Control method and control device of wind turbine generator set and wind turbine generator set

Abstract

The present disclosure provides a control method and control device for a wind turbine group and a wind turbine group, the control method comprising: obtaining the real-time air density of a wind field where the wind turbine group is located and the real-time operating parameters of the wind turbine group; determining the real-time optimal pitch angle and the real-time optimal gain of the wind turbine group according to the real-time air density, the real-time operating parameters and the aerodynamic performance model of the wind turbine group; and controlling the operation of the wind turbine group according to the real-time optimal pitch angle and the real-time optimal gain.

Description

Technical Field

[0001] The present disclosure relates to the field of wind power generation, and in particular to a control method and control device for a wind turbine generator set and a wind turbine generator set. Background Art

[0002] When a wind turbine is operating in an environment below the rated wind speed, the traditional wind turbine control strategy usually controls the wind turbine pitch angle to a fixed value of about 0° and keeps it unchanged. As the environment in which the wind turbine is located changes (for example, changes in factors such as wind speed and air density), the blades of the wind turbine may deform, and traditional control strategies are difficult to ensure that the wind turbine's power generation remains at its maximum.

[0003] Therefore, it is necessary to improve the control strategy of wind turbines to effectively increase the power generation of wind turbines. Summary of the invention

[0004] The purpose of the embodiments of the present disclosure is to provide a control method and a control device for a wind turbine generator set, so as to help improve the power generation of the wind turbine generator set.

[0005] According to an embodiment of the present disclosure, a control method for a wind turbine is provided, the control method comprising: obtaining a real-time air density of a wind farm in which the wind turbine is located and real-time operating parameters of the wind turbine; determining a real-time optimal pitch angle and a real-time optimal gain of the wind turbine according to the real-time air density, the real-time operating parameters and an aerodynamic performance model of the wind turbine; and controlling the operation of the wind turbine according to the real-time optimal pitch angle and the real-time optimal gain.

[0006] According to an embodiment of the present disclosure, a control device for a wind turbine is provided, the control device comprising: a parameter acquisition unit, configured to acquire a real-time air density of a wind farm where the wind turbine is located and real-time operating parameters of the wind turbine; a determination unit, configured to determine a real-time optimal pitch angle and a real-time optimal gain of the wind turbine according to the real-time air density, the real-time operating parameters and an aerodynamic performance model of the wind turbine; and a control unit, configured to control the operation of the wind turbine according to the real-time optimal pitch angle and the real-time optimal gain.

[0007] According to an embodiment of the present disclosure, a computer-readable storage medium storing a computer program is provided. When the computer program is executed by a processor, the control method of the wind turbine generator system as described above is implemented.

[0008] According to an embodiment of the present disclosure, a computing device is provided, the computing device comprising: a processor; a memory storing a computer program, and when the computer program is executed by the processor, the control method of the wind turbine set as described above is implemented.

[0009] According to an embodiment of the present disclosure, a wind turbine set is provided, and the wind turbine set includes: a controller, which is used to implement the control method of the wind turbine set as described above.

[0010] By adopting the control method, control equipment, computer-readable storage medium, computing device, and wind turbine set according to the embodiments of the present disclosure, at least one of the following technical effects can be achieved: by monitoring the air density, the decrease in power coefficient caused by the air density is compensated; the aerodynamic loss caused by the bending and torsion coupling of the blades is fully evaluated and real-time compensation is given; thereby the power generation of the wind turbine set is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other objects and features of the present disclosure will become more apparent from the following description in conjunction with the accompanying drawings.

[0012] Figure 1 is a schematic diagram of an overall control strategy of a wind turbine generator system according to an embodiment of the present disclosure;

[0013] Figure 2 is a flow chart of a control method of a wind turbine generator system according to an embodiment of the present disclosure;

[0014] Figure 3 is another flow chart of a control method for a wind turbine generator system according to an embodiment of the present disclosure;

[0015] Figure 4 is another flow chart of a control method for a wind turbine generator system according to an embodiment of the present disclosure;

[0016] Figure 5 is another flow chart of a control method for a wind turbine generator system according to an embodiment of the present disclosure;

[0017] Figures 6 to 17 A schematic diagram showing the relevant principles of a control method for a wind turbine generator system according to an embodiment of the present disclosure;

[0018] Fig.18 A schematic diagram showing the layout of an air density sensor according to an embodiment of the present disclosure;

[0019] Fig.19 The optimal pitch angle of different types of wind turbines is shown relative to the normalized rotation speed.

[0020] Fig. 20 The change of output power, impeller speed, and pitch angle relative to wind speed before and after optimization of the control method disclosed in the present invention for the same wind turbine is shown;

[0021] Fig.21 The change of normalized power with respect to wind speed before and after optimization is shown;

[0022] Fig. 22 is a block diagram of a control device for a wind turbine generator system according to an embodiment of the present disclosure;

[0023] Fig.23 is a block diagram of a computing device of a wind turbine generator system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] For ease of understanding, relevant technical terms in this field are briefly introduced here.

[0025] Blade angle of attack: the angle between the airflow velocity vector and the chord line of the airfoil.

[0026] Optimal gain control: When the wind turbine operates below the rated speed, optimal gain control is used to make the unit operate at the optimal power coefficient state.

[0027] Static performance curve: When the blade is twisted and deformed, the calculated curve is the static performance curve; aeroelastic performance curve: When the blade is twisted and deformed, the calculated curve is the aeroelastic performance curve.

[0028] Blade element momentum theory: momentum theory and force balance of two-dimensional airfoil, a method to solve the momentum equation which is closed.

[0029] Wind turbine performance curve: a curve that represents the change of wind turbine power coefficient with tip speed ratio.

[0030] Wind turbine performance surface: A surface that characterizes how the power coefficient of a wind turbine changes with tip speed ratio and pitch angle.

[0031] Weibull distribution: A continuous probability distribution whose probability density function is adjusted by shape factors and scale factors. It is usually used to describe the probability of wind speed occurrence in a certain area.

[0032] Annual power generation: The sum of the power generated by wind turbines in one year. Its value is the result of integral calculation based on power generation, Weibull distribution and power generation hours.

[0033] Annual equivalent full-power hours: equal to annual power generation divided by unit capacity.

