Control method, device, electronic device and storage medium of wind turbine generator set

Abstract

The present application discloses a control method, device, electronic device, and storage medium for a wind turbine generator set. The control method for a wind turbine generator set includes: obtaining the impeller speed of the wind turbine generator set and the blade angle of each blade, wherein the blade angle of each blade is collected by an encoder corresponding to each blade; in response to the inconsistent blade angles of each blade, determining whether the rate of change of the impeller speed meets the fault-tolerant operation conditions; in response to the rate of change of the impeller speed meeting the fault-tolerant operation conditions, controlling the fault-tolerant operation of the wind turbine generator set based on the blade angles of each blade. According to the embodiments of the present application, the problem in the related art that inconsistent blade angles due to abnormal encoder detection signals can cause shutdowns and losses can be solved.

Description

Technical Field

[0001] The present application belongs to the technical field of wind turbine generator systems, and in particular relates to a control method, device, electronic device, and storage medium for a wind turbine generator system. Background Art

[0002] Wind turbines are usually equipped with different encoders for different blades, and the encoders are used to collect the angle values ​​of the corresponding blades. If the angle values ​​of different blades are inconsistent, the wind turbine is usually shut down to prevent continued operation from causing mechanical losses due to imbalanced blades of the wind turbine. However, the inventors have discovered that the inconsistency of the angle values ​​of different blades may be caused by abnormal detection signals collected by the encoders, rather than actual angle inconsistencies. In this case, if the operation is still stopped, it will result in a waste of wind energy, and frequent shutdowns and restarts will also cause losses to the wind turbine. Summary of the Invention

[0003] The embodiments of the present application provide a control method, device, electronic device and storage medium for a wind turbine generator set, which can solve the problem in the related art that inconsistent blade angles caused by abnormal encoder detection signals may cause shutdown and bring losses.

[0004] In one aspect, an embodiment of the present application provides a method for controlling a wind turbine generator set, the method comprising:

[0005] Obtaining the impeller speed of the wind turbine generator set and the blade angle of each blade, wherein the blade angle of each blade is collected by an encoder corresponding to each blade;

[0006] In response to the inconsistent blade angles of the blades, determining whether the rate of change of the impeller speed meets the fault-tolerant operation condition;

[0007] In response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition, the wind turbine generator set is controlled to operate in a fault-tolerant manner based on the blade angles of the blades.

[0008] As an optional implementation, the fault-tolerant operating conditions may include:

[0009] The rate of change of the impeller rotation speed is less than a first threshold.

[0010] As an optional embodiment, in response to the rate of change of the impeller speed meeting the fault-tolerant operation condition, controlling the fault-tolerant operation of the wind turbine generator set based on the blade angle of each blade may include:

[0011] In response to the impeller speed change rate satisfying the fault-tolerant operation condition, determining that a jump occurs in the target encoder;

[0012] Obtaining a blade angle after correction processing of the blade angle collected by the target encoder, wherein the correction processing is used to correct the blade angle collected by the target encoder;

[0013] Based on the corrected blade angles of the blades, the wind turbine generator set is controlled to operate in a fault-tolerant manner.

[0014] As an optional implementation, the correction process may include:

[0015] Calculate the interpolation value when the target encoder jumps; or,

[0016] The blade angle when the target encoder jumps is replaced by the blade angle collected by the target encoder at a moment before the jump occurs.

[0017] As an optional implementation, before determining whether the rate of change of the impeller speed meets the fault-tolerant operation condition, the method may further include:

[0018] Obtaining a trigger signal of a proximity switch of a target blade, wherein the trigger signal is a first signal when the blade angle of the target blade exceeds a second threshold value, and is a second signal when the blade angle value of the target blade does not exceed the second threshold value;

[0019] In addition to the response condition of inconsistent blade angles of the blades, the response conditions for judging whether the rate of change of the impeller speed meets the fault-tolerant operation conditions also include:

[0020] In response to the blade angle acquired by the target encoder corresponding to the target blade being less than a third threshold, and the trigger signal being the first signal, wherein the third threshold is less than or equal to the second threshold; or,

[0021] In response to the blade angle acquired by the target encoder being greater than a fourth threshold, and the trigger signal being the second signal, wherein the fourth threshold is greater than or equal to the second threshold.

[0022] As an optional embodiment, a control method for a wind turbine generator set is executed by a target controller in the wind turbine generator set. In response to the rate of change of the impeller speed meeting the fault-tolerant operation condition, the wind turbine generator set is controlled to operate in a fault-tolerant manner based on the blade angle of each blade. The method may include:

[0023] In response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition, other controllers except the target controller in the wind turbine generator set are notified to perform fault-tolerant operation.

