Method for detecting irregular turbine operation using direct and indirect wind speed measurements

Abstract

The invention relates to a method for detecting irregular turbine operation using direct and indirect wind speed measurements. The method for operating a wind turbine, the wind turbine comprising a wind characteristic sensor for measuring a wind characteristic and at least one wind turbine state sensor for measuring a state of the wind turbine, the method comprising: determining or adjusting 102 one or more wind characteristic relationships; and performing 104 an operating phase, the operating phase comprising: measuring the wind characteristic with the wind characteristic sensor, thereby obtaining a measured wind characteristic; measuring the state of the wind turbine with the at least one wind turbine state sensor and determining an estimated wind characteristic from the measured state of the wind turbine and a parameter of the wind turbine; comparing the estimated wind characteristic with an expected wind characteristic determined from the measured wind characteristic, wherein the expected wind characteristic is determined based on the one or more wind characteristic relationships; and operating or shutting down the wind turbine based at least partly on the result of the comparison.

Description

TECHNICAL FIELD

[0001] The subject matter described herein relates to a method for operating a wind turbine, and to a wind turbine, and more particularly to a method for operating a wind turbine comprising a wind characteristic sensor for measuring a wind characteristic and at least one wind turbine state sensor for measuring a state of the wind turbine, from which an estimate of the wind characteristic is obtained. BACKGROUND

[0002] A wind turbine typically comprises a tower and a nacelle mounted on the tower. A rotor is rotatably mounted to the nacelle and coupled by a shaft to a generator. A plurality of blades extend from the rotor. The blades are oriented such that wind passing over the blades turns the rotor and rotates the shaft, thereby driving the generator to produce electrical power.

[0003] A wind turbine converts wind energy into mechanical energy, for example into rotational kinetic energy, and the mechanical energy is typically further converted into electrical energy by a wind turbine generator. In order to control the forces and / or torques acting on the blades, the blade pitch angle, i.e. the angle of attack of the blades of the rotor of the wind turbine relative to the direction of the wind flow, can be adjusted. Thus, the rotational speed of the rotor of the wind turbine and the electrical power generated by the wind turbine generator, which is driven by the rotor through the shaft of the wind turbine, can be controlled by adjusting the pitch angle of the blades of the wind turbine.

[0004] For one or more blades of the wind turbine, the blade pitch angle can be adjusted individually or collectively for the respective blade. When the wind speed changes, the blade pitch angle of one or more blades of the wind turbine is adjusted to keep the rotor speed and the torque within operational limits for maximizing the efficiency of the wind turbine generator for generating electrical energy while minimizing the risk of damaging the wind turbine due to, for example, sudden gusts of wind.

[0005] The wind turbine can reach a stall condition, i.e. a condition in which the maximum power produced by the wind turbine starts to decrease if the angle of attack of one or more blades is increased. For the actual wind conditions, the angle of attack of the one or more blades for which a further increase of the angle of attack leads to a decrease of power is the angle of attack at which the stall condition occurs. The smallest angle of attack at which the stall condition occurs is referred to as the critical angle of attack for the actual wind conditions.

[0006] The wind turbine can be operated in the stall condition, but when the angle of attack of one or more blades is further increased, a significant stall condition or a deep stall condition can occur. It is undesirable to operate the wind turbine in a significant stall condition or a deep stall condition.

[0007] The typical critical angle of attack is in the range of 15 to 20 degrees. Generally, if the angle of attack exceeds the critical angle, the wind turbine is said to be in a stall condition, i.e., stalling. To avoid any stalling of parts of the blades, the angle of attack typically needs to be about 3 to 5 degrees lower than the critical angle of attack during wind turbine operation. Therefore, a significant stall condition or deep stall condition can be any situation in which the wind turbine is stalling when the angle of attack exceeds the critical angle of attack.

[0008] Under significant stall conditions, turbulent airflow can create chaotic or irregular dynamics in the wind flowing at the wind turbine. Operation under significant stall conditions can be part of wind turbine operation, but significant stall conditions are generally undesirable due to the prevalent negative effects, such as chaotic or irregular airflow and / or reduced power. Furthermore, excessively high wind speeds or gusts can damage wind turbines, and operation under significant stall conditions in the presence of strong winds can pose a significant risk of damage to the blades and / or other wind turbine components.

[0009] Failures or disturbances in wind turbines can be caused by various factors, such as icing of the turbine blades, dust accumulation on the turbine blades, aging of turbine components, or other external or internal factors that affect the turbine's function.

[0010] Therefore, it would be beneficial to reliably detect and / or prevent significant stall conditions or malfunctions or disturbances in wind turbines. Summary of the Invention

[0011] According to one aspect, a method for operating a wind turbine is provided, the wind turbine including a wind characteristic sensor for measuring wind characteristics and at least one wind turbine state sensor for measuring the state of the wind turbine, the method comprising: determining or adjusting one or more wind characteristic relationships; and performing an operation phase, the operation phase comprising: measuring wind characteristics using the wind characteristic sensor to obtain measured wind characteristics; measuring the state of the wind turbine using the at least one wind turbine state sensor and determining estimated wind characteristics based on the measured state of the wind turbine and parameters of the wind turbine; comparing the estimated wind characteristics with desired wind characteristics determined based on the measured wind characteristics, wherein the desired wind characteristics are determined based on one or more wind characteristic relationships; and operating or shutting down the wind turbine at least in part based on the comparison result.

[0012] Therefore, this disclosure aims to accurately measure the wind characteristics present at a wind turbine, such as wind speed and / or wind direction and / or wind shear, the presence of turbulence in the airflow, etc. To do this, wind characteristics are measured using a wind characteristic sensor. Additionally, the state of the wind turbine is measured using at least one wind turbine state sensor, which may include, for example, the speed and / or torque of the turbine rotor and / or the power generated by the wind turbine.

[0013] According to a further aspect, there is provided a wind turbine comprising: at least one wind measurement sensor; and a wind turbine state sensor to measure a state of the wind turbine for estimating a wind characteristic at a location of the wind turbine; a control system configured to control the wind turbine based at least partly on inputs formed from a measured wind characteristic measured by the wind measurement sensor and a measured wind turbine state measured by the wind turbine state sensor.

[0014] Technical solution 1. A method for operating a wind turbine, the wind turbine comprising a wind characteristic sensor for measuring a wind characteristic and at least one wind turbine state sensor for measuring a state of the wind turbine, the method comprising:

[0015] determining or adjusting one or more wind characteristic relationships; and

[0016] performing an operating phase, the operating phase comprising:

[0017] measuring the wind characteristic with the wind characteristic sensor, thereby obtaining a measured wind characteristic;

[0018] measuring the state of the wind turbine with the at least one wind turbine state sensor and determining an estimated wind characteristic from the measured state of the wind turbine and parameters of the wind turbine;

[0019] comparing the estimated wind characteristic with an expected wind characteristic determined from the measured wind characteristic, wherein the expected wind characteristic is determined based on the one or more wind characteristic relationships; and

[0020] operating or shutting down the wind turbine based at least partly on the result of the comparison.

[0021] Technical solution 2. The method according to technical solution 1, characterized in that determining or adjusting one or more wind characteristic relationships is performed when the wind turbine is not in a significant stall condition and not in a disturbance condition, and comprises:

[0022] measuring the wind characteristic of the wind turbine with the wind characteristic sensor of the wind turbine, thereby obtaining a measured wind characteristic of the wind turbine;

[0023] measuring the state of the wind turbine with the at least one wind turbine state sensor and determining an estimated wind characteristic of the wind turbine from the measured state of the wind turbine and parameters of the wind turbine,

[0024] determining or adjusting a relationship between the measured wind characteristic of the wind turbine and the estimated wind characteristic of the wind turbine; and

[0025] adjusting the one or more wind characteristic relationships to include the relationship between the measured wind characteristics of the wind turbine and the estimated wind characteristics of the wind turbine.

[0026] Solution 3. The method according to solution 1 or 2, wherein determining or adjusting one or more wind characteristic relationships comprises:

[0027] operating a wind turbine of the same type as the wind turbine, the wind turbine of the same type comprising a wind characteristic sensor and at least one wind turbine state sensor, when the wind turbine of the same type is not in a significant stall condition and not in a disturbance condition; and, during the operation of the wind turbine of the same type, the method further comprises:

[0028] measuring, with the wind characteristic sensor of the wind turbine of the same type, wind characteristics of the wind turbine of the same type, thereby obtaining measured wind characteristics of the wind turbine of the same type; and

[0029] measuring, with the at least one wind turbine state sensor of the wind turbine of the same type, the state of the wind turbine of the same type, and determining estimated wind characteristics of the wind turbine of the same type from the measured state of the wind turbine of the same type and parameters of the wind turbine of the same type;

[0030] determining or adjusting a relationship between the measured wind characteristics of the wind turbine of the same type and the estimated wind characteristics of the wind turbine of the same type; and

[0031] adjusting the one or more wind characteristic relationships to include the relationship between the measured wind characteristics of the wind turbine of the same type and the estimated wind characteristics of the wind turbine of the same type.

[0032] Solution 4. The method according to any of the preceding solutions, wherein determining or adjusting one or more wind characteristic relationships comprises:

[0033] simulating wind and wind turbine operation for the wind turbine in the absence of a significant stall condition and a disturbance condition of the wind turbine, the simulation being based at least partly on a model of the wind turbine;

[0034] obtaining simulated wind characteristics, simulated state and simulated parameters of the wind turbine, determining simulated estimated wind characteristics from the simulated state of the wind turbine and the simulated parameters of the wind turbine;

[0035] determining or adjusting a relationship between the simulated wind characteristics and the simulated estimated wind characteristics; and

[0036] Adjust the one or more wind characteristic relationships to include the relationship between the simulated wind characteristics and the simulated estimated wind characteristics.

