Wind turbine generator speed resonance protection method, device, equipment and storage medium

Abstract

The present invention discloses a method, device, equipment and storage medium for protecting a wind turbine generator set from speed resonance. The method comprises obtaining a time series of the transmission shaft speed of the wind turbine generator set during a target period, performing a differential operation on the transmission shaft speed time series to obtain a differential sequence; constructing an autoregressive sliding average model, and determining the coefficients of the autoregressive sliding average model based on the differential sequence and a random white noise sequence; obtaining a characteristic equation of the autoregressive sliding average model and determining the roots of the characteristic equation; judging whether there is a damping coefficient less than a preset value based on the damping coefficient of each root, and if so, controlling the wind turbine generator set to shut down. The present invention utilizes the resonance mechanism to dynamically identify the damping coefficients of different modes, thereby detecting in real time whether the transmission shaft resonates, protecting the safe operation of the unit, thereby reducing design costs, avoiding repeated debugging and testing, and being applicable to different models.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine generator sets, and in particular to a method, device, equipment and storage medium for protecting a wind turbine generator set from speed resonance. Background Art

[0002] With the advancement of wind power technology and market demand, wind turbine capacity is increasing, and blades are becoming longer and longer. Furthermore, as domestic wind power reaches grid parity, to reduce turbine costs and meet the challenge of grid parity, design optimization is being used to continuously reduce blade weight and stiffness. This results in increasing blade deformation and a decreasing natural frequency. At the same time, tower height is increasing, while weight is decreasing, resulting in increased tower deformation and a decreasing natural frequency.

[0003] Both wind turbine dynamics simulations and actual field operations have shown that lightweight, large blades and towers are more susceptible to coupled vibrations at their natural frequencies, or to excitation of certain natural frequencies under specific external operating conditions, leading to drive shaft speed resonance. Because it is difficult to completely avoid such resonances, monitoring and protection measures are necessary. However, to avoid false alarms, it is necessary to distinguish drive shaft speed resonance from normal fluctuations in drive shaft speed caused by random fluctuations in normal wind speed.

[0004] Therefore, how to detect the speed resonance of the transmission shaft of a wind turbine generator set in a relatively short time is a technical problem that needs to be solved urgently.

[0005] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0006] The main purpose of the present invention is to provide a wind turbine speed resonance protection method, device, equipment and storage medium, aiming to solve the current technical problem of difficulty in distinguishing between normal fluctuations in the transmission shaft speed caused by resonance of the transmission shaft speed and random fluctuations under normal wind speed.

[0007] To achieve the above object, the present invention provides a wind turbine generator speed resonance protection method, the method comprising the following steps:

[0008] Obtaining a time series of a transmission shaft speed of the wind turbine generator set during a target period, and performing a differential operation on the time series of the transmission shaft speed to obtain a differential sequence;

[0009] Constructing an autoregressive moving average model, and determining coefficients of the autoregressive moving average model based on the difference sequence and the random white noise sequence;

[0010] Obtaining a characteristic equation of the autoregressive moving average model, and determining a root of the characteristic equation;

[0011] According to the damping coefficient of each root, it is determined whether there is a damping coefficient less than a preset value. If so, the wind turbine generator set is controlled to shut down.

[0012] Optionally, the transmission shaft speed time series is: [ω1 ω2 ... ω L-1 ω L ], L represents the number of sampling points, the total sampling time T = L × ΔT, ΔT is the sampling period, and T is the duration of the target period.

[0013] Optionally, the differential sequence is: [Δω1 Δω2 ... Δω L-2 Δω L-1 ], where Δω i =ω i+1 -ω i , i=1, 2, ..., L-1.

[0014] Optionally, the expression of the autoregressive moving average model is:

[0015]

[0016] Where N is the autoregressive order, M is the sliding average order, and N ≥ M; a k , k = 0, 1, ... N-1 are the autoregressive coefficients; Y(Nk), k = 0, 1, ... N-1 are the outputs of the model; b j , j = 0, 1, ...M-1 is the sliding average coefficient, U(Mj), j = 0, 1, ...M-1 is the input of the model.

[0017] Optionally, the random white noise sequence is: [ε1 ε2 ... ε L-2 ε L-1 ].

