Icing identification control method, system and equipment for wind turbine generator and medium

Abstract

The invention relates to the technical field of blade icing identification, in particular to a wind turbine generator icing identification control method, system and device and a medium, and the method comprises the steps: obtaining current detection values of a plurality of yaw motors of a wind turbine generator, obtaining a first judgment condition through combination with a set icing judgment threshold value, and judging the set icing degree according to the first judgment condition; and determining a plurality of grade states. And a second judgment condition is obtained by integrating the unit icing state, the impeller icing judgment threshold value and the current detection value, so that the impeller icing degree and various grade states are judged. And finally, whether the wind turbine generator is shut down or not is determined according to the icing state of the generator set, or blades are deiced according to the icing state of an impeller, so that safe operation of the wind turbine generator under the icing condition is guaranteed, and the influence of icing on the generator set and the generating capacity is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of blade icing identification, and in particular to a wind turbine set icing identification control method, system, equipment and medium. Background Art

[0002] Nowadays, the installation environment of wind turbines is becoming more and more diverse, covering a variety of different climate and terrain conditions. Whether it is the humid and cold environment in the south or the heavy snowfall environment in the north, ice will appear on the impeller, nacelle and other parts. In this case, since the original design shape of the blades and the operating design conditions of the unit have changed, the operation of the wind turbine in an iced state will not only cause serious damage to the power generation, but also cause operational damage to the large components of the unit. Moreover, the ice shedding phenomenon will pose a major safety hazard to the surrounding environment of the unit. It can be seen that how to effectively identify the icing of wind turbines has become the key to solving such problems.

[0003] For traditional wind turbines, the icing problem of the unit (especially the blades) is usually measured or estimated directly by adding environmental sensors. However, this method has some disadvantages. On the one hand, the communication and power supply of the environmental sensors require secondary modifications to the unit, which undoubtedly increases the cost of the modification. On the other hand, this icing recognition method is highly dependent on the input signal of the environmental sensor, which greatly reduces the reliability of the icing recognition system. Summary of the invention The technical problem to be solved by the present invention is to provide a wind turbine set icing identification and control method, system, equipment and medium in view of the deficiencies in the above-mentioned prior art, so as to solve the technical problems in the prior art of increasing the modification cost and reducing the reliability of the sensor system due to the estimation of icing conditions.

[0004] The objective of the present invention is achieved by the following technical solutions: In a first aspect, the present invention provides a wind turbine generator set icing identification and control method, comprising: Obtain current detection values ​​of multiple yaw motors of a wind turbine; A first judgment condition is obtained according to a unit icing judgment threshold and a current detection value; the unit icing degree is judged according to the first judgment condition to obtain a unit icing state of a corresponding level; the unit icing state has at least two levels; A second judgment condition is obtained according to the unit icing state, the impeller icing judgment threshold and the current detection value, and the impeller icing degree is judged according to the second judgment condition to obtain the impeller icing state of the corresponding level, wherein the impeller icing state has at least two levels; The wind turbine is shut down according to the icing status of the unit, or the blades are de-iced according to the icing status of the impeller.

[0005] As a further improvement of the present invention, the obtaining of the current detection value of the yaw motor of the wind turbine generator set specifically includes: the current detection value is a filtered detection value.

[0006] As a further improvement of the present invention, a first judgment condition is obtained according to the unit icing judgment threshold and the current detection value, and the unit icing degree is judged according to the first judgment condition to obtain the unit icing state of the corresponding level, specifically including: The unit icing judgment threshold includes a first threshold, a second threshold and a third threshold; the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; The first judgment condition is: using the first threshold, the second threshold and the third threshold in sequence to compare with the current detection values ​​of the plurality of yaw motors; If the current detection values ​​of the multiple yaw motors are all greater than the first threshold value and are not greater than the second threshold value, the icing state of the unit is set to light icing; If the current detection values ​​of the multiple yaw motors are all greater than the second threshold value and are not greater than the third threshold value, the icing state of the unit is set to moderate icing; If the current detection values ​​of the multiple yaw motors are all greater than the third threshold, the icing state of the unit is set to heavy icing.