[0037] Technical Solution 5. The method according to any one of technical solutions 1 to 4, characterized in that the one or more wind characteristic relationships are further combined into a single combined relationship, and wherein the desired wind characteristic is based on the single combined relationship.

[0038] Technical Solution 6. The method according to any one of the foregoing technical solutions, characterized in that, when the comparison shows that the estimated wind characteristics are significantly different from the desired wind characteristics determined based on the measured wind characteristics, the wind turbine operates or shuts down based on the desired wind characteristics determined from the measured wind characteristics.

[0039] Technical Solution 7. The method according to any one of the foregoing technical solutions, characterized in that the comparison includes obtaining a difference between the estimated wind characteristics and the desired wind characteristics, and operating the wind turbine is at least partially based on the magnitude of the difference.

[0040] Technical Solution 8. The method according to Technical Solution 7, characterized in that, when the magnitude of the difference is lower than a first threshold, the wind turbine operates based on the estimated wind characteristics.

[0041] Technical Solution 9. The method according to Technical Solution 7 or 8, characterized in that, when the magnitude of the difference is higher than the first threshold, the wind turbine operates based on the desired wind characteristics.

[0042] Technical Solution 10. The method according to any one of technical solutions 7 to 9, characterized in that when the magnitude of the difference is higher than a second threshold, the turbine switches to a safe operating mode or is turned off.

[0043] Technical Solution 11. The method according to any one of technical solutions 7 to 10, characterized in that a message is transmitted to the operator when the magnitude of the difference is higher than the first threshold and / or the second threshold.

[0044] Technical Solution 12. The method according to any one of technical solutions 7 to 11, characterized in that the magnitude of the difference is memorized at different time points in forming the sequence, and wherein a normal condition or a significant stall or disturbance condition is determined based on the sequence, and wherein, in the case of a significant stall or disturbance condition, the type of fault is determined according to the sequence, and the wind turbine operates according to the determined type of fault.

[0045] Technical Solution 13. The method according to any one of technical solutions 1 to 12, characterized in that operating or shutting down the wind turbine includes adjusting the pitch angle to avoid significant stall conditions of the wind turbine.

[0046] Technical Solution 14. The method according to any one of technical solutions 1 to 13, characterized in that the wind characteristic is wind speed, and the wind characteristic sensor measures the magnitude of the wind speed.

[0047] Technical Solution 15. A wind turbine, comprising:

[0048] At least one wind measurement sensor; and

[0049] A wind turbine condition sensor is used to measure the condition of the wind turbine in order to estimate the wind characteristics at the location of the wind turbine.

[0050] A control system configured to control the wind turbine based at least in part on an input formed by measured wind characteristics measured by the wind measurement sensor and measured wind turbine state measured by the wind turbine state sensor.

[0051] The control system is configured to operate the wind turbine according to the method described in any one of technical solutions 1 to 14.

[0052] Further aspects, details, and advantages will be apparent from the following description, drawings, and dependent claims. Attached Figure Description

[0053] This disclosure will be explained with reference to the following exemplary drawings.

[0054] Figure 1 A wind turbine having a nacelle, rotor and rotor blades is shown according to an embodiment of the present disclosure.

[0055] Figure 1A Details of the wind turbine are shown, particularly the wind turbine generator and the shaft of the wind turbine according to embodiments of the present disclosure.

[0056] Figure 1B The illustration depicts a method for operating a wind turbine according to an embodiment of the present disclosure.

[0057] Figure 2 The illustration shows the determination or adjustment of one or more wind characteristic relationships according to the method of this disclosure.

[0058] Figure 3 The illustration shows the operational phases of a method for operating a wind turbine according to an embodiment of the present disclosure.

[0059] Figure 4The illustrations depict details relating to a method for operating a wind turbine according to embodiments of the present disclosure. Detailed Implementation

[0060] Reference will now be made in detail to various embodiments, one or more examples of which are illustrated exemplary in the accompanying drawings.

[0061] Figure 1 A wind turbine 10 is shown, comprising a tower 12 mounted on a support system 14, a nacelle 16 with a rotor 18, and a rotatable hub 20. One or more rotor blades 22 are configured to convert the kinetic energy of the wind into the rotational kinetic energy of the rotor 18. Each blade has a blade root portion 24 and a load transfer region 26, where rotation is transferred to the rotatable hub 20. When the wind component flows in direction 28, the rotor and the rotatable hub rotate about a rotation axis 30. Along the rotor blades 22, a pitch axis 34 is... Figure 1 As shown in the image.

[0062] It can be located at the wind turbine (such as in) Figure 1 The control system 36 (as in the example) or elsewhere is configured to control the pitch angle of the rotor blades in relation to the angle of attack relative to the wind direction, in order to control, for example, the speed or torque of the rotor blades of a wind turbine, wherein the speed or torque is applied to the rotor by the wind. The wind turbine further has a yaw axis 38, which is used to orient the rotor blades relative to different wind directions around the tower 12. The processor 40 may be part of the control system 36.

[0063] like Figure 1A As shown, the nacelle 16 of the wind turbine further includes a wind turbine generator 42, which generates electrical energy from the rotational kinetic energy of the rotor, which is generated by the kinetic energy of the wind as a function of the pitch angle of the rotor blades.

[0064] In this disclosure, it is intended that wind characteristics may include one or more wind speeds, one or more wind shears, one or more time or spatial derivatives of wind speeds, and one or more wind directions. For example, wind characteristics may be related to the wind speed at the location of a wind turbine (e.g., at...). Figure 1 The wind characteristic is a scalar related to the magnitude of the wind speed in direction 28 shown. The wind characteristic may also be a vector related to the wind speed at the wind turbine location, or a set of scalars or vectors related to one or more wind speeds at or near the wind turbine location, where the wind speed may be the wind speed at a given location in space or the average spatial or temporal wind speed at or near the wind turbine location. For example, the wind characteristic may be described based on an ordered tuple of real numbers related to the wind speed at or near the wind turbine location.

[0065] In some embodiments, wind characteristics may be the magnitude of wind speed, particularly scalar wind speed or the magnitude of a vector describing wind speed. For example, wind characteristics may be measured in m / s.

[0066] exist Figure 1A The diagram illustrates further details of the wind turbine 10, and in particular, details of the nacelle 16 of the wind turbine 10. Specifically, the rotor shaft 44 transmits kinetic energy to the wind turbine generator for generating electrical energy from the kinetic energy of the wind. The rotor shaft presents a longitudinal axis 45, which forms the axis of rotation of the rotor shaft. A gearbox 46 can be used to control the rotational speed and torque of the high-speed shaft 48 that drives the wind turbine generator. The wind turbine generator 42 is driven by the rotational kinetic energy of the high-speed shaft 48 driven by the rotor shaft 44 via the gearbox 46 for generating electrical energy. Thus, the rotor shaft 44 transmits rotational movement to the high-speed shaft 48 via the gearbox 46, and the rotational speed of the rotor shaft 44 is typically lower than the rotational speed of the high-speed shaft 48. The rotor shaft 44 is coupled to the blades of the rotor 18 of the wind turbine, and the rotor shaft rotates accordingly when the wind applies rotational movement to the rotor.

[0067] Figure 1A Further shown are the coupling 50 between the high-speed shaft 48 and the wind turbine generator 42, supports 52 and 54, and a yaw drive mechanism 56 for rotating the nacelle about a yaw axis 38 to orient the rotor relative to the wind speed direction 28. A wind characteristic sensor 58 measures wind characteristics at the location of the wind turbine, such as the wind speed flowing in direction 28. The wind characteristic sensor 58 for the wind turbine can be, for example, an anemometer. Generally, and not limited to, regarding... Figure 1A Any other features described herein include that the wind turbine's anemometer may be located on the top of the nacelle.

[0068] like Figure 1A As shown, bearings 60 and 62 may support the shaft or other components of the wind turbine. The wind turbine may further include a pitch assembly 66, which may include a pitch drive assembly 68 for controlling the pitch angle of one or more blades. This assembly may include a sensor 70 for one or more rotor blades, a pitch bearing 72, a pitch drive motor 74, a pitch drive gearbox 76, and a pitch drive pinion 78.

[0069] An overspeed control system 80 may exist. Figure 1A The document further indicates cables 82 for transmitting signals from or to the wind turbine's control system. Finally, actuator 84 provides the actual pitch angle of the wind turbine blades, with the blades connected to cavity 86 exhibiting an inner surface 88 and an outer surface 90.

[0070] As used herein, the term "blade" is intended to refer to any device that provides a reaction force when moving relative to an surrounding fluid, such as the air that forms a wind at the location of a wind turbine. As used herein, the term "wind turbine" is intended to refer to any device that generates rotational energy from wind energy and, more specifically, converts the kinetic energy of wind into mechanical energy. A "wind turbine generator" typically further converts mechanical energy into electrical energy via a wind turbine generator.

[0071] Although every commercial wind turbine is typically equipped with an anemometer on its nacelle, these anemometers are largely not used as inputs for turbine control because their readings are too unreliable. Instead, some modern wind turbines use model-based estimation techniques to calculate wind speeds based on the turbine's own performance. However, these estimators rely on accurate model information stored in the controller, or on assumptions about the turbine's operation or conditions affecting it. Therefore, estimators cannot be used to detect anomalous turbine operation such as icing or stall, because in these situations, the model parameters are no longer accurate, and the estimator no longer reports the correct wind speed. Furthermore, if such anomalous operation goes undetected, the controller will incorrectly control the turbine, for example, driving it into a deep stall, which can cause additional power loss or even damage the turbine or some of its components.