[0034] The control strategy of a wind turbine (e.g., a pitch angle controlled wind turbine) can generally include three stages: optimal tip speed ratio control or optimal gain control (e.g., Figure 1 Area I shown), torque closed loop control (such as Figure 1 Area II shown), pitch angle closed loop control (such as Figure 1 Region III shown).

[0035] For wind turbines with pitch angle adjustment, during operation, when the output power is less than the rated power, the pitch angle remains unchanged at zero degrees without any adjustment; when the generator output power reaches the rated power, the control system adjusts the pitch angle according to the change in output power to keep the output power of the wind turbine at the rated power. At this time, the control system participates in the adjustment to form a closed-loop control.

[0036] Figure 1 is a schematic diagram of an overall control strategy for a wind turbine generator system according to an embodiment of the present disclosure.

[0037] exist Figure 1 In the region I shown, when the wind speed is less than or equal to the rated wind speed, the optimal gain control strategy (also called the optimal tip speed ratio control strategy) is adopted for the wind turbine, the wind turbine is in the open propeller state, and the pitch angle of the wind turbine is fixed at the minimum pitch angle (usually around 0°). In this control stage, the impeller speed is linearly related to the wind speed. In the embodiment of the present disclosure, the gain is associated with the motor torque and the impeller speed, and can be expressed as the ratio of the motor torque to the square of the impeller speed.

[0038] exist Figure 1 In the region II shown, when the wind speed exceeds the rated wind speed, the torque closed-loop control strategy is adopted for the wind turbine. The wind turbine's operating state reaches the rated speed, but does not reach the rated power. At this time, the wind turbine still maintains the open-paddle state, and the wind turbine's impeller speed is controlled by the motor's reverse torque. This stage is the torque PID closed-loop control, and the power coefficient at this time decreases.

[0039] exist Figure 1 In the region III shown, the wind speed continues to increase, and the wind turbine is controlled by the pitch angle in a closed loop at this stage. The wind turbine reaches the rated power, that is, the reverse torque of the motor reaches the rated torque. At this time, the rotor speed of the wind turbine is controlled by the pitch angle. This stage is a PID (proportional integral differential) closed loop control based on the pitch angle, and the power coefficient is further reduced.

[0040] In the stage of optimal tip speed ratio control or optimal gain control, the blades of wind turbines are affected by environmental factors, especially under the action of aerodynamic forces, and are prone to bending and deformation. In addition, the air density of the environment in which the wind turbine is located will change, causing the actual performance of the wind turbine to deviate from the performance of the ideal designed unit. For example, when the pitch angle of the wind turbine remains unchanged, it is difficult for the wind turbine to always maintain the maximum power generation.

[0041] Therefore, it is necessary to improve the optimal tip speed ratio control or optimal gain control when the wind speed is lower than the rated wind speed to compensate for the power loss caused by factors such as blade deformation and air density change, and to increase the power generation of the wind turbine.

[0042] The control scheme of the wind turbine set proposed in the present disclosure can monitor the air density, compensate for the decrease in power coefficient caused by the air density, fully evaluate the aerodynamic loss caused by the bending and torsion coupling of the blades, and provide real-time compensation, thereby improving the power generation of the wind turbine set.

[0043] Below, in conjunction with the accompanying drawings, a description of a specific embodiment is provided to help the reader obtain a comprehensive understanding of the method, device and / or system described herein. However, after understanding the disclosure of the present application, various changes, modifications and equivalents of the method, device and / or system described herein will be clear. For example, the order of operations described herein is only an example and is not limited to those orders set forth herein, but can be changed as will be clear after understanding the disclosure of the present application, except for operations that must occur in a specific order. In addition, for greater clarity and conciseness, the description of features known in the art may be omitted.

[0044] The features described herein can be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and / or systems described herein, which will be clear after understanding the disclosure of the present application.

[0045] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more.

[0046] Although terms such as "first", "second", and "third" may be used herein to describe various members, components, regions, layers, or portions, these members, components, regions, layers, or portions should not be limited by these terms. Instead, these terms are only used to distinguish one member, component, region, layer, or portion from another member, component, region, layer, or portion. Therefore, without departing from the teachings of the examples described herein, the first member, first component, first region, first layer, or first portion referred to in the examples may also be referred to as the second member, second component, second region, second layer, or second portion.

[0047] The terms used herein are only used to describe various examples and are not intended to limit the disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms "comprise", "include" and "have" indicate the presence of the described features, quantities, operations, components, elements and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements and / or combinations thereof.

[0048] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by a person of ordinary skill in the art to which the present disclosure belongs after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in a general dictionary) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal manner.

[0049] Furthermore, in the description of examples, when it is considered that a detailed description of a well-known related structure or function would cause vague interpretation of the present disclosure, such a detailed description will be omitted.

[0050] In the embodiments of the present disclosure, the control method can be implemented by a controller of a wind turbine, a field-level controller of a wind farm, or any device capable of remotely controlling a wind turbine. Various operating parameters and measurement data involved in the control method can be obtained through corresponding sensors and other measuring devices. For example, the real-time wind speed can be monitored or the historical wind speed can be recorded through a wind speed sensor in the wind farm, the real-time air density can be monitored or the historical air density can be recorded through an air density sensor set in the wind farm, and the real-time operating parameters of the wind turbine can be obtained or the historical operating parameters of the wind turbine can be recorded through a measuring device for measuring operating parameters in the wind turbine.

[0051] Figure 2 is a flow chart of a control method for a wind turbine generator system according to an embodiment of the present disclosure.

[0052] In operation S11, the real-time air density of the wind farm where the wind turbine is located and the real-time operating parameters of the wind turbine are obtained.

[0053] For example, it is determined whether the real-time wind speed at the site where the wind turbine is located is less than the rated wind speed. In order to improve the optimal gain control stage, it is necessary to determine the wind speed. This facilitates the identification of the optimal gain control stage. In response to determining that the real-time wind speed at the site where the wind turbine is located is less than the rated wind speed, the real-time air density of the wind farm where the wind turbine is located and the real-time operating parameters of the wind turbine are obtained.

[0054] By acquiring the real-time air density and the real-time working parameters, the change of the air density and the change of the real-time working parameters can be analyzed in real time, so as to compensate for the performance loss in this control stage.

[0055] In the embodiments of the present disclosure, the real-time operating parameter includes at least one of the following items: real-time impeller speed, real-time output power. The real-time operating parameter can be obtained by various measuring devices. For example, the real-time impeller speed can be obtained by an impeller speed sensor provided on the wind turbine generator set, and the real-time output power can be obtained by an output power monitoring device provided on the wind turbine generator set.