[0007] As a further improvement of the present invention, a second judgment condition is obtained according to the icing state of the unit, the impeller icing judgment threshold and the current detection value, and the impeller icing degree is judged according to the second judgment condition to obtain the impeller icing state of the corresponding level, specifically including: The impeller icing judgment threshold comprises a fourth threshold, a fifth threshold and a sixth threshold; The second judgment condition is: according to the current icing state of the unit, the fourth threshold, the fifth threshold and the sixth threshold are sequentially compared with the current detection values ​​of the multiple yaw motors; If the current detection values ​​of at least two yaw motors are both greater than the fourth threshold value and are both less than the fifth threshold value, and the current icing state of the unit is light icing, then the impeller icing state is set to light icing; If the current detection values ​​of at least two yaw motors are both greater than the fifth threshold value and are both less than the sixth threshold value, and the current icing state of the unit is moderate icing, then the impeller icing state is set to moderate icing; If the current detection values ​​of the multiple yaw motors are all greater than the sixth threshold value, and the current icing state of the unit is severe icing, the impeller icing state is set to severe icing.

[0008] As a further improvement of the present invention, controlling the wind turbine generator set to shut down according to the icing state of the wind turbine generator set specifically includes: When the unit is in a lightly iced state and the ambient temperature is below zero, the wind turbine is controlled to shut down at the first pitch speed; When the unit is in a moderate icing state and the ambient temperature is below zero, the wind turbine is controlled to shut down at the second pitch speed; When the unit is severely iced and the ambient temperature is below zero, the wind turbine is controlled to shut down at the third pitch speed; The values ​​of the first pitch rate, the second pitch rate, and the third pitch rate decrease in sequence.

[0009] As a further improvement of the present invention, de-icing the blades according to the icing state of the impeller specifically includes: When the impeller is lightly iced and the ambient temperature is below zero, the wind turbine performs de-icing on the blades of the turbine at the first heating power; When the impeller is moderately covered with ice and the ambient temperature is below zero, the wind turbine performs de-icing on the blades of the turbine at the second heating power; When the impeller is severely iced and the ambient temperature is below zero, the wind turbine will de-ice the blades at the third heating power. The values ​​of the first heating power, the second heating power and the third heating power increase in sequence.

[0010] As a further improvement of the present invention, the ambient temperature is detected by a temperature sensor arranged in the wind turbine generator area.

[0011] In a second aspect, the present invention provides a wind turbine icing identification control system, which is used to implement the above-mentioned wind turbine icing identification control method, including: A data acquisition module is used to obtain current detection values ​​of multiple yaw motors of a wind turbine; The unit icing identification module obtains a first judgment condition according to the unit icing judgment threshold and the current detection value; judges the unit icing degree according to the first judgment condition to obtain a corresponding level of unit icing state; the level of the unit icing state includes at least two levels; an impeller icing identification module, used to obtain a second judgment condition according to the icing state of the unit, the impeller icing judgment threshold and the current detection value, and judge the degree of impeller icing according to the second judgment condition to obtain a corresponding level of impeller icing state, wherein the levels of the impeller icing state include at least two levels; The unit control module is used to control the wind turbine unit to shut down according to the unit's icing status, or to de-ice the blades according to the impeller's icing status.

[0012] In a third aspect, the present invention provides a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, which, when executed by a computing device, enable the computing device to execute the above-mentioned wind turbine set icing identification and control method.

[0013] In a fourth aspect, the present invention provides a computing device, comprising: One or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include steps for executing the above-mentioned wind turbine set icing identification and control method.

