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CN113653598A - Control system of offshore floating type wind generating set - Google Patents

Control system of offshore floating type wind generating set Download PDF

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Publication number
CN113653598A
CN113653598A CN202111039016.XA CN202111039016A CN113653598A CN 113653598 A CN113653598 A CN 113653598A CN 202111039016 A CN202111039016 A CN 202111039016A CN 113653598 A CN113653598 A CN 113653598A
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Prior art keywords
fan
floating
energy storage
converter
flywheel energy
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CN202111039016.XA
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Chinese (zh)
Inventor
付明志
郭小江
李春华
李铮
秦猛
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Huaneng Clean Energy Research Institute
Huaneng Offshore Wind Power Science and Technology Research Co Ltd
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Huaneng Clean Energy Research Institute
Huaneng Offshore Wind Power Science and Technology Research Co Ltd
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Priority to CN202111039016.XA priority Critical patent/CN113653598A/en
Publication of CN113653598A publication Critical patent/CN113653598A/en
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    • 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
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/10—Combinations of wind motors with apparatus storing energy
    • F03D9/12—Combinations of wind motors with apparatus storing energy storing kinetic energy, e.g. using flywheels
    • 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
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • 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
    • 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
    • F03D7/0236—Adjusting aerodynamic properties of the blades by changing the active surface of the wind engaging parts, e.g. reefing or furling
    • 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
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • 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
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
    • 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
    • Y02E70/00—Other energy conversion or management systems reducing GHG emissions
    • Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Power Engineering (AREA)
  • Wind Motors (AREA)

Abstract

The utility model provides a control system of marine floating wind generating set, relates to marine wind power generation technical field. The control system comprises a floating fan, a floating fan converter, a boosting transformer, a flywheel energy storage device, a flywheel energy storage converter, a yawing device, an anemorumbometer and a floating fan controller; a generator stator winding of the floating type fan is connected with the floating type fan converter, the floating type fan converter is connected with one end of the boosting transformer, and the other end of the boosting transformer is connected with a power grid system; the flywheel energy storage device is connected with a flywheel energy storage converter, and the flywheel energy storage converter is connected with a floating fan converter; the yawing device is connected with a floating fan controller, and a yawing propeller in the yawing device is arranged on the side surface or below a buoy in the floating fan; the anemorumbometer is connected with the floating fan controller; and the floating fan controller is used for controlling the working state of the flywheel energy storage device and/or the yaw device.

Description

Control system of offshore floating type wind generating set
Technical Field
The disclosure relates to the technical field of offshore wind power generation, in particular to a control system of an offshore floating type wind generating set.
Background
In recent years, due to the serious environmental problems of regional haze, global warming and the like caused by the large consumption of traditional fossil energy, the vigorous development of clean renewable energy sources, such as wind energy, light energy and the like, has become a global consensus. Wind energy is increasingly receiving attention as a renewable new energy source due to its advantages of wide source, large storage capacity, no pollution and the like. The electric energy is used as a special carrier of energy and has the characteristics of cleanness, high efficiency, environmental friendliness and the like, so that the great significance in the rapid development of new energy power generation is achieved.
With the deepening of the understanding of human beings on the offshore wind resources and the improvement of wind energy development technology, the development of wind resources has a trend of developing from a shallow sea to a deep sea, wherein an offshore floating type wind turbine is an important direction for developing deep sea wind energy.
In general, the offshore floating wind turbine is affected by incoming wind speed, sea wave, etc., and thus may affect the performance of the offshore floating wind turbine. Therefore, how to control the offshore floating wind generating set to improve the performance of the offshore floating wind generating set becomes a problem to be solved urgently at present.
Disclosure of Invention
The present disclosure is directed to solving, at least to some extent, one of the technical problems in the related art.
An embodiment of the first aspect of the present disclosure provides a control system of an offshore floating wind turbine generator system, including:
the system comprises a floating fan, a floating fan converter, a step-up transformer, a flywheel energy storage device, a flywheel energy storage converter, a yawing device, an anemorumbometer and a floating fan controller;
the generator stator winding of the floating fan is connected with the floating fan converter, the floating fan converter is connected with one end of the boosting transformer, and the other end of the boosting transformer is connected with a power grid system;
the flywheel energy storage device is connected with the floating fan converter, and the flywheel energy storage converter is connected with the floating fan converter;
the yawing device is connected with the floating fan controller, and a yawing propeller in the yawing device is arranged on the side face or the lower face of a buoy in the floating fan;
the anemorumbometer is connected with the floating fan controller;
and the floating fan controller is used for controlling the working state of the flywheel energy storage device and/or the yawing device.
Optionally, the floating wind turbine converter includes a machine side converter, a grid side converter and a dc bus, and the machine side converter and the grid side converter in the floating wind turbine converter are connected through the dc bus.
Optionally, the low-voltage side of the step-up transformer is connected with the floating fan converter grid-side converter, and the low-voltage side of the step-up transformer is connected with the power grid system.
Optionally, the dc side of the flywheel energy storage converter is connected to the dc bus of the floating fan converter, the ac side of the flywheel energy storage converter is connected to the stator winding of the motor of the flywheel energy storage device, and the motor of the flywheel energy storage device and the flywheel body are mounted on the same rotating shaft.
Optionally, the anemorumbometer is mounted on the top of the cabin of the floating fan and used for detecting the ambient wind speed and direction of the floating fan in real time, the power supply of the anemorumbometer is provided by the floating fan controller, and an output signal of the anemorumbometer is sent to the floating fan controller through a cable.
Optionally, the yawing device further includes:
fixedly connecting a ring disc and a yaw guide groove or a yaw guide ring;
the fixed connection ring disc is positioned at the bottom of the floating barrel, and the yawing guide groove or the yawing guide ring is positioned on the fixed connection ring disc.
Optionally, the yawing device further includes:
mooring system and locking device;
the locking device is located between the yaw guide way and the mooring system.
Optionally, the method further includes: a grid side voltage sensor and a grid side current sensor;
the grid-side voltage sensor and the grid-side current sensor are located on a circuit between the grid-side converter and the power grid system, the grid-side voltage sensor is used for detecting grid-connected point voltage of the grid side of the grid-side converter, and the grid-side current sensor is used for detecting grid-connected point current of the grid side of the grid-side converter.
Optionally, the method further includes: a machine side voltage sensor and a machine side current sensor;
the machine side voltage sensor and the machine side current sensor are positioned between a machine side converter and a generator stator winding in the floating type fan converter, the machine side voltage sensor is used for detecting machine side voltage of the machine side converter, and the machine side current sensor is used for detecting machine side current value of the machine side converter.
