Wind turbine control method, device, wind turbine generator set and electronic device

Abstract

The present invention provides a wind turbine control method, device, wind turbine generator set and electronic device, belonging to the technical field of automatic control, including: obtaining a target curve of target operating parameters of a wind turbine to be measured within a target time period; obtaining a target spectrogram of the wind turbine within the target time period based on the target curve; and adjusting the on-off state of a band-stop filter corresponding to at least one characteristic frequency in the controller of the wind turbine to be measured based on the spectral analysis result of the target spectrogram. Based on the existing fixed filter, according to the spectral analysis result of the target curve, the present invention reduces the number of band-stop filters when there is no spectral fluctuation, which can effectively reduce the lag of speed filtering and improve the response speed of the system; when the spectrum fluctuates, it timely switches on the band-stop filter corresponding to the corresponding frequency to reduce the influence of the fluctuation on the controller and improve the stability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and particularly to a control method and device for a wind turbine, a wind turbine generator set, and an electronic device. Background Art

[0002] At present, the overall control of a wind turbine mainly includes pitch angle control and torque control, and the corresponding control parameter design for pitch angle control and torque control is completed when the number of filters and filter parameters are both determined.

[0003] Using a fixed filter method for wind turbine control mainly has the following defects:

[0004] On the one hand, when the wind turbine is operating, if there is no characteristic frequency in the relevant target spectrogram that causes fluctuations in the operation control of the wind turbine due to faults or accidents, using more filters in the controller will cause a significant lag in the output of the controller, reducing the response speed of the entire control system. For example, in the case of gust conditions, due to the untimely response of the control system, the risk of overspeed of the wind turbine will increase.

[0005] On the other hand, when the wind turbine is operating, if there are unexpected frequency fluctuations in the relevant target spectrogram other than the above-mentioned characteristic frequencies, since there is no band-stop filter for unexpected frequencies preset in the controller, the controller cannot effectively filter out the interference of unexpected frequencies, and thus the controller output will contain control fluctuations of unexpected frequencies, affecting the stability of the control system.

[0006] In view of this, it is urgent to improve the existing automatic control method for wind turbines to improve the response speed of wind turbine control and the stability of the entire control system at the same time. Summary of the Invention

[0007] The present invention provides a control method and device for a wind turbine, a wind turbine generator set, and an electronic device to solve the defects of slow response speed, large control fluctuations, and unstable control caused by using a fixed filter method in the prior art.

[0008] In a first aspect, the present invention provides a control method for a wind turbine, including:

[0009] Obtaining a target curve of target working parameters of a wind turbine to be measured within a target time period;

[0010] Based on the target curve, obtaining a target spectrogram of the wind turbine within the target time period;

[0011] Based on the spectrum analysis result of the target spectrogram, adjust the on-off state of the band-stop filter corresponding to at least one characteristic frequency in the wind turbine controller to be measured.

[0012] According to a wind turbine control method provided by the present invention, the adjusting the on-off state of the band-stop filter corresponding to at least one characteristic frequency in the wind turbine controller to be measured based on the spectrum analysis result of the target spectrogram includes:

[0013] Determine the first characteristic threshold and the second characteristic threshold of the band-stop filter corresponding to the characteristic frequency;

[0014] When the band-stop filter corresponding to the characteristic frequency is in the on state, according to the spectrum analysis result, if it is determined that the spectrum characteristic quantity corresponding to the characteristic frequency is less than the first characteristic threshold, control the band-stop filter to turn off;

[0015] When the band-stop filter corresponding to the characteristic frequency is in the off state, according to the spectrum analysis result, if it is determined that the spectrum characteristic quantity corresponding to the characteristic frequency is greater than the second characteristic threshold, control the band-stop filter to turn on;

[0016] The first characteristic threshold is less than the second characteristic threshold, and the absolute value of the difference between the first characteristic threshold and the second characteristic threshold is greater than the third characteristic threshold.

[0017] According to a wind turbine control method provided by the present invention, when the band-stop filter corresponding to the characteristic frequency is in the on state, it further includes:

[0018] If it is determined that the spectrum characteristic quantity corresponding to the characteristic frequency is greater than the fourth characteristic threshold, adjust the parameters of the band-stop filter corresponding to the characteristic frequency to enhance the filtering effect of the band-stop filter.

