Wind turbine generator unit primary frequency modulation control method, device and equipment and storage medium

Abstract

The application provides a wind turbine primary frequency modulation control method, comprising the following steps: calculating an active power adjustment amount required for primary frequency modulation; obtaining a out-of-plane bending moment of a tower bottom; calculating a difference value of the out-of-plane bending moment of the tower bottom; calculating a change rate of the out-of-plane bending moment of the tower bottom; judging whether the change rate of the out-of-plane bending moment of the tower bottom meets a predetermined condition; in the case of meeting the predetermined condition, determining a current active power change rate of the primary frequency modulation according to a relationship table of the change rate of the out-of-plane bending moment of the tower bottom and the active power change rate of the primary frequency modulation; calculating a generator speed set point and a generator torque set point; generating a variable pitch control instruction and a torque control instruction; sending the variable pitch control instruction to a variable pitch actuator and sending the torque control instruction to a variable flow actuator. The method improves the operation safety of the wind turbine tower and prolongs the remaining service life of the wind turbine tower. The application also provides a wind turbine primary frequency modulation control device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wind power generation, and in particular to a wind turbine generator system primary frequency modulation control method, device, equipment and storage medium. BACKGROUND

[0002] With more and more wind turbine generators being integrated into the power grid, the influence of wind power randomness and intermittence on the power grid frequency is becoming more and more significant. Therefore, the primary frequency modulation function is increasingly valued in the control strategy of wind turbine generator grid-friendly. When the power grid frequency rises, the active power of the entire wind turbine generator needs to be reduced to support the stability of the power grid frequency. The implementation form of primary frequency modulation is generally to calculate the active power adjustment value corresponding to the frequency change of the grid connection point by measurement, and the wind turbine generator adjusts the active power by adjusting the pitch and variable flow control after receiving the adjustment value.

[0003] In the process of implementing the present application, the inventors found that at least the following problems exist in the prior art: On the one hand, due to the randomness of the active power output of the wind turbine generator with wind speed change, in order to quickly meet the primary frequency modulation response index, the wind turbine generator needs to quickly change the active power adjustment value, thus causing the generation state operating point of the wind turbine generator to change rapidly, and the fatigue load of the tower of the wind turbine generator will significantly increase. Due to cost reasons, the tower fatigue load will not have a large margin in the design stage, so the installation of the primary frequency modulation system will have a great impact on the operation safety and remaining service life of the tower. On the other hand, in order to meet the requirement of installing the primary frequency modulation system, the actual annual occurrence of the grid frequency is calculated in combination with the actual logic and parameters of the primary frequency modulation control system, and the tower fatigue load is calculated. When the calculated tower fatigue load exceeds the design value of the tower, the primary frequency modulation system cannot be installed or the service life of the entire machine cannot be actually operated according to the design value when the primary frequency modulation system is installed. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art to some extent.

[0005] To this end, the present application aims to provide a wind turbine generator primary frequency modulation control method, device, equipment and storage medium to solve the problem of rapid change of the generation state operating point of the wind turbine generator due to the primary frequency modulation requirement in the prior art, which significantly affects the tower bottom load.

[0006] To achieve the above-mentioned purpose, the first aspect of the present application provides a wind turbine generator primary frequency modulation control method, comprising:

[0007] calculating the active power adjustment amount required for primary frequency modulation according to the relationship between the frequency change and the active power change;

[0008] obtaining the out-of-plane bending moment of the tower bottom;

[0009] The out-of-plane bending moment difference of the tower bottom is calculated by subtracting the out-of-plane bending moment of the previous time from the out-of-plane bending moment of the current time;

[0010] The out-of-plane bending moment change rate of the tower bottom is calculated by dividing the out-of-plane bending moment difference of the tower bottom by the control period;

[0011] It is judged whether the out-of-plane bending moment change rate of the tower bottom meets a predetermined condition;

[0012] In the case of meeting the predetermined condition, the primary frequency active power change rate of the current time is determined according to the relationship table between the out-of-plane bending moment change rate of the tower bottom and the primary frequency active power change rate;

[0013] The generator speed set point and the generator torque set point are calculated according to the active power adjustment amount required by the primary frequency and the primary frequency active power change rate;

[0014] The pitch control instruction is generated according to the generator speed set point, and the torque control instruction is generated according to the generator torque set point;

[0015] The pitch control instruction is sent to the pitch actuator, and the torque control instruction is sent to the current actuator.

