A wind turbine variable pitch control method, device, equipment and medium

Abstract

The application provides a wind turbine variable pitch control method, device, equipment and medium, and belongs to the independent variable pitch control technical field of the wind turbine, and can at least partially solve the problems of relieving the fatigue load of the wind turbine and prolonging the service life of the unit. A wind turbine variable pitch control method provided by the application embodiment obtains a fault detection signal of a corresponding variable pitch actuator by calculating a residual error signal of a blade; generates an independent variable pitch control signal by using a second-order linear active disturbance rejection control algorithm, a collective tilt torque measurement value and a collective yaw torque measurement value; and finally completes signal correction based on the collective variable pitch control signal, the independent variable pitch control signal and the fault detection signal to obtain a target variable pitch control signal, thereby controlling the operation of the blade variable pitch servo system.

Description

Technical Field

[0001] This invention relates to the field of independent pitch control technology for wind turbines, specifically to a pitch control method, device, equipment, and medium for wind turbines in the event of a pitch actuator failure. Background Technology

[0002] In recent years, with the increasing popularity of wind power stations, my country's energy shortage has been effectively alleviated. On the one hand, large wind turbines operating in near-shore areas bear higher structural and mechanical loads compared to onshore wind turbines. Existing technologies use rotor speed control and collective pitch control to mitigate this problem, but these technologies have limited effectiveness in controlling fatigue loads caused by factors such as rotor yaw error, shaft tilt, wind shear, and turbulence in the airflow. Surveys show that independent pitch control has good potential in solving these problems. On the other hand, wind turbine sensors and actuators are prone to failure. Failures in the pitch actuator can affect rotor speed tracking, leading to worsening structural loads and ultimately reducing the stability and performance of the wind turbine. Therefore, how to alleviate the fatigue load on wind turbines and extend their lifespan has become an urgent technical problem to be solved. Summary of the Invention

[0003] The technical problem to be solved by this invention is how to alleviate the fatigue load of wind turbines and extend their service life. Therefore, this invention provides a method, device, equipment and medium for pitch control of wind turbines. By calculating the root mean square error between the measurement signals of each blade when there is no fault and when there is a fault, the pitch actuators controlling each blade are fault-detected and isolated. In the event of a pitch actuator failure, the pitch angle of the corresponding blade is adjusted independently without affecting the nominal performance of the pitch actuator under fault-free operation. A second-order linear active disturbance rejection control algorithm is used to perform independent pitch control on wind turbines with faulty pitch actuators, so as to reduce the impact of asymmetric wind load and fatigue load on the life of wind turbines, alleviate the fatigue load of wind turbines and extend the service life of the units.

[0004] This invention is achieved through the following technical solution:

[0005] A method for pitch control of a wind turbine includes:

[0006] Calculate the residual signal of the blade, and obtain the fault detection signal of the strain gauge actuator based on the residual signal of the blade;

[0007] Acquire collective roll moment and collective yaw moment measurements, and generate independent pitch control signals based on the collective roll moment and collective yaw moment measurements;

[0008] Acquire collective pitch control signals;

[0009] Based on the collective pitch control signal, the independent pitch control signal, and the fault detection signal, signal correction is performed to obtain the target pitch control signal;

[0010] The pitch control signal is output to the blade pitch servo system to control the operation of the blade pitch servo system.

[0011] Furthermore, the acquisition of the fault detection signal of the strain gauge actuator based on the residual signal of the blade includes:

[0012] Compare the value of the residual signal with a preset residual threshold;

[0013] When the value of the residual signal is less than or equal to the preset residual threshold, or when the value of the residual signal is greater than the preset residual threshold and the sampling time corresponding to the residual signal greater than the preset residual threshold is less than the preset continuous sampling time, it indicates that there is no fault and the fault detection signal output is 0.

[0014] If the sampling time corresponding to the residual signal that is greater than the preset residual threshold is not less than the preset continuous sampling time, it indicates that a fault has occurred, and the residual signal is used as a fault detection signal and output.

[0015] Further, the calculation of the residual signal of the blade includes:

[0016] Acquire the pitch angle measurement value of the blade by the target sensor, and acquire the estimated pitch angle value of the blade estimated by the pitch estimator;

[0017] The residual signal is obtained based on the difference between the measured pitch angle and the estimated pitch angle.

