Wind turbine and method and device for detecting abnormality of pitch of wind turbine

Abstract

A wind turbine and a variable pitch abnormality detection method and device thereof are disclosed. The method comprises: obtaining real-time operation data of the wind turbine, wherein the real-time operation data comprises a variable pitch speed at a plurality of sampling time points; obtaining a theoretical rotation angle of a blade from a first sampling time point to a second sampling time point based on the variable pitch speed at the first sampling time point and the variable pitch speed at the second sampling time point in the real-time operation data; obtaining a minimum rotation angle of the blade from the first sampling time point to the second sampling time point, wherein the minimum rotation angle is a rotation angle of the blade when the pitch is adjusted once between the first sampling time point and the second sampling time point; and determining that a variable pitch given speed of the wind turbine is abnormal in response to an actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle.

Description

Technical Field

[0001] This disclosure generally relates to the field of wind power generation technology, and more specifically, to wind turbine generator sets and methods and devices for detecting pitch anomalies. Background Technology

[0002] Wind turbine generators are complex systems. For example, MW-class permanent magnet wind turbines highly integrate aerodynamics, structural mechanics, electrical machinery, materials science, power electronics, power system analysis, relay protection technology, automatic control technology, and modern communications. They are complex energy conversion systems, so the same fault in a wind turbine generator can be caused by different factors. For instance, taking the "three-axis angle inconsistency" fault in a pitch control system as an example, the cause could be a faulty encoder, a faulty encoder power supply, a stuck pitch control system, a faulty drive, or even a faulty controller acquisition module. To analyze the causes of wind turbine generator faults, it is necessary to record the operating data at the time of the fault. This includes automatically, accurately, and promptly recording the changes in various electrical quantities before and after the fault occurs. Analyzing and comparing these electrical quantities plays a crucial role in analyzing and handling accidents and ensuring the safe and reliable operation of wind turbine generators. However, currently, anomaly detection is only possible for operating data with short sampling times (e.g., 20ms). Anomaly detection is not possible for operating data with long sampling times (e.g., 7s). Summary of the Invention

[0003] The embodiments of this disclosure provide a wind turbine generator set and a method and apparatus for detecting pitch anomalies, which can effectively solve the problem in the prior art that it is impossible to use operating data with long sampling time (such as 7s) to achieve anomaly detection.

[0004] In one general aspect, a method for detecting pitch anomalies in a wind turbine generator set is provided, comprising: acquiring real-time operating data of the wind turbine generator set, wherein the real-time operating data includes pitch speeds at multiple sampling time points, the pitch speeds including pitch setpoint speeds and actual pitch speeds; based on the pitch speeds at a first sampling time point and a second sampling time point in the real-time operating data, acquiring the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point; acquiring the minimum rotation angle of the blade from the first sampling time point to the second sampling time point, wherein the minimum rotation angle is the rotation angle of the blade during a single pitch adjustment between the first and second sampling time points; and determining that the pitch setpoint speed of the wind turbine generator set is abnormal in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle.

[0005] Optionally, the step of obtaining the minimum rotation angle of the blade from the first sampling time point to the second sampling time point includes: obtaining the first rotation angle of the blade during the period from the first sampling time point when the pitch speed decreases to zero; obtaining the second rotation angle of the blade during the period from zero to the second sampling time point when the pitch speed increases; and adding the first rotation angle and the second rotation angle to obtain the minimum rotation angle.

[0006] Optionally, the step of obtaining the first rotation angle of the blade during the period from the first sampling time point when the pitch speed decreases to zero includes: obtaining the average value of the pitch speed at the first sampling time point to zero; obtaining the time from the first sampling time point when the pitch speed decreases to zero based on the ratio of the reference speed to the reference time and the pitch speed at the first sampling time point, wherein the reference time is the time from the reference speed to zero; and obtaining the first rotation angle of the blade based on the average value and the time.

[0007] Optionally, the step of obtaining the second rotation angle of the blade during the pitch speed rise from zero to the second sampling time point includes: obtaining the average value of the pitch speed at the second sampling time point and zero; obtaining the time from zero to the pitch speed at the second sampling time point based on the ratio of the reference speed and the reference time and the pitch speed at the second sampling time point, wherein the reference time is the time from the reference speed to zero; and obtaining the second rotation angle of the blade based on the average value and the time.