[0018] Optionally, the characteristic equation of the autoregressive moving average model is:

[0019] Optionally, the damping coefficient is expressed as:

[0020]

[0021]

[0022] Among them, Im(s i ) means taking s i The imaginary part, Re(s i ) means taking s i The real part of ξi Represents the corresponding root x i The damping coefficient, x i ,i=1,2,...N are the roots of the characteristic equation.

[0023] In addition, in order to achieve the above-mentioned purpose, the present invention further provides a wind turbine generator speed resonance protection device, the wind turbine generator speed resonance protection device comprising:

[0024] A calculation module, configured to obtain a time series of a transmission shaft speed of the wind turbine generator set during a target period, and perform a differential operation on the time series of the transmission shaft speed to obtain a differential sequence;

[0025] A construction module is used to construct an autoregressive moving average model and determine the coefficients of the autoregressive moving average model based on the difference sequence and the random white noise sequence;

[0026] A determination module, configured to obtain a characteristic equation of the autoregressive moving average model and determine a root of the characteristic equation;

[0027] The judgment module is used to judge whether there is a damping coefficient less than a preset value based on the damping coefficient of each root. If so, the wind turbine generator set is controlled to shut down.

[0028] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a wind turbine speed resonance protection device, which includes: a memory, a processor, and a wind turbine speed resonance protection method program stored on the memory and runnable on the processor. When the wind turbine speed resonance protection method program is executed by the processor, the steps of the above-mentioned wind turbine speed resonance protection method are implemented.

[0029] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a storage medium, on which a wind turbine generator set speed resonance protection method program is stored. When the wind turbine generator set speed resonance protection method program is executed by a processor, the steps of the above-mentioned wind turbine generator set speed resonance protection method are implemented.

[0030] The embodiment of the present invention proposes a method, device, equipment and storage medium for wind turbine generator speed resonance protection. The method includes obtaining a time series of the transmission shaft speed of the wind turbine generator in a target period, performing a differential operation on the transmission shaft speed time series to obtain a differential sequence; constructing an autoregressive sliding average model, and determining the coefficients of the autoregressive sliding average model based on the differential sequence and a random white noise sequence; obtaining a characteristic equation of the autoregressive sliding average model and determining the roots of the characteristic equation; judging whether there is a damping coefficient less than a preset value based on the damping coefficient of each root, and if so, controlling the wind turbine generator to shut down. The present invention utilizes the resonance mechanism to dynamically identify the damping coefficients of different modes, thereby detecting in real time whether the transmission shaft resonates, protecting the safe operation of the unit, thereby reducing design costs, avoiding repeated debugging and testing, and being applicable to different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic structural diagram of a wind turbine generator speed resonance protection device according to the present invention;

[0032] Figure 2 A schematic flow chart of a method for protecting a wind turbine generator set from speed resonance according to the present invention;

[0033] Figure 3 Schematic diagram of the principle of the wind turbine generator speed resonance protection method of the present invention;

[0034] Figure 4 The present invention is a structural block diagram of a wind turbine generator speed resonance protection device.

[0035] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0036] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] Currently, in the relevant technical field, it is difficult for wind turbines to distinguish between normal fluctuations in the transmission shaft speed caused by resonance and random fluctuations under normal wind speed.

[0038] To address this issue, various embodiments of the wind turbine generator speed resonance protection method of the present invention are proposed. The wind turbine generator speed resonance protection method provided by the present invention utilizes the resonance mechanism to dynamically identify the damping coefficients of different modes, thereby detecting whether the drive shaft is resonating in real time, protecting the unit's operation safety, thereby reducing design costs, avoiding repeated debugging and testing, and being applicable to different models.

[0039] Reference Figure 1 , Figure 1The figure is a schematic structural diagram of a wind turbine generator speed resonance protection device according to an embodiment of the present invention.

[0040] The device can be a user equipment (UE) such as a mobile phone, smart phone, laptop computer, digital broadcast receiver, personal digital assistant (PDA), tablet computer (PAD), handheld device, vehicle-mounted device, wearable device, computing device or other processing device connected to a wireless modem, mobile station (MS), etc. The device may be called a user terminal, portable terminal, desktop terminal, etc.