[0072] Figure 1B The illustration shows a method 100 for operating a wind turbine according to an embodiment of the present disclosure. The method 100 for operating a wind turbine includes determining or adjusting 102 one or more wind characteristic relationships and performing 104 an operation phase.

[0073] As used herein, the sensor for measuring wind characteristics can be, in particular, a wind turbine anemometer. The method disclosed herein specifically allows for the calibration of wind turbine anemometers or sensors used to measure wind characteristics, and the measured wind speeds from these anemometers or sensors become more reliable and usable quantities for the control and monitoring of wind turbine systems. If the wind turbine operates under normal, undisturbed conditions, the model wind is reliable. If the wind turbine is indeed operating offline or in a stall or disturbance condition, the wind speed obtained based on the model may be incorrect, and therefore the turbine may not be operating at its optimal operating parameters, or may even be damaged.

[0074] This disclosure provides highly accurate redundant wind speed measurements that can be used to detect, for example, blade icing, blade failure, and other turbine anomalies or disturbances detectable by wind speed deviations. In some embodiments, significant stall or deep stall conditions are also detectable. Wind speed measurements by wind characteristic sensors (e.g., anemometers) are typically much more accurate during the non-operational period of a wind turbine and / or during stall or disturbance conditions. Therefore, wind speeds measured by wind characteristic sensors or anemometers can be used during stall or disturbance conditions instead of wind speeds obtained / estimated using models for precise control or to prevent damage, provided, for example, systematic errors affecting the wind speed measurements obtained by wind characteristic sensors (e.g., anemometers) are properly addressed. Furthermore, this allows for possible power calculations, improved accuracy, and performance recovery after conditions such as calm or storms. The method of this disclosure also enables power curve measurements based on, for example, nacelle wind speed measurements.

[0075] For example, there are significant drawbacks to calibrating anemometers relative to a weather post. For instance, the correlation between wind characteristics at the two locations is poor or not always good due to the distance between the weather post and the turbine. Furthermore, this type of calibration is only applicable to a specific wind turbine. Such calibration may not be applicable to turbines without a weather post, such as those obtained from another turbine, and / or significant variability as a function of factors such as, for example, local terrain configuration can affect the quality or reliability of the calibration. Calibration may be less necessary when using anemometers that measure wind characteristics in front of the rotor (such as, for example, lidar). However, such devices tend to be expensive.

[0076] As used herein, it is intended that the state of a wind turbine may include, for example, rotor speed and / or electrical power generated by the wind turbine generator and / or torque of the rotor and / or rotor shaft. It is intended that parameters for wind turbine operation may include, for example, the pitch angle of the wind turbine blades or, for example, the torque of the wind turbine generator and / or the configuration of the wind turbine gearbox. It is assumed that the parameters are known quantities.

[0077] Wind characteristics may include one or more wind speeds, one or more wind directions, one or more wind accelerations, and / or wind turbulence at or near the location of the wind turbine. It is intended that both wind characteristics and wind turbine states and parameters may be one or more scalars and / or one or more vectors describing one or more quantities.

[0078] Different types of sensors can be used to measure wind characteristics at the location of a wind turbine. It might be possible to use a wind measurement pole positioned at a distance from the wind turbine (e.g., upstream of the turbine). However, the wind characteristics measured at the pole may differ from those measured at the turbine location; for example, surrounding terrain and / or objects can produce significant differences in the wind characteristics measured at the pole relative to those at the turbine location.

[0079] When using a local wind characteristic sensor, such as an anemometer placed at the wind turbine, to measure wind characteristics at the turbine location, the measurements are typically affected by errors (e.g., systematic errors) due to the presence of the wind turbine and its blades. Therefore, the wind characteristic values ​​measured by a local sensor at the turbine location (e.g., an anemometer located at the turbine) cannot be directly used to determine the true wind characteristics at the turbine location due to the presence of the wind turbine and its blades.

[0080] Under nominal conditions, it is advantageous to use the wind turbine itself as a measuring instrument to determine wind characteristics at the turbine's location. Knowing the actual relevant operating parameters of the wind turbine (such as the blade pitch angle), the turbine's state (e.g., rotor speed and / or power output) under nominal conditions is related to the wind characteristics (e.g., local wind speed) at the turbine's location. Therefore, given actual known values ​​of the turbine's parameters, it is possible to estimate the wind characteristics based on the turbine's state. Thus, under nominal conditions, the wind turbine itself can replace sensors used to measure wind characteristics at the turbine's location. However, if stall conditions (e.g., significant or deep stall) or disturbance conditions (e.g., the presence of ice or dirt on the blades) occur, the wind turbine may no longer be useful for estimating wind characteristics because the correlation between the true actual wind characteristics and the turbine's state becomes irregular, chaotic, unreliable, or significantly influenced by errors for actual values ​​of parameters such as the pitch angle.

[0081] Therefore, it is advantageous to detect stall or disturbance conditions without relying on wind characteristics estimated based on the state of the wind turbine, and also to avoid the situation of using wind characteristic sensors (such as anemometers) directly, since wind characteristic sensors are typically affected by significant systematic or statistical errors.

[0082] Detecting stall or disturbance conditions is beneficial for operating wind turbines, for example, to avoid damage to the wind turbine and / or to improve the delivery of output power.

[0083] Some types of sensors (such as lidar) can measure wind characteristics near wind turbines, which can be used to reliably determine the wind characteristics at the location of the wind turbine with sufficient precision and accuracy. However, lidar can be expensive or, at least in some cases, impractical.

[0084] Therefore, it is beneficial to calibrate the wind characteristic sensor (e.g., a local anemometer) at the location of the wind turbine in order to overcome the systematic errors introduced by the presence of the wind turbine that typically affect the wind characteristic sensor.

[0085] Furthermore, it is beneficial to compare the wind characteristics estimated based on the measurement conditions of the wind turbine with those obtained from a calibrated wind characteristic sensor, taking operating parameters into account. Under normal circumstances, the wind characteristics estimated based on the measurement conditions of the wind turbine are more reliable and accurate, but the wind characteristic values ​​obtained using a calibrated wind characteristic sensor are close to the estimated values. In other words, the two values ​​are comparable, whereas without calibration, the wind characteristic sensor is significantly affected by errors, but under normal conditions, the estimated wind characteristic values ​​will typically be more accurate and precise.

[0086] Under significant stall or disturbance conditions, wind characteristics estimated from the measured conditions of a wind turbine may be inaccurate and may differ significantly from the values ​​obtained using a calibrated wind characteristic sensor. Therefore, the values ​​obtained from a calibrated wind characteristic sensor can be used for a plausibility check of the wind characteristics estimated from the measured conditions of a wind turbine.

[0087] It is beneficial to compare the wind characteristics obtained based on the measured conditions of the wind turbine with those obtained using a calibrated wind characteristic sensor, particularly to detect stall and disturbance conditions of the wind turbine. Specifically, the comparison can be based on the difference between the estimated wind characteristics based on the measured conditions of the wind turbine and the wind characteristics obtained using a calibrated sensor (e.g., a calibrated anemometer) used to measure the wind characteristics. Without calibration, significant errors can affect the wind characteristic sensor, such as the anemometer, and therefore the measurements may be erroneous.

[0088] exist Figure 2 The diagram illustrates a calibration phase of a method for operating a wind turbine according to some embodiments of the present disclosure. Specifically, Figure 2The diagram illustrates how to determine or adjust one or more wind characteristic relationships. As used herein, the term "calibration phase" can therefore refer to the determination or adjustment of one or more wind characteristic relationships, i.e., the determination or adjustment 200 of one or more wind characteristic relationships is performed during the calibration phase. Wind characteristic relationships can be implemented using any data structure capable of associating information about wind characteristics with other information about wind characteristics. For example, a wind characteristic relationship can be a transfer function that associates one vector (e.g., a vector describing the estimated desired wind characteristics) with another vector (e.g., a vector describing the measured wind characteristics). Wind characteristic relationships can also be implemented as a set of ordered vector pairs, where for each ordered pair, a first component is a vector associated with, for example, the measured wind characteristics, and a second component is a vector associated with, for example, the desired estimated wind characteristics. The desired estimated wind characteristics can be formed as expected values ​​of wind characteristics estimated using a physical model of the wind turbine, for example, based at least in part on the measured states of the wind turbine.

[0089] The calibration phase for determining or adjusting one or more wind characteristic relationships may include: utilizing wind characteristic sensors on wind turbines (e.g., using...) Figure 1A The wind characteristic sensor 58) measures the wind characteristics of 202 to obtain wind characteristic data; the state of the wind turbine 204 is measured using at least one wind turbine state sensor, and the estimated wind characteristics of the wind turbine are determined based on the measured state of the wind turbine and the parameters of the wind turbine. The wind turbine state sensor may, for example, specifically measure the rotational speed of the rotor shaft 44 of the wind turbine.

[0090] Additional parameters, such as the pitch angle of one or more rotor blades, can be considered to determine the estimated wind characteristics. The intention is that the estimated wind characteristics are specifically based on a physical model of the wind turbine. Figure 2 As shown, the calibration phase may further include determining or adjusting the relationship between the measured wind characteristics of wind turbine 206 and the estimated wind characteristics of wind turbine 206. This relationship may be specifically based on the measured and / or estimated wind characteristics and a historical sequence of said characteristics stored in a convenient data structure, such as a list of ordered pairs stored in the memory of, for example, the control system 36 and / or the processor 40. It is intended that the relationship in box 206 may be identified using, for example, a transfer function.