[0008] Optionally, the step of obtaining the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in the real-time operating data includes: obtaining the speed difference between the pitch speed at the second sampling time point and the pitch speed at the first sampling time point; obtaining the time difference between the second sampling time point and the first sampling time point; and obtaining the theoretical rotation angle based on the pitch speed at the first sampling time point, the speed difference, and the time difference.

[0009] Optionally, the step of determining an abnormal pitch setpoint of the wind turbine generator in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle includes: in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle, obtaining the temperature of the pitch motor of the wind turbine generator at the first sampling time point and the temperature at the second sampling time point; and determining an abnormal pitch setpoint of the wind turbine generator if the temperature at the first sampling time point is less than the temperature at the second sampling time point.

[0010] Optionally, the step of determining that the pitch setpoint of the wind turbine is abnormal in response to the temperature at the first sampling time point being lower than the temperature at the second sampling time point includes: obtaining the actual rotation angle of each blade of the wind turbine from the first sampling time point to the second sampling time point in response to the temperature at the first sampling time point being lower than the temperature at the second sampling time point; and determining that the pitch setpoint of the wind turbine is abnormal if the actual rotation angle of each blade from the first sampling time point to the second sampling time point is consistent.

[0011] Optionally, before obtaining the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in the real-time operating data, the method further includes: determining that at least one of the pitch speed at the first sampling time point and the pitch speed at the second sampling time point is not zero.

[0012] In another general aspect, a pitch anomaly detection device for a wind turbine generator set is provided, comprising: a real-time operating data acquisition unit configured to acquire real-time operating data of the wind turbine generator set, wherein the real-time operating data includes pitch speeds at multiple sampling time points; a theoretical rotation angle acquisition unit configured to acquire a theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speeds at a first sampling time point and a second sampling time point in the real-time operating data; a minimum rotation angle acquisition unit configured to acquire a minimum rotation angle of the blade from the first sampling time point to the second sampling time point, wherein the minimum rotation angle is the rotation angle of the blade when a pitch adjustment is performed between the first and second sampling time points; and an anomaly determination unit configured to determine an anomaly in the pitch setpoint of the wind turbine generator set in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle.

[0013] Optionally, the minimum rotation angle acquisition unit is further configured to acquire a first rotation angle of the blade during the period from the first sampling time point when the pitch speed decreases to zero; acquire a second rotation angle of the blade during the period from the zero pitch speed to the second sampling time point; and add the first rotation angle and the second rotation angle to obtain the minimum rotation angle.

[0014] Optionally, the minimum rotation angle acquisition unit is further configured to acquire the average value of the pitch speed at the first sampling time point and zero; based on the ratio of the reference speed to the reference time and the pitch speed at the first sampling time point, obtain the time from the pitch speed at the first sampling time point to zero, wherein the reference time is the time from the reference speed to zero; and based on the average value and the time, obtain the first rotation angle of the blade.

[0015] Optionally, the minimum rotation angle acquisition unit is further configured to acquire the average value of the pitch speed at the second sampling time point and zero; based on the ratio of the reference speed and the reference time, and the pitch speed at the second sampling time point, obtain the time from zero to the pitch speed at the second sampling time point, wherein the reference time is the time from the reference speed to zero; and based on the average value and the time, obtain the second rotation angle of the blade.

[0016] Optionally, the theoretical rotation angle acquisition unit is further configured to acquire the speed difference between the pitch speed at the second sampling time point and the pitch speed at the first sampling time point; acquire the time difference between the second sampling time point and the first sampling time point; and obtain the theoretical rotation angle based on the pitch speed, speed difference, and time difference at the first sampling time point.

[0017] Optionally, the anomaly determination unit is further configured to, in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle, acquire the temperature of the pitch motor of the wind turbine generator at the first sampling time point and the temperature at the second sampling time point; and determine that the pitch given speed of the wind turbine generator is abnormal if the temperature at the first sampling time point is less than the temperature at the second sampling time point.