Optionally, the method further includes: a rotational speed sensor;
the rotating speed sensor is positioned at the end of the generator shaft of the floating fan and used for detecting the rotating speed of the floating fan generator in real time.
Optionally, the method further includes: the pitch angle detection sensor;
wherein, the blade pitch angle sensor is connected with the floating fan and is powered by the floating fan; the pitch angle detection device is used for detecting the pitch angle of the floating fan blade in real time.
Optionally, the floating fan controller includes a signal acquisition module, a signal filtering module, a pitch control module, a yaw control module, a rotational speed and torque control module, and a flywheel energy storage control module.
Optionally, the signal acquisition module is configured to acquire signals sent by various sensors in the control system in real time.
Optionally, the signal filtering module is configured to perform digital filtering processing on the signal sent by the signal acquisition module in real time.
Optionally, the variable pitch control module is configured to calculate a variable pitch angle of the blade of the floating fan in real time.
Optionally, the yaw control module is configured to calculate a yaw angle of the nacelle of the floating wind turbine in real time.
Optionally, the rotating speed and torque control module is configured to calculate the rotating speed and the torque of the floating wind turbine generator in real time.
Optionally, the flywheel energy storage control module is configured to control the rotation speed and the charge-discharge state of the flywheel energy storage device in real time.
An embodiment of a second aspect of the present disclosure provides a control method for an offshore floating wind turbine generator system, including:
acquiring the current output power of a fan in the wind generating set, a first angle value, the rated power of the fan and a current second angle value of incoming wind;
comparing the output power with the rated power of the fan to determine the relationship between the output power and the rated power of the fan;
comparing the first angle value to the second angle value to determine a difference in the first angle value and the second angle value;
and controlling the working state of a flywheel energy storage device and/or a yawing device in the wind generating set according to the relation and the difference value.
Optionally, the moment of momentum H of the flywheel energy storage deviceM＝JM(ω + θ); moment of momentum H of the floating fanG＝(JG—JM)*θ；
Incoming flowWind speed to unit overturning moment MWind powerThe following conditions are satisfied:
Figure BDA0003248510490000021
overturning moment M of water surface waves on unitWave ofThe following conditions are satisfied:
Figure BDA0003248510490000022
wherein: hM-moment of momentum of the flywheel energy storage means;
HG-the momentum moment of the fan;
JM-flywheel energy storage means moment of inertia;
JG-the rotational inertia of the fan;
omega-flywheel energy storage device rotor angular velocity;
theta is the included angle between the axis of the tower and the normal line of the water surface;
l is the distance between the top of the fan and the water surface;
r is the distance from the outer edge of the submerged bottom surface of the fan to the gravity center of the fan and the vertical line of the water surface;
a is the area of the windward side of the fan;
s, wetting the surface of a fan;
c is wind resistance coefficient;
ρ is air density;
v-incoming wind speed;
Δ P-wave pressure;
n-the unit external normal vector of S;
r-position vector of wave pressure action point relative to fan coordinate system.
Optionally, the target rotation speed of the flywheel energy storage device satisfies the following relationship:
Figure BDA0003248510490000031
an embodiment of a third aspect of the present disclosure provides a control device for an offshore floating wind turbine generator system, including:
the acquisition module is used for acquiring the current output power of a fan in the wind generating set, a first angle value, the rated power of the fan and a current second angle value of incoming wind;
the first determination module is used for comparing the output power with the rated power of the fan so as to determine the relation between the output power and the rated power of the fan;
a second determining module for comparing the first angle value with the second angle value to determine a difference between the first angle value and the second angle value;
and the control module is used for controlling the working state of a flywheel energy storage device and/or a yawing device in the wind generating set according to the relation and the difference value.
An embodiment of a fourth aspect of the present disclosure provides an electronic device, including: the control method of the offshore floating wind turbine generator system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the control method of the offshore floating wind turbine generator system according to the embodiment of the second aspect of the disclosure.
A fifth aspect of the present disclosure provides a non-transitory computer-readable storage medium storing a computer program, which when executed by a processor implements the method for controlling an offshore floating wind turbine generator set according to the second aspect of the present disclosure.
A sixth aspect of the present disclosure provides a computer program product, which when being executed by an instruction processor, executes the method for controlling an offshore floating wind turbine generator set according to the second aspect of the present disclosure.
The control system of the offshore floating type wind generating set comprises a floating type fan, a floating type fan converter, a step-up transformer, a flywheel energy storage device, a flywheel energy storage converter, a yaw device and a floating type fan controller, wherein the floating type fan is connected with the control system through a power supply; the generator stator winding of the floating fan is connected with the floating fan converter, the floating fan converter is connected with one end of the boosting transformer, and the other end of the boosting transformer is connected with a power grid system; the flywheel energy storage device is connected with the floating fan converter, and the flywheel energy storage converter is connected with the floating fan converter; the yawing device is connected with the floating fan controller, and a yawing propeller in the yawing device is arranged on the side face or the lower face of a buoy in the floating fan; and the floating fan controller is used for controlling the working state of the flywheel energy storage device and/or the yawing device. Therefore, the control of the wind generating set can be realized by controlling the flywheel energy storage device and/or the yawing device, and the stability and the reliability of the wind generating set are improved.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a control system of an offshore floating wind turbine generator system according to an embodiment of the present disclosure;
fig. 1A is a schematic structural diagram of an offshore floating wind turbine controller according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a control method of an offshore floating wind turbine generator system according to another embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a control device of an offshore floating wind turbine generator system according to another embodiment of the present disclosure;
FIG. 4 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present disclosure.
Detailed Description
Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present disclosure, and should not be construed as limiting the present disclosure.
A control method of an offshore floating wind turbine generator unit and a control system of an offshore floating wind turbine generator unit according to an embodiment of the present disclosure are described below with reference to the drawings.
The embodiment of the present disclosure is exemplified by the control method of the offshore floating wind turbine generator system being configured in the control device of the offshore floating wind turbine generator system, and the control device of the offshore floating wind turbine generator system may be applied to any electronic device, so that the electronic device may perform the control function of the offshore floating wind turbine generator system.
Fig. 1 is a control system of an offshore floating wind turbine generator system provided by the present disclosure.