[0019] According to a wind turbine control method provided by the present invention, the spectrum characteristic quantity is spectrum energy or spectrum amplitude.

[0020] According to a wind turbine control method provided by the present invention, the target curve is a motor speed curve, a wind turbine rotor speed curve, a nacelle fore-aft acceleration curve, or a nacelle lateral acceleration curve.

[0021] According to a wind turbine control method provided by the present invention, the controller is a PID controller; after adjusting the on-off state of the band-stop filter corresponding to at least one characteristic frequency in the wind turbine controller to be measured, it further includes: based on the on-off state of each band-stop filter in the controller, adjust the parameters of the PID controller.

[0022] A wind turbine control method provided by the present invention, wherein the characteristic frequencies include at least one of tower frequency, 1P frequency, 3P frequency, 6P frequency, drive train frequency, blade flap frequency or blade pitch frequency.

[0023] A wind turbine control method provided by the present invention, wherein the controller includes a torque controller and / or a pitch angle controller.

[0024] A wind turbine control method provided by the present invention, wherein the spectrum analysis result is obtained by analyzing the target spectrogram based on one of Fourier transform, fast Fourier transform, and circular Fourier transform.

[0025] In a second aspect, the present invention further provides a wind turbine control device, including:

[0026] A signal acquisition unit, configured to obtain a target curve of target operating parameters of a wind turbine to be measured within a target period;

[0027] A signal conversion unit, configured to obtain a target spectrogram of the wind turbine within the target period based on the target curve;

[0028] A signal control unit, configured to adjust the on / off state of a band-stop filter corresponding to at least one characteristic frequency in a controller of the wind turbine to be measured based on a spectrum analysis result of the target spectrogram.

[0029] In a third aspect, the present invention provides a wind turbine generator set, including at least one wind turbine generator body and a processor for controlling the operation of the wind turbine generator body;

[0030] It further includes a memory and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, it executes the wind turbine control method according to any one of the first aspect.

[0031] In a fourth aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of the wind turbine control method according to any one of the above.

[0032] In a fifth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the wind turbine control method according to any one of the above.

[0033] The wind turbine control method, device, wind turbine unit and electronic device provided by the present invention, on the basis of the existing fixed filter, according to the spectral analysis result of the target curve, can reduce the number of band-stop filters when there is no spectral fluctuation, effectively reducing the lag of speed filtering and improving the response speed of the system; when the spectrum fluctuates, the band-stop filter corresponding to the frequency is cut in time to reduce the influence of the fluctuation on the controller and improve the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 is a schematic flowchart of the wind turbine control method provided by the present invention;

[0036] Figure 2 is a schematic diagram of the speed-torque curve of the wind turbine provided by the present invention;

[0037] Figure 3 is a schematic structural diagram of a wind turbine controller in the prior art;

[0038] Figure 4 is a schematic structural diagram of the wind turbine controller provided by the present invention;

[0039] Figure 5 is a schematic structural diagram of the wind turbine control device provided by the present invention;

[0040] Figure 6 is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0042] It should be noted that in the description of the embodiments of the present invention, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The terms "first", "second", etc. in this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually of the same type, and do not limit the number of objects. For example, the first object can be one or multiple. In addition, "and / or" means at least one of the connected objects, and the character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0044] Figure 1 is a schematic flowchart of the wind turbine control method provided by the present invention, as Figure 1 shown, including but not limited to the following steps:

[0045] Step 101: Obtain the target curve of the target working parameters of the wind turbine to be measured within the target time period;

[0046] Step 102: Based on the target curve, obtain the target spectrogram of the wind turbine within the target time period;

[0047] Step 103: Based on the spectral analysis result of the target spectrogram, adjust the on-off state of the band-stop filter corresponding to at least one characteristic frequency in the controller of the wind turbine to be measured.

[0048] The overall control of the wind turbine mainly includes pitch angle control and torque control. Below the rated power, the motor speed and rated power output of the wind turbine are mainly controlled through torque control; above the rated power, the pitch angle control is mainly used to adjust the wind energy absorption of the wind turbine to ensure the stable motor speed of the wind turbine and maintain a stable rated power output.

