Control Method and Device of Wind Turbine Generator Set and Computer Readable Storage Medium

Abstract

An embodiment of the present invention provides a control method, a device, and a computer-readable storage medium for a wind turbine generator set. The method includes: pre-establishing a root load estimation model function of the wind turbine generator set through simulation, where the root load estimation model function takes the operating power and the operating pitch angle of the wind turbine generator set as independent variables and the root load of the wind turbine generator set as the dependent variable; obtaining power measurement values and pitch angle measurement values during the actual operation of the wind turbine generator set; obtaining an estimated value of the root load of the wind turbine generator set based on the power measurement values and the pitch angle measurement values and based on the root load estimation model function; and performing corresponding control on the wind turbine generator set based on the estimated value of the root load. The embodiment of the present invention provides a relatively accurate method for online real-time estimation and load reduction of the root load.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of wind power generation, and in particular, to a control method, a device and a computer-readable storage medium for a wind turbine generator set. Background Art

[0002] With the gradual depletion of energy sources such as coal and oil, humans have paid increasing attention to the utilization of renewable energy sources. As a clean renewable energy source, wind energy has been increasingly valued by countries around the world. Along with the continuous development of wind power technology, the application of wind turbines in the power system has been increasing. A wind turbine generator set is a large device that converts wind energy into electrical energy and is usually installed in areas with rich wind energy resources.

[0003] Currently, in the operation process of the wind power field, the root load data of a wind turbine generator set is usually obtained by measuring with a root sensor, and the root load reduction method adopts static thrust reduction, that is, the pitch angle is set by measuring power interpolation.

[0004] Conventional methods for obtaining root loads need to rely on root optical fiber (or pressure) sensors for measurement. The measurement results of root sensors for loads are more accurate, but the cost is higher, and there are problems such as the need for regular maintenance and the reliability to be verified. The problem with the static thrust reduction load control strategy is that in the case of gusts or large turbulent wind conditions, the load reduction effect is lost under low-power wind conditions, and at the same time, because the load reduction is set based on power, more power generation will be lost. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a control method, a device and a computer-readable storage medium for a wind turbine generator set, which can provide a relatively accurate online real-time estimation and load reduction method for root loads.

[0006] One aspect of the embodiments of the present invention provides a control method for a wind turbine generator set. The control method includes: pre-establishing a root load estimation model function of the wind turbine generator set through simulation, where the root load estimation model function takes the operating power and operating pitch angle of the wind turbine generator set as independent variables and the root load of the wind turbine generator set as the dependent variable; obtaining the power measurement value and pitch angle measurement value during the actual operation of the wind turbine generator set; obtaining the root load estimation value of the wind turbine generator set according to the power measurement value and pitch angle measurement value and based on the root load estimation model function; and performing corresponding control on the wind turbine generator set based on the root load estimation value.

[0007] Further, the method for pre - establishing a root load estimation model function of a wind turbine generator set through simulation includes: establishing a correlation transfer function between the steady - state root load and the operating power of the wind turbine generator set through simulation; establishing a correlation transfer function between the steady - state root load and the operating pitch angle of the wind turbine generator set through simulation; and obtaining the root load estimation model function based on the correlation transfer function between the steady - state root load and the operating power and the correlation transfer function between the steady - state root load and the operating pitch angle.

[0008] Further, the method for establishing a correlation transfer function between the steady - state root load and the operating power of the wind turbine generator set through simulation includes: calculating the root load under steady - state conditions at a predetermined wind speed based on Bladed simulation software; extracting the scatter points of the steady - state root load and the operating power; and establishing the correlation transfer function between the steady - state root load and the operating power by fitting the scatter points of the steady - state root load and the operating power.

[0009] Further, the method for establishing a correlation transfer function between the steady - state root load and the operating pitch angle of the wind turbine generator set through simulation includes: calculating the root load under steady - state conditions at a predetermined wind speed based on Bladed simulation software; extracting the scatter points of the steady - state root load and the operating pitch angle; and establishing the correlation transfer function between the steady - state root load and the operating pitch angle by fitting the scatter points of the steady - state root load and the operating pitch angle.

[0010] Further, the method for obtaining the root load estimation model function based on the correlation transfer function between the steady - state root load and the operating power and the correlation transfer function between the steady - state root load and the operating pitch angle includes: obtaining the root load estimation model function according to the product of the correlation transfer function between the steady - state root load and the operating power and the correlation transfer function between the steady - state root load and the operating pitch angle.