[0014] The beneficial effect of the present invention is that the wind turbine icing identification and control method provided by the present invention reflects the operating status of the wind turbine and the impeller from multiple angles by obtaining multiple yaw motor current detection values, and avoids the one-sidedness of single data in the form of multiple data points. The present invention also associates the yaw motor working current, that is, the load of the yaw motor itself, with the icing condition of the head and blades. During the icing process of the unit, by judging the different working currents of several yaw motors and the different working currents of the front and rear yaw motors, it is judged whether the yaw motor current is within the working range under normal yaw action. If there is icing, the weight of the head and the weight of the impeller are increased, and the yaw motor load is further increased during the yaw process, thereby increasing the yaw motor working current, and synchronously combining the ambient temperature to determine the icing condition of the unit and the impeller. The yaw motor working current is directly associated with the increased weight of the unit and the impeller, and the icing condition under sub-zero ambient temperature is effectively identified.

[0015] Furthermore, by using the shutdown protection at different pitch speeds and the blade de-icing system at different powers, the unit protection mode can be used in stages.

[0016] Furthermore, by setting multiple different ice coverage judgment thresholds, the unit's ice coverage can be divided more finely, and the light ice coverage, moderate ice coverage and severe ice coverage can be determined respectively, avoiding the limitations of a single judgment standard and improving the accuracy of ice coverage judgment. Clear ice coverage status levels allow operation and maintenance personnel to quickly understand the unit's ice coverage level, so that they can take corresponding countermeasures according to different levels.

[0017] Furthermore, different icing states correspond to different pitch speeds, which can reduce the impact on key components of wind turbines during shutdown. For moderate and severe icing states, as the degree of icing increases, the wind turbine is shut down at a gradually decreasing pitch speed, which avoids equipment damage or accidents caused by excessive shutdown actions. Especially when the ambient temperature is below zero, the ice may be harder. This gradually adjusted shutdown method can better adapt to complex working conditions and improve the safety of the entire shutdown process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 In the embodiment of the present invention; Figure 2 In the embodiment of the present invention; Figure 3 In the embodiment of the present invention Figure 4 In the embodiment of the present invention Figure 5 In the embodiment of the present invention Figure 6 In the embodiment of the present invention Figure 7 It is an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose and technical solution of the present invention clearer and easier to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments, wherein the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0022] Example 1 like Figure 1-Figure 5 As shown, this embodiment provides a wind turbine icing identification and control method, which monitors the operating state of the yaw process of the unit in a sub-zero temperature environment in real time through the real-time operation data of the unit such as the ambient temperature and the yaw motor current and temperature, and effectively identifies the icing situation of the unit through the way that the weight of the head including the impeller and the nacelle increases due to icing of the unit blades and the nacelle, which affects the normal yaw of the wind turbine, and further notifies the wind turbine control system to start the de-icing system or shut down for protection. The following is a specific implementation method.

[0023] The current detection values ​​of multiple yaw motors of the wind turbine are obtained. In this embodiment, the current detection values ​​are filtered by a filter to remove noise interference and improve data accuracy.

[0024] A first judgment condition is obtained according to a unit icing judgment threshold and a current detection value; the unit icing degree is judged according to the first judgment condition to obtain a corresponding level of unit icing status; wherein the level of the unit icing status includes at least two levels.

[0025] Specifically, the unit icing judgment threshold includes a first threshold T1, a second threshold T2 and a third threshold T3; the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold.

[0026] The first judgment condition is: using the first threshold, the second threshold and the third threshold in sequence to compare with the current detection values ​​of the plurality of yaw motors.

[0027] In this embodiment, one wind turbine assembly is equipped with four yaw motors, so the current detection values ​​of the four yaw motors (i.e., c_yaw1m, c_yaw2m, c_yaw3m, c_yaw4m) are collected, and the current monitoring values ​​after current filtering are c_yaw1, c_yaw2, c_yaw3, c_yaw4 respectively. The first judgment condition is used to judge the ice coverage of the four yaw motors, such as Figure 2 As shown, specifically: If the current detection values ​​of the four yaw motors are all greater than the first threshold (i.e., the current detection values ​​c_yaw1, c_yaw2, c_yaw3, and c_yaw4 are all greater than T1 at the same time), and are not greater than the second threshold, the unit icing state is set to light icing; otherwise, it means that the yaw motor is not working or the nose weight has not changed significantly. If the current detection values ​​of the four yaw motors are all greater than the second threshold (i.e., the current detection values ​​c_yaw1, c_yaw2, c_yaw3, c_yaw4 are all greater than T2 at the same time), and are not greater than the third threshold, the unit icing state is set to moderate icing; If the current detection values ​​of the four yaw motors are all greater than the third threshold (that is, the current detection values ​​c_yaw1, c_yaw2, c_yaw3, c_yaw4 are simultaneously greater than T3), the unit icing state is set to severe icing.