As shown in fig. 1, the control system of the offshore floating wind turbine may include: the device comprises a floating fan, a floating fan converter, a step-up transformer, a flywheel energy storage device, a flywheel energy storage converter, a yawing device, an anemorumbometer and a floating fan controller.
The floating type wind turbine generator system comprises a floating type wind turbine converter, a booster transformer, a generator stator winding, a generator winding, a floating type wind turbine converter, a booster transformer and a power grid system, wherein the generator stator winding is connected with the generator stator winding; the flywheel energy storage device is connected with a flywheel energy storage converter, and the flywheel energy storage converter is connected with a floating fan converter; the yaw device is connected with the floating fan controller.
The floating fan may be a floating single wind wheel fan, or may also be a floating double wind wheel fan, or may also be a floating multiple wind wheel fan, etc., which is not limited in this disclosure.
In addition, one or more flywheel energy storage devices can be provided; correspondingly, the number of the flywheel energy storage converters can be one or more; the flywheel energy storage device and the flywheel energy storage converter can be adjusted according to actual needs, and the like, and the method is not limited in the disclosure.
Optionally, if there are multiple flywheel energy storage devices, it may satisfy the following formula:
Pflywheel wheel＝PFan blower/NFlywheel wheel (1)
Wherein, PFlywheel wheelFor power of a single flywheel energy storage device, PFan blowerRated power for floating fan, NFlywheel wheelNumber N of flywheel energy storage devicesFlywheel wheel。
For example, in the schematic diagram shown in fig. 1, the fans are floating single-wind-wheel fans, three flywheel energy storage devices, three flywheel energy storage converters, and the like, which is not limited in this disclosure.
Optionally, the flywheel energy storage device may be a disk-type flywheel energy storage device, and correspondingly, the suspension mode of the flywheel energy storage device may be full magnetic suspension, or may also be magnetic suspension combining magnetic suspension and a mechanical thimble bearing, and the like, which is not limited in this disclosure.
It can be understood that, in the embodiment of the present disclosure, in the case that the output power of the floating fan is greater than the rated power, the rotation speed of the flywheel energy storage device can be increased, so as to increase the energy storage energy; when the generated power output by the floating fan is smaller than or equal to the rated power, the rotating speed of the flywheel energy storage device is reduced to release energy and stabilize the state of the floating fan.
Therefore, according to the embodiment of the disclosure, the controller can balance the power fluctuation of the floating type fan by controlling the flywheel energy storage device, so that the running state of the unit is stabilized, and the reliability and stability of the unit running are guaranteed.
In addition, a yaw propeller in the yaw device can be arranged on the side surface or the lower surface of a buoy of the floating type fan.
It is understood that the number of the yaw propellers may be one, or may also be multiple, for example, it may be 3, 6, etc., which is not limited by the disclosure.
For example, in the schematic diagram shown in fig. 1, the number of the yaw propellers is 3, and the like, which is not limited by the present disclosure.
Optionally, the distances between the circle centers of each yaw propeller and the floating type fan foundation structure may be equal, the axial direction of rotation of the yaw propellers may be perpendicular to the line between the installation point of the yaw propeller and the circle center of the floating type fan foundation structure, the tangential direction of the concentric circles, and the like, which is not limited by the disclosure.
Optionally, the anemorumbometer may be located at a top of a cabin of the floating wind turbine, and configured to detect a wind speed and a direction in real time, and a power supply of the anemorumbometer may be provided by the controller, and an output signal of the anemorumbometer may be sent to the controller through a cable.
Therefore, in the embodiment of the present disclosure, the controller may be configured to control an operating state of the yaw device. For example, the controller determines that the current wind generating set needs to yaw according to the received wind speed and wind direction, and the controller may control the yaw propeller to yaw according to the determined yaw angle, and the like, which is not limited in this disclosure.
In the embodiment of the disclosure, the controller can yaw by driving the yaw propeller in the yaw device, so that the yaw requirement of the wind generating set is met, and the yaw propeller is simple in structure, small in required driving force and low in power consumption.
Optionally, under the condition that the current wind generating set needs to yaw and the output power of the floating fan is greater than the rated power, the controller can increase the rotating speed of the flywheel energy storage device to absorb energy and drive the yaw propeller to yaw, so that the yaw requirement is met, the power fluctuation of the floating fan is balanced, and the reliability and the stability of the operation of the wind generating set are guaranteed.
Optionally, the floating wind turbine converter may include a machine side converter, a grid side converter and a dc bus, and the machine side converter and the grid side converter in the floating wind turbine converter may be connected by the dc bus.
In addition, the direct current side of the flywheel energy storage converter can be connected to a direct current bus of the floating fan converter, the alternating current side of the flywheel energy storage converter can be connected with a stator winding of a motor of the flywheel energy storage device, and the motor of the flywheel energy storage device and the flywheel body can be arranged on the same rotating shaft.
The motor of the flywheel energy storage device may be a Permanent Magnet Synchronous Motor (PMSM), or may also be another type of motor, and the disclosure does not limit this.
Optionally, if there are multiple flywheel energy storage converters, they may be connected in parallel to the dc bus of the floating wind turbine converter, as shown in fig. 1.
Optionally, the installation position of the flywheel energy storage device may be determined according to the structural form, the gravity center position, and the like of the floating wind turbine foundation platform, which is not limited in the present disclosure.
For example, for a semi-submersible wind turbine foundation platform, the flywheel energy storage device can be arranged inside three buoys of a triangular platform and fixed on the foundation platform through mechanical rigid connection. Or, to the monopost floating unit, can set up flywheel energy memory inside monopost foundation platform, be fixed in monopost fan foundation platform etc. through rigid mechanical connection, this disclosure does not limit to this.
In a possible implementation manner, the yawing device can further comprise a fixed connection ring disc and a yawing guide slot or a yawing guide ring.
Wherein, the fixed connection ring plate can be located the flotation pontoon bottom, and driftage guide way or driftage guide ring are located the fixed connection ring plate.
It can be understood that, in the process that the yaw propeller pushes the wind generating set to yaw, the fixed connecting ring disc and the yaw guide groove or the yaw guide ring in the disclosure can ensure that the floating fan keeps circular motion, thereby reducing the influence on the performance of the floating fan as much as possible.
Optionally, the yawing device may further include: mooring system and locking device, wherein, locking device is located between driftage guide way and mooring system.
The mooring system can be used for positioning the floating wind generating set within a certain range and controlling the movement of the wind generating set.
It should be noted that the mooring system in the embodiments of the present disclosure may be determined in any desirable manner, and the present disclosure is not limited thereto.