[0018] Optionally, the anomaly determination unit is further configured to, in response to the temperature at the first sampling time point being lower than the temperature at the second sampling time point, acquire the actual rotation angle of each blade of the wind turbine generator from the first sampling time point to the second sampling time point; and, if the actual rotation angle of each blade from the first sampling time point to the second sampling time point is consistent, determine that the pitch given speed of the wind turbine generator is abnormal.

[0019] Optionally, the speed detection unit is configured to determine that at least one of the pitch speed at the first sampling time point and the pitch speed at the second sampling time point is not zero.

[0020] Optionally, the pitch anomaly detection device is integrated into the pitch controller or main controller of the wind turbine generator set.

[0021] In another general aspect, a wind turbine generator set is provided, including any of the aforementioned pitch anomaly detection devices.

[0022] According to the embodiments of the present disclosure, the wind turbine generator set and its pitch anomaly detection method and apparatus obtain the theoretical rotation angle of the blade by the pitch speed at two sampling time points, and then compare it with the actual rotation angle of the blade. Anomaly detection can be performed based on the comparison result. Alternatively, the minimum rotation angle of the blade at two sampling time points can be compared with the actual rotation angle of the blade, and anomaly detection can also be performed based on the comparison result. Furthermore, the theoretical rotation angle and the minimum rotation angle can be combined for more accurate anomaly detection. The present disclosure only requires operating data at two sampling time points, without intermediate data and without limiting the sampling interval. Therefore, operating data with a long sampling time can also be used for anomaly detection. Thus, the present disclosure effectively solves the problem in the prior art that it is impossible to use operating data with a long sampling time (such as 7 seconds) for anomaly detection.

[0023] Further aspects and / or advantages of the general concept of this disclosure will be set forth in part in the description which follows, and in part will be clear from the description or may be learned by practice of the general concept of this disclosure. Attached Figure Description

[0024] The above and other objects and features of the embodiments of this disclosure will become clearer from the following description taken in conjunction with the accompanying drawings illustrating the embodiments, wherein:

[0025] Figure 1 A flowchart illustrating a method for detecting pitch anomalies in a wind turbine generator set according to an embodiment of the present disclosure is provided.

[0026] Figure 2 A graph showing the pitch setpoint versus blade angle during pitch setpoint fluctuations according to an embodiment of the present disclosure is provided.

[0027] Figure 3 A schematic diagram illustrating the calculation of the theoretical rotation angle according to an embodiment of this disclosure is shown;

[0028] Figure 4 A graph showing the relationship between pitch setpoint speed and time in an embodiment of this disclosure;

[0029] Figure 5 A schematic diagram illustrating the calculation of the minimum rotation angle according to an embodiment of this disclosure is shown;

[0030] Figure 6 This is a flowchart illustrating an optional pitch detection method for wind turbine generators disclosed herein;

[0031] Figure 7 This is a block diagram illustrating the pitch anomaly detection device for wind turbine generator sets disclosed herein. Detailed Implementation

[0032] The following detailed embodiments are provided to aid the reader in gaining a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but may be changed as will become clear upon understanding this disclosure, except for operations that must occur in a specific order. Furthermore, for clarity and conciseness, descriptions of features known in the art may be omitted.

[0033] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein are provided only to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein, which will become clear upon understanding the disclosure of this application.

[0034] As used herein, the term “and / or” includes any one of the associated listed items and any combination of any two or more.

[0035] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts should not be limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Thus, without departing from the teaching of the examples described herein, the first component, first assembly, first region, first layer, or first part referred to as the first component, first assembly, first region, first layer, or first part may also be referred to as the second component, second assembly, second region, second layer, or second part.

[0036] In the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to," or "bonded to" another element, the element may be directly "on" another element, directly "connected to," or "bonded to" the other element, or one or more other elements may be present in between. Conversely, when an element is described as being "directly on" another element, "directly connected to," or "directly bonded to" another element, no other elements may be present in between.