[0024] On the other hand, an embodiment of the present application provides a control device for a wind turbine generator set, the device comprising:

[0025] A first acquisition unit is configured to acquire the impeller speed of the wind turbine generator set and the blade angle of each blade, wherein the blade angle of each blade is acquired by an encoder corresponding to each blade;

[0026] a judgment unit, configured to judge whether a rate of change of the impeller speed satisfies a fault-tolerant operation condition in response to the inconsistency of blade angles of the blades;

[0027] The first control unit is configured to control the fault-tolerant operation of the wind turbine generator set based on the blade angles of the blades in response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition.

[0028] As an optional implementation, the fault-tolerant operating conditions may include:

[0029] The rate of change of the impeller rotation speed is less than a first threshold.

[0030] As an optional implementation, the first control unit may include:

[0031] a first determining unit, configured to determine that a jump occurs in the target encoder in response to a change rate of the impeller speed satisfying a fault-tolerant operation condition;

[0032] A second acquiring unit is configured to acquire a blade angle after correction processing of the blade angle acquired by the target encoder, wherein the correction processing is used to correct the blade angle acquired by the target encoder;

[0033] The second control unit is used to control the fault-tolerant operation of the wind turbine generator set based on the corrected blade angles of the blades.

[0034] As an optional implementation, the correction process may include:

[0035] Calculate the interpolation value when the target encoder jumps; or,

[0036] The blade angle when the target encoder jumps is replaced by the blade angle collected by the target encoder at a moment before the jump occurs.

[0037] As an optional embodiment, the device may further include:

[0038] a third acquisition unit, configured to acquire a trigger signal of a proximity switch of a target blade before determining whether the rate of change of the impeller speed satisfies a fault-tolerant operation condition, wherein the trigger signal is a first signal when the blade angle of the target blade exceeds a second threshold value, and is a second signal when the blade angle value of the target blade does not exceed the second threshold value;

[0039] In addition to the response condition of inconsistent blade angles of the blades, the response conditions for judging whether the rate of change of the impeller speed meets the fault-tolerant operation conditions also include:

[0040] In response to the blade angle acquired by the target encoder corresponding to the target blade being less than a third threshold, and the trigger signal being the first signal, wherein the third threshold is less than or equal to the second threshold; or,

[0041] In response to the blade angle acquired by the target encoder being greater than a fourth threshold, and the trigger signal being the second signal, wherein the fourth threshold is greater than or equal to the second threshold.

[0042] As an optional embodiment, the control device of the wind turbine generator set is executed by a target controller in the wind turbine generator set, and the first control unit may include:

[0043] The notification unit is configured to notify other controllers in the wind turbine generator set except the target controller to perform fault-tolerant operation in response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition.

[0044] In another aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0045] When the processor executes the computer program instructions, the control method of the wind turbine generator set provided in the embodiment of the present application is implemented.

[0046] On the other hand, an embodiment of the present application provides a storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the control method of the wind turbine generator set provided by the embodiment of the present application is implemented.

[0047] The control method, device, equipment and storage medium of the wind turbine generator set in the embodiments of the present application judge whether the change rate of the impeller speed meets the fault-tolerant operation conditions when the blade angles of each blade are inconsistent. It can be combined with the change rate of the impeller speed to judge whether the inconsistent blade angles are caused by the abnormality of the encoder detection signal. If the change rate of the impeller speed meets the fault-tolerant operation conditions, it is determined that the inconsistent blade angles are caused by the abnormality of the encoder detection signal, so that fault-tolerant operation can be carried out, preventing losses caused by shutdown due to inconsistent blade angles caused by abnormal encoder detection signals, thereby achieving fault-tolerant operation and improving operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 is a schematic diagram of an example of blade angle and impeller speed in an embodiment of the present application;

[0050] Figure 2 Schematic diagram of an example of a signal jump occurring in an encoder in an embodiment of the present application;

[0051] Figure 3 is a schematic diagram of an example in which the impeller speed meets the fault-tolerant operating conditions in the embodiment of the present application;

[0052] Figure 4 is a schematic diagram of an example of the impeller speed when a propeller jam occurs in an embodiment of the present application;

[0053] Figure 5 This is a flow chart of a control method for a wind turbine generator set provided by one embodiment of the present application;

[0054] Figure 6 is a flow chart of a control method for a wind turbine generator set provided by another embodiment of the present application;

[0055] Figure 7 is a flow chart of a control method for a wind turbine generator set provided by another embodiment of the present application;

[0056] Figure 8 is a flow chart of a control method for a wind turbine generator set provided by another embodiment of the present application;

[0057] Figure 9 This is a schematic structural diagram of a control device for a wind turbine generator set provided by one embodiment of the present application;

[0058] Figure 10 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0059] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0060] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0061] In order to solve the problems of the prior art, the embodiments of the present application provide a control method, device, equipment and storage medium for a wind turbine generator set. The control method for a wind turbine generator set provided by the embodiments of the present application is first introduced below.