It is understood that the number of the locking devices in the present disclosure may be one, or may be plural, and the present disclosure is not limited thereto.
It can be understood that, during yawing, when the locking device is in a release state, the mooring system and the yawing guide slot can be kept in a free sliding state to perform yawing, and after yawing is stopped, the locking device can be in a locking state to lock the mooring system and the wind generating set, so that the stability and reliability of the wind generating set are maintained.
In the actual implementation process, the structure of the control system of the offshore floating wind turbine generator system may be adjusted as needed, for example, a current sensor, a voltage sensor, and the like are added, and the number, the form, and the like of the structures in fig. 1 are only schematic illustrations and are not intended to limit the present disclosure.
In one possible implementation, the low-voltage side of the step-up transformer may be connected to the floating wind turbine converter grid-side converter and the low-voltage side of the step-up transformer may be connected to the grid.
Therefore, in the embodiment of the disclosure, when the output power of the floating fan is low, the energy released by the flywheel energy storage device can be transmitted to the power grid through the direct current bus of the converter of the floating fan by controlling the rotating speed of the flywheel energy storage device, so that the stable state of the floating fan is maintained; or, when the output power of the floating fan is high, the rotation speed of the flywheel energy storage device may be controlled, so that the flywheel energy storage device absorbs energy, and the like, which is not limited in this disclosure.
Optionally, in the embodiment of the present disclosure, the size of the incoming wind speed may also be determined by an anemorumbometer, so that the controller may control the operating state of the flywheel energy storage device according to the size of the incoming wind speed.
For example, the wind speed, which corresponds to the influence of the incoming flow wind speed on the floating fan, of the flywheel energy storage device at the rated rotation speed can be determined as the first wind speed. Under the condition that the incoming flow wind speed is less than or equal to the first wind speed, the flywheel energy storage device can be controlled to operate in an external discharging mode, the rotating speed of the flywheel energy storage device is reduced by externally releasing energy, the output power of the fan is smoothed, and therefore the stability of the wind generating set is improved.
Or, under the condition that the incoming flow wind speed is greater than the first wind speed, the flywheel energy storage device can be controlled to operate in a charging mode, and the rotating speed of the flywheel energy storage device is increased, so that the capability of the flywheel energy storage device in restraining the floating fan from being influenced by the incoming flow wind speed is enhanced, and the stable operation of the wind generating set is guaranteed.
It should be noted that the above examples are only illustrative, and should not be taken as limitations on the operating state, control mode, and the like of the flywheel energy storage device in the embodiments of the present disclosure.
Therefore, in the embodiment of the disclosure, the floating fan controller can control the working state of the flywheel energy storage device according to the incoming flow wind speed so as to stabilize the running state of the wind generating set.
In one possible implementation, the floating fan controller may also adjust the rotational speed of the flywheel energy storage device according to the wave parameters of the sea water. For example, when the seawater fluctuation is small, the floating fan controller can determine that the flywheel energy storage device operates at a rated rotating speed, and the shaking caused by the seawater fluctuation can be resisted. Or the floating fan controller determines that the sea water fluctuation is large, and the rotating speed of the flywheel energy storage device can be increased, so that the shaking amplitude of the wind generating set along with the waves is restrained. Therefore, the stability and the reliability of the wind generating set are improved.
In one possible implementation, various sensors may be included in the control system of the floating wind turbine generator system. Such as a voltage sensor, a current sensor, a pitch angle detection sensor, etc., to which the present disclosure is not limited.
Optionally, the control system of the floating wind turbine generator system may include a grid-side voltage sensor and a grid-side current sensor.
For example, a grid-side voltage sensor and a grid-side current sensor are located on a line between a grid-side converter and a power grid system in the floating fan converter, the grid-side voltage sensor is used for detecting a grid-connected point voltage at a grid side of the grid-side converter, and the grid-side current sensor is used for detecting a current at the grid side of the grid-side converter.
Optionally, the control system of the floating wind turbine generator system may include a machine-side voltage sensor and a machine-side current sensor.
For example, a machine side voltage sensor and a machine side current sensor may be located between a machine side converter and a generator stator winding in the floating wind turbine converter, the machine side voltage sensor is used for detecting a machine side voltage of the machine side converter, and the machine side current sensor is used for detecting a machine side current value of the machine side converter.
Optionally, a common dc bus voltage sensor and a common dc bus current sensor may be further installed at a dc bus in the floating fan converter, where the common dc bus voltage sensor and the common dc bus current sensor are respectively used to detect a voltage value and a current value of the common dc bus.
Optionally, the control system of the floating wind turbine generator system may further include a rotation speed sensor.
For example, the floating fan generator and the hub of the floating fan can be connected through a transmission chain, and a rotation speed sensor can be arranged at the shaft end of the floating fan generator.
The rotating speed sensor is used for detecting the rotating speed of the floating type fan generator in real time and sending a rotating speed signal to the machine side converter through a cable, and the machine side converter can send the processed signal to the floating type fan controller after processing the rotating speed signal.
Optionally, the control system of the floating wind generating set may further include a pitch angle detection sensor
For example, the floating fan hub may be connected to the floating fan generator via a transmission chain, and a pitch angle detection sensor may be mounted at the floating fan hub.
The pitch angle detection sensor is used for detecting the pitch angle of the floating fan blade in real time and sending an output signal to the floating fan controller through a cable.
Optionally, a wind speed sensor may be further installed on the wind turbine generator set to obtain a current angle value of the wind turbine generator set.
In a possible implementation manner, the floating fan controller may include a signal acquisition module, a signal filtering module, a calculation and logic processing module, a pitch control module, a yaw control module, a rotational speed and torque control module, a flywheel energy storage control module, and a safety chain control module.
Optionally, the signal acquisition module may be configured to acquire signals sent by various sensors of the floating fan in real time, and perform level conversion and digital processing on the acquired signals.
Optionally, the signal filtering module may be configured to perform digital filtering on the signal sent by the signal acquisition module in real time, so as to filter out interference signals, and send various filtered signals to the yaw control module, the pitch control module, the rotational speed and torque control module, the calculation and logic processing module, and the like.
Optionally, the calculation and logic processing module may process and logically analyze various signals input by the signal filtering module, and send processing results to the yaw control module, the pitch control module, the rotational speed and torque control module, and the flywheel energy storage control module, respectively.
Optionally, the pitch control module may be configured to acquire a pitch angle in real time, analyze the acquired pitch angle to obtain a pitch angle, and send the pitch angle to the pitch actuator.