[0011] Further, the method further includes: performing smoothing filtering on the obtained root load estimation value, wherein the control of the wind turbine generator set based on the root load estimation value includes: controlling the wind turbine generator set based on the root load estimation value after smoothing filtering.

[0012] Further, the control of the wind turbine generator set based on the root load estimation value includes: comparing the root load estimation value with the target load setting value; and performing pitch angle control on the wind turbine generator set based on the comparison result.

[0013] Further, the pitch angle control of the wind turbine based on the comparison result includes: when the estimated value of the root load is greater than the set value of the target load, determining a set minimum pitch angle based on the product of the difference between the estimated value of the root load and the set value of the target load and a predetermined proportional gain; and performing pitch angle control on the wind turbine based on the set minimum pitch angle to reduce the root load of the wind turbine.

[0014] Another aspect of the embodiments of the present invention further provides a control device for a wind turbine. The control device includes one or more processors for implementing the control method of the wind turbine as described above.

[0015] Another aspect of the embodiments of the present invention further provides a computer-readable storage medium. A program is stored on the computer-readable storage medium, and when the program is executed by a processor, the control method of the wind turbine as described above is implemented.

[0016] The control method, device, and computer-readable storage medium of the wind turbine according to one or more embodiments of the present invention can well replace the traditional static push-down load control strategy, and can estimate the root load in real time online, reduce the root limit load, and at the same time, can provide a basis for subsequent whole-machine life prediction methods. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of a wind turbine;

[0018] Figure 2 It is a flowchart of the control method of the wind turbine according to an embodiment of the present invention;

[0019] Figure 3 It is the specific steps of pre-establishing the root load estimation model function of the wind turbine according to an embodiment of the present invention;

[0020] Figure 4 It is a schematic diagram of the correlation between the steady-state power and the root load of the wind turbine according to an embodiment of the present invention;

[0021] Figure 5 It is a schematic diagram of the correlation between the steady-state pitch angle and the root load of the wind turbine according to an embodiment of the present invention;

[0022] Figure 6 It is a curve graph of the estimated root static load at different wind speeds according to an embodiment of the present invention;

[0023] Figure 7 It is a flowchart of performing corresponding control on the wind turbine based on the estimated value of the root load according to an embodiment of the present invention;

[0024] Figure 8 Schematic block diagram of a control device for a wind turbine according to an embodiment of the present invention. Detailed implementation mode

[0025] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are merely examples of devices consistent with some aspects of the present invention as detailed in the appended claims.

[0026] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The terms "first", "second" and similar words used in the specification and claims of the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "a" or "an" do not denote a quantity limitation, but mean that there is at least one. "Plurality" or "several" means two or more. Unless otherwise indicated, words such as "front", "rear", "lower" and / or "upper" are only for convenience of description and are not limited to one position or a spatial orientation. The words such as "comprising" or "including" mean that the elements or objects appearing before "comprising" or "including" cover the elements or objects listed after "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The words such as "connected" or "coupled" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. The singular forms "a", "the" and "said" used in the specification and appended claims of the present invention are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0027] Figure 1 Disclosed is a three-dimensional schematic diagram of a wind turbine 100. As Figure 1 shown, the wind turbine 100 includes a plurality of blades 101, a nacelle 102, a hub 103 and a tower 104. The tower 104 extends upward from a foundation (not shown), the nacelle 102 is installed at the top of the tower 104, the hub 103 is installed at one end of the nacelle 102, and a plurality of blades 101 are installed on the hub 103.

[0028] An embodiment of the present invention provides a control method for a wind turbine generator, which can provide a relatively accurate online real-time estimation and load reduction method for the root load of the blade. Figure 2 The flowchart of the control method for the wind turbine generator according to an embodiment of the present invention is disclosed. As Figure 2 shown, the control method for the wind turbine generator according to an embodiment of the present invention may include steps S11 to S14.

[0029] In step S11, an estimation model function for the root load of the wind turbine generator can be pre-established through simulation, where the estimation model function for the root load of the wind turbine generator takes the operating power and operating pitch angle of the wind turbine generator as independent variables and the root load of the wind turbine generator as the dependent variable.