[0049] Figure 2 is a schematic diagram of the speed-torque curve of the wind turbine provided by the present invention, as Figure 2As shown in the figure, the torque controllers adopted in the AB section and the CD section take the motor speed of the wind turbine as the input respectively, and use a PID controller to output torque control commands; in the BC section, the PID controller gives the torque control command of the wind turbine according to the optimal speed-torque curve; in the EF section, the pitch angle controller adopted takes the motor speed of the wind turbine as the input, uses a PID controller to output pitch angle control commands, and the torque gives torque control commands according to the constant power mode.

[0050] Figure 3 is a schematic structural diagram of a wind turbine controller in the prior art. As Figure 3 shown, currently, the original designs of the torque controllers and the pitch angle controllers in the above-mentioned AB section, BC section, CD section, and EF section all adopt fixed filters, and the corresponding control parameter designs for torque control and pitch angle control are completed under the condition that the filter parameters are determined.

[0051] When controlling a wind turbine, generally, the motor speed, wind turbine speed, longitudinal acceleration of the nacelle, and lateral acceleration of the nacelle, etc. are taken as analysis objects. By performing spectral analysis on the target curves of these analysis objects, according to the obtained target spectrogram, the torque controller and the pitch angle controller generate pitch angle control commands and torque control commands respectively under different operating states to achieve the overall control of the wind turbine. Therefore, the target operating parameters mentioned in the present invention may include the motor speed, wind turbine speed, longitudinal acceleration of the nacelle, and lateral acceleration of the nacelle, etc.

[0052] For the convenience of description, in the subsequent embodiments, it is taken as an example that the analysis object is the motor speed, the target curve is the motor speed curve, and the target spectrogram is the motor speed spectrogram for illustration.

[0053] Furthermore, for the convenience of description, without special explanation, in the subsequent embodiments, the torque controller and the pitch angle controller are collectively referred to as the controller.

[0054] Take Figure 3 the schematic structural diagram of the wind turbine controller in the prior art shown in the figure as an example. Generally, in order to suppress the possible motor speed fluctuations, a low-pass filter and a band-stop filter corresponding to certain characteristic frequencies are set in the controller.

[0055] Among them, the characteristic frequencies refer to some common frequencies that are closely related to the motor speed fluctuations of the wind turbine, such as the tower frequency, 1P frequency, 3P frequency, 6P frequency, drivetrain frequency, etc. The 1P frequency, 3P frequency, and 6P frequency respectively refer to the wind turbine speed frequency, the frequency of the 3 blades of the wind turbine sweeping past the tower, and the multiple frequency of the 3 blades of the wind turbine sweeping past the tower.

[0056] That is, in the existing controller, common filters such as low-pass filters, tower frequency band-stop filters, 1P frequency, 3P frequency band-stop filters, 6P frequency band-stop filters, and drive train frequency band-stop filters are generally set. These common filters are all fixed filters. This design and control method mainly has the following defects:

[0057] When there is no fluctuation in the rotational speed of the wind turbine at any one or more of the above common characteristic frequency rotational speeds (tower frequency, 1P frequency, 3P frequency, 6P frequency, or drive train frequency), using so many filters in the controller will cause a significant lag in the output of the controller, reducing the response speed of the control system. In the case of gust conditions, the risk of overspeed of the wind turbine will increase due to the untimely response of the control system.

[0058] Conversely, when there are fluctuations in the rotational speed of other uncommon characteristic frequencies other than the above common characteristic frequencies in the rotational speed of the wind turbine, since there is no pre-set band-stop filter for the uncommon characteristic frequencies in the controller, the controller cannot effectively filter out the rotational speed fluctuations of these uncommon characteristic frequencies. In this way, the controller output will contain control fluctuations of the uncommon characteristic frequencies, thus affecting the stability of the control system.

[0059] To solve these deficiencies of the existing technology, taking the control of any wind turbine to be measured as an example, the wind turbine control method provided by the present invention first collects the motor rotational speed values of the wind turbine to be measured within any target period according to a preset sampling frequency, and draws a target curve (in this embodiment, the target curve is taken as an example of the motor rotational speed curve for illustration).