[0016] The wind turbine primary frequency control method provided by the application meets the primary frequency response index and affects the tower bias load, so as to more specifically solve the problem that the wind turbine power generation state operating point changes rapidly due to the primary frequency demand, and the tower bottom load is significantly affected. The method improves the operation safety of the wind turbine tower and prolongs the remaining service life of the wind turbine tower.

[0017] According to one embodiment of the application, the out-of-plane bending moment of the tower bottom is specifically obtained by:

[0018] The obtained out-of-plane bending moment of the tower bottom is processed by sliding average to obtain the sliding average out-of-plane bending moment of the tower bottom at the current time.

[0019] According to one embodiment of the application, the out-of-plane bending moment difference of the tower bottom is calculated by subtracting the out-of-plane bending moment of the previous time from the out-of-plane bending moment of the current time, specifically including:

[0020] The out-of-plane bending moments of the current time and the previous time are processed by sliding average, and the sliding average out-of-plane bending moment of the current time is subtracted from the sliding average out-of-plane bending moment of the previous time to calculate the sliding average out-of-plane bending moment difference of the tower bottom at the current time and the previous time.

[0021] According to one embodiment of the present application, the tower bottom out-of-plane bending moment difference value is divided by the control period to calculate the tower bottom out-of-plane bending moment change rate, which specifically includes:

[0022] The tower bottom out-of-plane bending moment difference value after the sliding average of the front and rear time points is divided by the control period to calculate the tower bottom out-of-plane bending moment change rate after the sliding average of the front and rear time points.

[0023] According to one embodiment of the present application, the determination of whether the tower bottom out-of-plane bending moment change rate meets the predetermined condition specifically includes:

[0024] The determination of whether the sliding average of the current time point out-of-plane bending moment is greater than the bending moment threshold value and the sliding average of the tower bottom out-of-plane bending moment change rate of the front and rear time points is greater than the bending moment change rate threshold value meets the predetermined condition.

[0025] According to one embodiment of the present application, the determination of the current primary frequency active power change rate according to the relationship table of the tower bottom out-of-plane bending moment change rate and the primary frequency active power change rate when the predetermined condition is met specifically includes:

[0026] The determination of the current primary frequency active power change rate according to the relationship table of the tower bottom out-of-plane bending moment change rate and the primary frequency active power change rate when the predetermined condition is met, wherein the relationship in the relationship table meets the primary frequency response index and the tower design fatigue load index at the same time.

[0027] According to one embodiment of the present application, it further includes:

[0028] The pitch actuator is executed according to the pitch control instruction, and the current actuator is executed according to the torque control instruction.

[0029] The second aspect of the present application provides a wind turbine primary frequency control device, which includes:

[0030] The active power adjustment amount calculation unit is used to calculate the active power adjustment amount required for primary frequency according to the frequency change amount and the active power change amount relationship;

[0031] The out-of-plane bending moment acquisition unit is used to acquire the out-of-plane bending moment of the tower bottom;

[0032] The tower bottom out-of-plane bending moment difference value calculation unit is used to subtract the out-of-plane bending moment of the current time point from the out-of-plane bending moment of the previous time point to calculate the tower bottom out-of-plane bending moment difference value;

[0033] The tower bottom out-of-plane bending moment change rate calculation unit is used to divide the tower bottom out-of-plane bending moment difference value by the control period to calculate the tower bottom out-of-plane bending moment change rate;

[0034] A judgment unit is configured to judge whether the out-of-tower-bottom-plane bending moment change rate meets a predetermined condition.

[0035] A primary frequency active power change rate determination unit is configured to determine the current primary frequency active power change rate according to a relationship table between the out-of-tower-bottom-plane bending moment change rate and the primary frequency active power change rate when the predetermined condition is met.