[0028] A second judgment condition is obtained according to the unit icing state, the impeller icing judgment threshold and the current detection value, and the impeller icing degree is judged according to the second judgment condition to obtain the impeller icing state of the corresponding level, and the impeller icing state includes at least two levels; Specifically, the impeller icing judgment thresholds include a fourth threshold T1_r, a fifth threshold T2_r and a sixth threshold T3_r; The second judgment condition is: according to the current icing state of the unit, the fourth threshold, the fifth threshold and the sixth threshold are used in turn to compare with the current detection values ​​of multiple yaw motors, such as Figure 3 As shown, specifically: If the current detection values ​​of at least two yaw motors (for example, the current detection value c_yaw1 of the first yaw motor and the current detection value c_yaw2 of the second yaw motor) are both greater than the fourth threshold value T1_r and are not greater than the fifth threshold value T2_r, and the current icing state of the unit is light icing (that is, the current detection values ​​c_yaw1, c_yaw2, c_yaw3, and c_yaw4 are all greater than T1), the impeller icing state is set to light icing; otherwise, it means that the yaw motor is not working or the nose weight or the impeller weight has not changed significantly.

[0029] If the current detection values ​​of at least two yaw motors are both greater than the fifth threshold value T2_r and are both less than the sixth threshold value T3_r, and the current icing state of the unit is moderate icing, the impeller icing state is set to moderate icing; If the current detection values ​​of the plurality of yaw motors are all greater than the sixth threshold value T3_r, and the current icing state of the unit is severe icing, the impeller icing state is set to severe icing.

[0030] The wind turbine is shut down according to the icing status of the unit, or the blades are de-iced according to the icing status of the impeller.

[0031] Control the wind turbine shutdown according to the unit's ice state, such as Figure 4 As shown, specifically including: When the unit is in a light icing state and the ambient temperature is below zero (Temp<0), it means that the unit is slightly iced under the condition of below zero ambient temperature, which causes the yaw motor load to increase during the yaw process. To further protect the unit, the wind turbine is controlled to shut down at the first pitch rate. When the unit is in a moderate icing state and the ambient temperature is below zero, it means that the unit is moderately iced under the condition of the ambient temperature below zero. To further protect the unit, the wind turbine is controlled to shut down at the second pitch speed. When the unit is severely iced and the ambient temperature is below zero, it means that the unit is severely iced under the condition of sub-zero ambient temperature. To further protect the unit, the wind turbine is controlled to shut down at the third pitch speed to avoid sudden changes in the unit's operating status affecting the unit's operation and the surrounding environment.

[0032] The values ​​of the first pitch rate Pitchrate1, the second pitch rate Pitchrate2, and the third pitch rate Pitchrate3 decrease in sequence. The first pitch rate Pitchrate1, the second pitch rate Pitchrate2, and the third pitch rate Pitchrate3 are determined according to the load level of the unit.

[0033] As shown in Table 1,

[0034] De-ice the blades according to the impeller icing status, such as Figure 5 As shown, specifically including: When the impeller icing state (IceRstate) is light icing and the ambient temperature is below zero, it means that the unit is slightly iced and the impeller is also slightly iced under the ambient temperature below zero, resulting in a small increase in the yaw motor load toward the impeller position during the yaw process. In order to further ensure the normal power generation operation of the unit, the wind turbine de-ices the unit blades with the first heating power P1; When the impeller icing state is moderate icing and the ambient temperature is below zero, it means that the unit has moderate icing and the impeller also has moderate icing under the ambient temperature below zero, resulting in a moderate increase in the yaw motor load toward the impeller position during the yaw process. In order to further ensure the normal power generation operation of the unit, the wind turbine unit de-ices the unit blades with the second heating power P2; When the impeller is severely iced and the ambient temperature is below zero, it means that the unit is severely iced and the impeller is also severely iced under the ambient temperature below zero, resulting in a greater increase in the yaw motor load toward the impeller position during the yaw process. To further ensure the normal power generation operation of the unit, the wind turbine de-ices the blades of the unit at the third heating power P3; The values ​​of the first heating power P1, the second heating power P2, and the third heating power P3 increase in sequence. In this embodiment, the heating method adopts electric heating, fire heating, and gas heating. The gas heating or electric heating power P1, P2, and P3 of the wind turbine set is determined by the blade deicing system.