[0018] Furthermore, the wind turbine pitch control method also includes:

[0019] The signals measured by each sensor when each blade is fault-free are used as the fault-free measurement signals, and the signals measured when each blade is faulty are used as the faulty measurement signals.

[0020] Calculate the root mean square error values ​​of the fault-free measurement signal and the faulty measurement signal, and use the calculated root mean square error values ​​as the fault sensitivity of each sensor to each pitch actuator.

[0021] The sensor with the highest fault sensitivity was selected as the target sensor.

[0022] Further, the generation of independent pitch control signals based on the collective roll moment measurement and the collective yaw moment measurement includes:

[0023] Based on the rotor azimuth angle, the bending moment at the root of each rotating blade is processed by Coleman transformation to obtain the collective tilting moment measurement value and the collective yaw moment measurement value in the stationary plane.

[0024] The collective tilt moment measurement value and the collective yaw moment measurement value are processed by a second-order linear active disturbance rejection control algorithm to obtain the tilt control signal and the yaw control signal.

[0025] The inverse Coleman transformation of the tilt control signal and the yaw control signal is performed to obtain the independent pitch control signal.

[0026] Furthermore, the step of performing signal correction based on the collective pitch control signal, the independent pitch control signal, and the fault detection signal to obtain the target pitch control signal specifically involves:

[0027]

[0028] In the formula, β represents the target pitch control signal corresponding to the i-th pitch actuator. CPC This indicates the collective pitch control signal. This represents the independent pitch control signal corresponding to the i-th pitch actuator. This represents the fault detection signal corresponding to the i-th pitch actuator.

[0029] A wind turbine pitch control system includes a fault detection and diagnosis module, an independent pitch control module, a collective pitch control module, a signal correction module, and a signal control module.

[0030] The fault detection and diagnosis module is used to calculate the residual signal of the blade and obtain the fault detection signal of the strain gauge actuator based on the residual signal of the blade.

[0031] The independent pitch control module is used to acquire the collective roll moment measurement value and the collective yaw moment measurement value, and generate an independent pitch control signal based on the collective roll moment measurement value and the collective yaw moment measurement value;

[0032] The collective pitch control module is used to acquire collective pitch control signals;

[0033] The signal correction module is used to perform signal correction based on the collective pitch control signal, the independent pitch control signal and the fault detection signal to obtain the target pitch control signal.

[0034] The signal control module is used to output the pitch control signal to the blade pitch servo system to control the operation of the blade pitch servo system.

[0035] Furthermore, the independent pitch control module includes:

[0036] The Coleman transformation submodule is used to perform Coleman transformation on the bending moment at the root of each rotating blade based on the rotor azimuth angle, so as to obtain the collective tilting moment measurement value and the collective yaw moment measurement value in the stationary plane.

[0037] The tilt and yaw load control submodule is used to process the collective tilt moment measurement value and the collective yaw moment measurement value through a second-order linear active disturbance rejection control algorithm to obtain tilt control signal and yaw control signal;

[0038] The inverse Coleman transformation module is used to perform inverse Coleman transformation on the tilt control signal and the yaw control signal to obtain an independent pitch control signal.

[0039] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned wind turbine pitch control method.

[0040] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described wind turbine pitch control method.

[0041] This invention provides a method, apparatus, equipment, and medium for pitch control of wind turbine units. It calculates the residual signal of the blades and obtains the corresponding fault detection signal of the pitch actuator based on the blade residual signal. Then, it uses a second-order linear active disturbance rejection control algorithm, combined with collective tilt moment and collective yaw moment measurements, to generate an independent pitch control signal. Finally, it performs signal correction based on the collective pitch control signal, the independent pitch control signal, and the fault detection signal to obtain the target pitch control signal, controlling the operation of the blade pitch servo system. This enables independent pitch control of wind turbine units with actuator faults without affecting the nominal performance of the pitch actuator under fault-free operation, reducing the impact of asymmetric wind loads and fatigue loads on the lifespan of wind turbines, alleviating fatigue loads on wind turbine units, and extending the unit's lifespan. Attached Figure Description

[0042] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0043] Figure 1 This is a flowchart of a wind turbine pitch control method according to the present invention.