[0036] A generator speed and torque set point calculation unit is configured to calculate a generator speed set point and a generator torque set point according to the primary frequency active power adjustment amount and the primary frequency active power change rate.

[0037] A control instruction generation unit is configured to generate a pitch control instruction according to the generator speed set point and a torque control instruction according to the generator torque set point.

[0038] A sending unit is configured to send the pitch control instruction to a pitch actuator and send the torque control instruction to a current actuator.

[0039] The third aspect of the present application provides a computer device, comprising a memory, at least one processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the steps of the method according to the first aspect.

[0040] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, wherein the computer program is executable on a processor to implement the steps of the method according to the first aspect.

[0041] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood through practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0042] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0043] Figure 1 is an implementation flow diagram of a primary frequency control method of a wind turbine generator set according to an embodiment of the present application.

[0044] Figure 2 is a structural diagram of a primary frequency control device of a wind turbine generator set according to an embodiment of the present application.

[0045] Figure 3 is a structural diagram of a computer device according to an embodiment of the present application.

[0046] Figure 4is a preferred embodiment of the present application wind turbine unit primary frequency control method implementation process schematic diagram. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application. On the contrary, the embodiments of the present application include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

[0048] In order to illustrate the technical solutions of the present application, the following specific embodiments are described.

[0049] Figure 1 is a preferred embodiment of the present application wind turbine unit primary frequency control method implementation process schematic diagram, in the embodiment shown in the figure, the execution subject of the flow is Figure 1 The primary frequency control method of the wind turbine unit in the method is realized. The implementation process of the method is described as follows:

[0050] Step S102, the active power adjustment amount required for primary frequency control is calculated according to the relationship between the frequency change and the active power change.

[0051] In this embodiment, the primary frequency control is mainly aimed at those accidental load fluctuations with small amplitude and short period. The primary frequency control mainly controls the frequency change by controlling the increase and decrease of active power.

[0052] Step S104, the out-of-plane bending moment of the tower bottom is obtained.

[0053] In this embodiment, step S104 specifically includes:

[0054] The out-of-plane bending moment of the tower bottom at the current time is obtained by installing the out-of-plane bending moment detection device at the tower bottom. Since the measured bending moment information has interference signals, the obtained out-of-plane bending moment of the tower bottom is processed by sliding average to obtain the sliding average out-of-plane bending moment of the tower bottom at the current time. Similarly, the out-of-plane bending moment of the tower bottom obtained at the previous time is processed by sliding average to obtain the sliding average out-of-plane bending moment of the tower bottom at the previous time.

[0055] The embodiment of the present application adopts the mode of measuring the out-of-plane bending moment of the tower bottom, but is not limited to this mode, and other modes such as installing an out-of-plane sensor of the blade root surface and an out-of-plane sensor of the main shaft can be used instead of measuring the out-of-plane bending moment of the tower bottom. The embodiment of the present application adopts the mode of judging the change of the out-of-plane bending moment of the tower bottom in real time, but is not limited to this mode, and other modes such as performing historical statistics on the accumulated measured out-of-plane bending moment of the tower bottom and calculating the tower fatigue damage in real time can also be used.

[0056] In step S106, the out-of-plane bending moment difference of the tower bottom is calculated by subtracting the out-of-plane bending moment at the previous time from the out-of-plane bending moment at the current time.

[0057] In the embodiment, step S106 specifically includes:

[0058] In step S106, the out-of-plane bending moment difference of the tower bottom is calculated by subtracting the out-of-plane bending moment at the previous time from the out-of-plane bending moment at the current time.

[0059] In step S108, the out-of-plane bending moment change rate of the tower bottom is calculated by dividing the out-of-plane bending moment difference of the tower bottom by the control period.

[0060] In the embodiment, step S108 specifically includes:

[0061] In step S108, the out-of-plane bending moment change rate of the tower bottom is calculated by dividing the out-of-plane bending moment difference of the tower bottom by the control period.