Optionally, the yaw control module may be configured to perform yaw angle calculation on the nacelle of the floating fan in real time, and may send the yaw angle calculation result to the yaw executing mechanism in real time, so as to monitor the yaw executing mechanism and determine an operating state of the yaw executing mechanism.
Optionally, the rotating speed and torque control module may be configured to calculate a rotating speed and a torque of a generator of the floating fan in real time, send a rotating speed and torque calculation result to a machine-side converter of the floating fan converter in real time, monitor a rotating speed and a torque value of the generator, and determine an operating state of the generator and the machine-side converter.
Optionally, the flywheel energy storage control module may be configured to calculate and determine a rotation speed and a charge/discharge state of the flywheel energy storage device in real time, send a rotation speed calculation result and a charge/discharge state of the flywheel energy storage device to the flywheel energy storage converter in real time, monitor the flywheel energy storage device and the flywheel energy storage converter, and determine an operating state of the flywheel energy storage device and the flywheel energy storage converter.
Optionally, the safety chain control module may be used to protect the safety of the wind turbine generator system.
The flywheel energy storage control module can also perform data transmission with the safety chain control module in real time so as to evaluate the state of the flywheel energy storage device and the running state of the flywheel unit and guarantee the running safety and reliability of the unit.
Therefore, in the embodiment of the disclosure, each control module in the controller can perform cooperative processing according to the received signal data, thereby ensuring the safety and reliability of the unit operation.
For example, a schematic of the floating fan controller is shown in fig. 1A.
For example, the pitch angle detection sensor may detect the floating wind turbine blade pitch angle in real time, and may then send an output signal to the floating wind turbine controller. As shown in fig. 1A, the signal acquisition module in the floating fan controller may acquire the signal sent by the pitch angle detection sensor, and perform level conversion and digital processing on the signal. The digitized signal may then be digitally filtered to filter out interfering signals. And then, the filtered signals can be sent to a variable pitch control module to obtain a variable pitch angle, and then the variable pitch mechanism can control the wind generating set to change the pitch according to the variable pitch angle.
Or the rotating speed sensor sends the acquired rotating speed of the generator to the machine side converter, and the machine side converter processes the rotating speed signal and sends the processed signal to the floating type fan controller. As shown in fig. 1A, the signal acquisition module in the floating fan controller may acquire the processed rotation speed signal and perform level conversion and digital processing on the processed rotation speed signal. Then, the digitized signal can be sent to a filtering module, and the filtering module performs digital filtering on the digitized signal, so as to filter out the interference signal. And then, the filtered signals can be sent to a rotating speed and torque control module and a calculation and logic processing module so as to obtain a rotating speed and torque calculation result, and then the working state of the generator can be controlled according to the result so as to keep the stable operation of the wind generating set.
It should be noted that the above examples are merely illustrative, and are not intended to limit the manner of controlling the controller in the embodiments of the present disclosure.
Fig. 2 is a schematic flow chart of a control method of the offshore floating wind turbine generator system according to the embodiment of the present disclosure. As shown in fig. 2, the control method of the offshore floating wind turbine generator system may include the steps of:
step 201, obtaining a current output power of a fan in a wind generating set, a first angle value, a rated power of the fan, and a current second angle value of incoming wind.
It can be understood that the control method of the offshore floating wind turbine generator system provided by the present disclosure may be applied to any control system of the offshore floating wind turbine generator system provided by the present disclosure.
The current output power of a fan in the wind generating set can be determined according to a voltage sensor and a current sensor in a control system of the offshore floating wind generating set, a current first angle value of the wind generating set can be obtained according to a wind speed sensor, a current second angle value of incoming wind can be determined according to a wind speed and direction meter, and the like, and the method is not limited by the disclosure.
It is understood that in the embodiments of the present disclosure, the output power of the wind turbine, the first angle value, the rated power of the wind turbine, and the current second angle value of the incoming wind in the offshore floating wind turbine may be determined in any desirable manner, and the above examples should not be construed as limiting the present disclosure.
Step 202, comparing the output power with the rated power of the fan to determine the relationship between the output power and the rated power of the fan.
It can be understood that the output power of the wind turbine may be different when the wind turbine is in different operating states. For example, when the incoming wind is strong, the output power of the fan may be greater than the rated power of the fan, or when the incoming wind is weak, the output power of the fan may be less than or equal to the rated power of the fan, and the like, which is not limited in this disclosure.
Step 203, comparing the first angle value with the second angle value to determine a difference between the first angle value and the second angle value.
It is understood that, if the first angle value and the second angle value cannot be directly compared, the first angle value and the second angle value may be normalized first, and then subtracted to determine a difference therebetween, and the like, which is not limited by the disclosure.
Optionally, the appointment may be made in advance, and if the difference is positive, the yaw direction is clockwise; if the difference is negative, the yaw direction is counterclockwise, and so on, which is not limited by this disclosure.
And 204, controlling the working state of a flywheel energy storage device and/or a yaw device in the wind generating set according to the relation between the output power and the rated power of the fan and the difference value between the first angle value and the second angle value.
Optionally, under the condition that the output power is greater than the rated power of the fan, it can be determined that the electric energy output by the fan is more, and at this time, it can be determined that a flywheel energy storage device in the wind turbine generator system should be in a charging mode, and the rotating speed of the flywheel energy storage device is increased to absorb the redundant electric energy output by the fan and store the energy, so that the output power of the fan is balanced, and the stable operation of the wind turbine generator system is ensured.
Optionally, under the condition that the output power is less than or equal to the rated power of the fan, it may be determined that the electric energy output by the fan is insufficient to maintain the stability of the power grid system, and at this time, it may be determined that a flywheel energy storage device in the wind turbine generator system should be in a discharge mode, and the stored energy may be released to reduce the rotation speed of the flywheel energy storage device, so as to maintain the output power of the fan and ensure the stability of the power grid system.
Optionally, in an actual implementation process, the target rotation speed of the flywheel energy storage device may also be determined according to the incoming flow wind speed and the wave vibration amplitude, so that the rotation speed of the flywheel energy storage device is controlled according to the target rotation speed of the flywheel energy storage device.
For example, the moment of momentum of the flywheel energy storage device may be determined, which may satisfy the relationship shown in equation (2) below:
HM＝JM*(ω+θ) (2)
wherein HMMoment of momentum, J, of flywheel energy storage meansMThe rotational inertia of the flywheel energy storage device is shown, omega is the angular speed of a rotor of the flywheel energy storage device, and theta is the included angle between the axis of the tower cylinder of the floating fan and the normal line of the water surface.