[0035] This embodiment monitors the yaw motor current and the ambient temperature to associate the yaw motor working current, i.e., the yaw motor's own load, with the icing condition of the head and blades. During the icing process of the unit, by judging the different working currents of several yaw motors and the different working currents of the front and rear yaw motors, it is judged whether the yaw motor current is within the working range under normal yaw action. If there is icing, the head weight and the impeller weight will increase, and the yaw motor load will be further increased during the yaw process, thereby increasing the yaw motor working current, and the icing condition of the unit and the impeller will be judged synchronously in combination with the ambient temperature. In addition, this embodiment does not add sensors to the traditional wind turbine unit, but only updates the main control software, and uses the ambient temperature sensor commonly used in the unit, so the modification cost is low.

[0036] The control parameters of this embodiment need to be highly customized, based on the number of yaw motors, yaw motor models, yaw motor arrangement positions, wind turbine design loads, etc., and on this basis, the unit is protected by shutting down and starting the blade de-icing system or ensuring the safe operation of the unit under icing conditions. This embodiment only uses the unit master PLC data for real-time calculation and analysis, without the need to further add sensors or use SCADA data.

[0037] Example 2 like Figure 6 As shown, this embodiment provides a wind turbine icing identification control system, which is used to implement the wind turbine icing identification control method in the above embodiment 1, including a data acquisition module, a turbine icing identification module, an impeller icing identification module and a turbine control module. Each module specifically includes: A data acquisition module is used to obtain current detection values ​​of multiple yaw motors of a wind turbine; The unit icing identification module obtains a first judgment condition according to the unit icing judgment threshold and the current detection value; judges the unit icing degree according to the first judgment condition to obtain the unit icing state of the corresponding level; the unit icing state includes at least two levels; An impeller icing identification module is used to obtain a second judgment condition according to the icing state of the unit, the impeller icing judgment threshold and the current detection value, and judge the degree of impeller icing according to the second judgment condition to obtain a corresponding level of impeller icing state, and the levels of the impeller icing state include at least two levels; The unit control module is used to control the wind turbine unit to shut down according to the unit's icing status, or to de-ice the blades according to the impeller's icing status.