[0062] Figure 1 FIG1 shows a flow chart of a control method for a wind turbine generator set provided by an embodiment of the present application. Figure 1 As shown, the three blades (103) of the wind turbine generator set are mounted on a hub 105. Blade pitch adjustment refers to changing the angle of the blade on the windward side. The rotation angle is blade angle 102. Blade angle 102 is acquired by an encoder. The three blades are respectively acquired by corresponding encoders to acquire the blade angle of the corresponding blade. Impeller speed 101 is the rotation of the three blades as a whole on the vertical plane. It can also be called generator speed. Impeller speed 101 can be acquired by a speed sensor.

[0063] The relationship between blade angle and impeller speed is: at the same wind speed, the smaller the blade angle, the smaller the windward angle, the greater the wind force, and the faster the impeller speed; conversely, the larger the blade angle, the smaller the wind force, and the slower the impeller speed.

[0064] If the three blade angles are inconsistent, the forces acting on the three blades will be different, and the impeller will generate an exciting force similar to an eccentric wheel, causing the speed to fluctuate. In order to detect whether the three blade angles are consistent, three encoders are used to detect the angles of the corresponding blades and compare them to see if they are consistent.

[0065] However, during the operation of the variable pitch system, the electrical signal transmitted by the encoder may jump to varying degrees due to various reasons such as electromagnetic interference, loose signal lines, loose shielding layers, abnormalities in the PLC module, and abnormalities in the encoder itself, causing the blade angle value calculated by the controller to jump, triggering the above-mentioned fault and causing the unit to shut down, resulting in a certain amount of power generation loss.

[0066] For example, Figure 2 The figure is a waveform diagram of an example encoder signal jump, where the horizontal axis is time and the vertical axis is the blade angle. The blade angle detected by the encoder undergoes a large jump near time 104. If the duration of the encoder signal jump is greater than the preset duration (for example, 500ms), the inconsistent blade angles of the three encoders will reach the preset duration, which may trigger a "large position deviation fault" and cause the unit to shut down.

[0067] Furthermore, embodiments of this application provide a wind turbine blade sticking and vibration model based on eccentric excitation forces, which is used to analyze and eliminate the causes of blade sticking and vibration. This model establishes a functional relationship between vibration values, the angle differences between the three blades, and the impeller speed. This model can effectively identify special operating conditions such as communication interruptions and encoder anomalies, accurately identifying blade sticking and unit vibration.

[0068] The exciting force formula of eccentric vibration is:

[0069] F=meω 2 Formula (1)

[0070] Where, F is the exciting force generated by the eccentric block; m is the mass of the eccentric block; e is the eccentricity of the eccentric block; w is the angular velocity of the eccentric block;

[0071] For a wind turbine generator set, F can be equivalent to the vibration force generated on the set, w is the angular velocity of the impeller rotation; m is the equivalent mass of the impeller rotation, which is related to the density distribution of the rotating body. For a wind turbine generator set, since the rotational force it is subjected to mainly comes from the wind force exerted on the blades, it can characterize the imbalance of the three blades; e is a function of the length of the wind turbine blades.

[0072] Based on formula (1), it can be seen that the vibration value of the wind turbine generator set caused by the imbalance of the three blades is proportional to the angle difference between the three blades and proportional to the square of the angular velocity of the impeller rotation. This force imbalance will cause the blade speed to change suddenly during the rotation process. In addition, because the three blades of the wind turbine have different pitch angles, the wind force acting on them is inconsistent and constantly changing, so the corresponding impeller speed of the wind turbine will also increase and decrease.

[0073] Figure 3 The figure shows the distribution of the rate of change of the wind turbine rotor speed when there is no blade jam (the angles of the three blades are consistent); the horizontal axis is the time value, and the vertical axis is the difference between two adjacent sampling moments of the wind turbine rotor speed (used to represent the rate of change of the rotor speed). Figure 3 It can be seen from the figure that during the operation and pitching of the wind turbine, the rate of change of the impeller speed is distributed relatively evenly.

[0074] Figure 4 The figure shows the distribution of the rate of change of the wind turbine rotor speed when a single blade is stuck. The horizontal axis is the time value, and the vertical axis is the difference between two adjacent sampling moments of the wind turbine rotor speed (used to represent the rate of change of the rotor speed). Figure 4 It can be seen from the figure that during the operation and retraction of the wind turbine, the angle values ​​of the three blades deviated due to the occurrence of blade jamming. From a certain moment on, the rate of change of the wind turbine's impeller speed gradually increased.

[0075] By utilizing the characteristic that inconsistent blade angles of the three blades of a wind turbine will cause aerodynamic imbalance of the impeller, thereby causing a large change in the rate of change of the wind turbine impeller speed, it is possible to detect whether the abnormal encoder data (blade angle) is caused by an encoder failure or an actual inconsistency in the blade angle.