Then, the moment of momentum of the floating wind turbine generator set can be determined, which can satisfy the relationship shown in the following equation (3):
HG＝(JG—JM)*θ (3)
wherein HGIs the moment of momentum of the floating fan, JGIs the moment of inertia of the floating fan, JMThe rotating inertia of the flywheel energy storage device is shown, and theta is an included angle between the axis of the tower cylinder of the floating type fan and the normal line of the water surface.
Then, the moment of momentum of the floating wind turbine generator set can be determined, which can satisfy the relationship shown in the following equation (4):
Figure BDA0003248510490000091
wherein M isWind powerThe unit overturning moment is the incoming flow wind speed, l is the distance between the top of the floating fan and the water surface, C is the wind resistance coefficient, rho is the air density, v is the incoming flow wind speed, and A is the area of the windward side of the floating fan.
Thereafter, the overturning moment of the water surface waves on the unit can be determined, which can satisfy the relationship shown in the following equation (5):
Figure BDA0003248510490000092
wherein M isWave ofThe unit overturning moment of water surface waves to the unit is shown, r is the distance between the outer edge of the submerged bottom surface of the floating fan and the gravity center of the fan and a water surface vertical line, S is the wet surface of the floating fan, delta P is the wave pressure, and n is a unit external normal vector of the wet surface S of the floating fan.
Therefore, the momentum moment of the flywheel energy storage device, the momentum moment of the floating fan, the overturning moment of the incoming flow wind speed on the unit and the overturning moment of the water surface waves on the unit can satisfy the relations shown in the following formulas (6) and (7):
HM+HG＝Mwind power+MWave of (6)
Namely:
Figure BDA0003248510490000093
therefore, in the embodiment of the present disclosure, the target rotation speed of the flywheel energy storage device may be determined according to the monitored data of the incoming flow wind speed, the wave vibration amplitude and the like, and according to the above formulas (2), (3), (4), (5), (6) and (7), and then the rotation speed of the flywheel energy storage device may be controlled based on the target rotation speed, so that the balance between the momentum moment of the flywheel energy storage device, the momentum moment of the floating fan, the incoming flow wind overturning moment and the wave overturning moment may be realized, and further, the stable state of the marine floating fan is maintained, and a condition is provided for the smooth operation of the wind turbine generator set.
For example, the target rotating speed n of the flywheel energy storage device is determined according to the formula1The current real-time rotation speed is n2，n2Is much less than n1The rotational speed of the flywheel energy storage device can be increased to reach the target rotational speed n1Therefore, the balance among the momentum moment of the flywheel energy storage device, the momentum moment of the floating fan, the inflow wind overturning moment and the wave overturning moment can be realized.
It should be noted that the above examples are only illustrative, and cannot be taken as limitations on the determination method of the target rotation speed of the flywheel energy storage device, the control method of the flywheel energy storage device, and the like in the embodiments of the present disclosure.
Optionally, when the difference between the first angle value and the second angle value is greater than the second threshold value, the yaw angle is determined, then a driving numerical value required by the yaw propeller is determined according to the yaw angle, then the working duration of the yaw propeller is determined according to the driving numerical value, the number of the yaw propeller and the output power of the yaw propeller, and then the locking device in the wind turbine generator system can be controlled to be in a released state, so that the yaw propeller performs yawing.
The second threshold may be a value set in advance, or may also be adjusted as needed, and the like. The present disclosure is not limited thereto.
It can be understood that the corresponding relationship between the difference and the yaw angle can be set in advance, so that after the difference is determined, the corresponding yaw angle can be determined by traversing the corresponding relationship.
It is understood that the yaw angle may be positively correlated with the required drive value of the yaw propeller, and the larger the yaw angle, the larger the required drive value, the smaller the yaw angle, the smaller the required drive value, etc., which are not limited by the present disclosure.
For example, the determined driving value is W, the number of the yaw propellers is 3, and the output power of each yaw propeller is P, and then the operating time length of each yaw propeller can be determined as follows: w/(3. multidot. P). When the yaw propeller is controlled to start yawing at time t, the yaw propeller may be controlled to stop yawing at time [ t + W/(3 × P) ].
It can be understood that when the yawing propeller is yawing, the locking device in the wind generating set can be controlled to be in an unlocking state so as to enable the yawing propeller to yaw. After the yawing propeller stops yawing, the locking device in the wind generating set can be controlled to be in a locking state, so that the stability and the reliability of the wind generating set are guaranteed.
According to the embodiment of the disclosure, the current output power of the fan in the wind generating set, the first angle value, the rated power of the fan and the current second angle value of the incoming wind can be obtained firstly, then the relation between the output power and the rated power of the fan and the difference value between the first angle value and the second angle value can be respectively determined, and then the working state of the flywheel energy storage device and/or the yaw device in the wind generating set can be controlled, so that the safety and the reliability of the operation of the wind generating set are guaranteed.
In one possible implementation, when the rotational speed of the flywheel energy storage device reaches the upper rotational speed limit for allowing operation, it may indicate that the flywheel energy storage device cannot continue to store energy. If the output power of the floating fan is greater than or equal to the rated rotating speed, it can be shown that the electric energy output by the floating fan is possibly higher than the electric energy when the power grid system maintains stability, and at this time, in order to ensure the stability of the system, it can be determined that the pitch control operation can be currently performed. Then, the current pitch-variable stopping speed can be determined under the condition that the current rotating speed of the fan is greater than the rated rotating speed and the difference value between the current rotating speed and the rated rotating speed is greater than or equal to the first threshold value, then the pitch angle corresponding to the current pitch-variable stopping speed can be determined according to the preset corresponding relation between the rotating speed of the fan and the pitch angle, and the rotating speed and the pitch angle of the fan are controlled according to the current pitch-variable stopping speed and the corresponding pitch angle.
The threshold may be a preset value, or may be adjusted according to needs, and the like, which is not limited in this disclosure.
Optionally, the current pitch stopping rotational speed may be determined according to the current rotational speed and the rated rotational speed.
For example, the rated speed of the fan is n0The current rotating speed of the fan is n1，n1And n0The difference of (d) is: (n)1-n0) And the current stopping variable pitch rotating speed is determined as follows according to the condition that the current stopping variable pitch rotating speed is greater than a set threshold value: [ n ] of0-(n1-n0)]I.e. 2n0-n1。
Then, the corresponding relation between the preset fan rotating speed and the pitch angle is searched in a traversing mode, and the 2 n-pitch angle can be determined0-n1If the corresponding pitch angle is a, the fan can be controlled to reduce the rotation speed until the rotation speed is changed to 2n0-n1The pitch angle of the fan is increased until the pitch angle becomes a.