[0038] Example 3 In another embodiment of the present invention, the present invention also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a terminal device for storing programs and data. It is understandable that the computer-readable storage medium here can include both the built-in storage medium in the terminal device and the extended storage medium supported by the terminal device, and can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that more specific examples (non-exhaustive list) of the computer-readable storage medium here include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0039] Computer readable storage media also include data signals propagated in baseband or as part of a carrier wave, which carry readable program codes. Such propagated data signals can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium can also be any readable medium other than a readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the readable storage medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0040] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0041] The processor may load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the wind turbine generator set icing identification and control method in the above embodiment; the processor may load and execute the following steps: Step 1: Assume that a wind turbine is equipped with 4 yaw motors, and the yaw motor current detection values ​​are c_yaw1m, c_yaw2m, c_yaw3m, c_yaw4m; Step 2: Filter it, and the yaw motor current filter values ​​are c_yaw1, c_yaw2, c_yaw3, c_yaw4; Step 3: Get the yaw motor current to set the judgment threshold T1 (the unit is lightly covered with ice); Step 4: Determine whether the current detection values ​​of the four yaw motors c_yaw1, c_yaw2, c_yaw3, and c_yaw4 are simultaneously greater than T1; Step 5: If no, it means that the yaw motor is not working or the nose weight has not changed significantly, so the logic terminates; Step 6: If yes, obtain the yaw motor current setting judgment threshold T2 (unit icing degree); Step 7: Determine whether the current detection values ​​of the four yaw motors c_yaw1, c_yaw2, c_yaw3, and c_yaw4 are simultaneously greater than T2; Step 8: If no, it means that the unit is lightly iced, and the unit ice state Icestate is assigned a value of 1; Step 9: If yes, obtain the yaw motor current and set the judgment threshold T3 (the unit is heavily iced); Step 10: If no, it means that the unit is moderately iced, and the unit ice state Icestate is assigned a value of 2; Step 11: If yes, it means the unit is heavily iced, and the unit ice state Icestate is assigned a value of 3; Step 12: Get the yaw motor current and set the judgment threshold T1_r (the impeller is lightly covered with ice); Step 13: Determine whether the current filter values ​​of the four yaw motors satisfy that c_yaw1 and c_yaw2 are both greater than T1_r and c_yaw1, c_yaw2, c_yaw3, c_yaw4 are both greater than T1; Step 14: If no, it means that the yaw motor is not working or the nose weight or impeller weight has not changed significantly, then the logic terminates; Step 15: If yes, obtain the yaw motor current to set the judgment threshold T2_r (the impeller icing degree is medium); Step 16: Determine whether the current filter values ​​of the four yaw motors satisfy that c_yaw1 and c_yaw2 are both greater than T2_r and c_yaw1, c_yaw2, c_yaw3, and c_yaw4 are both greater than T2; Step 17: If no, it means that the impeller is lightly covered with ice, and the impeller icing state IceRstate is assigned a value of 1; Step 18: If yes, then obtain the yaw motor current to set the judgment threshold T3_r (the degree of impeller icing is heavy); Step 19: Determine whether the current filter values ​​of the four yaw motors satisfy that c_yaw1 and c_yaw2 are both greater than T3_r and c_yaw1, c_yaw2, c_yaw3, c_yaw4 are both greater than T3; Step 20: If no, it means that the impeller icing degree is moderate, and the impeller icing state IceRstate is assigned a value of 2; Step 21: If yes, it means that the impeller is heavily covered with ice, and the impeller ice state Icestate is assigned a value of 3; Step 22: Detect the ambient temperature Temp through the temperature sensor; Step 23: Determine whether Temp<0 degrees and Icestate=1; Step 24: If yes, it means that the unit is slightly frozen under the condition of sub-zero ambient temperature, which causes the load of the yaw motor to increase during the yaw process. To further protect the unit, the wind turbine is shut down at a faster pitch rate of Pitchrate1. Step 26: If not, determine whether Temp<0 degrees and Icestate=2; Step 27: If yes, it means that the unit has moderate icing under the condition of sub-zero ambient temperature. To further protect the unit, the wind turbine is shut down at the medium pitch rate of Pitchrate2. Step 28: If not, determine whether Temp<0 degrees and Icestate=3; Step 29: If yes, it means that the unit is severely frozen under the condition of sub-zero ambient temperature. To further protect the unit, the wind turbine is shut down at a slow pitch rate of Pitchrate2 to avoid the sudden change of the unit's operating status affecting the unit's operation and the surrounding environment. Step 30: If Temp is greater than or equal to 0 degrees or Icestate is not 1, 2, or 3, it means that the unit weight has not increased, and the logic terminates; Step 31: Determine whether Temp<0 degrees and IceRstate=1; Step 32: If yes, it means that the unit is slightly frozen and the impeller is also slightly frozen under the condition of sub-zero ambient temperature, resulting in less increase in the yaw motor load towards the impeller position during the yaw process. In order to further ensure the normal power generation operation of the unit, the wind turbine unit uses a lower electric or gas heat power P1 to de-ice the blades; Step 33: If not, determine whether Temp<0 degrees and IceRstate=2; Step 34: If yes, it means that the unit has moderate icing and the impeller has moderate icing under the condition of sub-zero ambient temperature, which leads to moderate increase in the load of the yaw motor towards the impeller position during the yaw process. To further ensure the normal power generation operation of the unit, the wind turbine unit uses moderate electric or gas heat power P2 to de-ice the blades; Step 35: If not, determine whether Temp<0 degrees and IceRstate=3; Step 36: If yes, it means that the unit is severely frozen and the impeller is severely frozen under the condition of sub-zero ambient temperature, which causes the load of the yaw motor to increase more towards the impeller position during the yaw process. In order to further ensure the normal power generation operation of the unit, the wind turbine unit uses a larger electric or gas heat power P3 to de-ice the blades; Step 37: If Temp is greater than or equal to 0 degrees or IceRstate is not 1, 2, or 3, it means that the weight of the unit and the impeller has not increased, and the logic terminates; Example 4 See also Figure 7 , the terminal device is a computer device. The computer device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable on the processor 61. When the computer program 63 is executed by the processor 61, the wind turbine icing identification control method in the embodiment is implemented. To avoid repetition, it is not described one by one here. Alternatively, when the computer program 63 is executed by the processor 61, the functions of each model / unit in the computing system used in the wind turbine icing identification control method in embodiment 1 are implemented. To avoid repetition, it is not described one by one here.