[0044] Figure 2 for Figure 1A detailed flowchart of step S10.

[0045] Figure 3 This is another flowchart of a wind turbine pitch control method according to the present invention.

[0046] Figure 4 for Figure 1 A detailed flowchart of step S20.

[0047] Figure 5 This is a flowchart of a specific embodiment of the present invention.

[0048] Figure 6 This is a schematic diagram of a wind turbine pitch control device according to the present invention;

[0049] Figure 7 This is a schematic diagram of the computer device of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this invention are only for explaining this invention and are not intended to limit this invention.

[0051] Example 1

[0052] like Figure 1 As shown, the present invention provides a pitch control method for wind turbine generators, comprising the following steps:

[0053] S10: Calculate the residual signal of the blade and obtain the fault detection signal of the strain gauge actuator based on the residual signal of the blade.

[0054] The blade residual signal refers to the value calculated based on the difference between the measured and estimated pitch angle values ​​of the blade. Generally, a single wind turbine has either three or two blades. When three blades are used, the residual signal for all three blades is calculated; when two blades are used, the residual signal for both blades is calculated. This embodiment uses r... i This represents the residual signal of the i-th blade. The fault detection signal for the i-th pitch actuator.

[0055] Specifically, the residual signal for each blade is first obtained by subtracting the measured pitch angle value from the sensor and the estimated pitch angle value from the pitch estimator. Then, the fault detection signal of each corresponding pitch actuator is calculated based on the obtained residual signal to identify the faulty pitch actuator. The faulty pitch actuator is then isolated, and only the blade pitch angle is adjusted for the faulty pitch actuator. Pitch actuators without faults are not processed, thereby improving the fault tolerance of the wind turbine control system.

[0056] Furthermore, the pitch estimator in this embodiment adopts the Takagi-Sugeno (TS) dynamic fuzzy model.

[0057] S20: Acquire the collective roll moment measurement and the collective yaw moment measurement, and generate an independent pitch control signal based on the collective roll moment measurement and the collective yaw moment measurement.

[0058] Specifically, in obtaining the collective tilting moment measurement value M tilt and collective yaw moment measurement value M yaw Subsequently, based on the collective tilting moment measurement value M tilt and collective yaw moment measurement value M yaw Generating independent pitch control signals specifically involves the following two steps:

[0059] (I) The collective tilting moment M tilt and yaw moment M yaw The load components are considered as decoupled components and are processed separately by two load controllers (tilt moment controller and yaw moment controller) to generate a tilt control signal u. tilt and yaw control signal u yaw That is, the collective tilting moment measurement value M tilt The tilt control signal u is generated through the tilt torque controller. tilt Collective yaw moment measurement value M yaw A yaw control signal u is generated by the yaw torque controller. yaw To minimize the tilting and yaw moments; (ii) to adjust the tilt control signal u tilt and yaw control signal u yaw Perform an inverse Coleman transformation to obtain the independent pitch control signal.

[0060] This embodiment uses a second-order linear active disturbance rejection control (LADRC) algorithm for load controller design. In the design process of the second-order LADRC control system, a linear extended state observer is designed.

[0061]

[0062] in, for The first derivative at time t, Here, z is the estimated value, u is the internal disturbance, y is the unmodeled dynamic disturbance, and L is the unmodeled dynamic disturbance. o This is the observer gain.

[0063]

[0064] When A e -Lo C e When gradually stable, The total disturbance can be estimated. To eliminate the total disturbance through a feedback loop, a selection is made...

[0065]

[0066] Among them, K o It is the feedback controller gain.

[0067] The parameter that needs to be tuned for a second-order LADRC is the feedback controller gain K. o The observer gain L of ESO o To facilitate tuning, the controller bandwidth ω is adjusted. c and observer bandwidth ω o Obtain the feedback controller gain K o and observer gain L o The various elements are determined, and the controller parameters are optimized using a particle swarm optimization algorithm. The feedback controller gain K... o and observer gain L o The elements include:

[0068] β1=3ω o ,

[0069] k d =2ω c

[0070] By using the second-order linear active disturbance rejection control (LADRC) algorithm to design a load controller, the load on the blades and turbine structure is reduced, the impact of asymmetric wind load and fatigue load on the life of the wind turbine is mitigated, the fatigue load of the wind turbine unit is alleviated, and the unit life is extended.