[0062] The embodiment of the present application judges the change of the tower by calculating the out-of-plane bending moment change rate of the tower bottom at the previous and current times, but is not limited to this mode, and other modes such as calculating the out-of-plane bending moment difference of the tower bottom after different sliding average time constants are averaged and calculating the out-of-plane bending moment change acceleration of the tower bottom can also be used.

[0063] In step S110, it is judged whether the out-of-plane bending moment change rate of the tower bottom satisfies a predetermined condition.

[0064] In the embodiment, step S110 specifically includes:

[0065] In step S110, it is judged whether the out-of-plane bending moment change rate of the tower bottom satisfies a predetermined condition.

[0066] Step S112, in the case of meeting the predetermined condition, the current primary frequency active power change rate is determined according to the relationship table of the out-of-plane direction bending moment change rate and the primary frequency active power change rate.

[0067] In this embodiment, step S112 specifically includes:

[0068] In the case of meeting the predetermined condition in step S110, the current primary frequency active power change rate is obtained by table lookup according to the relationship table of the out-of-plane direction bending moment change rate and the primary frequency active power change rate after sliding average at the previous and subsequent time, wherein the relationship in the relationship table meets the primary frequency response index and the tower design fatigue load index at the same time.

[0069] The embodiment of the present application only sets the relationship of the out-of-plane direction bending moment change rate and the primary frequency active power change rate at the previous and subsequent time for table lookup, but is not limited to this mode, and other modes such as real-time calculation of the relationship of the out-of-plane direction cumulative fatigue load and the primary frequency active power change rate.

[0070] Step S114, the generator speed set point and the generator torque set point are calculated according to the active power adjustment amount required by the primary frequency and the primary frequency active power change rate.

[0071] The two values of the generator speed set point and the generator torque set point can be used to set the operating point matched with the current wind condition.

[0072] The embodiment of the present application adopts the mode of setting the active power change rate of the wind turbine generator to calculate the speed set point, and then calculates the pitch instruction through the speed-pitch controller, but is not limited to this mode, and other modes such as changing the gain of the speed-pitch controller to adjust the speed can also be used.

[0073] Step S116, the pitch control instruction is generated according to the generator speed set point, and the torque control instruction is generated according to the generator torque set point.

[0074] Step S118, the pitch control instruction is sent to the pitch actuator, and the torque control instruction is sent to the current actuator.

[0075] Through the above steps, the mode of meeting the primary frequency response index and affecting the tower fatigue load is used to more specifically solve the problem that the fast change of the power generation state operating point of the wind turbine caused by the primary frequency demand leads to significant tower bottom load impact. The embodiment of the present application improves the operation safety of the wind turbine tower and prolongs the remaining service life of the wind turbine tower.

[0076] In some embodiments, the wind turbine primary frequency modulation control method further comprises: a pitch actuator executes according to the pitch control instruction, and a current actuator executes according to the torque control instruction.

[0077] To achieve the above object, in a second aspect, the present application provides a wind turbine primary frequency modulation control device. Figure 2 Fig. 1 is a structural schematic diagram of a wind turbine primary frequency modulation control device according to an embodiment of the present application.

[0078] A wind turbine primary frequency modulation control device 8 comprises:

[0079] An active power adjustment amount calculation unit 81 is configured to calculate an active power adjustment amount required for primary frequency modulation according to a relationship between a frequency variation and an active power variation;

[0080] An out-of-plane bending moment acquisition unit 82 is configured to acquire an out-of-plane bending moment of a tower bottom;

[0081] A tower bottom out-of-plane bending moment difference calculation unit 83 is configured to subtract the out-of-plane bending moment at a previous moment from the out-of-plane bending moment at a current moment to calculate a tower bottom out-of-plane bending moment difference;

[0082] A tower bottom out-of-plane bending moment variation rate calculation unit 84 is configured to divide the tower bottom out-of-plane bending moment difference by a control period to calculate a tower bottom out-of-plane bending moment variation rate;

[0083] A judgment unit 85 is configured to judge whether the tower bottom out-of-plane bending moment variation rate meets a predetermined condition;