[0042] The computer device 60 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The computer device 60 may include, but is not limited to, a processor 61 and a memory 62. Those skilled in the art will appreciate that Figure 7 This is only an example of the computer device 60 and does not constitute a limitation of the computer device 60. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the computer device may also include input and output devices, network access devices, buses, etc.

[0043] The processor 61 may be a central processing unit (CPU), or other general-purpose processors, central processing units, graphics processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, data processing logic based on quantum computing, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0044] The memory 62 may be an internal storage unit of the computer device 60, such as a hard disk or memory of the computer device 60. The memory 62 may also be an external storage device of the computer device 60, such as a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), etc. equipped on the computer device 60.

[0045] Furthermore, the memory 62 may include both an internal storage unit of the computer device 60 and an external storage device. The memory 62 is used to store computer programs and other programs and data required by the computer device. The memory 62 may also be used to temporarily store data that has been output or is to be output.

[0046] Any reference to a memory, database or other medium used in the embodiments provided in this application may include at least one of a non-volatile and a volatile memory. Non-volatile memory may include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical memory, a high-density embedded non-volatile memory, a resistive random access memory (ReRAM), a magnetic random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. Volatile memory may include a random access memory (RAM) or an external cache memory, etc. As an illustration and not limitation, RAM may be in various forms, such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc.

[0047] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

Claims

1. A wind turbine icing identification and control method, characterized in that: include: Obtain current detection values ​​of multiple yaw motors of a wind turbine; A first judgment condition is obtained according to a unit icing judgment threshold and a current detection value; The icing degree of the unit is judged according to the first judgment condition to obtain the icing state of the unit of the corresponding level; the icing state of the unit includes at least two levels; A second judgment condition is obtained according to the unit icing state, the impeller icing judgment threshold and the current detection value, and the impeller icing degree is judged according to the second judgment condition to obtain the impeller icing state of the corresponding level, wherein the impeller icing state has at least two levels; The wind turbine is shut down according to the icing status of the unit, or the blades are de-iced according to the icing status of the impeller.

2. The wind turbine generator set icing identification and control method according to claim 1, characterized in that: The obtaining of the current detection value of the yaw motor of the wind turbine generator set specifically includes: the current detection value is a filtered detection value.

3. The wind turbine generator set icing identification and control method according to claim 2, characterized in that: A first judgment condition is obtained according to the unit icing judgment threshold and the current detection value, and the unit icing degree is judged according to the first judgment condition to obtain the unit icing state of the corresponding level, specifically including: The unit icing judgment threshold includes a first threshold, a second threshold and a third threshold; the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; The first judgment condition is: using the first threshold, the second threshold and the third threshold in sequence to compare with the current detection values ​​of the plurality of yaw motors; If the current detection values ​​of the multiple yaw motors are all greater than the first threshold value and are not greater than the second threshold value, the icing state of the unit is set to light icing; If the current detection values ​​of the multiple yaw motors are all greater than the second threshold value and are not greater than the third threshold value, the icing state of the unit is set to moderate icing; If the current detection values ​​of the multiple yaw motors are all greater than the third threshold, the icing state of the unit is set to heavy icing.