[0076] Specifically, after detecting data anomalies in the encoder of the pitch system, the rate of change of the impeller speed is calculated; if the rate of change of the impeller speed continues to be large (for example, the difference in the impeller speed between two adjacent sampling moments is greater than 0.1) and continues for a certain period of time, it is considered that a real inconsistency in the blade angle has occurred; if the rate of change of the impeller speed is not large, it is considered that there is no actual deviation in the blade angles of the three blades, and it is judged that the encoder is faulty, the blades of the wind turbine are not unbalanced, and the wind turbine enters fault-tolerant operation to prevent frequent shutdowns and startups due to encoder detection data failures.

[0077] Figure 5 FIG. 1 is a flow chart of a control method for a wind turbine generator set provided by an embodiment of the present application. Figure 5 As shown, the method includes the following steps:

[0078] Step 201: Obtain the impeller speed of the wind turbine generator set and the blade angle of each blade.

[0079] The blade angle of each blade is collected by the encoder corresponding to each blade. Figure 1 The wind turbine generator set shown includes three blades, and the blade angle of each blade is acquired by a corresponding encoder.

[0080] The impeller speed can be collected by a speed sensor. The executor of the embodiment of the present application can directly or indirectly obtain the impeller speed collected by the speed sensor and the blade angles collected by each encoder through communication.

[0081] Step 202 : In response to the inconsistent blade angles of the blades, determine whether the rate of change of the impeller speed meets the fault-tolerant operation condition.

[0082] Inconsistent blade angles mean that at least one blade has an angle that is inconsistent with the other blades. To accommodate sensor errors, a certain difference in blade angles may be permitted. For example, one exemplary method for determining inconsistent blade angles is to directly compare the blade angle values ​​collected simultaneously by three encoders. If the difference exceeds a preset value and the duration of the difference exceeds the preset value reaches a preset time, then the blade angles are determined to be inconsistent.

[0083] When it is determined that the blade angles of the blades are inconsistent, it can be further determined whether the rate of change of the impeller speed meets the fault-tolerant operation conditions.

[0084] The rate of change of the impeller speed is used to describe the difference between the impeller speeds collected at two sampling moments. An example is that the rate of change of the impeller speed is represented by the difference between the impeller speeds collected at two adjacent sampling moments.

[0085] As long as the fault-tolerant operating conditions are met, inconsistent blade angles are tolerated and the wind turbine continues to operate. The fault-tolerant operating conditions describe the rate of change of the impeller speed when the blade angles are actually consistent. Based on this characteristic, the fault-tolerant operating conditions are set for the rate of change of the impeller speed.

[0086] In one optional embodiment, the fault-tolerant operating condition includes the rate of change of the impeller speed being less than a first threshold value for a period of time. For example, the fault-tolerant operating condition may be that the difference in the impeller speed between two adjacent sampling times is less than a value m (e.g., 0.1) during the period between time t1 and time t2.

[0087] Step 203 : In response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition, the wind turbine generator set is controlled to operate in a fault-tolerant manner based on the blade angle of each blade.

[0088] If it is determined that the rate of change of the impeller speed meets the fault-tolerant operation conditions, fault-tolerant operation is performed. In the embodiment of the present application, fault-tolerant operation means ignoring the error of inconsistent blade angles and continuing to operate the wind turbine generator set. This is because if it is detected that the rate of change of the impeller speed meets the fault-tolerant operation conditions, it means that the impeller speed has not changed much and the actual blade angle inconsistency of the blades has not occurred. Therefore, it can be determined that the inconsistent blade angles of the detected blades may be caused by an abnormality in the encoder and are a digital signal error. Therefore, this error can be allowed to exist.

[0089] As an optional implementation, step 203, in response to the rate of change of the impeller speed meeting the fault-tolerant operation condition, controlling the wind turbine generator set to operate in a fault-tolerant manner based on the blade angles of each blade, may include:

[0090] Step 2031: In response to the impeller speed change rate satisfying the fault-tolerant operation condition, it is determined that a jump occurs in the target encoder.

[0091] The schematic diagram of the encoder signal jump can be shown as follows: Figure 2 If the rate of change of the impeller speed meets the fault-tolerant operation conditions, it can be determined that the inconsistent blade angles of the blades are caused by signal jumps in the target encoder.

[0092] Step 2032: Obtain the blade angle after the blade angle collected by the target encoder is corrected.

[0093] The correction process is used to modify the blade angle captured by the target encoder. Specific implementations of this correction process may include: calculating an interpolated value when the target encoder transitions; or replacing the blade angle at the time of the target encoder transition with the blade angle captured by the target encoder immediately before the transition. Exemplary interpolation calculations may be performed by adding and averaging the blade angle values ​​sampled before and after the signal transition.

[0094] Step 2033: Based on the corrected blade angles of the blades, the wind turbine generator set is controlled to operate in a fault-tolerant manner.