[0091] Wind characteristics measured by wind characteristic sensor 58 of the wind turbine (e.g., by a local anemometer) are expressed using the symbol w. 测量 Instructions. Use the symbol 's' respectively. 涡轮 Indicates the status of the wind turbine, and uses the symbol p. 涡轮 Indicates the operating parameters of the wind turbine.

[0092] The intention is, w 测量 s 涡轮 p涡轮 These quantities can be scalars or vectors. In some alternative embodiments, these quantities may alternatively refer to quantities of the same type of wind turbine or quantities related to the simulation of a wind turbine.

[0093] The state of the wind turbine 涡轮 This may include, for example, rotor speed, rotor torque, and / or, for example, the rotational speed of the rotor shaft 44 of the wind turbine and / or the torque of the rotor shaft 44 and / or the power output of the wind turbine generator 42. It is intended that, if possible, an estimation of the wind speed characteristics at the location of the wind turbine is possible when measuring the state of the wind turbine, taking into account the assumed known operating parameters of the wind turbine.

[0094] Operating parameter p 涡轮 This may include, for example, the pitch angle of the rotor blades, the torque parameters of the wind turbine generator, and the actual configuration of the gearbox.

[0095] Given the state s of the wind turbine 涡轮 Operating parameters p of wind turbines 涡轮 It is possible to estimate the wind characteristics at the location of the wind turbine. The estimated wind characteristics, as a function of the wind turbine's state and parameters, are indicated by the following formula:

[0096] w 估计 =w 估计 (s 涡轮 ,p 涡轮 )

[0097] The intention is, w 测量 and w 估计 They can be scalars or vectors, and they can be compared to each other using, for example, a suitable metric such as the Euclidean distance between scalars or vectors. 估计 =w 估计 (s 涡轮 ,p 涡轮 The calculations can be based, in particular, on model-based estimation techniques, and especially on physical models using, for example, wind turbines and / or wind turbine components.

[0098] In s 涡轮 p 涡轮 In some alternative embodiments involving the same type of wind turbine, w 估计 This also involves the same type of wind turbine. In s 涡轮 p 涡轮 In some alternative embodiments involving the simulation of wind turbines, w 估计 It also involves the simulation of wind turbines.

[0099] Assuming the operating parameters p of the wind turbine 涡轮As is known, for the sake of brevity, the estimate of wind characteristics at the location of the wind turbine is stated from the state s of the wind turbine. 涡轮 Obtain, and can be equivalently written as w 估计 =w 估计 (s 涡轮 ), which implicitly assumes that for p 涡轮 The dependency of p 涡轮 It is known.

[0100] When there is no significant stall or disturbance, w 估计 It can provide a good estimate of the actual wind characteristics at the location of the wind turbine, while under conditions of significant stall or disturbance, w 估计 It can deviate significantly from the true value of wind characteristics at the location of the wind turbine.

[0101] On the other hand, w 测量 It can be affected by significant errors, and in particular by systematic errors caused by the presence of wind turbines or wind turbine blades.

[0102] If it is determined that the wind turbine is operating under normal conditions, i.e., not in a significant stall or disturbance state, then the measurement of w... 测量 The sensor can be used from w 估计 The information obtained is used for calibration in order to consider the impact on w 测量 Systematic errors.

[0103] In order to eliminate or at least mitigate the impact 测量 The systematic error, during the calibration phase, w 测量 The value and s 涡轮 The value can be at different time points t 1, t2,…,t n Repeated measurements are performed at this point. In this case, assume p 涡轮 The value at time point t 1, t2,…,t n The location is also known. Therefore, in some embodiments, the sequence S of ordered pairs is determined as...

[0104]

[0105] Among them, w 测量 (t i Indicates at time point t i w 测量 The value of s 涡轮 (t i Indicates at time point t i place s 涡轮 The value of p, and p 涡轮 (t i Indicates at time point t ip 涡轮 The value of i, i = 1, ..., n.

[0106] Assume p 涡轮 It is known that the formula can be simplified to:

[0107]

[0108] And for even greater simplification, the formula is written as

[0109]

[0110] Where w 估计 (t i ) = w 估计 (s 涡轮 (t i ))=w 估计 (s 涡轮 (t i ),p 涡轮 (t i )), i = 1, ..., n.

[0111] In some embodiments, time point t i It can identify time intervals of fixed or variable length, and w 测量 (t i ) can be in the case of t i The average measured wind speed over the indicated time interval. For example, w 测量 (t i ) can be in relation to t i The relevant interval period (e.g., during interval [t]) i -Δ t ,t i During this period, Δ t The average measured wind speed (with a predetermined time delay). For example, w 测量 (t i (This can be the instantaneous wind speed at time point t) i The moving average at a given point, such as a simple moving average or an exponential moving average. It is intended that, in these embodiments, w 估计 (t i It can also be in the case of t i Within the identified time interval (e.g., in interval [t]), i -Δ t ,t i The average estimated wind speed within ( ), and / or w 估计 (t i It can also be a moving average, such as a simple moving average or an exponential moving average, especially one with the characteristics of w. 测量 (t iThe moving average of the sampled windows that are the same or similar to the moving average identified by )

[0112] In some embodiments, a sequence S of ordered pairs can be used to determine the relationship between measured wind characteristics and estimated wind characteristics at the location of the wind turbine. This relationship may be, for example, a transfer function, and may be stored, for example, in the memory of the local controller or processor of the wind turbine, or elsewhere.

[0113] In some embodiments, the relationship between measuring wind characteristics and estimating wind characteristics can be based on w 测量 The measured values ​​and w 估计 The calculated values ​​(at least in part based on the state of the wind turbines) 涡轮 This is obtained through other means (e.g., at least in part using interpolation and / or regression analysis and / or Monte Carlo methods). In some embodiments, the interpolation and / or regression analysis and / or Monte Carlo methods may be based on S.

[0114] In some alternative embodiments, the relationship between measuring wind characteristics and estimating wind characteristics can be based in a similar manner and particularly on a sequence of ordered pairs obtained as described. To obtain, but among them, the measured wind characteristics w 测量 (t i Measurement status of wind turbines 涡轮 (t i ) and parameter p 涡轮 (t i This relates to the same type of wind turbine found in wind turbines. Therefore, in some embodiments, w 测量 (t i ) and w 估计 (t i The relationship S is related to the same type of wind turbine in the wind turbine under consideration, and the relationship S is based on the same type of wind turbine. Therefore, in some embodiments of this disclosure, the relationship based on S is based on the same type of wind turbine.

[0115] In some alternative embodiments, the sequence S of ordered pairs can be obtained by simulating wind turbines, and thus the relationship between measured wind characteristics and estimated wind characteristics based on S can be obtained by simulation.

[0116] The intention is that the value in S is not based on significant stall conditions or disturbances of the wind turbine, i.e., for all time points or time intervals t. 1, t2,…,t n The wind turbines are not in a significant stall or disturbance condition. In the embodiment considering the same type of wind turbine to obtain S, it is intended that for all time points or time intervals t... 1, t2,…,t nNone of the wind turbines of the same type are under significant stall or disturbance conditions. In the embodiment where S is obtained through simulation, significant stall or disturbance conditions of the wind turbines are not simulated, and for all simulated time points or time intervals t... 1, t2,…,t n None of them simulate significant stall or disturbance conditions of wind turbines.

[0117] With time point t during the calibration phase under various wind characteristics 1, t2,…,t n As the number n increases, the number of ordered pairs in sequence S increases, and for each possible output ω of a sensor used to measure wind characteristics at the location of a wind turbine, such as for each possible output ω of an anemometer, typically some pairs in sequence S have ω as a first component, or have a first component close to ω. In some embodiments, interpolation or regression may alternatively be used to obtain missing data.

[0118] make For w 测量 The set of time points equal to or close to ω, where ω is the possible output of a sensor used to measure wind characteristics (e.g., a local anemometer). The set T[ω] is an ordered set and can be written as T[ω] = {t} ω,1 ,t ω,2 ,…}.

[0119] symbol Equality or approximation is indicated when two scalars or vectors are considered equal or approximately equal if the distance between them, according to a suitable metric, is below a fixed limit. This fixed limit can be determined based on the characteristics of the sensor used to measure wind properties, for example, based on the variance affecting the sensor's output and / or based on the tolerances of components or parts included in the wind turbine.

[0120] Let S[ω] be a subsequence of S that contains exactly those pairs in S whose first component is equal to or close to ω. For sufficiently large n, the subsequence S[ω] is expected to be non-empty and will contain, in an ordered manner, all ordered pairs in the sequence S that have values ​​equal to or close to ω as their first component, i.e.

[0121] S[ω]=((w 测量 (t ω,1 ),w 估计 (t ω,1 )),(w 测量 (t ω,2 ),w 估计 (t ω,2 )),...)

[0122] in

[0123] Then, the expected value E 估计 (ω) is associated with S[ω], as the sequence S obtained from S[ω]. 估计 [ω]:=(w 估计 (t ω,1 ),w 估计 (t ω,2 The expected value of ), ...), is obtained by replacing the ordered pairs in S[ω] with its second component. Expected value E 估计 (ω) can be, for example, a sequence (w) 估计 (t ω,1 ),w 估计 (t ω,2 The arithmetic mean, geometric mean, or median of (), ...). In some alternative embodiments, E 估计 (ω) can be obtained from S through interpolation or regression.