[0030] Figure 3 The specific steps of pre-establishing the estimation model function for the root load of the wind turbine generator in step S11 according to an embodiment of the present invention are disclosed. As Figure 3 shown, in some embodiments, the step of pre-establishing the estimation model function for the root load of the wind turbine generator in step S11 through simulation may further include steps S111 to S113.

[0031] In step S111, a correlation transfer function G between the steady-state root load and the operating power of the wind turbine generator can be established through simulation power .

[0032] In one embodiment, the root load under steady-state conditions at a predetermined wind speed (for example, 3 m / s - 20 m / s) can be simulated and calculated based on Bladed simulation software. The steady-state condition refers to the condition where turbulence, yaw error, wind shear, and inflow angle are all 0. Then, the scatter points of the steady-state root load and the operating power are extracted, and the scatter points of the steady-state root load and the operating power are fitted to establish a correlation transfer function G between the steady-state root load and the operating power power .

[0033] Figure 4 The schematic diagram of the correlation between the steady-state power and the root load of the wind turbine generator according to an embodiment of the present invention is disclosed, where Figure 4 the abscissa represents power (kW), and the ordinate represents the normalized load percentage. In order to eliminate the dimensional difference between the load data, the root load is normalized, that is, the ratio of the root load calculated at the input wind speed to the maximum root load statistically obtained at all wind speeds is used. From Figure 4 it can be seen that the error between the simulated root load obtained through simulation and the root load obtained according to the established correlation transfer function G between the steady-state root load and the operating power power is very small, and the fitting curve R 2= 0.9993。

[0034] In step S112, the correlation transfer function G between the steady-state blade root load and the operating pitch angle of the wind turbine can be established through simulation. pitch 。

[0035] In one embodiment, the blade root load under steady-state conditions at a predetermined wind speed (e.g., 3 m / s - 20 m / s) can be simulated and calculated based on Bladed simulation software, and the scatter points of the steady-state blade root load and the operating pitch angle are extracted. Then, through fitting the scatter points of the steady-state blade root load and the operating pitch angle, the correlation transfer function G between the steady-state blade root load and the operating pitch angle is established. pitch 。

[0036] Figure 5 Reveals a schematic diagram of the correlation between the steady-state pitch angle and the blade root load of the wind turbine according to an embodiment of the present invention, where Figure 5 the abscissa in represents the pitch angle (deg), and the ordinate represents the normalized load percentage. Similarly, in order to eliminate the dimensional difference between the load data, the blade root load is normalized, that is, the ratio of the blade root load calculated at the input wind speed to the maximum blade root load statistically obtained at all wind speeds is used. As can be seen from Figure 5 the simulation blade root load obtained through simulation and the blade root load obtained according to the correlation transfer function G between the steady-state blade root load and the operating pitch angle of the established wind turbine pitch have a very small error, and the fitting curve R 2 = 0.9998.

[0037] Return to reference Figure 2 , after obtaining the correlation transfer function G between the steady-state blade root load and the operating power established in step S111 power and the correlation transfer function G between the steady-state blade root load and the operating pitch angle established in step S112 pitch , in step S113, based on the correlation transfer function G between the steady-state blade root load and the operating power established in step S111 power and the correlation transfer function G between the steady-state blade root load and the operating pitch angle established in step S112 pitch , the coupling among the steady-state power, pitch angle, and blade root load considering the blade aerodynamics and mode is completed to obtain the blade root load estimation model function G L . The mode of the blade refers to the vibration mode shape after the blade is stressed. For example, it can specifically include the blade flap mode, lead-lag mode, and torsion mode, etc. The mode can also be divided into the first order, second order, third order, etc.

[0038] In one embodiment, the correlation transfer function G between the steady-state blade root load and the operating power can be used power and the correlation transfer function G between the steady-state blade root load and the operating pitch angle pitch to obtain the blade root load estimation model function G by multiplying them, L as shown in the following formula:

[0039] G L = G power × G pitch

[0040] Figure 6 FIG. shows the steady-state blade root load estimation curves at different wind speeds according to an embodiment of the present invention. Among them, Figure 6 the abscissa represents the wind speed (m / s), and the ordinate represents the steady-state blade root load (such as the blade root bending moment My-br (kNn)). It can be seen from Figure 6 that the estimated steady-state blade root load curve obtained based on the power and pitch angle according to the blade root load estimation model function G L basically coincides with the simulated steady-state blade root load curve obtained through simulation. Therefore, the blade root load estimation model function G L established as described above in the embodiment of the present invention can be applied to the actual operation process of the wind turbine generator set, and the established blade root load estimation model function G L can be used to estimate the blade root load during the actual operation of the wind turbine generator set.