[0095] Correction processing can smooth the blade angle detected by the target encoder, processing the signal with signal jumps into a relatively normal signal. After obtaining the corrected blade angle, the wind turbine generator system can be controlled for fault-tolerant operation based on the corrected blade angle of each blade.

[0096] As an optional embodiment, a proximity switch can be provided in the wind turbine generator set, with a proximity switch corresponding to each blade. When the blade angle is less than a second threshold, the proximity switch generates a trigger signal for the second signal; when the blade angle exceeds the second threshold, the proximity switch generates a trigger signal for the first signal.

[0097] Before determining whether the rate of change of the impeller speed meets the fault-tolerant operation condition in step 202, the method may further include the following steps:

[0098] Step 204: Acquire a trigger signal of a proximity switch of the target blade.

[0099] The trigger signal is a first signal when the blade angle of the target blade exceeds the second threshold, and is a second signal when the blade angle value of the target blade does not exceed the second threshold.

[0100] In addition to the response condition of inconsistent blade angles, step 202 determines whether the rate of change of the impeller speed satisfies the fault-tolerant operation condition. This response condition may also include one of the following two response conditions. That is, before executing step 202, it is necessary to determine whether the following first response condition or second response condition is satisfied:

[0101] The first response condition is: in response to the blade angle collected by the target encoder corresponding to the target blade being smaller than the third threshold, and the trigger signal is the first signal.

[0102] The third threshold is less than or equal to the second threshold.

[0103] For example, the proximity switch is a 5° proximity switch. When the blade angle is less than 5°, the trigger signal is the second signal. When the blade angle is greater than or equal to 5°, the trigger signal is the first signal. Then, if the trigger signal of the proximity switch is the first signal and the blade angle collected by the encoder is less than 3.5°, the first response condition is met.

[0104] Second response condition: in response to the blade angle acquired by the target encoder being greater than a fourth threshold, and the trigger signal is the second signal.

[0105] The fourth threshold is greater than or equal to the second threshold, which is similar to the first response condition and will not be given as an example.

[0106] As an optional implementation, the control method for a wind turbine generator set provided in an embodiment of the present application may be executed by a target controller in the wind turbine generator set. In response to the rate of change of the impeller speed satisfying a fault-tolerant operation condition, the wind turbine generator set is controlled to operate in a fault-tolerant manner based on the blade angle of each blade. The method may include:

[0107] In response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition, other controllers except the target controller in the wind turbine generator set are notified to perform fault-tolerant operation.

[0108] For example, the target controller may be the pitch controller of a pitch control system. The other controllers may include the main controller of the wind turbine. After the pitch controller executes the method provided in the embodiments of this application and determines that the fault-tolerant operation conditions are met, it may notify the main controller to also enter fault-tolerant operation. Otherwise, if only the pitch controller enters fault-tolerant operation while the main controller does not, the wind turbine will still shut down.

[0109] For another example opposite to the above example, the target controller is the main controller, and the other controllers include a pitch controller. Then, after the main controller determines that the fault-tolerant operation conditions are met, it can notify the pitch controller to enter fault-tolerant operation.

[0110] The method of notifying the fault-tolerant operation may be by sending corresponding instructions / signals, etc. The data transmission protocol between different controllers can be agreed upon in advance. The embodiment of the present application does not limit this and will not be elaborated on.

[0111] Several optional specific implementations are provided below to illustrate different examples of the control method for a wind turbine generator set provided in the embodiments of the present application.

[0112] like Figure 6 As shown, the method includes the following steps:

[0113] Step 401: The speed acquisition module acquires the speed of the impeller of the wind turbine in real time;

[0114] Step 402, the encoder transmits the blade angle value to the main controller;

[0115] Step 403: The main controller calculates the impeller speed change rate in real time;

[0116] Step 404: The main controller determines that the encoder values ​​corresponding to the three axes (three blades) are inconsistent;

[0117] In step 405, the main controller determines whether the rate of change of the impeller speed is normal.

[0118] Specifically, the calculation method of this step can be to subtract the impeller speed at the previous moment from the impeller speed at the current moment, and calculate the absolute value to obtain the conversion rate of the impeller speed at the current moment relative to the impeller speed at the previous moment.

[0119] Step 406: Determine whether the rate of change is greater than 0.1.

[0120] Step 407: If the rate of change is less than or equal to 0.1, the system enters fault-tolerant operation and notifies the pitch controller to enter fault-tolerant operation.

[0121] Since the main controller and the pitch system each perform relevant fault detection, after one side performs fault-tolerant operation, the other side may still trigger a fault, causing the wind turbine to shut down. Therefore, after the main controller determines that the change rate is less than or equal to 0.1 and that the encoder has a data jump, it needs to send a fault-tolerant signal to the pitch controller of the pitch system, and the pitch controller performs fault-tolerant processing.