[0124] Therefore, when the output value of the wind characteristic sensor measuring the wind characteristics at the location of the wind turbine is equal to or close to ω, for example when the anemometer outputs a value of ω or close to ω, the expected value E 估计 (ω) forms w 估计 The expected value. Expected value E 估计 (ω) is the expected wind characteristic value determined based on the measured wind characteristics, and is determined based on the sequence S. Symbol E 估计 This indicates that the expected value of the estimated wind characteristics is being indicated. Therefore, E indicates the expectation. In an alternative embodiment using the same type of wind turbine, E 估计 (ω) is associated with the same type of wind turbine; that is, ω refers to the possible output of a wind turbine of the same type, such as an anemometer or wind characteristic sensor. In an alternative embodiment where the wind turbine is simulated, E 估计 (ω) is related to the simulated wind turbine, that is, ω refers to the possible output of the simulated wind turbine, such as a simulated anemometer or a simulated wind characteristic sensor.

[0125] S and / or S[ω] and / or S 估计 [ω] and / or E 估计(ω) can be stored as a function of ω using any suitable data structure and on any suitable device and / or medium and / or by using any suitable system. Specifically, it can be a vector containing pairs, or a list containing scalar pairs or vector pairs, or a hash table, or any nested combination of said data structures, which can be stored remotely or locally at the wind turbine location on any suitable memory or computer or medium and manipulated thereby. Related data can be transmitted, for example, over a network or transmission line, one or more cables and / or one or more waveguides, or by using a wireless communication system. The data structure can be stored permanently or only for the required time interval, for example, once E is obtained, for example, during the calibration phase considering a wind turbine or a wind turbine of the same type or a simulated wind turbine. 估计 Instances of (ω) can be deleted to implement S and / or S[ω] and / or S 估计 The data structure for instances of [ω].

[0126] The intention is that E 估计 A transfer function can be formed from the wind speed measured using a wind characteristic sensor (e.g., an anemometer mounted on a wind turbine) to the desired wind speed estimated based on turbine behavior. In an alternative embodiment using the same type of wind turbine, it is assumed that the E of the same type of wind turbine... 估计 E equal to or close to the value obtained on an actual physical wind turbine 估计 The results. In an alternative embodiment where the wind turbine is simulated, it is assumed that the simulated wind turbine's E... 估计 E equal to or close to the value obtained on an actual physical wind turbine 估计 The result.

[0127] Considering that wind turbines are known to operate at or near-optimal conditions (e.g., during wind turbine validation) and that there are no significant stall or disturbance conditions, the transfer function E 估计 It can be specifically generated from S.

[0128] In some embodiments of this disclosure, one or more transfer functions E may be obtained during the calibration phase. 估计,1 E 估计,2 ,…,E 估计,ν Where ν≥1, one or more transfer functions form a finite sequence of transfer functions.

[0129] E 估计,SEQ =(E 估计,1 E 估计,2 ,…,E 估计,ν ).

[0130] Sequence E 估计,SEQSome transfer functions in the equation can be based on measurements related to wind turbines, E 估计,SEQ Some other transfer functions can be obtained based on measurements associated with the same type of wind turbine in a wind turbine. E 估计,SEQ Some of the transfer functions in the model can be obtained based on simulations of wind turbines, that is, by replacing measured values ​​with simulations based on, for example, physical models of wind turbines. Furthermore, when repeated, for example, during the calibration phase, the sequence E... 估计,SEQ Different relationships can be associated with different time periods. Different transfer functions (e.g., transfer functions obtained using measurements and / or simulations, such as those associated with wind turbines or similar types of wind turbines) can be combined to form a sequence E. 估计,SEQ A single transfer function in the process. This combination can be based, for example, on averaging, weighted averaging, interpolation, etc. Furthermore, in obtaining sequence E... 估计,SEQ In one embodiment, for any value ω in the domain of the transfer function in the sequence, for example by averaging...

[0131] E 估计 (ω)=AVERAGE((E 估计,1 (ω),E 估计,2 (ω),…,E 估计,v (ω)))

[0132] From sequence E 估计,SEQ Obtain the overall transfer function E 估计 And AVERAGE can indicate any mean, such as a weighted average, where a more recently obtained transfer function receives greater weight in the averaging operation. AVERAGE can also indicate, for example, the arithmetic mean, geometric mean, or median. In some embodiments, for some ω, missing data can be obtained, for example, by interpolation or regression.

[0133] In some embodiments, E 估计 (ω) represents the transfer function, that is, the relationship between the measured wind characteristics and the desired estimated wind characteristics. ω is expressed if and only if w 估计 =E 估计 (w 测量 When the condition is met, estimate the value of the wind characteristic w. 估计 With consideration E 估计 The measured value of wind characteristics w 测量 Relevant. The intention is that relation E 估计 This forms the transfer function. Therefore, the intention is for the transfer function E... 估计 Identifying and measuring wind characteristics w 测量 And estimate wind characteristics w 估计 The relationship between them.

[0134] In some embodiments, the wind characteristics w are identified. 测量 And estimate wind characteristics w估计 The transfer function E between the relationships 估计 Other methods (e.g., at least partially using interpolation and / or regression analysis and / or Monte Carlo methods) based on w 测量 The measured values ​​and w 估计 The calculation results (at least in part based on the state of the wind turbines) 涡轮 To obtain it.

[0135] In some alternative embodiments, E 估计 The alternative is obtained by considering the same type of wind turbine or a simulated wind turbine.

[0136] When it is known that there are no significant stall conditions or disturbances in the wind turbines, this is used to determine or adjust one or more wind characteristic relationships (i.e., E). 估计 and / or E 估计,SEQ The calibration phase is performed during the calibration process, therefore, during calibration, w 估计 This approximates the actual wind characteristics at the wind turbine. When the relationship is determined or adjusted according to box 206, this relationship can be E. 估计 or sequence E 估计,SEQ The relationship between them.

[0137] In some embodiments, during the calibration phase, a wind turbine having a wind speed estimator as part of its controller software can perform as expected, as the estimator is known (i.e., w 估计 It operates in an environment that closely approximates the actual wind conditions at the location of the wind turbine. For example, ensuring the blades are clean and that the anemometer, such as the wind characteristic sensor forming the wind turbine, is functioning correctly. During the calibration phase, data from, for example, the turbine anemometer (i.e., w) is used. 测量 ) and data from the wind speed estimator (i.e., w 估计 ) are collected, and w is calculated 测量 The value and w 估计 The transfer function E between values 估计 For example, as described above with reference to some embodiments of this disclosure. Transfer function E 估计 Allows the calculation of the expected output from the estimator, i.e., the expected E, based on wind speed measured by, for example, an anemometer. 估计 (w 测量 (close to w) 估计 .

[0138] Figure 3An operation phase 300 of a method for operating a wind turbine according to some embodiments of the present disclosure is shown. The operation phase includes: measuring wind characteristics 302 using a wind characteristic sensor (e.g., using wind characteristic sensor 58) to obtain wind characteristic data; measuring the state of the wind turbine 304 using at least one wind turbine state sensor; and determining estimated wind characteristics based on the measured state of the wind turbine and the parameters of the wind turbine.

[0139] Operation phase 300 further includes comparing the estimated wind characteristics with the desired wind characteristics determined based on the measured wind characteristics 306, wherein the desired wind characteristics are based on one or more wind characteristic relationships (i.e., E...). 估计 and / or E 估计,SEQ The operation phase 300 is determined, for example, based on one or more relationships between the wind characteristics of 200 determined or adjusted in one or more calibration phases (as indicated, for example, by box 206). The operation phase 300 further includes operating or shutting down the wind turbine 308 based at least in part on the comparison. Figure 2 The relationship described in section 206 can form E 估计 or sequence E 估计,SEQ The elements / components in the measurement are determined based on them as the measured wind characteristics w according to box 302. 测量 The expected wind characteristics of the function.

[0140] During the operation phase, specifically when the calibration phase is not performed, the output value w of the wind characteristic sensor used to measure wind characteristics... 测量 For example, based on relation E 估计 Or the sequence E obtained in one or more calibration stages 估计,SEQ Determined expected value E 估计 (w 测量 (give w) 估计 The expected value.

[0141] Therefore, w 测量 Expected value E 估计 (w 测量 The function mitigates the direct impact of w 测量 The error, and at least if there are no significant stall conditions and disturbances in the wind turbine, then the expected value E 估计 (w 测量 The value of w approximates the actual wind characteristics at the wind turbine as described. 估计 , and w 测量 Typically, it is directly affected by significant errors and is significantly different from w. 估计 And therefore, it differs from the characteristics of real wind.

[0142] After calibration, during the operational phase, the wind characteristics w are measured. 测量 Used to obtain based on measured wind characteristics w测量 A defined desired wind characteristic value, for example based on E 估计 E 估计 (w 测量 Whenever, for example, E 估计 (w 测量 Significantly different from w 估计 At that time, undesirable things can happen, and in particular, significant stall or disturbances in wind turbines can occur, which can make the two values ​​significantly different.

[0143] Therefore, during the operation phase, based on, for example, E 估计 (w 测量 ) and w 估计 Comparisons are beneficial for operating wind turbines. In particular, the operation phase can be followed by one or more calibration phases. For example, E... 估计 (w 测量 (close to w) 估计 At that time, significant stall or disturbance conditions of the wind turbine may not exist, and the wind turbine, according to w 估计 (i.e., according to w) 估计 =w 估计 (s 涡轮 ) = w 估计 (s 涡轮 ,p 涡轮 Operation, because it depends on the state of the wind turbine. 涡轮 And / or depending on the state of the wind turbine 涡轮 With the parameter p of the wind turbine 涡轮 The wind characteristics estimated together are compared with the wind characteristics measured by the wind characteristic sensor. 测量 More accurate, and also better than expected wind characteristics (e.g., E). 估计 (w 测量 More accurate.