[0084] A primary frequency modulation active power variation rate determination unit 86 is configured to determine a current primary frequency modulation active power variation rate according to a relationship between the tower bottom out-of-plane bending moment variation rate and the primary frequency modulation active power variation rate when the predetermined condition is met;

[0085] A generator speed and torque set point calculation unit 87 is configured to calculate a generator speed set point and a generator torque set point according to the active power adjustment amount required for primary frequency modulation and the primary frequency modulation active power variation rate;

[0086] A control instruction generation unit 88 is configured to generate a pitch control instruction according to the generator speed set point and to generate a torque control instruction according to the generator torque set point;

[0087] The sending unit 89 is configured to send the pitch control instruction to a pitch actuator and send the torque control instruction to a current actuator.

[0088] It should be noted that each unit of the above-described apparatus provided by the embodiments of the present application is based on the same concept as the embodiments of the method of the present application, and brings the same technical effects as the embodiments of the method of the present application. For details, refer to the description in the embodiments of the method of the present application, which will not be repeated here.

[0089] To achieve the above object, in a third aspect, the embodiments of the present application provide a computer device. Figure 3 is a structural schematic diagram of a computer device according to an embodiment of the present application. The computer device 4 comprises a memory 41, at least one processor 40, and a computer program 42 stored in the memory 41 and executable on the processor 40. When the processor 40 executes the program, it executes the steps of the method as described in the above-mentioned various method embodiments, such as the steps S102-S118 shown in the figure. Figure 1 Alternatively, when the processor 40 executes the computer program 42, it realizes the functions of the units in the above-mentioned apparatus embodiments, such as the functions of the units 81-89 shown in the figure. Figure 2 Alternatively, when the processor 40 executes the computer program 42, it realizes the functions of the units in the above-mentioned apparatus embodiments, such as the functions of the units 81-89 shown in the figure.

[0090] To achieve the above object, in a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, it realizes the steps of the method as described in any of the above-mentioned method embodiments. The embodiments of the computer readable storage medium can achieve the same or similar effects as the corresponding any of the above-mentioned method and apparatus / system embodiments.

[0091] The content involved in the above embodiments will be described below in conjunction with a preferred embodiment.

[0092] In the description of the preferred embodiment, the term "My" refers to the out-of-plane direction bending moment.

[0093] The preferred embodiment of the wind turbine generator set primary frequency modulation control method of the present application will be described in detail below with reference to the accompanying drawings. Referring to Figure 4 , the method comprises the following steps:

[0094] 1. Detect whether the primary frequency modulation action flag PFCflag is 1.

[0095] 2. If it is detected that the primary frequency modulation action flag PFCflag is 0, it means that there is no primary frequency modulation demand, and the algorithm ends.

[0096] 3. If PFCflag is 1, it means that the wind turbine generator system is going to enter the primary frequency regulation state. Calculate the active power adjustment amount deltaP required for the primary frequency regulation through the relationship between the frequency variation and the active power variation.

[0097] 4. Obtain the current moment tower bottom My bending moment TowerMy now through the My bending moment detection device installed at the tower bottom.

[0098] 5. Obtain the sliding average time constant Timeconstant.

[0099] 6. Since the measured bending moment information has interference signals, obtain the current moment sliding average tower bottom My bending moment TowerMy avg now through the sliding average processing of TowerMy now with the sliding average time constant Timeconstant.

[0100] 7. Obtain the previous moment tower bottom My bending moment TowerMy last through the My bending moment detection device installed at the tower bottom.

[0101] 8. Since the measured bending moment information has interference signals, obtain the previous moment sliding average tower bottom My bending moment TowerMy avg last through the sliding average processing of TowerMy last with the sliding average time constant Timeconstant.

[0102] 9. Obtain the difference diff TowerMy avg between the current moment sliding average tower bottom My bending moment TowerMy avg now and the previous moment sliding average tower bottom My bending moment TowerMy avg last.

[0103] 10. Obtain the control cycle constant Controlcycle.