[0060] Further, perform a spectral analysis on the target curve. For example, after performing a Fourier Transformation (FT) on the target curve, an amplitude spectrum diagram and a phase spectrum diagram are obtained. In this embodiment, the amplitude spectrum diagram can be used as the target spectrum diagram.

[0061] Further, analyze the obtained target spectrum diagram to obtain a spectral analysis result. Among them, the spectral analysis result mainly includes the result of analyzing the spectral characteristic quantities corresponding to some characteristic frequencies.

[0062] Optionally, the above spectral characteristic quantity can be spectral energy or spectral amplitude.

[0063] For example: For the drive train frequency in the characteristic frequencies, obtain the spectral amplitude corresponding to the drive train frequency from the target spectrum diagram. If the spectral amplitude is less than a certain threshold, it indicates that there is no fluctuation in the motor rotational speed related to the drive train frequency in the controller.

[0064] Different from the prior art, in the wind turbine control method provided by the present invention, after it is determined that there is no motor speed fluctuation related to the drive train frequency in the controller, the band-stop filter corresponding to the drive train frequency in the controller will be turned off. In this way, by reducing the number of band-stop filters, the lag of speed filtering can be effectively reduced, the response speed of the controller can be improved, so that the wind turbine can respond faster when encountering gust conditions, and further the overspeed risk of the wind turbine can be suppressed.

[0065] Similarly, for other frequencies in the characteristic frequencies, the above control method can also be adopted, which will not be elaborated here one by one.

[0066] Based on the existing fixed filters, the wind turbine control method provided by the present invention can effectively reduce the lag of speed filtering and improve the response speed of the system by reducing the number of band-stop filters according to the spectral analysis result of the target curve when there is no spectral fluctuation; when the spectrum fluctuates, the band-stop filter corresponding to the corresponding frequency is timely switched in to reduce the influence of the fluctuation on the controller and improve the stability of the system.

[0067] Based on the content of the above embodiments, as an optional embodiment, adjusting the on-off state of the band-stop filter corresponding to at least one characteristic frequency in the controller of the to-be-tested wind turbine based on the spectral analysis result of the target spectrogram includes: determining a first characteristic threshold and a second characteristic threshold of the band-stop filter corresponding to the characteristic frequency; when the band-stop filter corresponding to the characteristic frequency is in the on state, according to the spectral analysis result, if it is determined that the spectral characteristic quantity corresponding to the characteristic frequency is less than the first characteristic threshold, then control the band-stop filter to be turned off; when the band-stop filter corresponding to the characteristic frequency is in the off state, according to the spectral analysis result, if it is determined that the spectral characteristic quantity corresponding to the characteristic frequency is greater than the second characteristic threshold, then control the band-stop filter to be turned on; the first characteristic threshold is less than the second characteristic threshold, and the absolute value of the difference between the first characteristic threshold and the second characteristic threshold is greater than a third characteristic threshold.

[0068] It should be noted that the first characteristic threshold, the second characteristic threshold, and the third characteristic threshold corresponding to each different band-stop filter are all determined by its corresponding characteristic frequency and are generally different.

[0069] Optionally, by adopting the method of offline experiment, according to the spectral analysis result under normal power generation conditions, the first characteristic threshold, the second characteristic threshold, and the third characteristic threshold related to each characteristic frequency are pre-obtained, and by constructing a characteristic threshold list corresponding to all characteristic frequencies, the constructed characteristic threshold list is pre-stored in the controller.

[0070] Figure 4It is a schematic structural diagram of the wind turbine controller provided by the present invention. As Figure 4 shown, in the wind turbine control method provided by the present invention, during the normal power generation process, only the function of the low-pass filter is retained, and other band-stop filters corresponding to each characteristic frequency, such as: the drive train frequency band-stop filter, the 1P frequency, the 3P frequency band-stop filter, the 6P frequency band-stop filter, and the tower frequency and other band-stop filters related to common characteristic frequencies are all in the off state (some band-stop filters related to uncommon characteristic frequencies are also in the off state).

[0071] Based on the method of the above embodiment, collect the target curve of the wind turbine to be measured during the target period, and obtain the corresponding target spectrogram.