[0041] Returning to reference Figure 2 as shown, after establishing the blade root load estimation model function G L in step S12, during the actual operation of the wind turbine generator set, the power measurement value and the pitch angle measurement value during the actual operation of the wind turbine generator set are obtained.

[0042] In step S13, according to the power measurement value and the pitch angle measurement value obtained in step S12 and based on the blade root load estimation model function G L established in step S11, the blade root load estimation value of the wind turbine generator set is obtained.

[0043] In step S14, the wind turbine generator set can be controlled accordingly based on the blade root load estimation value obtained in step S13.

[0044] Figure 7 FIG. shows the flowchart of controlling the wind turbine generator set accordingly based on the blade root load estimation value according to an embodiment of the present invention. As Figure 7 shown, in some embodiments, the control of the wind turbine generator set accordingly based on the blade root load estimation value in step S14 may further include step S141 and step S142.

[0045] In step S141, the estimated root load value obtained according to the root load estimation model function G L can be compared with the target load setting value.

[0046] In step S142, pitch angle control of the wind turbine generator can be performed based on the comparison result. Among them, step S142 can further include steps S1421 to S1424. In step S1421, it is judged whether the estimated root load value is greater than the target load setting value. If the judgment result is yes, the process proceeds to steps S1422 and S1423. Otherwise, the process enters step S1424. In step S1424, when the estimated root load value is less than or equal to the target load setting value, no processing is performed, that is, no control is performed on the pitch angle.

[0047] In step S1422, when the estimated root load value is greater than the target load setting value, the set minimum pitch angle is determined based on the product of the difference between the estimated root load value and the target load setting value and a predetermined proportional gain, as shown in the following formula:

[0048] Pit set =(G L -Load setting )×Gain

[0049] where Pit set is the determined set minimum pitch angle, Load setting is the target load setting value, and Gain is the proportional gain. Among them, the proportional gain Gain can be determined through the relationship between the change in pitch angle and the change in root load, and it is adjustable.

[0050] In step S1423, based on the set minimum pitch angle Pit set determined in step S1422, pitch angle control can be performed on the wind turbine generator in advance, increasing the pitch angle and retracting the blade towards 90 degrees, so as to reduce the root load of the wind turbine generator and achieve the purpose of load reduction.

[0051] Continue to refer to Figure 2 As shown, in order to eliminate the possible noise in the estimated root load value obtained in step S13, in some embodiments of the present invention, before performing step S14, the control method of the wind turbine generator may further include step S15. In step S15, smoothing filtering processing can be performed on the obtained estimated root load value.

[0052] In the implementation manner of the control method of the wind turbine generator set according to the embodiment of the present invention, which includes step S15, in step S14, the wind turbine generator set can be correspondingly controlled based on the estimated value of the root load after smooth filtering obtained in step S15.

[0053] The control method of the wind turbine generator set according to the embodiment of the present invention can well replace the traditional static push load reduction control strategy, and can estimate the root load in real time online, reduce the root ultimate load, and at the same time, can provide a basis for the subsequent whole machine life prediction method.

[0054] The embodiment of the present invention also provides a control device 200 of a wind turbine generator set. Figure 8 The schematic block diagram of the control device 200 of the wind turbine generator set according to an embodiment of the present invention is disclosed. As Figure 8 shown, the control device 200 of the wind turbine generator set may include one or more processors 201 for implementing the control method of the wind turbine generator set described in any of the above embodiments. In some embodiments, the control device 200 of the wind turbine generator set may include a computer-readable storage medium 202, and the computer-readable storage medium 202 may store a program that can be called by the processor 201, and may include a non-volatile storage medium. In some embodiments, the control device 200 may include a memory 203 and an interface 204. In some embodiments, the control device 200 of the wind turbine generator set according to the embodiment of the present invention may also include other hardware according to actual applications.

[0055] The control device 200 of the wind turbine generator set according to the embodiment of the present invention has beneficial technical effects similar to those of the control method of the wind turbine generator set described above, so it will not be repeated here.