[0104] 11. Obtain the rate rate TowerMy avg of the change of the previous moment sliding average tower bottom My bending moment diff TowerMy avg divided by the control cycle Controlcycle.

[0105] 12. Obtain the current moment sliding average tower bottom My bending moment threshold T TowerMy avg now.

[0106] 13. Obtain the previous moment sliding average tower bottom My bending moment change rate threshold T rate TowerMy avg.

[0107] 14. Determine if the current time sliding average tower bottom My moment TowerMy_avg_now and the previous and next time sliding average tower bottom My moment rate_TowerMy_avg are greater than the current time sliding average tower bottom My moment threshold T_TowerMy_avg_now and the previous and next time sliding average tower bottom My moment rate threshold T_rate_TowerMy_avg.

[0108] 15. If neither condition is met, the logic ends.

[0109] 16. If both are greater than their thresholds, it means that the wind turbine tower bottom My moment is experiencing a large change due to the primary frequency response, and the primary frequency active power rate needs to be adjusted.

[0110] 17. Obtain the relationship table between the previous and next time sliding average tower bottom My moment rate threshold T_rate_TowerMy_avg and the primary frequency active power rate Power rate. The relationship in this table is determined by the primary frequency response index and the tower design fatigue load.

[0111] 18. Look up the primary frequency active power rate Power rate under the current conditions.

[0112] 19. According to the primary frequency required active power adjustment amount deltaP and the primary frequency active power rate Power rate, the wind turbine PLC calculates the corresponding generator speed setpoint and generator torque setpoint.

[0113] 20. The speed-pitch controller and the speed-torque controller calculate the pitch control command and the torque control command according to the generator speed setpoint and the generator torque setpoint.

[0114] 21. The pitch control command is transmitted to the pitch actuator for execution.

[0115] 22. The torque control command is transmitted to the current actuator for execution.

[0116] The preferred embodiment method of the present application has the following beneficial effects:

[0117] 1. This method controls the wind turbine active power rate during the primary frequency response, thereby better meeting the requirements of the primary frequency response index by considering the tower bottom fatigue load under different moments of the tower.

[0118] 2. The method innovatively introduces a bending moment measuring device in the out-of-plane direction of the tower bottom surface, controls the required different active power change rates under different bending moments by obtaining the bending moment received by the tower at different times, and makes the unit meet the demand for different active power changes in the primary frequency modulation response process while considering the tower fatigue load.

[0119] 3. The bending moment in the out-of-plane direction of the tower bottom surface is subjected to sliding average processing in the method, unnecessary measurement interference signals are avoided, and the control effect is affected.

[0120] It should be noted that in the description of the present application, the terms "first", "second", etc. are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0121] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0122] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0123] Any process or method descriptions in the flowchart or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions or steps, and the scope of the preferred embodiments of the present application includes additional implementation in which the functions described are performed in a different order, including substantially simultaneously, or in reverse order, as will be understood by those skilled in the art of the embodiments of the present application.

[0124] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0125] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary, and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A method for primary frequency regulation control of a wind turbine generator system, characterized in that, The method comprises the following steps: calculating the active power adjustment amount required for primary frequency modulation according to the relationship between the frequency variation and the active power variation; obtaining the out-of-plane bending moment of the tower bottom, and performing sliding average processing on the out-of-plane bending moment to obtain the sliding average out-of-plane bending moment of the tower bottom at the current time; subtracting the out-of-plane bending moments at the current time and the previous time to calculate the out-of-plane bending moment difference of the tower bottom; dividing the out-of-plane bending moment difference of the tower bottom by the control period to calculate the out-of-plane bending moment change rate of the tower bottom; determining whether the out-of-plane bending moment change rate of the tower bottom meets a predetermined condition, wherein the predetermined condition comprises that the sliding average out-of-plane bending moment of the tower bottom at the current time is greater than a bending moment threshold, and the sliding average out-of-plane bending moment change rate of the tower bottom at the current time and the previous time is greater than a bending moment change rate threshold, wherein the bending moment threshold and the bending moment change rate threshold are set according to the actual operating condition of the current unit; in the case where the predetermined condition is met, determining the current primary frequency modulation active power change rate according to a relationship table of the out-of-plane bending moment change rate of the tower bottom and the primary frequency modulation active power change rate, wherein the relationship in the relationship table meets the primary frequency modulation response index and the tower design fatigue load index at the same time; calculating the generator speed set point and the generator torque set point according to the active power adjustment amount required for primary frequency modulation and the primary frequency modulation active power change rate; generating a variable pitch control instruction according to the generator speed set point and generating a torque control instruction according to the generator torque set point; sending the variable pitch control instruction to the variable pitch actuator and sending the torque control instruction to the variable flow actuator.