[0056] In an embodiment of the present disclosure, the real-time air density may be detected by one or more air density sensors disposed in the wind farm. The historical air density of the wind farm may also be acquired through the one or more air density sensors. The altitudes at which the multiple air density sensors are located may be different from each other in order to monitor the changes in air density in the wind farm. For example, multiple air density sensors are disposed at the boundary of the wind farm and are disposed at the following locations respectively: near the wind turbine with the highest altitude in the wind farm; near the wind turbine with the lowest altitude in the wind farm; near the wind turbine at the average altitude in the wind farm. Fig.18 As shown, four air density sensors S may be provided at the boundary of the wind farm. However, the present disclosure is not limited thereto, and the real-time air density or historical air density may also be obtained by other devices capable of obtaining the air density in the wind farm.

[0057] For example, by installing N air density sensors in the wind farm, multiple air densities of the wind farm are collected at preset time intervals within a target time period, where N is a positive integer; and an average value of the multiple air densities is determined as the air density of the wind farm. The N air density sensors are arranged at wind turbines at different altitudes.

[0058] For example, N can be 4, and the N air density sensors include a first air density sensor, a second air density sensor, a third air density sensor and a fourth air density sensor; the first air density sensor is arranged at the position of the wind turbine at the highest altitude of the wind farm; the second air density sensor is located at the position of the wind turbine at the lowest altitude of the wind farm; the third air density sensor and the fourth air density sensor are located at the positions of the wind turbines at the average altitude of the wind farm.

[0059] In operation S12, a real-time optimal pitch angle and a real-time optimal gain of the wind turbine are determined according to the real-time air density, the real-time operating parameters and the aerodynamic performance model of the wind turbine.

[0060] Before determining the real-time optimal pitch angle and the real-time optimal gain of the wind turbine generator set according to the real-time air density, the real-time operating parameters and the aerodynamic performance model of the wind turbine generator set, the aerodynamic performance model of the wind turbine generator set may be acquired.

[0061] The above-mentioned aerodynamic performance model may be a multi-dimensional model obtained based on blade element theory and associated with the air density of the wind farm and the reference operating parameters of the wind turbine. In an embodiment of the present disclosure, the reference operating parameters may be pre-set operating parameters. For example, the reference operating parameters may be set according to historical operating parameters. The aerodynamic performance model may characterize the correspondence between air density, reference operating parameters, optimal pitch angle and optimal gain from multiple dimensions. For example, the aerodynamic performance model may include a two-dimensional model or a three-dimensional model such as an aerodynamic performance curve or an aerodynamic performance surface. By utilizing the aerodynamic performance model, the real-time optimal pitch angle and the real-time optimal gain may be determined based on the real-time air density and the real-time operating parameters.

[0062] In the embodiments of the present disclosure, the optimal pitch angle, the optimal tip speed ratio, and the optimal gain correspond to the maximum power coefficient, respectively (that is, the pitch angle, the optimal tip speed ratio, and the gain when the power coefficient is the maximum power coefficient are the optimal pitch angle, the optimal tip speed ratio, and the optimal gain, respectively), so as to achieve the maximum output power in the optimal tip speed ratio control stage.

[0063] In operation S13 , the operation of the wind turbine is controlled according to the real-time optimal pitch angle and the real-time optimal gain.

[0064] For example, during the operation of a wind turbine, the real-time operating parameters of the wind turbine can be adjusted according to the real-time optimal pitch angle and the real-time optimal gain, so that the pitch angle of the wind turbine can reach the real-time optimal pitch angle and the gain of the wind turbine can reach the real-time optimal gain.

[0065] Combine the following Figure 2 Describe how to obtain the aerodynamic performance model of a wind turbine.

[0066] In operation S21, multiple historical air densities of the wind farm are obtained. For example, when the historical wind speed at the site where the wind turbine is located is less than the rated wind speed, multiple historical air densities of the wind farm (for example, 0.6 kg / m 3 ≤ρ≤1.5kg / m 3 ). In order to improve the control method of the optimal gain control stage, it is necessary to obtain the historical air density at low wind speeds to generate an aerodynamic performance model based on the historical air density. Multiple historical air densities can be obtained by one or more air density sensors set in the wind farm.

[0067] In operation S22, an aerodynamic performance model for each historical air density is constructed based on blade-element theory (BEM). For example, a blade-element cross-section aerodynamic characteristics analysis is performed on the wind turbine based on the blade-element theory to generate an aerodynamic performance model for each historical air density.

[0068] In an embodiment of the present disclosure, the aerodynamic performance model includes: an optimal pitch angle model (for example, a first parameter lookup table) and an optimal gain model (a second parameter lookup table), wherein the optimal pitch angle model is used to characterize the correspondence between the reference operating parameters and the optimal pitch angle at each historical air density, and the optimal gain model is used to characterize the correspondence between the reference operating parameters and the optimal gain at each historical air density; wherein the reference operating parameters include a reference impeller speed or a reference output power.

[0069] In another embodiment of the present disclosure, the aerodynamic performance model further includes: for each historical air density, a three-dimensional model with tip speed ratio, power coefficient and pitch angle as a three-dimensional coordinate system corresponding to multiple reference operating parameters of the wind turbine generator set respectively.

[0070] Refer to the following Figures 6 to 13 , briefly describe the basic principles used to obtain the aerodynamic performance model. In the stage of optimal tip speed ratio control or optimal gain control (i.e., Figure 1 In the region I shown in FIG. 1 , the wind speed V is less than the rated wind speed, and the impeller speed Ω of the wind turbine is open-loop controlled by the motor torque M, that is, the motor torque is set according to the currently measured impeller speed. The motor torque is proportional to the square of the impeller speed (i.e., the rotational angular velocity), and its proportional coefficient is the optimal gain K. opt The expression of tip speed ratio λ is:

[0071]

[0072] Where R is the distance from the hub center to the blade tip.

[0073] In the optimal tip speed ratio control stage, the (A represents the impeller swept area) and P = ΩM, the expression for the motor torque used for control can be obtained:

[0074] M=K opt Ω 2 (2)

[0075] in,

[0076]

[0077] Where ρ is the air density, is the optimal power factor, λ opt is the tip speed ratio corresponding to the optimal power coefficient (i.e., the optimal tip speed ratio), and λ opt The power coefficient C corresponding to different tip speed ratios λ can be calculated p The power coefficient C corresponding to different tip speed ratios λ can be calculated p , obtain the performance curve of the wind turbine (such as Figure 6As shown), the optimal power factor can be determined based on the performance curve The corresponding optimal tip speed ratio λ opt . Figure 6 The performance curves shown correspond to a certain reference pitch angle.