[0037] The terminology used herein is for the purpose of describing various examples only and is not intended to limit disclosure. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. The terms “comprising,” “including,” and “having” indicate the presence of the described features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0038] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains upon understanding this disclosure. Unless expressly defined herein, terms (such as those defined in a general dictionary) shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and in this disclosure, and shall not be interpreted in an idealized or overly formalistic manner.

[0039] Furthermore, in the description of the examples, detailed descriptions of well-known related structures or functions will be omitted when it is believed that such detailed descriptions would lead to a vague interpretation of this disclosure.

[0040] This disclosure provides a wind turbine generator set and its pitch anomaly detection method and device, which can solve the aforementioned technical problems. It should be noted that the feasibility basis of this disclosure (i.e., the basis for solving the aforementioned technical problems) is as follows: After the pitch speed fluctuates, its value fluctuates between positive and negative. During the pitch adjustment process, the pitch motor, under the influence of positive and negative speeds, will result in a very small change in the blade angle. The pitch anomaly detection method for wind turbine generator sets disclosed in this disclosure can be applied to a field controller or a server. The server and the wind turbine generator set can be connected wirelessly or wiredly; no limitation is made here. The aforementioned server can be a single server, a server cluster consisting of several servers, a cloud computing platform, or a virtualization center. The following explanation uses a server as an example.

[0041] After obtaining the real-time operating data of the wind turbine generator set, the server can obtain the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in the real-time operating data. It can also obtain the minimum rotation angle of the blade from the first sampling time point to the second sampling time point. The minimum rotation angle is the rotation angle of the blade when the pitch is adjusted once between the first sampling time point and the second sampling time point. When the actual rotation angle of the blade from the first sampling time point to the second sampling time point is less than the theoretical rotation angle and / or the minimum rotation angle, the server determines that the pitch speed of the wind turbine generator set is abnormal.

[0042] The present disclosure will now be described in detail with reference to the accompanying drawings.

[0043] This disclosure proposes a method for detecting pitch anomalies in wind turbine generator sets. Figure 1 A flowchart illustrating a method for detecting pitch anomalies in a wind turbine generator according to an embodiment of this disclosure is provided. (Refer to...) Figure 1 The method for detecting pitch anomalies in wind turbine generator sets includes the following steps:

[0044] In step S101, real-time operating data of the wind turbine generator is acquired. This real-time operating data includes pitch speeds at multiple sampling time points, where the pitch speed includes a setpoint pitch speed and an actual pitch speed. The setpoint pitch speed is used to control blade rotation and is the command value for controlling blade pitch. The wind turbine generator executes this command to adjust the pitch. The actual pitch speed is the result of executing this command value. This real-time operating data can be generated as a fault file by the wind turbine generator: the sampling interval is short (20ms), and it is only generated when the wind turbine generator fails and shuts down; or it can be an instantaneous data file of the wind turbine generator: it can be exported from SCADA, and the data in the instantaneous data file is continuous, but the sampling interval is longer, typically recording a value every 5s to 7s.

[0045] In step S102, based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in the real-time operating data, the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point is obtained.

[0046] According to embodiments of this disclosure, the step of obtaining the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in real-time operating data may include: obtaining the speed difference between the pitch speed at the second sampling time point and the pitch speed at the first sampling time point; obtaining the time difference between the second sampling time point and the first sampling time point; and obtaining the theoretical rotation angle based on the pitch speed at the first sampling time point, the speed difference, and the time difference. This embodiment allows for convenient and rapid acquisition of an accurate theoretical rotation angle.

[0047] Specifically, by analyzing data from two sampling time points using SCADA, the theoretical total displacement of the pitch system, i.e., the theoretical rotation angle, can be calculated using the formulas for initial and final velocities and total displacement. For example... Figure 3 The diagram shown illustrates the calculation of the theoretical rotation angle. The formula for calculating the theoretical rotation angle is as follows:

[0048] ………………(1)

[0049] The meanings of each element in the pitch control system of a wind turbine generator are as follows: It means The initial pitch speed within, It means The final pitch speed within the range, The time interval between sampling. yes The theoretical rotation angle of the inner blade. It should be noted that the above formula is applied to the pitch anomaly detection principle of this disclosure as follows: Assuming... If, during the intermediate process, the blade velocity does not become 0 (for a pitch system, a velocity of 0 corresponds to stopping pitch control) or a small negative value (for a pitch system, a small negative value corresponds to opening the pitch), the theoretical rotation angle the blade has rotated should be... ; and if The blade velocity during the intermediate process is greater than and The angle through which the blade rotates will be greater than Larger.