[0041] Typically, the device includes: at least one processor 301, a memory 302, and a wind turbine generator set speed resonance protection method program stored in the memory and executable on the processor, wherein the wind turbine generator set speed resonance protection method program is configured to implement the steps of the wind turbine generator set speed resonance protection method as described above.

[0042] The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. The processor 301 may also include an AI (Artificial Intelligence) processor, which is used to process operations related to the wind turbine speed resonance protection method, so that the wind turbine speed resonance protection method model can be trained and learned autonomously to improve efficiency and accuracy.

[0043] Memory 302 may include one or more computer-readable storage media, which may be non-transitory. Memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in memory 302 is used to store at least one instruction, which is executed by processor 301 to implement the wind turbine generator speed resonance protection method provided in the method embodiment of the present application.

[0044] In some embodiments, the terminal may optionally include a communication interface 303 and at least one peripheral device. The processor 301, memory 302, and communication interface 303 may be connected via a bus or signal lines. Each peripheral device may be connected to the communication interface 303 via a bus, signal lines, or circuit boards. Specifically, the peripheral device may include at least one of a radio frequency circuit 304, a display screen 305, and a power supply 306.

[0045] The communication interface 303 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 301 and the memory 302. The communication interface 303 is used to receive the movement trajectories and other data of multiple mobile terminals uploaded by users through the peripheral device. In some embodiments, the processor 301, the memory 302, and the communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302, and the communication interface 303 can be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0046] The RF circuit 304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 304 communicates with communication networks and other communication devices via electromagnetic signals, thereby acquiring the movement trajectories and other data of multiple mobile terminals. The RF circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the RF circuit 304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The RF circuit 304 can communicate with other terminals via at least one wireless communication protocol. Such wireless communication protocols include, but are not limited to, metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 304 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0047] Display screen 305 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, or any combination thereof. When display screen 305 is a touch screen display, it is also capable of collecting touch signals on or above the surface of display screen 305. This touch signal can be input as a control signal to processor 301 for processing. In this case, display screen 305 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 305 can be a single display screen, the front panel of the electronic device; in other embodiments, display screen 305 can be at least two, each disposed on different surfaces of the electronic device or in a foldable design; in still other embodiments, display screen 305 can be a flexible display screen, disposed on a curved or foldable surface of the electronic device. Display screen 305 can also be configured as a non-rectangular irregular shape, i.e., a special-shaped screen. Display screen 305 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0048] Power supply 306 is used to power various components in the electronic device. Power supply 306 can be AC power, DC power, a disposable battery, or a rechargeable battery. When power supply 306 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0049] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the speed resonance protection device of the wind turbine generator set, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0050] The embodiment of the present invention provides a wind turbine generator speed resonance protection method, referring to Figure 2 , Figure 2 The figure is a flow chart of an embodiment of a method for protecting a wind turbine generator set from speed resonance according to the present invention.

[0051] In this embodiment, the wind turbine generator speed resonance protection method includes the following steps:

[0052] Step S100: obtaining a time series of the transmission shaft speed of the wind turbine generator set in a target period, and performing a differential operation on the time series of the transmission shaft speed to obtain a differential sequence.

[0053] Step S200: constructing an autoregressive moving average model, and determining the coefficients of the autoregressive moving average model according to the difference sequence and the random white noise sequence;

[0054] Step S300: obtaining the characteristic equation of the autoregressive moving average model and determining the roots of the characteristic equation;

[0055] Step S400: judging whether there is a damping coefficient less than a preset value according to the damping coefficient of each root, and if so, controlling the wind turbine generator set to shut down.

[0056] In this embodiment, a wind turbine generator speed resonance protection method is provided. First, based on the measured transmission shaft speed value, a transmission shaft speed time series of a period of time is recorded; secondly, a first-order difference is performed on the obtained transmission shaft speed time series to obtain a stationary difference time series of the transmission shaft speed; thirdly, a sliding average autoregressive model of a preset order is selected for data fitting to obtain the coefficients of the autoregressive model; then, the characteristic root of the sliding average autoregressive model of the preset order is obtained, and its damping ratio is calculated as the target damping ratio identified by the data segment; finally, a permissible critical damping ratio is preset to determine whether the target damping ratio exceeds the preset critical damping ratio. If any target damping ratio exceeds the preset critical damping ratio, the unit is triggered to shut down quickly to avoid the unit transmission shaft speed resonance and protect the unit operation safety.