The above examples are merely illustrative, and are not intended to limit the manner of controlling the rotational speed and pitch angle of the wind turbine in the embodiments of the present disclosure.
In the embodiment of the disclosure, the fan can be controlled to change the pitch by controlling the rotating speed and the pitch angle of the fan, so that the fan can be in a stable operation working state, and the utilization rate of the wind generating set is improved.
In order to realize the above embodiment, the present disclosure further provides a control device of the offshore floating wind turbine generator system.
Fig. 3 is a schematic structural diagram of a control device of an offshore floating wind turbine generator system according to an embodiment of the present disclosure.
As shown in fig. 3, the control apparatus 100 of the offshore floating wind turbine may include: an acquisition module 110, a first determination module 120, a second determination module 130, and a control module 140.
An obtaining module 110, configured to obtain a current output power of a fan in the wind turbine generator set, a first angle value, a rated power of the fan, and a current second angle value of incoming wind.
A first determining module 120, configured to compare the output power with a rated power of the wind turbine to determine a relationship between the output power and the rated power of the wind turbine.
A second determining module 130, configured to compare the first angle value with the second angle value to determine a difference between the first angle value and the second angle value.
And the control module 140 is configured to control the working state of the flywheel energy storage device and/or the yaw device in the wind turbine generator system according to the relationship and the difference.
Optionally, the control module 140 is specifically configured to:
under the condition that the output power is greater than the rated power of the fan, the rotating speed of a flywheel energy storage device in the wind generating set is increased;
or,
and reducing the rotating speed of a flywheel energy storage device in the wind generating set under the condition that the output power is less than or equal to the rated power of the fan.
Optionally, the control module 140 is further specifically configured to:
under the condition that the output power is greater than or equal to the rated power of the fan, acquiring the current rotating speed, the pitch angle and the rated rotating speed of the fan;
determining the current pitch-variable stopping rotating speed under the condition that the current rotating speed of the fan is greater than the rated rotating speed and the difference value between the current rotating speed and the rated rotating speed is greater than or equal to a first threshold value;
determining a pitch angle corresponding to the current stop variable-pitch rotating speed according to a preset corresponding relation between the rotating speed of the fan and the pitch angle;
and controlling the rotating speed and the pitch angle of the fan according to the current pitch-variable stopping rotating speed and the corresponding pitch angle.
Optionally, the control module 140 is further specifically configured to:
determining the yaw angle if the difference is greater than a second threshold;
determining a driving numerical value required by the yawing propeller according to the yawing angle;
determining the working time length of the yaw propellers according to the driving numerical value, the number of the yaw propellers and the output power of the yaw propellers;
and controlling a locking device in the wind generating set to be in a release state so as to enable the yawing propeller to yaw.
The functions and specific implementation principles of the modules in the embodiments of the present disclosure may refer to the embodiments of the methods, and are not described herein again.
The control device of the offshore floating type wind generating set can firstly acquire the current output power of the fan in the wind generating set, a first angle value, the rated power of the fan and a second angle value of the incoming wind, then can respectively determine the relation between the output power and the rated power of the fan and the difference value between the first angle value and the second angle value, and then can control the working state of a flywheel energy storage device and/or a yaw device in the wind generating set, thereby ensuring the safety and the reliability of the operation of the wind generating set.
In order to implement the above embodiments, the present disclosure also provides an electronic device, including: the control method of the offshore floating wind generating set comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and when the processor executes the program, the control method of the offshore floating wind generating set provided by the previous embodiment of the disclosure is realized.
In order to achieve the above embodiments, the present disclosure also proposes a non-transitory computer readable storage medium storing a computer program, which when executed by a processor implements the control method of the offshore floating wind turbine generator set proposed by the foregoing embodiments of the present disclosure.
In order to implement the above embodiments, the present disclosure also provides a computer program product, which when executed by an instruction processor in the computer program product, executes the control method of the offshore floating wind turbine generator set according to the foregoing embodiments of the present disclosure.
FIG. 4 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present disclosure. The electronic device 12 shown in fig. 4 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present disclosure.
As shown in FIG. 4, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory floating fan controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. These architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus, to name a few.
Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk Read Only Memory (CD-ROM), a Digital versatile disk Read Only Memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally perform the functions and/or methodologies of the embodiments described in this disclosure.
Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network such as the Internet) via the Network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing, for example, implementing the methods mentioned in the foregoing embodiments, by executing programs stored in the system memory 28.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.

Claims (22)

1. A control system for a floating offshore wind turbine, comprising:
the system comprises a floating fan, a floating fan converter, a step-up transformer, a flywheel energy storage device, a flywheel energy storage converter, a yawing device, an anemorumbometer and a floating fan controller;
the generator stator winding of the floating fan is connected with the floating fan converter, the floating fan converter is connected with one end of the boosting transformer, and the other end of the boosting transformer is connected with a power grid system;
the flywheel energy storage device is connected with the flywheel energy storage converter, and the flywheel energy storage converter is connected with the floating fan converter;
the yawing device is connected with the floating fan controller, and a yawing propeller in the yawing device is arranged on the side face or the lower face of a buoy in the floating fan;
the anemorumbometer is connected with the floating fan controller;
and the floating fan controller is used for controlling the working state of the flywheel energy storage device and/or the yawing device.
2. The control system of an offshore floating wind turbine unit of claim 1,
the floating type fan converter comprises a machine side converter, a network side converter and a direct current bus, wherein the machine side converter and the network side converter in the floating type fan converter are connected through the direct current bus.
3. The control system of claim 2, wherein the step-up transformer low voltage side is connected to the floating wind turbine converter grid side converter and the step-up transformer low voltage side is connected to the grid system.
4. Control system of an offshore floating wind park according to claim 2,
the direct current side of the flywheel energy storage converter is connected to a direct current bus of the floating fan converter, the alternating current side of the flywheel energy storage converter is connected with a stator winding of a motor of the flywheel energy storage device, and the motor of the flywheel energy storage device and the flywheel body are arranged on the same rotating shaft.