[0050] The following is based on Figure 2 The abnormal phenomenon shown is used as an example to explain in detail how the theoretical rotation angle is obtained in this embodiment. Here, the pitch speed is the given pitch speed. Figure 2 A graph showing the pitch setpoint versus blade angle during pitch setpoint fluctuations according to an embodiment of this disclosure is provided. Figure 2 As shown, the horizontal axis is the time axis, with a sampling and recording period of 20ms. The vertical axis represents the corresponding values. The curves with larger fluctuations represent the pitch setpoint sent by the main controller, in degrees per second, while the curves with smaller fluctuations represent the actual blade angles, in degrees. From Figure 2 As can be seen, the pitch setpoint experienced drastic fluctuations, which is considered an anomaly in control. In such anomalies, the blade angle exhibits slight fluctuations, but the amplitude is very small, with the maximum difference between the peak and trough being only about 0.1 degrees. Table 1 provides a more accurate representation of the magnitude of these fluctuations. Figure 2 As shown in Table 1, the blade angle in data point 1 is 0.28 degrees, and in data point 18 it is 0.26 degrees. Therefore, the change in blade angle from 1 to 18 is 0.28 - 0.26 = 0.02 degrees. However, in data point 1, the pitch setpoint is 2.896 degrees, and in data point 18 it is -0.984 degrees. The pitch setpoints before and after these values ​​are relatively large, indicating that the small change in blade angle is not due to a very small pitch setpoint. In other words, there is an anomaly in this process, and this anomaly is a pitch anomaly.

[0051]

[0052]

[0053] The following example uses the pitch anomaly data to illustrate the process of obtaining the theoretical rotation angle. For instance, the theoretical rotation angle of the blade can be calculated using the data from serial numbers 1 and 18, combined with the above formula (1). It is 2.896. It is -0.984. for .

[0054] According to embodiments of this disclosure, before obtaining the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in real-time operating data, it may be included to determine that at least one of the pitch speeds at the first and second sampling time points is not zero. If one of the pitch speeds is zero, the current anomaly detection ends, and data from the other two sampling time points are obtained for anomaly detection. This embodiment avoids the problem of inaccurate detection caused by using a zero pitch speed for anomaly detection.

[0055] In step S103, the minimum rotation angle of the blade from the first sampling time point to the second sampling time point is obtained, wherein the minimum rotation angle is the rotation angle of the blade when the first sampling time point and the second sampling time point are adjusted once.

[0056] According to embodiments of this disclosure, the step of obtaining the minimum rotation angle of the blade from a first sampling time point to a second sampling time point may include: obtaining a first rotation angle of the blade during the period from the first sampling time point when the pitch speed decreases to zero; obtaining a second rotation angle of the blade during the period from zero to the second sampling time point when the pitch speed increases; and adding the first rotation angle and the second rotation angle to obtain the minimum rotation angle. This embodiment allows for the rapid acquisition of the minimum rotation angle.

[0057] Specifically, the minimum rotation angle can be calculated based on the working principle of the PID controller. The working principle of the PID controller is that when the main control system of the wind turbine controls the pitch system for pitch adjustment, the speed output by the PID controller will not change abruptly. Especially during pitch motor commutation, its characteristic is to first gradually reduce the pitch speed to 0, and then change the running direction. That is, the speed controlled by the PID controller changes from a non-zero value to 0, and then from 0 back to a non-zero value. Therefore, the minimum rotation angle can be obtained using the following formula:

[0058] ………………(2)

[0059] in, For the minimum rotation angle, The first rotation angle of the blade during the period when the pitch speed decreases to zero from the first sampling time point. This refers to the second rotation angle of the blade during the pitch speed increase from zero to the second sampling time point. To better understand the above embodiment, the principle of calculating the minimum rotation angle using the above formula is briefly introduced below. Taking an incremental PID controller as an example, the formula for calculating the speed value output by the PID controller is:

[0060] (3)

[0061] in, This is the deviation (i.e., the deviation between the actual position of the blade and the target position of the blade). , These are the previous deviation and the deviation before that, respectively. It is a proportionality coefficient. It is the integral coefficient. These are the differential coefficients.