[0078] The aerodynamic characteristics of the blade element cross section of a wind turbine can be analyzed based on the blade element theory (BEM). Figure 7 and Figure 8 Schematic diagram of the aerodynamic characteristics analysis of the blade section. When the wake rotation is considered, the axial induced wind speed V X and the circumferential induced velocity V Y It can be expressed as:

[0079] V X =V(1-a) (4)

[0080] V Y =Ωr(1+b) (5)

[0081] Among them, a and b are the axial induction factor and the circumferential induction factor respectively, r is the distance from the hub center to a blade element, and the actual flow velocity W is expressed as:

[0082]

[0083] The inflow angle γ can be expressed as:

[0084] γ=arctan(V X / V Y ) (7)

[0085] There is the following relationship between the angle of attack α and the inflow angle γ:

[0086] α=γ-θ p -θ a -|β| (8)

[0087] Among them, θ p is the pitch angle, θ a is the aerodynamic twist angle corresponding to the blade element, β is the torsional deformation corresponding to a blade element, for long flexible blades, it can be based on the blade root coordinate system, usually a negative value; when the wind turbine is in the optimal gain control stage, θ p It is usually a constant value near 0°; when blade twist is ignored, β = 0. Other angles can be based on the aerospace coordinate system. For the blade cross-section microelement, the normal thrust coefficient C n and the tangential thrust coefficient C t The lift coefficient C of the blade cross section can be l and the drag coefficient C d It is expressed as:

[0088] C n=C l cosγ+C d sinγ (9)

[0089] C t =C l sinγ-C d cosγ (10)

[0090] Further, the impeller aerodynamic torque is expressed as:

[0091]

[0092] Where B is the number of blades and c is the chord length. The solidity σ can be expressed as:

[0093]

[0094] The axial induction factor a and the circumferential induction factor b can be obtained by iteratively combining the expressions of the axial thrust coefficient and the normal thrust coefficient to obtain the following expressions:

[0095]

[0096]

[0097] In the above formula, F is the Prandtl correction factor, which can be used to correct the root and tip losses. The expression of F is:

[0098]

[0099] The power of the unit is P = ΩM a , power coefficient C p for:

[0100]

[0101] Figure 8 The bending-torsion coupling effect of the flexible long blade is shown. Figure 8 As shown in the figure, the blade will bend in the swinging direction under the action of aerodynamic force. When the blade is bent, it is affected by the aerodynamic force from the trailing edge to the leading edge. Under the combined action of the aerodynamic force and the spatial position of the blade after bending deformation, the blade element produces a torsional deformation β. According to formula (8), when the deformation torsional deformation β < 0, the angle of attack of the blade element decreases, thereby reducing the aerodynamic force. When the blade length of the wind turbine exceeds 50m, this bending-torsion coupling effect becomes more obvious. Ignoring the shape change of its performance curve will lead to large calculation errors.

[0102] Therefore, as the pitch angle θ p Changes, the performance curve C of the wind turbine p_λ will change, so that different pitch angles correspond to different performance curves. p , λ and θ p The three can obtain the C of the wind turbine p _λ_θ p Aerodynamic performance surfaces, such as Fig. 9 The highest point H on the surface corresponds to the position with the largest power coefficient, that is, the optimal power coefficient. Optimal tip speed ratio λ opt and the optimal pitch angle θ opt The highest point H of the curved surface can be projected onto the two-dimensional plane formed by the tip speed ratio and the pitch angle to obtain the corresponding optimal tip speed ratio λ opt and the optimal pitch angle θ opt .

[0103] If the aerodynamic performance surface of the wind turbine is projected onto λ-θ p Two-dimensional plane, combined with the three control stages of the wind turbine (optimal gain control, torque closed-loop control, pitch angle closed-loop control), the optimal power coefficient At tip speed ratio λ-pitch angle θ p The moving path on the plane is Fig.10 shown.

[0104] At different reference impeller speeds (e.g., minimum speed Ω min and maximum speed Ω max ), due to the bending-torsion coupling effect of the blade, C p _λ performance curve changes, such as Fig.11 As shown. The wind turbine can be operated at the minimum speed Ω min and maximum speed Ω max When running under and And the optimal tip speed ratios are and For flexible blades, usually, If the influence of the reference speed is ignored, for example, the wind turbine is controlled using the minimum speed or maximum speed as the reference speed, it will be difficult for the wind turbine to obtain the optimal working coefficient at different impeller speeds, resulting in a decrease in the output of the wind turbine and a loss of power generation.

[0105] In the projection C p _λ on a two-dimensional plane (such as Fig.12 As shown), at different reference impeller speeds (e.g., minimum speed Ω min and maximum speed Ω max ) under the maximum power factor The corresponding optimal tip speed ratio λ optand the optimal pitch angle θ opt Different, the corresponding optimal gain K opt Also different.

[0106] Therefore, different C p _λ_θ p Aerodynamic performance surfaces.

[0107] In addition, the air density ρ (also called Rho) will change with many environmental factors (such as temperature). Fig.13 The air density in the air is different from the temperature in the air. The torsional deformation of the blade is different under different air densities, which leads to C p _λThe aerodynamic performance curve changes. Fig.13 As shown, different air densities ρ (kg / m 3 ) under power C p The aerodynamic performance curves are obviously different. Therefore, if the actual air density on site is not taken into account, the calculated and λ opt There will be errors. As a result, the wind turbine will not operate at the optimal power factor. Optimal tip speed ratio λ opt And the optimal gain K opt resulting in a decrease in power generation.

[0108] Therefore, combined with the above C for different speeds p _λ_θ p The aerodynamic performance surface can obtain the corresponding C at different speeds for each historical air density. p _λ_θ p Aerodynamic performance surfaces, e.g. Fig.14 Shows multiple C for multiple speeds at a certain historical air density p _λ_θ p Aerodynamic performance surfaces.