[0071] S30: Obtain collective pitch control signal β CPC .

[0072] Specifically, a collective pitch control signal is generated through a collective pitch control system. In this embodiment, the collective pitch control system is a conventional PI control system.

[0073] S40: Based on the collective pitch control signal, independent pitch control signal and fault detection signal, the signal correction is completed to obtain the target pitch control signal.

[0074] Specifically, after obtaining the collective pitch control signal, the independent pitch control signal, and the fault detection signal, the signal is corrected using a signal correction formula to obtain the final target pitch control signal.

[0075] The signal correction announcement is as follows:

[0076] In the formula, β represents the target pitch control signal corresponding to the i-th pitch actuator. CPC This indicates the collective pitch control signal. This represents the independent pitch control signal corresponding to the i-th pitch actuator. This represents the fault detection signal corresponding to the i-th pitch actuator.

[0077] S50: Outputs pitch control signals to the blade pitch servo system to control its operation.

[0078] Furthermore, such as Figure 2 As shown, in step S10, the residual signal of the blade is calculated, which specifically includes the following steps:

[0079] S11: Obtain the pitch angle measurement value of the blade by the target sensor, and obtain the estimated pitch angle value of the blade estimated by the pitch estimator.

[0080] Among them, the target sensor refers to the sensor most sensitive to the blade. Using a target sensor to measure the blade's pitch angle is more accurate.

[0081] S12: The residual signal is obtained based on the difference between the measured pitch angle and the estimated pitch angle.

[0082] Specifically, Where, r i This represents the residual signal of the i-th blade. This represents the measured pitch angle of the i-th blade. This represents the estimated pitch angle of the i-th blade.

[0083] Furthermore, such as Figure 2 As shown, in step S10, the fault detection signal of the strain gauge actuator is obtained based on the residual signal of the blade, which specifically includes the following steps:

[0084] S13: Compare the value of the residual signal with the preset residual threshold.

[0085] S14: When the value of the residual signal is less than or equal to the preset residual threshold, or when the value of the residual signal is greater than the preset residual threshold and the sampling time corresponding to the residual signal greater than the preset residual threshold is less than the preset continuous sampling time (such as 10 continuous sampling times), it indicates that there is no fault and the output is a fault detection signal of 0.

[0086] S15: When the sampling time corresponding to the residual signal that is greater than the preset residual threshold is not less than the preset continuous sampling time, it indicates that a fault has occurred, and the residual signal is used as a fault detection signal and output.

[0087] Specifically, the faulty pitch actuator is identified by the fault detection signal and isolated. Only the faulty pitch actuator is adjusted for blade pitch angle, while the non-faulty pitch actuator is left untreated, so as not to affect the nominal performance of the pitch actuator under fault-free operation.

[0088] Furthermore, since each sensor has different sensitivities to different pitch actuators, in order to determine the sensor most sensitive to each pitch actuator, such as... Figure 3 As shown, the pitch control method for wind turbine units also includes:

[0089] S111: Obtain the signal measured by each sensor when each blade is fault-free as the fault-free measurement signal, and the signal measured when each blade is faulty as the faulty measurement signal.

[0090] S112: Calculate the root mean square error (RMSE) values ​​of the fault-free measurement signal and the faulty measurement signal, and use the calculated RMS error values ​​as the fault sensitivity of each sensor to each pitch actuator.

[0091] S113: Select the sensor with the highest fault sensitivity as the target sensor.

[0092] Specifically, the larger the root mean square error value, the higher the fault sensitivity of the sensor to the pitch actuator. Using the sensor with the highest fault sensitivity as the target sensor will yield more accurate data.

[0093] Furthermore, such as Figure 4 As shown, in step S20, an independent pitch control signal is generated based on the collective roll moment measurement and the collective yaw moment measurement, specifically including the following steps:

[0094] S21: The bending moment M at the root of the rotating blade for each blade based on the rotor azimuth angle θ. y After performing a Coleman transform, the measured value M of the collective tilting moment in the stationary plane is obtained. tilt and collective yaw moment measurement value M yaw .