[0072] Through the spectral analysis result of the target spectrogram, if it is determined that the spectral energy corresponding to a certain characteristic frequency (assumed to be the drive train frequency) (assuming the spectral characteristic quantity is spectral energy) is greater than the second characteristic threshold, it indicates that the drive train frequency is abnormal, that is, there is a motor speed fluctuation related to the drive train frequency in the controller. Therefore, it is necessary to turn on the drive train frequency band-stop filter to filter out this motor speed fluctuation.

[0073] If it is determined that the spectral energy corresponding to the 6P frequency is greater than its corresponding second characteristic threshold, turn on the 6P frequency band-stop filter to filter out the motor speed fluctuation related to the 6P frequency.

[0074] Similarly, for the opening of other band-stop filters, this judgment method can be referred to, and no further elaboration will be made here.

[0075] Further, taking the drive train frequency band-stop filter being in the on state as an example, first, the first characteristic threshold, the second characteristic threshold, and the third characteristic threshold related to the drive train frequency band-stop filter can be obtained by looking up a table.

[0076] After determining according to the spectral analysis result that the spectral characteristic quantity corresponding to the drive train frequency is less than its related first characteristic threshold, it indicates that the drive train frequency is normal, that is, the motor speed fluctuation related to the drive train frequency in the controller has been eliminated. At this time, the drive train frequency band-stop filter can be turned off to reduce the lag of speed filtering and thus improve the response speed of the controller.

[0077] Similarly, for other band-stop filters in the on state, the comparison result of the spectral energy of the respective corresponding characteristic frequencies and their respective first characteristic thresholds can also be determined through the spectral analysis result of the target spectrogram to determine whether to turn them off.

[0078] It should be noted that for the target curve within the same target time period, one band-stop filter can be turned off while another band-stop filter is turned on. That is, the on / off state decision of each band-stop filter is independently made according to the spectral analysis result of the target spectrogram.

[0079] Furthermore, in order to avoid frequent operation of the band-stop filter, in the wind turbine control method provided by the present invention, the second characteristic threshold for enabling corresponding to each band-stop filter is greater than the first characteristic threshold for closing, and the absolute value of the difference between the second characteristic threshold and the first characteristic threshold is greater than the third characteristic threshold.

[0080] Based on the content of the above embodiments, as an alternative embodiment, when the band-stop filter corresponding to the characteristic frequency is in the on state, it further includes:

[0081] If it is determined that the spectral characteristic quantity corresponding to the characteristic frequency is greater than the fourth characteristic threshold, adjust the parameters of the band-stop filter corresponding to the characteristic frequency to enhance the filtering effect of the band-stop filter.

[0082] For example, after determining that there is a motor speed fluctuation related to the drive train frequency in the controller, and the spectral amplitude corresponding to the drive train frequency is greater than the fourth threshold obtained from the target spectrogram, the parameters of the band-stop filter corresponding to the drive train frequency can be appropriately adjusted, such as increasing the passband bandwidth of the band-stop filter, to increase its filtering effect and reduce the impact of the fluctuation on the output of the controller.

[0083] It should be noted that the values of the fourth threshold corresponding to the spectral amplitudes of different characteristic frequencies are different, and it can also be determined by means of offline experiments and the determined results are saved in the characteristic threshold list.

[0084] The wind turbine control method provided by the present invention can automatically adjust the parameters of the band-stop filters corresponding to each characteristic frequency according to the magnitude of the spectral characteristic quantity, and can adaptively balance the relative relationship between the filtering effect of the band-stop filter and the response speed of the controller, thereby improving the stability of the controller.

[0085] Based on the content of the above embodiments, as an alternative embodiment, the spectral characteristic quantity is spectral energy or spectral amplitude.

[0086] In the wind turbine control method provided by the present invention, spectral energy can be used as the spectral characteristic quantity, and its analysis result can be used as the spectral analysis result to set the first characteristic threshold, the second characteristic threshold, and the third characteristic threshold corresponding to each characteristic frequency, so as to make decisions on enabling and closing corresponding to each characteristic frequency.