[0057] like Figure 3 Specifically, the wind turbine generator speed resonance protection includes the following detailed steps:

[0058] Step 1: Collect the transmission shaft speed [ω1 ω2 ... ω L-1 ω L] time series, where L represents the number of sampling points, the total sampling time T = L × ΔT, ΔT is the sampling period;

[0059] Step 2: Perform first-order difference calculation on the transmission shaft speed time series collected in the first step to obtain

[0060] [Δω1 Δω2 ... Δω L-2 Δω L-1 ] (1)

[0061] where Δω i =ω i+1 -ω i , i=1,2,...,L-1;

[0062] Step 3: Generate a random white noise sequence of length L-1

[0063] [ε1 ε2 ... ε L-2 ε L-1 ] (2)

[0064] Step 4: Assume that the structure of the autoregressive moving average model is

[0065]

[0066] Where N is the autoregressive order, M is the sliding average order, and N ≥ M. k , k = 0, 1, ... N-1 are the autoregressive coefficients, Y(Nk), k = 0, 1, ... N-1 are the outputs of the model, b j , j = 0, 1, ... M-1 are the sliding average coefficients, U(Mj), j = 0, 1, ... M-1 are the inputs of the model;

[0067] Step 5: Substitute the first-order difference sequence (1) of the transmission shaft speed and the random white noise sequence (2) into (3), and use the recursive least squares method to find the coefficient values in model (3);

[0068] Step 6: List the characteristic equation of model (3)

[0069]

[0070] And calculate all the roots x of formula (4) i , i=1, 2, ...N;

[0071] Step 7: Calculate the damping coefficients of all roots of equation (4)

[0072]

[0073]

[0074] Among them Im(s i ) means taking s i The imaginary part, Re(s i ) means taking s i The real part of ξ i Represents the corresponding root x i The damping coefficient;

[0075] Step 8: Get all damping coefficients ξ i , i=1,2,...N,and compare with the preset critical damping coefficient ξ0. If any ξ i <ξ0 means the fan is controlled to stop.

[0076] This embodiment provides a wind turbine speed resonance protection method. The present invention utilizes the resonance mechanism to dynamically identify the damping coefficients of different modes, and then detects in real time whether the drive shaft is resonating, thereby protecting the safe operation of the unit, thereby reducing design costs and avoiding repeated debugging and testing. The method is applicable to different models and solves the current technical problem of wind turbines having difficulty distinguishing between drive shaft speed resonance and normal drive shaft speed fluctuations caused by random fluctuations under normal wind speed.

[0077] Reference Figure 4 , Figure 4 This is a structural block diagram of an embodiment of a speed resonance protection device for a wind turbine generator set according to the present invention.

[0078] like Figure 4 As shown, the wind turbine generator speed resonance protection device proposed in the embodiment of the present invention includes:

[0079] The operation module 10 is used to obtain the transmission shaft speed time series of the wind turbine generator set in the target period, and perform a difference operation on the transmission shaft speed time series to obtain a difference sequence;

[0080] A construction module 20 is used to construct an autoregressive moving average model and determine the coefficients of the autoregressive moving average model based on the difference sequence and the random white noise sequence;

[0081] A determination module 30 is configured to obtain a characteristic equation of the autoregressive moving average model and determine a root of the characteristic equation;

[0082] The judgment module 40 is used to judge whether there is a damping coefficient less than a preset value based on the damping coefficient of each root, and if so, control the wind turbine generator set to shut down.

[0083] Other embodiments or specific implementations of the wind turbine generator speed resonance protection device of the present invention can refer to the above-mentioned method embodiments and will not be described in detail here.

[0084] In addition, an embodiment of the present invention further proposes a storage medium, on which a wind turbine generator set speed resonance protection method program is stored, and when the wind turbine generator set speed resonance protection method program is executed by a processor, the steps of the wind turbine generator set speed resonance protection method as described above are implemented. Therefore, no further description will be given here. In addition, the description of the beneficial effects of adopting the same method will not be repeated. For technical details not disclosed in the computer-readable storage medium embodiment involved in this application, please refer to the description of the method embodiment of this application. As an example, the program instructions can be deployed to be executed on one computing device, or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network.