[0109] According to an exemplary embodiment of the present disclosure, the aerodynamic performance model for each historical air density may also include: a plurality of C values ​​for a plurality of rotation speeds at each historical air density. p _λ_θ pAerodynamic performance surfaces. In this way, a three-dimensional model in the aerodynamic performance model can be obtained, that is, for each historical air density, a three-dimensional model with the tip speed ratio, power coefficient and pitch angle as the three-dimensional coordinate system corresponding to the multiple reference operating parameters of the wind turbine generator set respectively. The first parameter lookup table and the second parameter lookup table in the aerodynamic performance model can be obtained based on the three-dimensional model (for example, the multiple aerodynamic performance surfaces). Here, the impeller speed is taken as an example for explanation, but the present disclosure is not limited to this. For each historical air density, a three-dimensional model with the tip speed ratio, power coefficient and pitch angle as the three-dimensional coordinate system corresponding to the multiple reference output powers of the wind turbine generator set respectively can also be obtained.

[0110] Return to reference Figure 4 , can be Figure 4 The illustrated operation obtains an optimal pitch angle model (eg, a first parameter lookup table) and an optimal gain model (a second parameter lookup table) in the aerodynamic performance model.

[0111] In operation S31, for each reference operating parameter under each historical air density, based on the three-dimensional model, the pitch angle corresponding to the maximum power coefficient is determined as the optimal pitch angle corresponding to the reference operating parameter, and the tip speed ratio corresponding to the maximum power coefficient is determined as the optimal tip speed ratio corresponding to the reference operating parameter.

[0112] Multiple historical air densities can be obtained by installing N (e.g., 1≤N≤20) air density sensors in the wind farm. For example, the air density measurement value Y of each air density sensor can be collected at a time interval Δt. ρ , the measurement time is T ρ (For example, 0.1h≤T ρ ≤0.5h), the air density collected within the time interval Δt (for example, 0≤Δt≤6h) is Where i is the sensor number.

[0113] In addition, the measured values ​​of the air density sensors can be cleaned according to the number and / or installation position of the air density sensors. When N is greater than 3, if the difference between the measured value of one of the air density sensors and the measured average value of all the air density sensors is greater than 0.2 kg / m 3 , the measured value of the air density sensor can be ignored, and a measurement failure alarm can be issued. For the measured value of the real-time air density, a similar data cleaning method can also be used.

[0114] After obtaining the measured air density Y ρ After that, the wind turbine can be calculated based on the BEM theory at the minimum speed Ω min With maximum speed Ω max Each speed between Ωi (i=1,2,...,N Ω ), the C of the wind turbine p _λ curve.

[0115] For example, the min and Ω max The number of all speeds included is recorded as N Ω , the calculation interval of the rotation speed is recorded as ΔΩ, and ΔΩ=(Ω max -Ω min ) / (N Ω -1). Here, the speed refers to the impeller speed. i (i=1,2,...,N Ω ), determine the corresponding Optimum tip speed ratio and the optimal pitch angle Among them, the optimal power factor is the speed Ω i In this way, we can obtain the maximum power factor similar to Fig.14 The different speeds shown i Next Aerodynamic performance surfaces.

[0116] In addition, based on different speed Ω i Next The aerodynamic performance surface can use the interpolation method to obtain the optimal pitch angle and optimal gain for the continuously changing reference operating parameters at each historical air density, that is, to obtain the relationship between the continuously changing reference operating parameters and the optimal pitch angle at each historical air density, and the relationship between the continuously changing reference operating parameters and the optimal tip speed ratio. The interpolation method may include: linear interpolation, polynomial interpolation, spline interpolation, etc. In this way, the θ for the continuously changing reference operating parameters (e.g., impeller speed, output power) at each historical air density can be obtained. opt -λ opt Fit the curve. For example, Fig.15 shows θ for a continuously varying impeller speed opt -λ opt Fit the curve.

[0117] Refer again Figure 4, in operation S32, based on the optimal pitch angle corresponding to each reference operating parameter for each historical air density, an optimal pitch angle model (e.g., a first parameter lookup table) is generated. The optimal pitch angle model may include the corresponding relationship between the reference operating parameter and the optimal pitch angle at each historical air density. In operation S33, based on the optimal tip speed ratio corresponding to each reference operating parameter for each historical air density, the optimal gain corresponding to each reference operating parameter for each historical air density is determined to generate an optimal gain model (a second parameter lookup table). The optimal gain model may include the corresponding relationship between the reference operating parameter and the optimal gain at each historical air density. The reference operating parameter may be a reference impeller speed or a reference output power. For example, the relationship between the wind speed and the reference impeller speed may be updated by the optimal tip speed ratio, and the optimal gain corresponding to the reference impeller speed may be calculated. As Fig.16 As shown, the above operation can generate the corresponding relationship between the reference impeller speed and the optimal pitch angle under a specific historical air density (i.e., Fig.16 The function curve at the top of the figure), the corresponding relationship between the reference impeller speed and the optimal gain (i.e., Fig.16 The function curve at the bottom in the figure).

[0118] In an embodiment of the present disclosure, the θ of a continuously changing reference operating parameter (eg, impeller speed, output power) may be calculated based on each historical air density. opt -λ opt The curve is fitted, and a first parameter lookup table and a second parameter lookup table are generated by using an interpolation method.

[0119] In this way, the impeller speed-optimal pitch angle (Ω-θ) under each historical air density (Rho) can be generated. opt ) curve and impeller speed-optimal gain (Ω-K opt ) curve, such as Fig.17 shown.

[0120] After obtaining the aerodynamic performance model for each historical air density, the real-time optimal pitch angle and the real-time optimal gain of the wind turbine can be determined according to the real-time air density, the real-time operating parameters and the aerodynamic performance model.

[0121] For example, you can Figure 5 The illustrated operation determines the real-time optimal pitch angle and the real-time optimal gain of the wind turbine.

[0122] Figure 5 is another flow chart of a method for controlling a wind turbine generator system according to an embodiment of the present disclosure.

[0123] In operation S41, a first change curve and a second change curve are determined based on the real-time air density and the aerodynamic performance model of the wind turbine generator set, wherein the first change curve represents the change of the optimal pitch angle under the real-time air density relative to the reference operating parameters, and the second change curve represents the change of the optimal gain under the real-time air density relative to the reference operating parameters.