[0056] The embodiment of the present invention also provides a computer-readable storage medium. A program is stored on the computer-readable storage medium, and when the program is executed by a processor, the control method of the wind turbine generator set described in any of the above embodiments is implemented.

[0057] Embodiments of the present invention may be in the form of a computer program product implemented on one or more storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) that contain program code. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include but are not limited to: new types of memories such as phase change memory / resistive random access memory / magnetic random access memory / ferroelectric random access memory (PRAM / RRAM / MRAM / FeRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0058] The control method, device, and computer-readable storage medium of the wind turbine generator set provided by the embodiments of the present invention have been introduced in detail above. Specific examples are used in this article to elaborate on the control method, device, and computer-readable storage medium of the wind turbine generator set of the embodiments of the present invention. The description of the above embodiments is only used to help understand the core idea of the present invention and is not intended to limit the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the spirit and principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications should also fall within the protection scope of the appended claims of the present invention.

Claims

1. A control method for a wind turbine generator set, characterized in that: it includes: pre-establishing a root load estimation model function of the wind turbine generator set through simulation, wherein the root load estimation model function takes the operating power and operating pitch angle of the wind turbine generator set as independent variables and the root load of the wind turbine generator set as the dependent variable, and the pre-establishing the root load estimation model function of the wind turbine generator set through simulation includes: establishing a correlation transfer function between the steady-state root load and the operating power of the wind turbine generator set through simulation; establishing a correlation transfer function between the steady-state root load and the operating pitch angle of the wind turbine generator set through simulation; and obtaining the root load estimation model function based on the correlation transfer function between the steady-state root load and the operating power and the correlation transfer function between the steady-state root load and the operating pitch angle; obtaining the power measurement value and pitch angle measurement value during the actual operation of the wind turbine generator set; obtaining the root load estimation value of the wind turbine generator set according to the power measurement value and pitch angle measurement value and based on the root load estimation model function; and performing corresponding control on the wind turbine generator set based on the root load estimation value.

2. The method according to claim 1, characterized in that: the establishing the correlation transfer function between the steady-state root load and the operating power of the wind turbine generator set through simulation includes: simulating and calculating the root load under the steady-state condition of a predetermined wind speed based on Bladed simulation software; extracting the scatter points of the root load and the operating power; and establishing the correlation transfer function between the steady-state root load and the operating power by fitting the scatter points of the root load and the operating power.

3. The method according to claim 1, characterized in that: the establishing the correlation transfer function between the steady-state root load and the operating pitch angle of the wind turbine generator set through simulation includes: simulating and calculating the root load under the steady-state condition of a predetermined wind speed based on Bladed simulation software; extracting the scatter points of the root load and the operating pitch angle; and establishing the correlation transfer function between the steady-state root load and the operating pitch angle by fitting the scatter points of the root load and the operating pitch angle.

4. The method according to claim 1, characterized in that: the obtaining the root load estimation model function based on the correlation transfer function between the steady-state root load and the operating power and the correlation transfer function between the steady-state root load and the operating pitch angle includes: obtaining the root load estimation model function according to the product of the correlation transfer function between the steady-state root load and the operating power and the correlation transfer function between the steady-state root load and the operating pitch angle.

5. The method according to claim 1, characterized in that: it further includes: performing smoothing filtering processing on the obtained root load estimation value, wherein the performing corresponding control on the wind turbine generator set based on the root load estimation value includes: performing corresponding control on the wind turbine generator set based on the root load estimation value after smoothing filtering processing.

6. The method according to claim 1, Characterized in that: The corresponding control of the wind turbine based on the estimated value of the root load includes: Comparing the estimated value of the root load with a target load setting value; and Performing pitch angle control on the wind turbine based on the comparison result.

7. The method according to claim 6, Characterized in that: The pitch angle control of the wind turbine based on the comparison result includes: When the estimated value of the root load is greater than the target load setting value, determining a set minimum pitch angle based on the product of the difference between the estimated value of the root load and the target load setting value and a predetermined proportional gain; and Performing pitch angle control on the wind turbine based on the set minimum pitch angle to reduce the root load of the wind turbine.

8. A control device for a wind turbine, Characterized in that it includes one or more processors for implementing the control method of the wind turbine according to any one of claims 1-7.

9. A computer-readable storage medium, Characterized in that a program is stored thereon, and when the program is executed by a processor, the control method of the wind turbine according to any one of claims 1-7 is implemented.

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