[0085] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The above-described program can be stored in a computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The above-described storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0086] It should also be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without inventive effort.

[0087] Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general-purpose hardware, and of course can also be implemented by means of dedicated hardware including application-specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. In general, all functions performed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structures used to implement the same function can also be diverse, such as analog circuits, digital circuits, or dedicated circuits. However, for the present invention, software program implementation is a better implementation method in most cases. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

Claims

1. A wind turbine generator speed resonance protection method, characterized in that: The method comprises the following steps: Obtaining a time series of the transmission shaft speed of the wind turbine generator set during a target period, and performing a first-order difference operation on the transmission shaft speed time series to obtain a stable difference sequence; An autoregressive moving average model is constructed, and the coefficients of the autoregressive moving average model are determined using the recursive least squares method based on the difference sequence and the random white noise sequence, wherein the expression of the autoregressive moving average model is: Where N is the autoregressive order, M is the sliding average order, and N ≥ M; a k ,k=0,1,…N-1 are the autoregressive coefficients; Y(Nk),k=0,1,…N-1 are the outputs of the model; b j ,j=0,1,…M-1 is the sliding average coefficient, U(Mj),j=0,1,…M-1 is the input of the model; Get the characteristic equation of the autoregressive moving average model Calculate the root x of the characteristic equation i ; According to each root x i Calculated damping coefficient ξ i , determine whether there is a damping coefficient less than the preset value Where: Re(s i ) means taking s i The real part of Where T is the duration of the target period.

2. The wind turbine generator speed resonance protection method according to claim 1, characterized in that: The transmission shaft speed time series is: [ω1ω2…ω L-1 ω L ], L represents the number of sampling points, the total sampling time T = L × ΔT, ΔT is the sampling period, and T is the duration of the target period.

3. The wind turbine generator speed resonance protection method according to claim 2, characterized in that: The differential sequence is: [Δω1 Δω2 … Δω L-2 Δω L-1 , where Δω i = ω i+1 - ω i , i = 1, 2, …, L - 1.

4. The wind turbine generator speed resonance protection method according to claim 1, characterized in that: The random white noise sequence is: [ε1ε2…ε L-2 ε L-1 ].

5. A wind turbine generator speed resonance protection device, characterized in that: The wind turbine generator speed resonance protection device comprises: A calculation module is used to obtain a time series of the transmission shaft speed of the wind turbine generator set in a target period, and perform a first-order difference operation on the transmission shaft speed time series to obtain a stable difference series; A construction module is used to construct an autoregressive moving average model, and determine the coefficients of the autoregressive moving average model using a recursive least squares method based on the difference sequence and the random white noise sequence, wherein the expression of the autoregressive moving average model is: Where N is the autoregressive order, M is the sliding average order, and N ≥ M; a k ,k=0,1,…N-1 are the autoregressive coefficients; Y(Nk),k=0,1,…N-1 are the outputs of the model; b j ,j=0,1,…M-1 is the sliding average coefficient, U(Mj),j=0,1,…M-1 is the input of the model; Determine module for obtaining characteristic equation of the autoregressive moving average model Calculate the root x of the characteristic equation i ; Judgment module, used to judge the i Calculated damping coefficient ξ i , determine whether there is a damping coefficient ξ0 less than a preset value, and if so, control the wind turbine generator set to shut down, where: the expression of the damping coefficient is: Where: Re(s i ) means taking s i The real part of Where T is the duration of the target period.

6. A wind turbine generator speed resonance protection device, characterized in that: The wind turbine speed resonance protection device includes: a memory, a processor, and a wind turbine speed resonance protection method program stored in the memory and executable on the processor. When the wind turbine speed resonance protection method program is executed by the processor, the steps of the wind turbine speed resonance protection method according to any one of claims 1 to 5 are implemented.

7. A storage medium, characterized in that: The storage medium stores a wind turbine generator set speed resonance protection method program, which, when executed by a processor, implements the steps of the wind turbine generator set speed resonance protection method according to any one of claims 1 to 5.

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