[0124] For example, the real-time air density monitored in real time can be used to determine the first change curve and the second change curve using the interpolation method according to the real-time air density and the aerodynamic performance model of the wind turbine. When the real-time air density does not exist in the historical air density, the real-time air density (for example, 1.15 kg / m 3 ) two or more adjacent historical air densities (e.g., 1.10 kg / m 3 1.20kg / m 3 ) under the condition of impeller speed-optimal pitch angle (Ω-θ opt ) curve and impeller speed-optimal gain (Ω-K opt ) curve is processed to determine the change of the optimal pitch angle under the real-time air density relative to the reference operating parameters and the change of the optimal gain relative to the reference operating parameters, that is, to determine the first change curve and the second change curve under the real-time air density.

[0125] In operation S42, the real-time optimal pitch angle and the real-time optimal gain of the wind turbine are determined according to the real-time operating parameters, the first change curve and the second change curve. After determining the first change curve and the second change curve, the corresponding real-time optimal pitch angle and the real-time optimal gain can be further determined based on the real-time operating parameters. In this way, the real-time optimal pitch angle and the real-time optimal gain under the real-time air density and the real-time operating parameters can be obtained, so as to improve the real-time power generation of the wind turbine and increase the annual power generation of the wind turbine.

[0126] Fig.19 The optimal pitch angle of different types of wind turbines is shown relative to the normalized speed (i.e., the speed ratio Ω / Ω max ) changes.

[0127] like Fig.19 As shown, the range of variation of the optimal pitch angle corresponding to the minimum reference operating parameter (e.g., minimum impeller speed) can be ≥0.25° and ≤3°, and the range of variation of the optimal pitch angle corresponding to the maximum reference operating parameter (e.g., maximum impeller speed) can be ≥-3° and ≤-0.25°.

[0128] According to an embodiment of the present disclosure, for different types of wind turbines, the optimal pitch angle corresponding to the minimum reference operating parameter (e.g., the minimum impeller speed) is different, and the optimal pitch angle corresponding to the maximum reference operating parameter (e.g., the maximum impeller speed) is also different. The optimal pitch angle based on the above-mentioned variation range can be applied to various types of wind turbines, so that for each type of wind turbine, the control of the wind turbine can be improved based on the optimal pitch angle within the above-mentioned variation range.

[0129] The first parameter lookup table of the optimal pitch angle relative to the reference impeller speed for each historical air density satisfies the following predetermined condition: The function of the optimal pitch angle relative to the reference impeller speed is θ=(kΩ / Ω max )+b, where θ represents the optimal pitch angle, Ω represents the reference impeller speed, and Ω max Indicates the rated impeller speed, k and b are constants. For example, -10≤k≤-0.85, and 0.55≤b≤7.

[0130] According to an embodiment of the present disclosure, for different types of wind turbines, the function of the optimal pitch angle y relative to the reference impeller speed Ω is different, that is, the values ​​of k and b will be different. The optimal pitch angle based on the above function can be applied to various types of wind turbines, so that for each type of wind turbine, the control of the wind turbine can be improved based on the optimal pitch angle within the above variation range.

[0131] For example, for the first type of wind turbine, the function of the optimal pitch angle y1 relative to the reference impeller speed Ω may be y1=(k1*Ω / Ω max )+b1, where -10≤k1≤-0.85, 0.55≤b1≤7; For the second type of wind turbine, the function of the optimal pitch angle y2 relative to the reference impeller speed Ω can be y2=(k2*Ω / Ω max )+b2, where -10≤k2≤-0.85, 0.55≤b2≤7. For the traditional wind turbine control strategy, the pitch angle θ is kept at 0°. In contrast, using the wind turbine control strategy according to the present disclosure, the pitch angle can be set to an optimal pitch angle that varies with the rotational speed. For example, the "Example Pitch Angle Curve" shows a curve of the optimal pitch angle of a certain type of wind turbine as it varies with the speed ratio, wherein the optimal pitch angle corresponding to the minimum speed ratio is within the range of [0.25°, 3°], and the optimal pitch angle corresponding to the minimum speed ratio is within the range of [-0.25°, -3°]; the "Example Curve" shows the lines between the coordinate points corresponding to the limit values ​​of the optimal pitch angle of this type of wind turbine, which meets the predetermined conditions for the above function.

[0132] Fig. 20The figure shows the changes of output power (referred to as power), impeller speed (referred to as speed), and pitch angle relative to wind speed before and after optimization of the control method disclosed in the present invention for the same wind turbine generator set. Fig.21 The change of normalized power with respect to wind speed before and after optimization is shown. Fig. 20 In the embodiment shown, the annual power generation of the optimized wind turbine can be increased by 1% compared with the annual power generation of the wind turbine before optimization, and the annual full power hours can be increased by 36 hours. In the optimal gain control stage, the optimized optimal pitch angle is no longer fixed to a constant value, and the change of the impeller speed relative to the wind speed also changes. The optimal power coefficient and the optimal pitch angle change in real time according to the real-time impeller speed. Fig.21 As shown, the control method of the wind turbine according to the present disclosure can be used to optimize the control of the wind turbine. For example, instead of not monitoring the real-time air density, a control method based on a reference air density (for example, a standard air density of 1.225 kg / m 3 ) of the conventional control strategy (i.e., before optimization), the control method of the wind turbine according to the present disclosure (for example, the real-time air density is 1.3 kg / m 3 ) has been improved after optimization. For example, the annual power generation of wind turbines can be increased by about 0.7%, and the annual full-time generating hours can be increased by about 25 hours.

[0133] According to the control method of the wind turbine set disclosed in the present invention, the power generation efficiency of the wind turbine set can be significantly improved, especially for the control of the optimal gain control stage, the annual power generation of the wind turbine set can be significantly increased, and the aerodynamic loss caused by the bending and torsion coupling of the blades and the loss of power coefficient caused by the air density can be effectively compensated. For example, when the real-time air density is the reference air density (for example, 1.225kg / m 3 ), the wind turbine control method disclosed in this disclosure can effectively increase the annual power generation by 0.5%-1% compared with the original control strategy. When the real-time air density varies with factors such as temperature difference and season, for example, the real-time air density changes from 1.225kg / m 3 Increased to 1.3kg / m 3 Compared with the original control strategy, the control method of the wind turbine generator set disclosed in the present invention can effectively increase the annual power generation by 0.5%-1.5%.

[0134] Fig. 22 is a block diagram of a control device 10 of a wind turbine generator system according to an embodiment of the present disclosure.

[0135] The control device 10 may include: a parameter acquiring unit 101 , a determining unit 102 and a control unit 103 .

