Wind turbine, a method for compensating for disparities in a wind turbine rotor blade pitch system and use of a method
A wind turbine includes a rotor having one or more rotor blades, a pitch system for controlling the pitch angle of the one or more rotor blades, the pitch system having at least one pitch actuator, a pitch controller for generating pitch actuator control signals and sensor elements for establishing values of pitch performance parameters, and a compensation controller to compensate for disparities between the pitch actuator control signals and the values of pitch performance parameters, according to a control algorithm. The compensation controller is arranged to adjust parameters of the control algorithm of the compensation controller in dependency of the disparities.
1. A wind turbine comprising
a rotor including one or more rotor blades,
a pitch system for controlling a pitch angle of said one or more rotor blades, said pitch system comprising at least one pitch actuator, a pitch controller for generating pitch actuator control signals and sensor elements for establishing values of pitch performance parameters, and
an adaptive compensation controller to compensate for disparities between a model defined by said pitch actuator control signals and said values of pitch performance parameters, according to a control algorithm,
wherein
the adaptive compensation controller is arranged to adjust parameters of the control algorithm of said adaptive compensation controller in dependency of said disparities.
2. The wind turbine according to claim 1 , wherein said adaptive compensation controller comprises a Self Tuning Regulator (STR).
3. The wind turbine according to claim 1 , wherein the adaptive compensation controller is arranged to adjust said parameters of the control algorithm continuously.
4. The wind turbine according to claim 1 , wherein said pitch actuator is a hydraulic pitch actuator.
5. The wind turbine according to claim 1 , wherein said adaptive compensation controller is further arranged to adjust said parameters of the control algorithm in dependency of environmental values.
6. The wind turbine according to claim 1 , wherein said adaptive compensation controller is further arranged to adjust said parameters of the control algorithm in dependency of pitch performance parameters.
7. The wind turbine according to claim 1 , wherein said adaptive compensation controller is arranged to adjust said parameters of the control algorithm in dependency of estimated pitch performance parameters.
8. The wind turbine according to claim 1 , wherein said wind turbine is a variable speed wind turbine.
9. Method for compensating for disparities in a wind turbine rotor blade pitch system, said pitch system comprising at least one pitch actuator, a pitch controller, sensor elements and an adaptive compensation controller, said method comprising the steps of:
generating pitch actuator control signals by said pitch controller
establishing values of pitch performance parameters of said pitch actuator by said sensor elements,
adjusting parameters of a control algorithm of said adaptive compensation controller in dependency of disparities between a model defined by said generated pitch actuator control signals and said established values of pitch performance parameters.
10. The method according to claim 9 , wherein said parameters of a control algorithm are further adjusted in dependency of environmental values.
11. The method according to claim 9 , wherein said parameters of a control algorithm are further adjusted in dependency of performance parameters.
12. The method according to claim 9 , wherein said established values of pitch performance parameters are based on estimated values.
13. The method according to claim 9 , wherein said established values of pitch performance parameters are based on measured values.
14. Use of a method according to claim 9 in a pitch controlled wind turbine.