2. A method of primary frequency regulation control of a wind turbine generator system according to claim 1, characterized in that, The step of subtracting the out-of-plane bending moments at the current time and the previous time to calculate the out-of-plane bending moment difference of the tower bottom specifically comprises: performing sliding average processing on the out-of-plane bending moments at the current time and the previous time, and calculating the sliding average out-of-plane bending moment difference of the tower bottom at the current time and the previous time.

3. A method of primary frequency regulation control of a wind turbine generator system according to claim 2, characterized in that, The step of dividing the out-of-plane bending moment difference of the tower bottom by the control period to calculate the out-of-plane bending moment change rate of the tower bottom specifically comprises: dividing the sliding average out-of-plane bending moment difference of the tower bottom at the current time and the previous time by the control period to calculate the sliding average out-of-plane bending moment change rate of the tower bottom at the current time and the previous time.

4. The method of claim 1, wherein the method further comprises: The step of determining the current primary frequency modulation active power change rate according to the relationship table of the out-of-plane bending moment change rate of the tower bottom and the primary frequency modulation active power change rate in the case where the predetermined condition is met specifically comprises: in the case where the predetermined condition is met, looking up the current primary frequency modulation active power change rate from a relationship table of the sliding average out-of-plane bending moment change rate of the tower bottom at the current time and the previous time and the primary frequency modulation active power change rate.

5. The method of primary frequency regulation control of a wind turbine generator system according to claim 1, wherein, The method further comprises the following steps: the variable pitch actuator performs according to the variable pitch control instruction, and the variable flow actuator performs according to the torque control instruction.

6. A wind turbine primary frequency regulation control device, characterized in that, The device is used to implement the primary frequency modulation control method of the wind turbine generator set according to claim 1, and the device comprises: an active power adjustment amount calculation unit configured to calculate the active power adjustment amount required for primary frequency modulation according to the relationship between the frequency variation and the active power variation; An out-of-plane bending moment obtaining unit is configured to obtain the out-of-plane bending moment of the tower bottom; A tower bottom out-of-plane bending moment difference calculating unit is configured to subtract the out-of-plane bending moment at the previous time from the out-of-plane bending moment at the current time to obtain the tower bottom out-of-plane bending moment difference; A tower bottom out-of-plane bending moment change rate calculating unit is configured to divide the tower bottom out-of-plane bending moment difference by the control period to obtain the tower bottom out-of-plane bending moment change rate; A judging unit is configured to judge whether the tower bottom out-of-plane bending moment change rate meets a predetermined condition; A primary frequency modulation active power change rate determining unit is configured to determine the current primary frequency modulation active power change rate according to a relationship table between the tower bottom out-of-plane bending moment change rate and the primary frequency modulation active power change rate when the predetermined condition is met; A generator speed and torque set point calculating unit is configured to calculate the generator speed set point and the generator torque set point according to the active power adjustment amount required for the primary frequency modulation and the primary frequency modulation active power change rate; A control instruction generating unit is configured to generate the pitch control instruction according to the generator speed set point and generate the torque control instruction according to the generator torque set point; A sending unit is configured to send the pitch control instruction to the pitch actuator and send the torque control instruction to the current actuator.

7. A computer device comprising a memory, at least one processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to perform the steps of the method of any one of claims 1-5.

8. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising: The computer program is executed by the processor to implement the steps of the method of any one of claims 1-5.

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