[0136] The parameter acquisition unit 101 may be configured to acquire the real-time air density of the wind farm where the wind turbine is located and the real-time operating parameters of the wind turbine.

[0137] The determination unit 102 may be configured to determine a real-time optimal pitch angle and a real-time optimal gain of the wind turbine generator set according to the real-time air density, the real-time operating parameters and an aerodynamic performance model of the wind turbine generator set.

[0138] The control unit 103 may be configured to control the operation of the wind turbine generator system according to the real-time optimal pitch angle and the real-time optimal gain.

[0139] In an embodiment of the present disclosure, the control device 10 may further include a model generation unit 104 configured to: obtain a plurality of historical air densities of the wind farm; and construct an aerodynamic performance model for each historical air density based on blade element theory.

[0140] In another embodiment of the present disclosure, the model generation unit 104 can also be configured to: based on the three-dimensional model, for each reference operating parameter under each historical air density, determine the pitch angle corresponding to the maximum power coefficient as the optimal pitch angle corresponding to the reference operating parameter, and determine the tip speed ratio corresponding to the maximum power coefficient as the optimal tip speed ratio corresponding to the reference operating parameter; generate the optimal pitch angle model according to the optimal pitch angle corresponding to each reference operating parameter for each historical air density; determine the optimal gain corresponding to each reference operating parameter for each historical air density according to the optimal tip speed ratio corresponding to each reference operating parameter for each historical air density to generate the optimal gain model.

[0141] Please refer to Figures 1 to 21 Describe the control methods and related operations to understand Fig. 22 The operations performed by the various modules shown are not described in detail here for the sake of brevity.

[0142] According to an embodiment of the present disclosure, there is further provided a computer-readable storage medium on which a computer program is stored. When the computer program is executed, the control method of the wind turbine generator set according to the embodiment of the present disclosure is implemented.

[0143] In the embodiment of the present disclosure, the computer readable storage medium may carry one or more programs, and when the computer program is executed, the reference Figures 1 to 21Some or all of the steps described, for example: obtaining the real-time air density of the wind farm where the wind turbine is located and the real-time operating parameters of the wind turbine; determining the real-time optimal pitch angle and the real-time optimal gain of the wind turbine according to the real-time air density, the real-time operating parameters and the aerodynamic performance model of the wind turbine; and controlling the operation of the wind turbine according to the real-time optimal pitch angle and the real-time optimal gain.

[0144] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In an embodiment of the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a computer program that may be used by or in conjunction with an instruction execution system, device or device. The computer program contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof. The computer-readable storage medium may be contained in any device; it may also exist alone without being assembled into the device.

[0145] Fig.23 is a block diagram of a computing device according to an embodiment of the present disclosure.

[0146] Reference Fig.23 According to an embodiment of the present disclosure, the computing device 20 may include a memory 201 and a processor 202. A computer program 203 is stored in the memory 201. When the computer program 203 is executed by the processor 202, the control method of the wind turbine according to the embodiment of the present disclosure is implemented.

[0147] In the embodiment of the present disclosure, when the computer program 203 is executed by the processor 202, reference can be made to Figures 1 to 21 Some or all of the steps described, for example: obtaining the real-time air density of the wind farm where the wind turbine is located and the real-time operating parameters of the wind turbine; determining the real-time optimal pitch angle and the real-time optimal gain of the wind turbine according to the real-time air density, the real-time operating parameters and the aerodynamic performance model of the wind turbine; and controlling the operation of the wind turbine according to the real-time optimal pitch angle and the real-time optimal gain.

[0148] Fig.23The computing device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0149] The above has been referred to Figures 1 to 23 The control method, control device, computer readable storage medium, and computing device of a wind turbine according to an embodiment of the present disclosure are described. However, it should be understood that: Fig. 22 The control device and its respective units shown in the figure may be configured as software, hardware, firmware or any combination of the above items to perform specific functions. Fig.23 The computing device shown in is not limited to including the components shown above, but some components may be added or deleted as needed, and the above components may also be combined.

[0150] By adopting the control method, control equipment, computer-readable storage medium, and computing device of the wind turbine set according to the embodiments of the present disclosure, at least one of the following technical effects can be achieved: by monitoring the real-time air density, the decrease in power coefficient caused by the real-time air density is compensated; the aerodynamic loss caused by the bending and torsion coupling of the blades is fully evaluated and real-time compensation is given; thereby improving the power generation of the wind turbine set.

[0151] The control logic or function performed by each component or controller in the control system can be represented by a flow chart or similar diagram in one or more figures. These figures provide representative control strategies and / or logic, which can be implemented using one or more processing strategies (such as event-driven, interrupt-driven, multi-tasking, multi-threading, etc.). Therefore, the various steps or functions shown can be executed in the order shown, executed in parallel, or omitted in some cases. Although not always clearly shown, it will be appreciated by those of ordinary skill in the art that one or more steps or functions shown can be repeatedly executed according to the specific processing strategy used.

[0152] While the present disclosure has been shown and described with reference to preferred embodiments, it will be understood by those skilled in the art that various modifications and variations may be made to these embodiments without departing from the spirit and scope of the present disclosure as defined by the appended claims.

Claims

1. A control method for a wind turbine generator set, It is characterized in that The control method comprises: Acquiring an aerodynamic performance model of the wind turbine generator set; Acquire the real-time air density of the wind farm where the wind turbine is located and the real-time operating parameters of the wind turbine; Determining a real-time optimal pitch angle and a real-time optimal gain of the wind turbine generator set according to the real-time air density, the real-time operating parameters and an aerodynamic performance model of the wind turbine generator set; According to the real-time optimal pitch angle and the real-time optimal gain, the operation of the wind turbine is controlled; The aerodynamic performance model includes: an optimal pitch angle model and an optimal gain model, wherein the optimal pitch angle model is used to characterize the corresponding relationship between the reference working parameter and the optimal pitch angle under each historical air density, and the optimal gain model is used to characterize the corresponding relationship between the reference working parameter and the optimal gain under each historical air density, wherein the reference working parameter includes a reference impeller speed or a reference output power, The aerodynamic performance model further includes: for each historical air density, a three-dimensional model with a blade tip speed ratio, a power coefficient and a pitch angle as a three-dimensional coordinate system corresponding to a plurality of reference operating parameters of the wind turbine generator set respectively, The optimal pitch angle model and the optimal gain model are obtained by the following operations: For each reference operating parameter under each historical air density, based on the three-dimensional model, determining a pitch angle corresponding to a maximum power coefficient as an optimal pitch angle corresponding to the reference operating parameter, and determining a tip speed ratio corresponding to the maximum power coefficient as an optimal tip speed ratio corresponding to the reference operating parameter; generating the optimal pitch angle model according to the optimal pitch angle corresponding to each reference operating parameter for each historical air density; According to the optimal tip speed ratio corresponding to each reference operating parameter for each historical air density, the optimal gain corresponding to each reference operating parameter for each historical air density is determined to generate the optimal gain model.