5. The control system of the offshore floating wind turbine unit of claim 1, wherein the anemorumbometer is installed on top of the nacelle of the floating wind turbine for real-time detection of ambient wind speed and direction of the floating wind turbine, the anemorumbometer is powered by the floating wind turbine controller, and an output signal of the anemorumbometer is transmitted to the floating wind turbine controller through a cable.
6. The control system of an offshore floating wind turbine set of claim 1, wherein the yaw assembly further comprises:
fixedly connecting a ring disc and a yaw guide groove or a yaw guide ring;
the fixed connection ring disc is positioned at the bottom of the floating barrel, and the yawing guide groove or the yawing guide ring is positioned on the fixed connection ring disc.
7. The control system of an offshore floating wind turbine set of claim 6, wherein the yaw assembly further comprises:
mooring system and locking device;
the locking device is located between the yaw guide way and the mooring system.
8. The control system of an offshore floating wind turbine set of claim 1, further comprising: a grid side voltage sensor and a grid side current sensor;
the grid-side voltage sensor and the grid-side current sensor are located on a circuit between the grid-side converter and the power grid system, the grid-side voltage sensor is used for detecting grid-connected point voltage of the grid side of the grid-side converter, and the grid-side current sensor is used for detecting grid-connected point current of the grid side of the grid-side converter.
9. The control system of an offshore floating wind turbine set of claim 1, further comprising: a machine side voltage sensor and a machine side current sensor;
the machine side voltage sensor and the machine side current sensor are positioned between a machine side converter and a generator stator winding in the floating type fan converter, the machine side voltage sensor is used for detecting machine side voltage of the machine side converter, and the machine side current sensor is used for detecting machine side current value of the machine side converter.
10. The control system of an offshore floating wind turbine set of claim 1, further comprising: a rotational speed sensor;
the rotating speed sensor is positioned at the end of the generator shaft of the floating fan and used for detecting the rotating speed of the floating fan generator in real time.
11. The control system of an offshore floating wind turbine set of claim 1, further comprising: a pitch angle detection sensor;
wherein, the pitch angle sensor is connected with the floating fan and is powered by the floating fan; the pitch angle detection device is used for detecting the pitch angle of the floating fan blade in real time.
12. The control system of the offshore floating wind turbine unit of claim 1, wherein the floating wind turbine controller comprises a signal acquisition module, a signal filtering module, a pitch control module, a yaw control module, a rotational speed and torque control module, and a flywheel energy storage control module.
13. The control system of claim 12, wherein the signal acquisition module is configured to acquire signals from various sensors of the control system in real time.
14. The control system of claim 12, wherein the signal filtering module is configured to perform digital filtering processing on the signal transmitted by the signal acquisition module in real time.
15. The system of claim 12, wherein the pitch control module is configured to perform pitch angle calculations on the blades of the floating wind turbine in real time.
16. The control system of an offshore floating wind turbine set of claim 12, wherein the yaw control module is configured to perform yaw angle calculations on the nacelle of the floating wind turbine in real time.
17. The system of claim 12, wherein the speed and torque control module is configured to calculate the speed and torque of the floating wind turbine generator in real time.
18. The control system of claim 12, wherein the flywheel energy storage control module is configured to control the rotation speed and the charging/discharging state of the flywheel energy storage device in real time.
19. A control method of an offshore floating type wind generating set comprises the following steps:
acquiring the current output power of a fan in the wind generating set, a first angle value, the rated power of the fan and a current second angle value of incoming wind;
comparing the output power with the rated power of the fan to determine the relationship between the output power and the rated power of the fan;
comparing the first angle value to the second angle value to determine a difference in the first angle value and the second angle value;
and controlling the working state of a flywheel energy storage device and/or a yawing device in the wind generating set according to the relation and the difference value.
20. The method of claim 19,
moment of momentum H of the flywheel energy storage deviceM＝JM(ω + θ); moment of momentum H of the floating fanG＝(JG—JM)*θ；
Overturning moment M of incoming flow wind speed on unitWind powerThe following conditions are satisfied:
Figure FDA0003248510480000031
overturning moment M of water surface waves on unitWave ofSatisfy the following requirementsThe following conditions were used:
Figure FDA0003248510480000032
wherein: hM-moment of momentum of the flywheel energy storage means;
HG-the momentum moment of the fan;
JM-flywheel energy storage means moment of inertia;
JG-the rotational inertia of the fan;
omega-flywheel energy storage device rotor angular velocity;
theta is the included angle between the axis of the tower and the normal line of the water surface;
l is the distance between the top of the fan and the water surface;
r is the distance from the outer edge of the submerged bottom surface of the fan to the gravity center of the fan and the vertical line of the water surface;
a is the area of the windward side of the fan;
s, wetting the surface of a fan;
c is wind resistance coefficient;
ρ is air density;
v-incoming wind speed;
Δ P-wave pressure;
n-the unit external normal vector of S;
r-position vector of wave pressure action point relative to fan coordinate system.
21. The method of claim 20, wherein the target rotational speed of the flywheel energy storage device satisfies the relationship:
Figure FDA0003248510480000033
22. a control device of a floating wind generating set on the sea comprises:
the acquisition module is used for acquiring the current output power of a fan in the wind generating set, a first angle value, the rated power of the fan and a current second angle value of incoming wind;
the first determination module is used for comparing the output power with the rated power of the fan so as to determine the relation between the output power and the rated power of the fan;
a second determining module for comparing the first angle value with the second angle value to determine a difference between the first angle value and the second angle value;
and the control module is used for controlling the working state of a flywheel energy storage device and/or a yawing device in the wind generating set according to the relation and the difference value.
CN202111039016.XA 2021-09-06 2021-09-06 Control system of offshore floating type wind generating set Pending CN113653598A (en)

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CN109672299A (en) * 2019-01-19 2019-04-23 曲阜师范大学 Wind-force magnetically levitated flywheel auxiliary generating system
EP3739202A1 (en) * 2019-05-16 2020-11-18 Siemens Gamesa Renewable Energy A/S Floating foundation for an offshore wind turbine
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Publication number Priority date Publication date Assignee Title
US20100025996A1 (en) * 2006-10-10 2010-02-04 James Ian Edwards Wave and wind power generation
EP2454800A1 (en) * 2009-07-17 2012-05-23 Ehmberg Solutions AB Offshore energy storage device
CN102734076A (en) * 2012-07-02 2012-10-17 袁宗凡 Water wind power generation system
CN109672299A (en) * 2019-01-19 2019-04-23 曲阜师范大学 Wind-force magnetically levitated flywheel auxiliary generating system
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