[0144] In some embodiments, if desired wind characteristics (e.g., E) 估计 (w 测量 Significantly different from w 估计 For example, when E 估计 (w 测量 ) and w 估计 If the magnitude of the difference between the values ​​exceeds a predetermined threshold (e.g., between 0.5 m / s and 2 m / s), the wind turbine may be in a significant stall or turbulent state, and therefore the wind turbine may, for example, be subject to E... 估计 (w 测量 ) operation, because value w 估计 In this case, it is typically unreliable and imprecise, while based on w 测量 E 估计 (w 测量This may be more accurate. Alternatively, and / or depending on the magnitude of the difference, the wind turbine may be completely shut off to prevent potential damage to the turbine. If E 估计 (w 测量 Significantly different from w 估计 The wind turbine can therefore be shut down or stopped, or operated in a very conservative manner to prevent damage (e.g., when E...). 估计 (w 测量 ) and w 估计 The magnitude of the difference between them is higher than a predetermined threshold (e.g., a threshold between 0.5 m / s and 2 m / s). In some embodiments, the threshold may be any value greater than, for example, 0.5 m / s.

[0145] In some embodiments, during wind turbine operation after the calibration phase has been completed, the turbine continuously calculates the desired wind speed E at regular intervals. 估计 (w 测量 (e.g., real-time or near real-time, or, for example, once per hour, once per day, or once per week). According to embodiments of this disclosure, if the desired estimated wind speed E 估计 (w 测量 ) and model-based estimated wind speed w 估计 If the difference exceeds a certain threshold (e.g., a threshold between 0.5 m / s and 2 m / s), several actions can be taken. In one embodiment, the turbine controller of the wind turbine switches to using, for example, data from a local anemometer based on w. 测量 The expected estimated wind speed E 估计 (w 测量 Instead of using model-based estimates w 估计 As input to the main controller. In some embodiments, a message indicating that the turbine needs to be checked will be generated. In some embodiments, the turbine will switch to a safer operating mode that protects the turbine from potential damage due to certain conditions (such as increased pitch angle) to avoid stall. In some embodiments, the expected value E will be... 估计 (w 测量 ) and actual value w 估计 The mismatch patterns are compared with pre-calculated or predetermined failure modes stored in software or memory associated with the wind turbine or wind turbine controller, and in some embodiments, actions are taken based on specific failure modes.

[0146] More generally, embodiments of this disclosure relate to a method for operating a wind turbine, the wind turbine including methods for measuring wind characteristics w 测量 Wind characteristic sensors and sensors for measuring the state of wind turbines 涡轮 At least one wind turbine state sensor, the method includes: determining or adjusting one or more wind characteristic relationships, i.e., relationship E估计 or the sequence E of relations 估计,SEQ ; and, the execution phase, which includes: measuring wind characteristics using a wind characteristic sensor, thereby obtaining the measured wind characteristic w. 测量 The state of the wind turbine is measured using at least one wind turbine state sensor. 涡轮 The estimated wind characteristics w are determined based on the measured conditions and parameters of the wind turbine. 估计 (w 估计 =w 估计 (s 涡轮 ) = w 估计 (s 涡轮 ,p 涡轮 ),); estimate wind characteristics w 估计 According to the measured wind characteristics w 测量 Determined desired wind characteristics E 估计 (w 测量 The comparison is made between the expected wind characteristics E and the expected wind characteristics E. 估计 (w 测量 Based on one or more wind characteristic relationships (i.e., based on E) 估计 Or based on E 估计,SEQ To determine; and, at least in part, to operate or shut down wind turbines based on the comparison results.

[0147] For example, if the desired wind characteristic E 估计 (w 测量 The sequence E is based on relationships obtained, for example, considering wind turbines and / or similar types of wind turbines and / or simulations. 估计,SEQ =(E 估计,1 E 估计,2 ,…,E 估计,v If the expected wind characteristic E is... 估计 (w 测量 This can be obtained by averaging:

[0148] E 估计 (w 测量 )

[0149] =AVERAGE((E 估计,1 (w 测量 ),E 估计,2 (w 测量 ),…,E 估计,v (w 测量 )))

[0150] In some embodiments, interpolation or regression may be used.

[0151] In some embodiments, one or more wind characteristic relationships are determined or adjusted (i.e., E is determined or adjusted). 估计 or sequence E 估计,SEQOne or more relations E in 估计,i And thus determine or adjust sequence E 估计,SEQ This is performed when the wind turbine is not in a significant stall condition and is not under disturbance conditions, and includes: measuring the wind characteristics w of the wind turbine using a wind characteristic sensor of the wind turbine. 测量 This allows for the acquisition of the wind characteristics of the wind turbine; the wind turbine's state s is measured using at least one wind turbine state sensor. 涡轮 Based on the measured conditions and parameters of the wind turbine, the estimated wind characteristics (w) of the wind turbine are determined. 估计 =w 估计 (s 涡轮 ,p 涡轮 Determine or adjust the relationship between the measured wind characteristics and the estimated wind characteristics of the wind turbine. 估计 or E 估计,i Where i indicates the i-th relationship currently determined or adjusted; and one or more wind characteristic relationships are adjusted, i.e., E 估计 or E 估计,SEQ The relationship between measured wind characteristics of wind turbines and estimated wind characteristics of wind turbines, E. 估计 or E 估计,i .

[0152] In some embodiments, one or more wind characteristic relationships (i.e., E) are determined or adjusted. 估计 or E 估计,SEQ The process includes: operating a wind turbine of the same type as the wind turbine, which includes a wind characteristic sensor and at least one wind turbine state sensor, when the wind turbine is not in a significant stall condition and is not in a disturbed condition; measuring the wind characteristics of the wind turbine using the wind characteristic sensor of the wind turbine of the same type during the operation of the wind turbine of the same type, thereby obtaining the measured wind characteristics of the wind turbine of the same type; measuring the state of the wind turbine of the same type using at least one wind turbine state sensor of the wind turbine of the same type, and determining the estimated wind characteristics of the wind turbine of the same type based on the measured state of the wind turbine of the same type and the parameters of the wind turbine of the same type; determining or adjusting the relationship between the measured wind characteristics and the estimated wind characteristics of the wind turbine of the same type; and adjusting one or more wind characteristic relationships (i.e., E...). 估计 or E 估计,SEQ The relationship between measured wind characteristics and estimated wind characteristics of wind turbines of the same type is used to determine the relationship between these characteristics.

[0153] In some embodiments, one or more wind characteristic relationships (i.e., E) are determined or adjusted. 估计 or E 估计,SEQThis includes: simulating wind and wind turbine operation for a wind turbine in the absence of significant stall and disturbance conditions, the simulation being at least partially based on a model of the wind turbine; obtaining simulated wind characteristics, simulated wind turbine states, and simulated parameters; determining simulated estimated wind characteristics based on the simulated wind turbine states and simulated wind turbine parameters; determining or adjusting the relationship between the simulated wind characteristics and the simulated estimated wind characteristics; and adjusting one or more wind characteristic relationships (i.e., E...). 估计 or E 估计,SEQ This includes the relationship between simulated wind characteristics and simulated estimated wind characteristics.

[0154] In some embodiments, one or more wind characteristic relationships (i.e., E) 估计 or E 估计,SEQ This is further combined into a single composite relation, and the wind characteristics are expected to be based on this single composite relation. For example, for relation E obtained, for instance, considering wind turbines and / or similar types of wind turbines and / or simulations. 估计,SEQ =(E 估计,1 E 估计,2 ,…,E 估计,v ) sequence E 估计,SEQ A single composite relation can associate the average with individual values ​​ω in the domain of the relation in the sequence (E). 估计 (ω)=AVERAGE((E 估计,1 (ω),E 估计,2 (ω),…,E 估计,v (ω)))). In some embodiments, missing data for some ω can be obtained, for example, using interpolation or regression.

[0155] In some embodiments, during normal turbine operation, i.e., during the operation phase, a transfer function determined, for example in a statistical sense, is used to continuously evaluate and compare data from wind characteristic sensors (e.g., anemometers) and estimated wind speeds. If the desired estimated wind characteristic E... 估计 (w 测量 ) and estimated wind characteristics w 估计 If the matching between the two cannot be obtained according to the predetermined requirements, it is assumed that the wind turbine is not operating as expected (e.g., due to icing, blade fouling, or stall) and a message is generated to the remote control center so that appropriate steps can be taken to remedy the problem.

