invention a pour but de proposer un dispositif de commande pour un appareil générateur d'énergie éolienne marin du type à corps flottant qui, grâce à une configuration simple, réduit la fluctuation du corps flottant et stabilise la sortie du générateur d'énergie tout en étant apte à obtenir le rendement maximal. A cet effet, selon l'invention, un appareil générateur d'énergie éolienne marin du type à corps flottant (10) ayant un rotor (11) qui tourne sous l'effet du vent comporte : des moyens (14) d'entraînement des pales qui font varier le pas de pale d'une pale (13) montée dans le rotor (11) ; et un capteur d'angle de fluctuation (15) qui détecte le mouvement du corps flottant (12). Sur la base de la fluctuation détectée par le capteur d'angle de fluctuation (15), la pale (13) est entraînée par le moyen d'entraînement de pale (14) de manière à inhiber la fluctuation, réduisant ainsi la fluctuation du corps flottant (12) et obtenant par ce moyen le rendement maximal tout en inhibant une variation de la sortie de production d'énergie.
PCT/JP2012/007057 2011-11-04 2012-11-02 Dispositif de commande pour appareil générateur d'énergie éolienne marin du type à corps flottant Ceased WO2013065323A1 (fr)

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JP2015124736A (ja) * 2013-12-27 2015-07-06 株式会社日立製作所 風力発電装置
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