[0095] S22: The collective tilt moment measurement and collective yaw moment measurement are processed separately using a second-order linear active disturbance rejection control algorithm to obtain the tilt control signal and yaw control signal.

[0096] S23: Perform inverse Coleman transformation on the tilt control signal and yaw control signal to obtain independent pitch control signal.

[0097] For ease of understanding, such as Figure 5 As shown, this embodiment uses a 5MW FAST wind turbine as an example for illustration:

[0098] (a) Acquiring fault detection signals and

[0099] For a single wind turbine, consider three independent and similar pitch servo systems. Each pitch actuator is modeled as a second-order differential closed-loop model with a natural frequency of 11.11 rad / s and a damping ratio of 0.6. For a fault scenario of 25% voltage drop (failure) for each pitch actuator, calculate the root mean square error (RMSE) between the measurement signals of each sensor under fault-free and faulty conditions. Then, based on the RMSSE value, determine the most sensitive measurement signal for each pitch actuator; a higher RMSSE value indicates higher fault sensitivity. Next, based on the fault sensitivity analysis results, for the i-th blade, select the most sensitive sensor to measure the blade's pitch angle. And estimate the pitch angle using a pitch estimator. The difference is used to calculate the residual r of the i-th leaf. i According to the residual r of the i-th blade i Calculate the fault detection signal of the strain gauge paddle actuator and

[0100] (ii) Obtaining independent pitch control signals

[0101] First, based on the rotor azimuth angle θ, the bending moment M at the root of each rotating blade. y After performing a Coleman transform, the measured value M of the collective tilting moment in the stationary plane is obtained. tilt and collective yaw moment measurement value M yaw The specific change processing procedure is as follows:

[0102]

[0103] Among them, M y1 M is the bending moment at the root of the rotating blade of the first blade. y2 M is the bending moment at the root of the rotating blade of the second blade. y3 This is the bending moment at the root of the rotating blade of the third blade.

[0104] Next, the collective tilting moment measurement value M obtained through Coleman transformation is... tilt and collective yaw moment measurement value M yaw The load components are considered as decoupled components, and the control signals u are generated by two load controllers (tilt moment controller and yaw moment controller) designed using a second-order linear active disturbance rejection control algorithm. tilt and u yaw .

[0105] Finally, the control signal u generated by the load controller tilt and u yaw Perform an inverse Coleman transform to generate three independent pitch signals. and

[0106]

[0107] (III) Fault detection signals Independent pitch control signal and collective pitch control signal β CPC Signal correction is performed to obtain the accurate target pitch control signal for the blade pitch servo system. The specific correction process is as follows:

[0108]

[0109] The wind turbine pitch control method provided by this invention calculates the root mean square error between the measurement signals of each blade when it is fault-free and when it is faulty. This allows for fault detection and isolation of the pitch actuators controlling each blade. In the event of a pitch actuator failure, the pitch angle of the corresponding blade can be adjusted independently without affecting the nominal performance of the pitch actuator under fault-free operation. Furthermore, a second-order linear active disturbance rejection control algorithm is used to perform independent pitch control on wind turbines with faulty pitch actuators. This reduces the impact of asymmetric wind loads and fatigue loads on the lifespan of wind turbines, alleviates the fatigue load on wind turbines, and extends the lifespan of the units.

[0110] Example 2

[0111] As shown in Figure 6, a wind turbine pitch control device is provided, which corresponds one-to-one with the wind turbine pitch control method in the above embodiments. It includes a fault detection and diagnosis module 10, an independent pitch control module 20, a collective pitch control module 30, a signal correction module 40, and a signal control module 50.

[0112] The fault detection and diagnosis module 10 is used to calculate the residual signal of the blade and obtain the fault detection signal of the strain gauge actuator based on the residual signal of the blade.

[0113] The independent pitch control module 20 is used to acquire the collective roll moment measurement value and the collective yaw moment measurement value, and generate an independent pitch control signal based on the collective roll moment measurement value and the collective yaw moment measurement value.

[0114] Collective pitch control module 30 is used to acquire collective pitch control signals.