[0087] As an alternative, the spectral amplitude or other spectral characteristic quantities can also be adopted, and the analysis result thereof is used as the spectral analysis result to set the first characteristic threshold, the second characteristic threshold, and the third characteristic threshold corresponding to each characteristic frequency, so as to make decisions on enabling and closing corresponding to each characteristic frequency.

[0088] Based on the content of the above embodiments, as an alternative embodiment, the target curve is a motor speed curve, a wind turbine speed curve, a nacelle front-to-back acceleration curve, or a nacelle side-to-side acceleration curve.

[0089] For the wind turbine control method provided by the present invention, in the above embodiments, it is elaborated in detail that taking the motor speed curve as the target curve, identifying the spectral analysis result obtained by performing spectrum analysis on it, and then realizing the adjustment of the on-off state and parameters of each band-stop filter in the controller.

[0090] Correspondingly, it is also possible to start from other parameters that affect the torque control and pitch angle control of the wind turbine, such as: wind turbine speed, nacelle front-to-back acceleration, or nacelle side-to-side acceleration, etc. By performing spectrum analysis on one or more of the curves such as the motor speed curve, the wind turbine speed curve, the nacelle front-to-back acceleration curve, or the nacelle side-to-side acceleration curve, the adjustment of the on-off state and parameters of each band-stop filter in the controller is comprehensively realized.

[0091] Based on the content of the above embodiments, as an alternative embodiment, the controller is a PID controller.

[0092] After adjusting the on-off state of the band-stop filter corresponding to at least one characteristic frequency in the controller of the wind turbine to be measured, it further includes: adjusting the parameters of the PID controller based on the on-off state of each band-stop filter in the controller.

[0093] Specifically, according to the spectral analysis result, the number of turned-on band-stop filters corresponding to the characteristic frequency in the controller is increased. For example, after enabling the drive train frequency band-stop filter (assuming the on-off states of other band-stop filters remain unchanged), due to the increase in the band-stop filter, the output of the controller will lag, and thus the response speed of the entire control system will be reduced to a certain extent. At this time, the parameters of the PID controller can be adjusted, such as reducing the proportional coefficient K p (adaptively adjusting the integral coefficient K i and the differential coefficient K d ), so as to improve the stability of the control system.

[0094] Correspondingly, when a single or multiple band-stop filters are turned off, the proportional coefficient K in the PID parameters of the controller can be appropriately increased p .

[0095] It should be noted that for the specific method of setting the PID parameters of the controller, it is also possible to determine the ideal setting values of the PID parameters after the on / off states of each band-stop filter according to the enabling and disconnection spectral analysis results under normal power generation through off-line experiments, and establish a corresponding PID parameter list, which is stored in the controller.

[0096] In this way, when the on / off state of any band-stop filter changes, the appropriate PID parameters can be quickly determined by looking up the table and adjusted.

[0097] Based on the content of the above embodiments, as an alternative embodiment, the characteristic frequencies include at least one of tower frequency, 1P frequency, 3P frequency, 6P frequency, drivetrain frequency, blade flap frequency or blade pitch frequency.

[0098] Optionally, the characteristic frequencies may include some common characteristic frequencies closely related to the motor speed, such as tower frequency, 1P frequency, 3P frequency, 6P frequency, drivetrain frequency, etc., and may also include some uncommon characteristic frequencies related to unexpected fluctuations in the motor speed, such as blade flap frequency and blade pitch frequency, etc. The present invention does not make specific limitations thereto.

[0099] It should be noted that the wind turbine control method provided by the present invention mainly selectively enables single or multiple band-stop filters related to common characteristic frequencies according to the spectral analysis results, that is, when a fluctuation of a certain characteristic frequency appears in the controller, the band-stop filter corresponding to the characteristic frequency is added; or when the fluctuation of a certain characteristic frequency disappears, the band-stop filter of the characteristic frequency is turned off.

[0100] Another difference from the prior art is that the present invention can also determine to add a band-stop filter correspondingly after a fluctuation of an uncommon characteristic frequency that is not preset appears in the controller according to the spectral analysis result, so as to filter out the fluctuation of the uncommon characteristic frequency, thereby improving the stability margin of the system.

[0101] Based on the content of the above embodiments, in combination with Figure 4 As shown, the controller mainly includes a torque controller and / or a pitch angle controller.