[0122] Since the impeller speed is a key parameter for wind turbine control and a variable that must be collected by wind turbines, judgment based on the impeller speed can be applied to the detection of all models. There is no need to make complex judgments on a large number of parameters such as motor operating time, operating speed, operating power, temperature rise, temperature, motor voltage, etc. The calculation is simple and reliable. At the same time, other factors that may cause vibration can be distinguished from encoder signal errors, making the detection efficiency of whether the encoder is faulty higher and the detection results more accurate.

[0123] like Figure 7 As shown, the control method of the wind turbine generator set provided in this embodiment includes the following steps:

[0124] Step 501: The speed sensor collects the impeller speed.

[0125] The impeller speed can be directly transmitted to the pitch system, or it can be transmitted to the main controller, which then forwards the speed to the pitch controller of the pitch system.

[0126] Step 502: The pitch controller calculates the rate of change of the impeller speed in real time.

[0127] Step 503: determine whether the three-axis encoder values ​​are inconsistent.

[0128] Step 504: The pitch controller detects whether the rate of change of the impeller speed is normal.

[0129] Step 505, determine whether the rate of change is greater than 0.1;

[0130] Step 506: If the rate of change is less than or equal to 0.1, then enter fault-tolerant operation;

[0131] In step 507, the pitch controller corrects the blade angle and transmits the correction to the main controller.

[0132] After a controller (for example, a pitch controller) determines that an encoder jump has occurred, it can correct the blade angle value that has jumped by saving the angle or performing interpolation operations, and send the corrected blade angle to other controllers. As a result, the signal received by another controller (for example, a main controller) is a signal in which no signal jump has occurred. Therefore, the three-axis encoder obtained by the other controller is consistent and can operate in a fault-tolerant manner.

[0133] Through this implementation, the pitch system and the main control system do not need to perform separate blade angle detection and correction processing, which reduces the data interaction between the pitch system and the main control system during the fault tolerance period and also reduces the impact of data transmission errors caused by DP communication.

[0134] Among them, interpolation operation means that during the period when the blade angle jumps, the controller interpolates according to the actual speed or the target value of the actual speed (i.e., the reference speed) to calculate a new blade angle as the actual angle during the jump; angle preservation means maintaining the angle value before the data jump until the encoder data is restored.

[0135] like Figure 8 As shown, an exemplary embodiment of a control method for a wind turbine generator set is provided, which may include the following steps:

[0136] Step 601: The controller calculates the impeller speed change rate in real time.

[0137] Step 602: Proximity switch fault triggering.

[0138] Specifically refers to proximity switch failures related to the encoder angle value, such as:

[0139] a) The blade position is less than 3.5°, and the 5° proximity switch is not triggered (that is, the 5° proximity switch detects that the blade angle exceeds 5° and is not triggered);

[0140] b) The blade position is greater than 6.5°, but the 5° proximity switch is still triggered (that is, the 5° proximity switch detects that the blade angle is less than 5° and is triggered);

[0141] c) The minimum blade angle is less than the minimum value (e.g. less than 0°);

[0142] The above situations are all impossible, so there may be a malfunction.

[0143] Step 603: The pitch controller detects whether the impeller speed change rate is normal;

[0144] Step 604, determine whether the rate of change is greater than 0.1;

[0145] Step 605: If it is less than 0.1, enter fault-tolerant operation.

[0146] The present invention provides a control device for a wind turbine generator set, which can be used to execute the control method for a wind turbine generator set provided in the present invention. Any matters not described in detail in the control device for a wind turbine generator set provided in the present invention can be referred to the control method for a wind turbine generator set provided in the present invention, and will not be further described here.

[0147] Figure 9 FIG. 1 is a schematic diagram of a control device for a wind turbine generator set according to an embodiment of the present invention. Figure 9 As shown, the device includes a first acquiring unit 701 , a judging unit 702 and a first controlling unit 703 .

[0148] The first acquisition unit 701 is used to acquire the impeller speed of the wind turbine generator set and the blade angle of each blade, wherein the blade angle of each blade is acquired by an encoder corresponding to each blade;

[0149] The judgment unit 702 is configured to judge whether the rate of change of the impeller speed satisfies a fault-tolerant operation condition in response to the inconsistency of the blade angles of the blades;

[0150] The first control unit 703 is configured to control the fault-tolerant operation of the wind turbine generator set based on the blade angle of each blade in response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition.

[0151] As an optional implementation, the fault-tolerant operating conditions may include:

[0152] The rate of change of the impeller rotation speed is less than a first threshold.

[0153] As an optional implementation, the first control unit 703 may include:

[0154] a first determining unit, configured to determine that a jump occurs in the target encoder in response to a change rate of the impeller speed satisfying a fault-tolerant operation condition;

[0155] A second acquiring unit is configured to acquire a blade angle after correction processing of the blade angle acquired by the target encoder, wherein the correction processing is used to correct the blade angle acquired by the target encoder;

[0156] The second control unit is used to control the fault-tolerant operation of the wind turbine generator set based on the corrected blade angles of the blades.