[0156] Figure 4 Details relating to methods for operating wind turbines according to some embodiments of the present disclosure are summarized. Figure 4 As shown, a wind characteristic sensor 402, such as a wind characteristic sensor 58, can provide measured wind characteristics w as indicated by 406. 测量And at least one sensor 404 that measures the state of the wind turbine provides the state of the wind turbine as indicated by 408. 涡轮 The measurement, where this state may include, for example, the rotational speed or torque of the wind turbine's rotor and / or shaft (e.g., rotor shaft 44) and / or, for example, the power output of a generator. It is assumed that the wind turbine's parameters 410 are known; for example, it is assumed that the blade pitch angle and / or gearbox configuration of the wind turbine are known. Parameter 410 utilizes p as indicated by 412. 涡轮 Indication. Wind characteristics w are estimated using physical model 416. 估计 (As shown by 420) This is obtained through physical model 416 as a function of the wind turbine's state 408 and parameters 412. Based on the measured wind characteristics w indicated by 406... 测量 Based on one or more relations (i.e., E) as schematically indicated by 414 估计 or E 估计,SEQ To obtain the expected value of the estimated wind characteristics, such as E. 估计 (w 测量 ). Expected value E 估计 (w 测量 (Indicated by 418.) The expected estimated wind characteristics E indicated by 418. 估计 (w 测量 ) and estimated wind characteristics w indicated by 420 估计 Comparison 422 is performed between them. As indicated by 424, the wind turbine is ultimately operated or shut down, at least in part, based on comparison 422. Wind turbine operation or shutdown 424 may be based on E 估计 (w 测量 ) and w 估计 The comparison between 422, and especially the operation of wind turbines, can further depend on E 估计 (w 测量 ) and / or w 估计 The value and / or depends on, for example, E 估计 (w 测量 ),w 估计 The choice is one of the values, based on the result of comparison 422.

[0157] The method disclosed herein relates to calibrating a wind characteristic sensor, i.e., a wind measurement device, during normal operating time, taking into account a physical model. 估计 Obtained from this physical model. Wind characteristic sensors (i.e., wind measurement devices at the location of the wind turbine) are used to detect inadequate performance of the wind turbine and / or improper behavior of the wind turbine (e.g., due to significant stall conditions or disturbances of the wind turbine, especially when the estimated value w). 估计 When it becomes inaccurate, that is, when the wind speed estimation algorithm based on the physical model no longer works properly.

[0158] The method disclosed herein is particularly advantageous for ice detection, stall detection, and the possibility of performing seasonal calibration phases. Due to E 估计 (w 测量 Furthermore, it is possible to obtain reliable power curve measurements by utilizing, for example, nacelle anemometers that form wind characteristic sensors of wind turbines.

[0159] In some embodiments of this disclosure, a method for operating a wind turbine is described, wherein, for example, E 估计 (w 测量 ) and w 估计 The comparison between them shows the estimated wind characteristics w 估计 Significantly different from measuring wind characteristics w 测量 Determined desired wind characteristic value (e.g., E) 估计 (w 测量 When the wind turbine is in operation, it calculates the wind characteristics based on the measured wind characteristics. 测量 Determined desired wind characteristics E 估计 (w 测量 Use it to operate or close.

[0160] In some embodiments, comparisons 306 and 422 may include comparisons based on one or more relations (i.e., E...). 估计 or E 估计,SEQ To obtain estimated wind characteristics w 估计 and expected wind characteristics E 估计 (w 测量 The difference Δ between ) is intended to be Δ = w. 估计 -E 估计 (w 测量 ), where E 估计 Relation E 估计 Or based on sequence E 估计,SEQ In some embodiments, based on sequence E 估计,SEQ (where E) 估计,SEQ =(E 估计,1 E 估计,2 ,…,E 估计,v The difference Δ can be Δ = w 估计 -AVERAGE((E 估计,1 (w 测量 ),E 估计,2 (w 测量 ),…,E 估计,v (w 测量 ))), where AVERAGE can indicate any convenient average value. Sequence E 估计,SEQ Relationship E in 估计,i This can be obtained by considering wind turbines or similar types of wind turbines, or through simulation. For consistency of notation, it will still be written as: E 估计(w 测量 =AVERAGE((E) 估计,1 (w 测量 ),E 估计,2 (w 测量 ),…,E 估计,v (w 测量 In some embodiments, the wind turbine operates at least in part based on the magnitude of the difference Δ.

[0161] In some embodiments, comparison 422 may correspond to comparison 306 and include obtaining the estimated wind characteristics w 估计 and desired wind characteristics (e.g., E) 估计 (w 测量 The difference Δ between )) is, for example, the difference w. 估计 -E 估计 (w 测量 Furthermore, the operation of the wind turbine is based at least in part on the magnitude of the difference Δ.

[0162] The difference Δ can be a scalar or a vector, and the magnitude of the difference (e.g., the difference w) 估计 -E 估计 (w 测量 The magnitude of the difference (Δ) can be measured by any suitable metric or norm, particularly by, for example, the Euclidean norm, the maximum norm, etc. In particular, the difference Δ (e.g., w) 估计 -E 估计 (w 测量 The size of )) is intended to be a non-negative real number, and is determined if and only if the scalar or vector operand (e.g., w) is a scalar or vector operand. 估计 and E 估计 (w 测量 When the values ​​are equal, the difference Δ is zero.

[0163] In some embodiments of this disclosure, when the magnitude of the difference Δ (e.g., the difference w) 估计 -E 估计 (w 测量 When the magnitude of the wind turbine is below a first threshold (e.g., below 2 m / s or below 1 m / s), the wind turbine is based on the estimated wind characteristics w. 估计 Let's operate it.

[0164] For example, in some embodiments, when w 估计 Close to E 估计 (w 测量 When ), the difference w 估计 -E 估计 (w 测量 The size of ) becomes close to zero, and therefore when w 估计 Close to E 估计 (w 测量 Time difference w 估计 -E估计 (w 测量 The magnitude of the wind turbine is below the first threshold. Under such conditions, significant stall or disturbances in the wind turbine are undesirable, and therefore the wind turbine's speed depends on w. 估计 Operations (especially when w) 估计 Possibly more than E 估计 (w 测量 ) and / or w 测量 (More precise time)

[0165] In some embodiments, when the magnitude of the difference Δ (e.g., the difference w) 估计 -E 估计 (w 测量 When the magnitude of the wind turbine exceeds the first threshold, the wind turbine is based on the desired wind characteristic E. 估计 (w 测量 To operate. For example, when w 估计 Significantly different from E 估计 (w 测量 When w 估计 -E 估计 (w 测量 If the size of the wind turbine increases above the first threshold, and the wind turbine may be in a stall or disturbance state, and therefore w 估计 The value may become unreliable and inaccurate. Therefore, based on the desired wind characteristic value (e.g., based on E...), 估计 (w 测量 Operating a wind turbine is beneficial for the operation of the wind turbine and / or for the safe operation of the wind turbine to prevent damage and / or for the shutdown of the wind turbine.

[0166] In some embodiments, when the difference Δ (e.g., the difference w) 估计 -E 估计 (w 测量 When the speed of the turbine exceeds the second threshold (e.g., above 3 m / s), the turbine switches to a safe operating mode.

[0167] Safety modes may be associated with the control of one or more pitch angles of one or more blades of a wind turbine to prevent significant stall conditions, or safety modes may include completely shutting down the wind turbine.

[0168] In some embodiments, when the difference Δ (e.g., the difference w) 估计 -E 估计 (w 测量 When the value of the signal exceeds the first and / or second threshold, a message is transmitted to the operator.

[0169] Transmission can be fully automated, and the operator can be one or more human operators and / or one or more computers or fully or partially automated systems configured to control the wind turbine. The operator or one or more computers or fully or partially automated systems configured to control the wind turbine can be located in the wind farm or at a remote location, or even at the location of the wind turbine or within the wind turbine itself. Messages can be transmitted by any suitable means, such as digital packets over a network, as modulated radio wave signals, or over cables or optical waveguides. Messages may contain any additional information beneficial to the control of the wind turbine and / or to obtaining information about the status or condition of the wind turbine.

[0170] In some embodiments, the difference Δ (e.g., the difference w) 估计 -E 估计 (w 测量 The magnitude of the sequence is memorized at different points in time when the sequence is formed, and a normal condition or a significant stall or disturbance condition is determined based on the sequence. In the case of a significant stall or disturbance condition, the type of fault is determined according to the sequence, and the wind turbine operates according to the determined type of fault.

[0171] Memorize the difference Δ (e.g., difference w) at different points in time. 估计 -E 估计 (w 测量 (For example, periodically sampling and storing the differences) generates a value sequence that forms a history of the differences. Based on this history, it is possible, for example, to record the difference Δ (e.g., difference w) when, for example, a significant stall or disturbance occurs. 估计 -E 估计 (w 测量 How the size of )) increases. Based on the history of the difference Δ, information about the type of failure can be obtained, which may specify, for example, whether a significant stall condition is occurring, or what failure is occurring under different possible conditions, such as whether blade icing or dust or aging may be affecting the operation of the wind turbine.

[0172] Other information sources can also be used to determine the type of fault, such as information obtained from thermometers and / or other sensors placed at or around, for example, the location of a wind turbine. Information sources may also include weather forecasts or observations and wind forecasts or measurements at different locations, including the location of the wind turbine.

[0173] In some embodiments, based on estimated wind characteristics w 估计 According to the measured wind characteristics w 测量 Determined desired wind characteristic value (e.g., E) 估计 (w 测量 In comparison, the wind turbine is shut down or operated in order to control the pitch angle to avoid the wind turbine stalling.

[0174] In some embodiments, operating or shutting down a wind turbine includes adjusting the pitch angle to avoid significant stall conditions of the wind turbine.

[0175] The calibration phase may include w 测量 and s 涡轮 Repeated measurements are performed to obtain a sufficient number of ordered pairs in order to obtain, for example, E, for each possible output value ω of the wind characteristic sensor. 估计 A sufficiently accurate and precise value for (ω). When, for example, with a sequence S obtained from S[ω] as previously described. 估计 When a sufficiently narrow confidence interval related to the mean of [ω] can be determined, a sufficiently accurate and precise value may exist (e.g., when considering sequence S). 估计 When the values ​​in [ω] are used as samples in a Monte Carlo experiment, the desired confidence interval width is required to achieve the desired confidence level for that experiment.