[0102] Specifically, in the torque controller and the pitch angle controller, band-stop filters related to common characteristic frequencies such as tower frequency, 1P frequency, 3P frequency, 6P frequency, drivetrain frequency, etc. are enabled according to actual needs, and band-stop filters related to uncommon characteristic frequencies such as blade flap frequency and blade pitch frequency are also enabled, and a basic low-pass filter is also included.

[0103] Further, each controller further includes a PID gain scheduling unit for adjusting the PID parameters of the controller according to the enabling state of the band-stop filter.

[0104] Optionally, the spectrum analysis result is obtained by analyzing the target spectrogram based on any one of Fourier Transformation (FT), Fast Fourier Transformation (FFT), and Circular Fourier Transformation.

[0105] Figure 5 is a schematic structural diagram of the wind turbine control device provided by the present invention. As Figure 5 shown, the wind turbine control device provided by the present invention mainly includes a signal acquisition unit 51, a signal conversion unit 52, and a signal control unit 53, where:

[0106] The signal acquisition unit 51 is mainly used to obtain the target curve of the target operating parameters of the wind turbine to be measured within the target time period;

[0107] The signal conversion unit 52 is mainly used to obtain the target spectrogram of the wind turbine within the target time period based on the target curve;

[0108] The signal control unit 53 is mainly used to adjust the on-off state of the band-stop filter corresponding to at least one characteristic frequency in the controller of the wind turbine to be measured based on the spectrum analysis result of the target spectrogram.

[0109] It should be noted that the wind turbine control device provided by the embodiments of the present invention can execute the wind turbine control method described in any of the above embodiments during specific operation, and details are not described in this embodiment.

[0110] Based on the existing fixed filter, the wind turbine control device provided by the present invention can reduce the number of band-stop filters when there is no spectrum fluctuation according to the spectrum analysis result of the target curve, effectively reducing the lag of speed filtering and improving the response speed of the system; when the spectrum fluctuates, it can timely cut in the band-stop filter corresponding to the corresponding frequency, reducing the impact of the fluctuation on the controller and improving the stability of the system.

[0111] The present invention also provides a wind turbine generator set, which mainly includes at least one wind turbine generator body and a processor for controlling the operation of the wind turbine generator body, and further includes a memory and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, it executes the wind turbine control method provided in any of the above embodiments.

[0112] Figure 6 is a schematic structural diagram of the electronic device provided by the present invention. As Figure 6 shown, the electronic device may include: a processor 610, a communications interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communications interface 620, and the memory 630 complete mutual communication through the communication bus 640. The processor 610 may call logical instructions in the memory 630 to execute a wind turbine control method, and the method includes: obtaining a target curve of target operating parameters of a wind turbine to be measured within a target period; obtaining a target spectrogram of the wind turbine within the target period based on the target curve; and adjusting the on / off state of a band-stop filter corresponding to at least one characteristic frequency in a controller of the wind turbine to be measured based on a spectrogram analysis result of the target spectrogram.

[0113] In addition, when the logical instructions in the foregoing memory 630 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0114] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the wind turbine control method provided by the foregoing various methods. The method includes: obtaining a target curve of target operating parameters of a wind turbine to be measured within a target period; obtaining a target spectrogram of the wind turbine within the target period based on the target curve; and adjusting the on / off state of a band-stop filter corresponding to at least one characteristic frequency in a controller of the wind turbine to be measured based on a spectrogram analysis result of the target spectrogram.

[0115] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the wind turbine control method provided in the above embodiments. The method includes: obtaining a target curve of target operating parameters of a wind turbine to be measured within a target time period; obtaining a target spectrogram of the wind turbine within the target time period based on the target curve; and adjusting the on / off states of band-stop filters corresponding to at least one characteristic frequency in a controller of the wind turbine to be measured based on a spectral analysis result of the target spectrogram.