2. The control method according to claim 1, It is characterized in that The step of obtaining the aerodynamic performance model of the wind turbine generator set includes: Acquire a plurality of historical air densities of the wind field; The aerodynamic performance model for each historical air density is constructed based on the blade element theory.

3. The control method according to claim 1, It is characterized in that The variation range of the optimal pitch angle corresponding to the minimum reference working parameter is ≥0.25° and ≤3°, and the variation range of the optimal pitch angle corresponding to the maximum reference working parameter is ≥-3° and ≤-0.25°.

4. The control method according to claim 1, It is characterized in that The optimal pitch angle model for each historical air density relative to the reference impeller speed satisfies the following predetermined conditions: The function of the optimal pitch angle relative to the reference impeller speed is θ=(kΩ / Ω max )+b, where θ represents the optimal pitch angle, Ω represents the reference impeller speed, and Ω max represents the rated impeller speed, k and b are constants.

5. The control method according to claim 4, It is characterized in that -10≤k≤-0.85, and 0.55≤b≤7.

6. The control method according to any one of claims 1 to 5, It is characterized in that Determining the real-time optimal pitch angle and the real-time optimal gain of the wind turbine generator set according to the real-time air density, the real-time operating parameters and the aerodynamic performance model of the wind turbine generator set includes: Determine a first variation curve and a second variation curve according to the real-time air density and the aerodynamic performance model of the wind turbine generator set, wherein the first variation curve represents a variation of an optimal pitch angle under the real-time air density relative to a reference operating parameter, and the second variation curve represents a variation of an optimal gain under the real-time air density relative to a reference operating parameter; The real-time optimal pitch angle and the real-time optimal gain of the wind turbine generator set are determined according to the real-time operating parameters, the first change curve and the second change curve.

7. The control method according to any one of claims 1 to 5, It is characterized in that The step of controlling the operation of the wind turbine generator set according to the real-time optimal pitch angle and the real-time optimal gain includes: The real-time operating parameters of the wind turbine generator set are adjusted according to the real-time optimal pitch angle and the real-time optimal gain, so that the pitch angle of the wind turbine generator set reaches the real-time optimal pitch angle and the gain of the wind turbine generator set reaches the real-time optimal gain.

8. The control method according to any one of claims 1 to 5, It is characterized in that The real-time operating parameter includes at least one of the following items: real-time impeller speed and real-time output power.

9. The control method according to any one of claims 1 to 5, It is characterized in that The control method further comprises: By installing N air density sensors in the wind farm, collecting multiple air densities of the wind farm at preset time intervals within a target time period, where N is a positive integer; An average value of the plurality of air densities is determined as the air density of the wind farm.

10. The control method according to claim 9, It is characterized in that The N air density sensors are arranged at locations of wind turbines at different altitudes.

11. The control method according to claim 9, It is characterized in that The N is 4, and the N air density sensors include a first air density sensor, a second air density sensor, a third air density sensor, and a fourth air density sensor; The first air density sensor is arranged at the location of the wind turbine generator set at the highest altitude of the wind farm; The second air density sensor is located at the position of the wind turbine generator set at the lowest altitude of the wind farm; The third air density sensor and the fourth air density sensor are located at wind turbine generator sets at an average altitude of the wind farm.

12. A control device for a wind turbine generator set, It is characterized in that The control device comprises: The model generation unit is configured to: obtain multiple historical air densities of the wind field; construct an aerodynamic performance model for each historical air density based on the blade element theory; A parameter acquisition unit, configured to acquire the real-time air density of the wind farm where the wind turbine is located and the real-time operating parameters of the wind turbine; a determination unit configured to determine a real-time optimal pitch angle and a real-time optimal gain of the wind turbine generator set according to the real-time air density, the real-time operating parameter and an aerodynamic performance model of the wind turbine generator set; a control unit configured to control the operation of the wind turbine generator set according to the real-time optimal pitch angle and the real-time optimal gain, The aerodynamic performance model includes: an optimal pitch angle model and an optimal gain model, wherein the optimal pitch angle model is used to characterize the corresponding relationship between the reference working parameter and the optimal pitch angle under each historical air density, and the optimal gain model is used to characterize the corresponding relationship between the reference working parameter and the optimal gain under each historical air density, wherein the reference working parameter includes a reference impeller speed or a reference output power, The aerodynamic performance model further includes: for each historical air density, a three-dimensional model with a blade tip speed ratio, a power coefficient and a pitch angle as a three-dimensional coordinate system corresponding to a plurality of reference operating parameters of the wind turbine generator set respectively, The optimal pitch angle model and the optimal gain model are obtained by the following operations: For each reference operating parameter under each historical air density, based on the three-dimensional model, determining a pitch angle corresponding to a maximum power coefficient as an optimal pitch angle corresponding to the reference operating parameter, and determining a tip speed ratio corresponding to the maximum power coefficient as an optimal tip speed ratio corresponding to the reference operating parameter; generating the optimal pitch angle model according to the optimal pitch angle corresponding to each reference operating parameter for each historical air density; According to the optimal tip speed ratio corresponding to each reference operating parameter for each historical air density, the optimal gain corresponding to each reference operating parameter for each historical air density is determined to generate the optimal gain model.

13. A computer-readable storage medium storing a computer program, It is characterized in that When the computer program is executed by a processor, the control method of the wind turbine generator set according to any one of claims 1 to 11 is implemented.

14. A computing device, It is characterized in that The computing device comprises: processor; A memory storing a computer program, which, when executed by a processor, implements the method for controlling a wind turbine according to any one of claims 1 to 11.

15. A wind turbine generator set, It is characterized in that The wind turbine generator set comprises: A controller, used to implement the control method of a wind turbine set according to any one of claims 1 to 11.

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