[0157] As an optional implementation, the correction process may include:

[0158] Calculate the interpolation value when the target encoder jumps; or,

[0159] The blade angle when the target encoder jumps is replaced by the blade angle collected by the target encoder at a moment before the jump occurs.

[0160] As an optional embodiment, the device may further include:

[0161] a third acquisition unit, configured to acquire a trigger signal of a proximity switch of a target blade before determining whether the rate of change of the impeller speed satisfies a fault-tolerant operation condition, wherein the trigger signal is a first signal when the blade angle of the target blade exceeds a second threshold value, and is a second signal when the blade angle value of the target blade does not exceed the second threshold value;

[0162] In addition to the response condition of inconsistent blade angles of the blades, the response conditions for judging whether the rate of change of the impeller speed meets the fault-tolerant operation conditions also include:

[0163] In response to the blade angle acquired by the target encoder corresponding to the target blade being less than a third threshold, and the trigger signal being the first signal, wherein the third threshold is less than or equal to the second threshold; or,

[0164] In response to the blade angle acquired by the target encoder being greater than a fourth threshold, and the trigger signal being the second signal, wherein the fourth threshold is greater than or equal to the second threshold.

[0165] As an optional embodiment, the control device of the wind turbine generator set is executed by a target controller in the wind turbine generator set, and the first control unit 703 may include:

[0166] The notification unit is configured to notify other controllers in the wind turbine generator set except the target controller to perform fault-tolerant operation in response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition.

[0167] The control device of the wind turbine generator set in the embodiment of the present application judges whether the rate of change of the impeller speed meets the fault-tolerant operation conditions when the blade angles of each blade are inconsistent. It can judge whether the inconsistent blade angles are caused by the abnormality of the encoder detection signal in combination with the rate of change of the impeller speed. If the rate of change of the impeller speed meets the fault-tolerant operation conditions, it is determined that the inconsistent blade angles are caused by the abnormality of the encoder detection signal, so that fault-tolerant operation can be carried out, preventing losses caused by shutdown due to inconsistent blade angles caused by abnormal encoder detection signals, thereby achieving fault-tolerant operation and improving operating efficiency.

[0168] Figure 10 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0169] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0170] Specifically, the processor 301 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0171] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 302 may include removable or non-removable (or fixed) media. Where appropriate, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0172] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present application.

[0173] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any one of the wind turbine generator control methods in the above embodiments.

[0174] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 10 As shown, the processor 301 , the memory 302 , and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0175] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0176] Bus 310 comprises hardware, software or both, couples the parts of electronic equipment to each other.For example, and not limitation, bus can comprise accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more quantity above these combination.In suitable case, bus 310 can comprise one or more buses.Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0177] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0178] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0179] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0180] Aspects of the present application have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed via the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. This processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or the flowchart and the combination of the boxes in the block diagram and / or the flowchart can also be implemented by the dedicated hardware that performs the specified function or action, or can be implemented by the combination of dedicated hardware and computer instructions.

[0181] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A control method for a wind turbine generator set, characterized in that: include: Obtaining the impeller speed of the wind turbine generator set and the blade angle of each blade, wherein the blade angle of each blade is collected by an encoder corresponding to each blade; In response to the blade angles of the blades being inconsistent, determining whether a rate of change of the impeller speed satisfies a fault-tolerant operating condition, the fault-tolerant operating condition being used to describe a characteristic of the rate of change of the impeller speed when the blade angles of the blades are actually consistent; In response to the rate of change of the impeller speed meeting the fault-tolerant operation condition, the wind turbine generator set is controlled to operate in a fault-tolerant manner based on the blade angles of the blades. Fault-tolerant operation means ignoring the error of inconsistent blade angles of the blades and continuing to operate the wind turbine generator set.

2. The control method of a wind turbine generator set according to claim 1, characterized in that: The fault-tolerant operating conditions include: The rate of change of the impeller rotation speed is less than a first threshold.

3. The control method of a wind turbine generator set according to claim 1, characterized in that: In response to the rate of change of the impeller speed satisfying the fault-tolerant operation condition, controlling the wind turbine generator set to operate in a fault-tolerant manner based on the blade angles of the blades includes: In response to the rate of change of the impeller rotation speed meeting the fault-tolerant operation condition, determining that a jump occurs in the target encoder; Acquire a blade angle after correction processing of the blade angle collected by the target encoder, wherein the correction processing is used to correct the blade angle collected by the target encoder; Based on the corrected blade angles of the blades, the wind turbine generator set is controlled to operate in a fault-tolerant manner.

4. The control method of a wind turbine generator set according to claim 3, characterized in that: The correction process includes: Calculating an interpolation value when the target encoder undergoes the jump; or, The blade angle of the target encoder when the jump occurs is replaced by the blade angle collected by the target encoder at a moment before the jump occurs.