[0116] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0117] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a wind turbine, characterized in that Including: Obtaining a target curve of target working parameters of a wind turbine to be measured within a target period; Based on the target curve, obtaining a target spectrogram of the wind turbine within the target period; Based on the spectral analysis result of the target spectrogram, adjusting the on / off state of a band-stop filter corresponding to at least one characteristic frequency in the controller of the wind turbine to be measured; The adjusting the on / off state of the band-stop filter corresponding to at least one characteristic frequency in the controller of the wind turbine to be measured based on the spectral analysis result of the target spectrogram includes: Determining a first characteristic threshold and a second characteristic threshold of the band-stop filter corresponding to the characteristic frequency; When the band-stop filter corresponding to the characteristic frequency is in an on state, according to the spectral analysis result, if it is determined that the spectral characteristic quantity corresponding to the characteristic frequency is less than the first characteristic threshold, controlling the band-stop filter to turn off; When the band-stop filter corresponding to the characteristic frequency is in an off state, according to the spectral analysis result, if it is determined that the spectral characteristic quantity corresponding to the characteristic frequency is greater than the second characteristic threshold, controlling the band-stop filter to turn on; The first characteristic threshold is less than the second characteristic threshold, and the absolute value of the difference between the first characteristic threshold and the second characteristic threshold is greater than a third characteristic threshold.

2. The wind turbine control method according to claim 1, wherein When the band-stop filter corresponding to the characteristic frequency is in an on state, it further includes: If it is determined that the spectral characteristic quantity corresponding to the characteristic frequency is greater than a fourth characteristic threshold, adjusting the parameters of the band-stop filter corresponding to the characteristic frequency to enhance the filtering effect of the band-stop filter.

3. The wind turbine control method according to claim 1, characterized in that, The spectral characteristic quantity is spectral energy or spectral amplitude.

4. The wind turbine control method according to any one of claims 1-3, characterized in that, The target curve is a motor speed curve, a wind turbine rotor speed curve, a nacelle fore-aft acceleration curve or a nacelle lateral acceleration curve.

5. The wind turbine control method according to any one of claims 1-3, characterized in that, The controller is a PID controller; after adjusting the on / off state of the band-stop filter corresponding to at least one characteristic frequency in the controller of the wind turbine to be measured, it further includes: Based on the on / off states of the band-stop filters in the controller, adjusting the parameters of the PID controller.

6. The wind turbine control method according to any one of claims 1-3, characterized in that The characteristic frequency includes at least one of a tower frequency, a 1P frequency, a 3P frequency, a 6P frequency, a drivetrain frequency, a blade flap frequency or a blade pitch frequency.

7. The wind turbine control method according to any one of claims 1-3, characterized in that, The controller includes a torque controller and / or a pitch angle controller.

8. The wind turbine control method according to any one of claims 1-3, characterized in that, The spectral analysis result is obtained by analyzing the target spectrogram based on one of Fourier transform, fast Fourier transform, circular Fourier transform.

9. A wind turbine control device, characterized in that, Including: A signal acquisition unit for obtaining a target curve of target working parameters of a wind turbine to be measured within a target period; A signal conversion unit for obtaining a target spectrogram of the wind turbine within the target period based on the target curve; A signal control unit for adjusting the on / off state of the band-stop filter corresponding to at least one characteristic frequency in the controller of the wind turbine to be measured based on the spectral analysis result of the target spectrogram, including: determining a first characteristic threshold and a second characteristic threshold of the band-stop filter corresponding to the characteristic frequency; When the band-stop filter corresponding to the characteristic frequency is in the on state, according to the spectrum analysis result, if it is determined that the spectral characteristic quantity corresponding to the characteristic frequency is less than the first characteristic threshold, then control the band-stop filter to turn off; When the band-stop filter corresponding to the characteristic frequency is in the off state, according to the spectrum analysis result, if it is determined that the spectral characteristic quantity corresponding to the characteristic frequency is greater than the second characteristic threshold, then control the band-stop filter to turn on; The first characteristic threshold is less than the second characteristic threshold, and the absolute value of the difference between the first characteristic threshold and the second characteristic threshold is greater than the third characteristic threshold.

10. A wind power generating set, characterized in that, It includes at least one wind turbine body and a processor for controlling the operation of the wind turbine body; It further includes a memory and a program or instruction stored on the memory and executable on the processor, and when the program or instruction is executed by the processor, it executes the wind turbine control method according to any one of claims 1 to 8.

11. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the wind turbine control method according to any one of claims 1 to 8.

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