4. The wind turbine icing identification and control method according to claim 3, characterized in that: A second judgment condition is obtained according to the unit icing state, the impeller icing judgment threshold and the current detection value, and the impeller icing degree is judged according to the second judgment condition to obtain the impeller icing state of the corresponding level, specifically including: The impeller icing judgment threshold comprises a fourth threshold, a fifth threshold and a sixth threshold; The second judgment condition is: according to the current icing state of the unit, the fourth threshold, the fifth threshold and the sixth threshold are sequentially compared with the current detection values ​​of the multiple yaw motors; If the current detection values ​​of at least two yaw motors are both greater than the fourth threshold value and are both less than the fifth threshold value, and the current icing state of the unit is light icing, then the impeller icing state is set to light icing; If the current detection values ​​of at least two yaw motors are both greater than the fifth threshold value and are both less than the sixth threshold value, and the current icing state of the unit is moderate icing, then the impeller icing state is set to moderate icing; If the current detection values ​​of the multiple yaw motors are all greater than the sixth threshold value, and the current icing state of the unit is severe icing, the impeller icing state is set to severe icing.

5. The wind turbine generator set icing identification and control method according to claim 1, characterized in that: Control the wind turbine unit to shut down according to the icing status of the unit, including: When the unit is in a lightly iced state and the ambient temperature is below zero, the wind turbine is controlled to shut down at the first pitch speed; When the unit is in a moderate icing state and the ambient temperature is below zero, the wind turbine is controlled to shut down at the second pitch speed; When the unit is severely iced and the ambient temperature is below zero, the wind turbine is controlled to shut down at the third pitch speed; The values ​​of the first pitch rate, the second pitch rate, and the third pitch rate decrease in sequence.

6. The wind turbine icing identification and control method according to claim 1, characterized in that: De-ice the blades according to the impeller icing status, including: When the impeller is lightly iced and the ambient temperature is below zero, the wind turbine performs de-icing on the blades of the turbine at the first heating power; When the impeller is moderately covered with ice and the ambient temperature is below zero, the wind turbine performs de-icing on the blades of the turbine at the second heating power; When the impeller is severely iced and the ambient temperature is below zero, the wind turbine will de-ice the blades at the third heating power. The values ​​of the first heating power, the second heating power and the third heating power increase in sequence.

7. The wind turbine generator set icing identification and control method according to claim 6, characterized in that: The ambient temperature is detected by a temperature sensor arranged in the wind turbine generator area.

8. A wind turbine icing identification control system, used to implement the wind turbine icing identification control method according to any one of claims 1 to 7, characterized in that: include: A data acquisition module is used to obtain current detection values ​​of multiple yaw motors of a wind turbine; The unit icing identification module obtains a first judgment condition according to the unit icing judgment threshold and the current detection value; judges the unit icing degree according to the first judgment condition to obtain a corresponding level of unit icing state; the level of the unit icing state includes at least two levels; An impeller icing identification module is used to obtain a second judgment condition according to the icing state of the unit, the impeller icing judgment threshold and the current detection value, and judge the degree of impeller icing according to the second judgment condition to obtain an impeller icing state of a corresponding level, wherein the impeller icing state includes at least two types; The unit control module is used to control the wind turbine unit to shut down according to the unit's icing status, or to de-ice the blades according to the impeller's icing status.

9. A computer-readable storage medium storing one or more programs, characterized in that: The one or more programs include instructions, and when the instructions are executed by a computing device, the computing device executes the wind turbine generator set icing identification and control method according to any one of claims 1 to 7.

10. A computing device, characterized in that include: One or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include steps for executing the wind turbine set icing identification control method according to any one of claims 1 to 7.

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