[0176] When no significant stall or disturbance is known, a calibration phase can be performed to determine or adjust one or more wind characteristic relationships. This determination can be fully automated, such as automatically checking temperature and wind conditions at the wind turbine location, as well as other conditions like the presence of dust, or it can be partially automated or the result of manual monitoring. The calibration phase may include the use of measuring instruments, which can be removed after the calibration phase is completed. Manual monitoring may be present during the calibration phase and absent thereafter, or the calibration may be fully automated.

[0177] The calibration and operation phases can be alternated, for example, periodically, to allow for recalibration, i.e., adjustment, for example, E. 估计 or E 估计,SEQ In order to take into account, for example, the aging of wind turbines or other time-varying properties of wind turbines and / or modifications to the aerodynamic properties of wind turbine locations.

[0178] In some embodiments, the calibration phase is repeated until the desired wind characteristic value approximates the estimated wind characteristic with sufficient precision and accuracy.

[0179] In some embodiments, during the calibration phase, measuring wind characteristics further includes measurement data from one or more wind measuring rods positioned at a distance from the wind turbine.

[0180] Therefore, in some embodiments, w 测量 It can be a vector that includes values ​​obtained from at least one local anemometer and / or at least one measuring rod used to measure wind conditions at a distance from the wind turbine.

[0181] In some embodiments, a wind turbine is described, comprising: at least one wind measurement sensor; a wind turbine state sensor for measuring the state of the wind turbine to estimate wind characteristics at the location of the wind turbine; and a control system configured to control the wind turbine at least in part based on an input formed by the measured wind characteristics measured by the wind measurement sensor and the measured wind turbine state measured by the wind turbine state sensor, wherein the control system is configured to operate the wind turbine according to the method described in this disclosure. It is assumed that the wind turbine parameters are known to the control system.

[0182] In some embodiments, wind characteristics may be wind speed or wind speed magnitude, and the wind characteristic sensor measures the wind speed magnitude or wind speed. In some embodiments, the wind characteristic sensor may measure the wind speed magnitude and direction. In some embodiments, the wind characteristic sensor may measure a vector describing the wind speed. In some embodiments, the wind speed magnitude may be measured in m / s.

[0183] In some embodiments, the wind turbine further includes an information processing system and at least one communication channel configured to transmit information about a comparison of estimated wind characteristics with desired wind characteristics during the operation phase.

[0184] For example, transmission information transmitted through communication channels can be used to control or monitor the operation of wind turbines.

[0185] According to the description in this article or as such Figure 4 The method illustrated in the figure is particularly useful for operating wind turbines to detect significant stall conditions or disturbances, and allows wind turbine operation to minimize the risk of damage to the turbine and / or maximize its performance (especially during significant stall conditions or disturbances), such as the difference Δ (e.g., the difference w). 估计 -E 估计 (w 测量 An increase in the magnitude of the ) could be associated, for example, with dust or icing deposited on the blades of a wind turbine, or with any other disturbance and / or significant stall conditions. The method disclosed herein allows for the calculation of differences Δ (e.g., differences w) based on, for example, memories at different points in the sequence. 估计 -E 估计 (w 测量 The historical magnitude of the difference (e.g., the difference w) is used to detect disturbances and significant stall conditions. 估计 -E 估计 (w 测量 An increase in the magnitude of )) can also be associated with, for example, a significant stall condition, which can also be determined, for example, by the difference Δ (e.g., the difference w) in memory at different time points. 估计 -E 估计 (w 测量The sequence of values ​​of the magnitude of the wind turbine is used for detection. In this case, that is, if a significant stall condition is detected, it is beneficial to adjust the pitch angle of one or more blades of the wind turbine or shut down the wind turbine to prevent, for example, damage to the wind turbine.

Claims

1. A method for operating a wind turbine, the wind turbine including a wind characteristic sensor for measuring wind characteristics and at least one wind turbine state sensor for measuring the state of the wind turbine, the method comprising: During the calibration phase, one or more wind characteristic relationships between the measured wind characteristics and the estimated wind characteristics at the location of the wind turbine are determined or adjusted. as well as The operation phase includes: The wind characteristics are measured using the wind characteristic sensor, thereby obtaining the measured wind characteristics; The state of the wind turbine is measured using the at least one wind turbine state sensor, and the estimated wind characteristics are determined based on the measured state of the wind turbine and the parameters of the wind turbine. The estimated wind characteristics are compared with the desired wind characteristics determined based on the measured wind characteristics, wherein the desired wind characteristics are determined based on the one or more wind characteristic relationships; and The wind turbine is operated based at least in part on the comparison results.

2. The method according to claim 1, characterized in that, Operating the wind turbine at least in part based on the comparison results includes shutting down the wind turbine at least in part based on the comparison results.

3. The method according to claim 1 or 2, characterized in that, The calibration phase is performed when the wind turbine is not in a significant stall condition and is not under disturbance conditions, and includes: The wind characteristics of the wind turbine are measured using the wind characteristic sensor of the wind turbine, thereby obtaining the measured wind characteristics of the wind turbine. The state of the wind turbine is measured using the at least one wind turbine state sensor, and the estimated wind characteristics of the wind turbine are determined based on the measured state and parameters of the wind turbine. Determine or adjust the relationship between the measured wind characteristics of the wind turbine and the estimated wind characteristics of the wind turbine; and Adjust the one or more wind characteristic relationships to include the relationship between the measured wind characteristics of the wind turbine and the estimated wind characteristics of the wind turbine.

4. The method according to claim 1 or 2, characterized in that, The calibration phase includes: When a wind turbine of the same type as the wind turbine is not in a significant stall condition and is not in a disturbed condition, the wind turbine of the same type is operated, the wind turbine of the same type including a wind characteristic sensor and at least one wind turbine status sensor; and, during the operation of the wind turbine of the same type, the method further includes: The wind characteristics of the same type of wind turbine are measured using the wind characteristic sensor of the same type of wind turbine, thereby obtaining the measured wind characteristics of the same type of wind turbine; and The state of the wind turbine of the same type is measured using at least one wind turbine state sensor of the same type, and the estimated wind characteristics of the wind turbine of the same type are determined based on the measured state of the wind turbine of the same type and the parameters of the wind turbine of the same type. Determine or adjust the relationship between the measured wind characteristics of the same type of wind turbine and the estimated wind characteristics of the same type of wind turbine; and Adjust the one or more wind characteristic relationships to include the relationship between the measured wind characteristics of the same type of wind turbines and the estimated wind characteristics of the same type of wind turbines.

5. The method according to claim 1 or 2, characterized in that, The calibration phase includes: In the absence of significant stall and disturbance conditions of the wind turbine, wind and wind turbine operation are simulated for the wind turbine, the simulation being at least in part based on a model of the wind turbine. The simulated wind characteristics, simulated state, and simulated parameters of the wind turbine are obtained, and the simulated estimated wind characteristics are determined based on the simulated state and simulated parameters of the wind turbine. Determine or adjust the relationship between the simulated wind characteristics and the simulated estimated wind characteristics; and Adjust the one or more wind characteristic relationships to include the relationship between the simulated wind characteristics and the simulated estimated wind characteristics.

6. The method according to claim 1 or 2, characterized in that, The one or more wind characteristic relationships are further combined into a single combination relationship, wherein the desired wind characteristic is based on the single combination relationship.

7. The method according to claim 1 or 2, characterized in that, When the comparison shows that the estimated wind characteristics are significantly different from the desired wind characteristics determined based on the measured wind characteristics, the wind turbine operates according to the desired wind characteristics determined from the measured wind characteristics.

8. The method according to claim 1 or 2, characterized in that, The comparison includes obtaining the difference between the estimated wind characteristics and the desired wind characteristics, and operating the wind turbine based at least in part on the magnitude of the difference.

9. The method according to claim 8, characterized in that, When the magnitude of the difference is below a first threshold, the wind turbine operates based on the estimated wind characteristics.

10. The method according to claim 9, characterized in that, When the magnitude of the difference is higher than the first threshold, the wind turbine operates based on the desired wind characteristics.

11. The method according to claim 9 or 10, characterized in that, When the magnitude of the difference is higher than the second threshold, the turbine switches to a safe operating mode or shuts down.

12. The method according to claim 11, characterized in that, When the magnitude of the difference is higher than the first threshold and / or the second threshold, a message is transmitted to the operator.

13. The method according to claim 8, characterized in that, The magnitude of the difference is memorized at different time points in the formation of the sequence, and wherein a normal condition or a significant stall or disturbance condition is determined based on the sequence, and wherein, in the case of a significant stall or disturbance condition, the type of fault is determined according to the sequence, and the wind turbine operates according to the determined type of fault.

14. The method according to claim 1 or 2, characterized in that, Operating the wind turbine includes adjusting the pitch angle to avoid significant stall conditions of the wind turbine.

15. The method according to claim 1 or 2, characterized in that, The wind characteristic is wind speed, and the wind characteristic sensor measures the magnitude of the wind speed.

16. A wind turbine, comprising: At least one wind measurement sensor; as well as A wind turbine condition sensor is used to measure the condition of the wind turbine in order to estimate the wind characteristics at the location of the wind turbine. A control system configured to control the wind turbine based at least in part on an input formed by measured wind characteristics measured by the wind measurement sensor and measured wind turbine state measured by the wind turbine state sensor. The control system is configured to operate the wind turbine according to the method of any one of claims 1 to 15.

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