[0115] The signal correction module 40 is used to complete signal correction based on the collective pitch control signal, the independent pitch control signal and the fault detection signal to obtain the target pitch control signal.

[0116] The signal control module 50 is used to output pitch control signals to the blade pitch servo system to control the operation of the blade pitch servo system.

[0117] Furthermore, the independent pitch control module 20 includes a Coleman transformation submodule, a tilt and yaw load control submodule, and a reverse Coleman transformation module.

[0118] The Coleman transformation submodule is used to perform Coleman transformation on the bending moment at the root of each rotating blade based on the rotor azimuth angle, so as to obtain the collective tilting moment measurement value and the collective yaw moment measurement value in the stationary plane.

[0119] The tilt and yaw load control submodule is used to process the collective tilt moment measurement value and the collective yaw moment measurement value respectively through a second-order linear active disturbance rejection control algorithm to obtain the tilt control signal and the yaw control signal.

[0120] The inverse Coleman transformation module is used to perform inverse Coleman transformation on the tilt control signal and the yaw control signal to obtain an independent pitch control signal.

[0121] Specific limitations regarding wind turbine pitch control can be found in the above description of the wind turbine pitch control method, and will not be repeated here. The various modules in the aforementioned wind turbine pitch control can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independent of the processor in a computer device, or stored in software in the computer device's memory, so that the processor can call and execute the corresponding operations of each module.

[0122] Example 3

[0123] like Figure 7As shown, this embodiment provides a computer device, which can be a server, and its internal structure diagram is as follows. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a computer-readable storage medium and internal memory. The computer-readable storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the computer-readable storage medium. The database stores data involved in the wind turbine pitch control method. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a wind turbine pitch control method.

[0124] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the wind turbine pitch control method described in the above embodiment, for example... Figure 1 Steps 10 to S50 are shown. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit of the wind turbine pitch control device in the above embodiments, for example... Figure 6 The functions of modules 10 to 50 are shown. To avoid repetition, they will not be described again here.

[0125] Example 4

[0126] This embodiment provides a computer-readable storage medium storing a computer program. When executed by a processor, this computer program implements the steps of the wind turbine pitch control method described in the above embodiment, for example... Figure 1 Steps S10-S50 shown, or Figure 2 to Figure 5 The steps shown are omitted here to avoid repetition. Alternatively, the processor executes the computer program to implement the functions of each module / unit in this embodiment of the wind turbine pitch control device, for example... Figure 6 The functions of modules 10 to 50 are shown. To avoid repetition, they will not be described again here.

[0127] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0128] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0129] The computer-readable medium may be included in the apparatus, device, or system of the present invention, or it may exist independently.

[0130] The computer-readable storage medium may be any tangible medium that contains or stores a program, and may be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device. More specific examples include, but are not limited to, electrical connections having one or more wires, portable computer disks, hard disks, optical fibers, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0131] The computer-readable storage medium may also include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code, specific examples of which include, but are not limited to, electromagnetic signals, optical signals, or any suitable combination thereof.

[0132] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for pitch control of a wind turbine generator, characterized in that, include: Calculate the residual signal of the blade, and obtain the fault detection signal of the strain gauge actuator based on the residual signal of the blade; Acquire collective roll moment and collective yaw moment measurements, and generate independent pitch control signals based on the collective roll moment and collective yaw moment measurements; Acquire collective pitch control signals; Based on the collective pitch control signal, the independent pitch control signal, and the fault detection signal, signal correction is performed to obtain the target pitch control signal; The target pitch control signal is output to the blade pitch servo system to control the operation of the blade pitch servo system; The calculation of the blade residual signal includes: acquiring the blade pitch angle measurement value measured by the target sensor and acquiring the blade pitch angle estimate value estimated by the pitch estimator; and obtaining the residual signal based on the difference between the blade pitch angle measurement value and the blade pitch angle estimate value. The wind turbine pitch control method further includes: acquiring the signal measured by each sensor when each blade is fault-free as the fault-free measurement signal, and the signal measured when each blade is faulty as the faulty measurement signal; calculating the root mean square error value of the fault-free measurement signal and the faulty measurement signal, and using the calculated root mean square error value as the fault sensitivity of each sensor to each pitch actuator; and selecting the sensor with the highest fault sensitivity as the target sensor.