5. The control method of a wind turbine generator set according to claim 1, characterized in that: Before determining whether the rate of change of the impeller speed meets the fault-tolerant operation condition, the method further includes: Obtaining a trigger signal of a proximity switch of a target blade, wherein the trigger signal is a first signal when the blade angle of the target blade exceeds a second threshold value, and is a second signal when the blade angle value of the target blade does not exceed the second threshold value; In addition to the response condition of the blade angles of the blades being inconsistent, the response condition for determining whether the rate of change of the impeller speed meets the fault-tolerant operation condition further includes: In response to the blade angle acquired by the target encoder corresponding to the target blade being less than a third threshold, and the trigger signal being the first signal, wherein the third threshold is less than or equal to the second threshold; or In response to a blade angle acquired by the target encoder being greater than a fourth threshold, and the trigger signal being the second signal, wherein the fourth threshold is greater than or equal to the second threshold.

6. The control method of a wind turbine generator set according to claim 1, characterized in that: The control method of the wind turbine generator set is executed by a target controller in the wind turbine generator set, and in response to the rate of change of the impeller speed satisfying the fault-tolerant operation condition, the wind turbine generator set is controlled to operate in a fault-tolerant manner based on the blade angle of each blade, including: In response to the change rate of the impeller rotation speed meeting the fault-tolerant operation condition, other controllers except the target controller in the wind turbine generator set are notified to perform fault-tolerant operation.

7. A control device for a wind turbine generator set, characterized in that: include: A first acquisition unit is configured to acquire the impeller speed of the wind turbine generator set and the blade angle of each blade, wherein the blade angle of each blade is acquired by an encoder corresponding to each blade; a judgment unit, configured to judge, in response to the inconsistent blade angles of the blades, whether a rate of change of the impeller speed satisfies a fault-tolerant operation condition, wherein the fault-tolerant operation condition is used to describe a characteristic of the rate of change of the impeller speed when the blade angles of the blades are actually consistent; The first control unit is used to control the fault-tolerant operation of the wind turbine generator set based on the blade angles of the blades in response to the rate of change of the impeller speed meeting the fault-tolerant operation condition. The fault-tolerant operation means ignoring the error of inconsistent blade angles of the blades and continuing to operate the wind turbine generator set.

8. The control device of the wind turbine generator set according to claim 7, characterized in that: The fault-tolerant operating conditions include: The rate of change of the impeller rotation speed is less than a first threshold.

9. The control device of the wind turbine generator set according to claim 7, characterized in that: The first control unit includes: a first determining unit, configured to determine that a jump occurs in a target encoder in response to a change rate of the impeller speed satisfying the fault-tolerant operation condition; a second acquiring unit, configured to acquire a blade angle after correction processing of the blade angle acquired by the target encoder, wherein the correction processing is used to correct the blade angle acquired by the target encoder; The second control unit is used to control the fault-tolerant operation of the wind turbine generator set based on the blade angle of each blade after the correction processing.

10. The control device of the wind turbine generator set according to claim 9, characterized in that: The correction process includes: Calculating an interpolation value when the target encoder undergoes the jump; or, The blade angle of the target encoder when the jump occurs is replaced by the blade angle collected by the target encoder at a moment before the jump occurs.

11. The control device of the wind turbine generator set according to claim 7, characterized in that: The device further comprises: a third acquiring unit, configured to acquire a trigger signal of a proximity switch of a target blade before determining whether the rate of change of the impeller speed satisfies a fault-tolerant operation condition, wherein the trigger signal is a first signal when the blade angle of the target blade exceeds a second threshold value, and is a second signal when the blade angle value of the target blade does not exceed the second threshold value; In addition to the response condition of the blade angles of the blades being inconsistent, the response condition for determining whether the rate of change of the impeller speed meets the fault-tolerant operation condition further includes: In response to the blade angle acquired by the target encoder corresponding to the target blade being less than a third threshold, and the trigger signal being the first signal, wherein the third threshold is less than or equal to the second threshold; or In response to a blade angle acquired by the target encoder being greater than a fourth threshold, and the trigger signal being the second signal, wherein the fourth threshold is greater than or equal to the second threshold.

12. The control device of the wind turbine generator set according to claim 7, characterized in that: The control device of the wind turbine generator set is executed by a target controller in the wind turbine generator set, and the first control unit includes: The notification unit is configured to notify other controllers in the wind turbine generator set except the target controller to perform fault-tolerant operation in response to the change rate of the impeller speed meeting the fault-tolerant operation condition.

13. An electronic device, characterized in that: The electronic device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the control method for the wind turbine generator set according to any one of claims 1 to 6 is implemented.

14. A storage medium, characterized in that The storage medium stores computer program instructions, which, when executed by a processor, implement the control method for a wind turbine generator set according to any one of claims 1 to 6.

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