2. The wind turbine pitch control method according to claim 1, characterized in that, The acquisition of the fault detection signal of the strain gauge actuator based on the residual signal of the blade includes: Compare the value of the residual signal with a preset residual threshold; When the value of the residual signal is less than or equal to the preset residual threshold, or when the value of the residual signal is greater than the preset residual threshold and the sampling time corresponding to the residual signal greater than the preset residual threshold is less than the preset continuous sampling time, it indicates that there is no fault and the output is a fault detection signal of 0. If the sampling time corresponding to the residual signal that is greater than the preset residual threshold is not less than the preset continuous sampling time, it indicates that a fault has occurred, and the residual signal is used as a fault detection signal and output.

3. The wind turbine pitch control method according to claim 1, characterized in that, The generation of independent pitch control signals based on the collective tilt moment measurement and the collective yaw moment measurement includes: Based on the rotor azimuth angle, the bending moment at the root of each rotating blade is processed by Coleman transformation to obtain the collective tilting moment measurement value and the collective yaw moment measurement value in the stationary plane. The collective tilt moment measurement value and the collective yaw moment measurement value are processed by a second-order linear active disturbance rejection control algorithm to obtain the tilt control signal and the yaw control signal. The inverse Coleman transformation of the tilt control signal and the yaw control signal is performed to obtain the independent pitch control signal.

4. The wind turbine pitch control method according to claim 1, characterized in that, The process of performing signal correction based on the collective pitch control signal, the independent pitch control signal, and the fault detection signal to obtain the target pitch control signal is as follows: In the formula, β represents the target pitch control signal corresponding to the i-th pitch actuator. CPC This indicates the collective pitch control signal. This represents the independent pitch control signal corresponding to the i-th pitch actuator. This represents the fault detection signal corresponding to the i-th pitch actuator.

5. A wind turbine pitch control system, characterized in that, It includes a fault detection and diagnosis module, an independent pitch control module, a collective pitch control module, a signal correction module, and a signal control module; The fault detection and diagnosis module is used to calculate the residual signal of the blade and obtain the fault detection signal of the strain gauge actuator based on the residual signal of the blade. The independent pitch control module is used to acquire the collective roll moment measurement value and the collective yaw moment measurement value, and generate an independent pitch control signal based on the collective roll moment measurement value and the collective yaw moment measurement value; The collective pitch control module is used to acquire collective pitch control signals; The signal correction module is used to perform signal correction based on the collective pitch control signal, the independent pitch control signal and the fault detection signal to obtain the target pitch control signal. The signal control module is used to output the target pitch control signal to the blade pitch servo system to control the operation of the blade pitch servo system. The fault detection and diagnosis module is used to calculate the residual signal of the blade, including: acquiring the pitch angle measurement value of the blade measured by the target sensor, and acquiring the estimated pitch angle value of the blade estimated by the pitch estimator; and obtaining the residual signal based on the difference between the measured pitch angle value and the estimated pitch angle value. The wind turbine pitch control system further includes: acquiring the signal measured by each sensor when each blade is fault-free as the fault-free measurement signal, and the signal measured when each blade is faulty as the faulty measurement signal; calculating the root mean square error value of the fault-free measurement signal and the faulty measurement signal, and using the calculated root mean square error value as the fault sensitivity of each sensor to each pitch actuator; and selecting the sensor with the highest fault sensitivity as the target sensor.

6. A wind turbine pitch control system according to claim 5, characterized in that, The independent pitch control module includes: The Coleman transformation submodule is used to perform Coleman transformation on the bending moment at the root of each rotating blade based on the rotor azimuth angle, so as to obtain the collective tilting moment measurement value and the collective yaw moment measurement value in the stationary plane. The tilt and yaw load control submodule is used to process the collective tilt moment measurement value and the collective yaw moment measurement value through a second-order linear active disturbance rejection control algorithm to obtain tilt control signal and yaw control signal; The inverse Coleman transformation module is used to perform an inverse Coleman transformation on the tilt control signal and the yaw control signal to obtain an independent pitch control signal.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the wind turbine pitch control method as described in any one of claims 1 to 4.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the wind turbine pitch control method as described in any one of claims 1 to 4.

Images