[0062] From equation (2), it can be seen that the output speed of the PID controller, i.e. The value is the result of the combined effect of the position deviations of the current cycle, the previous cycle, and the cycle before that. Therefore, when controlling the pitch system to adjust the pitch and change direction, the output speed of the PID controller should first be reduced to 0, and then gradually change in the opposite direction. This disclosure utilizes this characteristic of the PID controller to calculate the minimum rotation angle.

[0063] According to embodiments of this disclosure, the step of obtaining the first rotation angle of the blade during the period from the first sampling time point when the pitch speed decreases to zero may include: obtaining the average value of the pitch speed at the first sampling time point and zero; obtaining the time from the first sampling time point when the pitch speed decreases to zero based on the ratio of a reference speed to a reference time and the pitch speed at the first sampling time point, wherein the reference time is the time from the reference speed to zero; and obtaining the first rotation angle of the blade based on the average value and the time. Through this embodiment, the first rotation angle can be quickly obtained using the average value.

[0064] The following is still in the format of Figure 2 Using the abnormal phenomena shown in Table 1 as an example, this embodiment will be explained in detail. Assume that the pitch setpoint speed, number 1, decreases from 2.896 to 0 under the control of the PID controller, and then stops pitching. It should be noted that the change in the output speed of the PID controller between non-zero and 0 values ​​requires a certain amount of time. Generally, the time required to decrease from 6 degrees / second to 0 degrees is 500ms. Figure 4The curves showing the change in the blade's pitch setpoint speed from 6 degrees / second to 0 degrees / second are illustrated. The time difference between t1 and t2 can generally be considered as approximately 500 ms. Since the minimum rotation angle is calculated based on the PID control principle, the time required for the pitch setpoint speed (number 1) to decrease from 2.896 to 0 can be approximated proportionally. For example, if it takes 500 ms (the reference time) for the speed to decrease from 6 degrees / second (i.e., the aforementioned reference speed) to 0 degrees / second, then the time required for the speed to decrease from 3 degrees to 0 degrees / second is 500 / (6 / 3) = 250 ms. Therefore, when the speed is 1, the angle through which the blade rotates (i.e., the aforementioned first rotation angle) is: (2.896 / 2) × [500 / (6 / 2.896)] = 2.096704 degrees.

[0065] According to an embodiment of this disclosure, the step of obtaining the second rotation angle of the blade during the pitch speed rise from zero to the second sampling time point includes: obtaining the average value of the pitch speed at the second sampling time point and zero; obtaining the time from zero to the pitch speed at the second sampling time point based on the ratio of a reference speed to a reference time and the pitch speed at the second sampling time point, wherein the reference time is the time from the reference speed to zero; and obtaining the second rotation angle of the blade based on the average value and the time. Through this embodiment, the second rotation angle can be quickly obtained using the average value.

[0066] The following is still in the format of Figure 2 Using the abnormal phenomena shown in Table 1 as an example, this embodiment will be described in detail. Assuming the pitch setpoint speed of serial number 18 increases from 0 to -0.984 under the control of the PID controller, without prior pitch adjustment, the time required for the pitch setpoint speed of serial number 18 to decrease from 2.896 to 0 can still be calculated approximately proportionally. For example, if it takes 500ms (the aforementioned reference time) for the speed to decrease from 6 degrees / second (i.e., the aforementioned reference speed) to 0 degrees / second, then the time required for the speed to decrease from 3 degrees / second to 0 degrees / second is 500 / (6 / 3) = 250ms. Therefore, when the speed is 18, the angle through which the blade rotates (i.e., the aforementioned second rotation angle) is: (-0.984 / 2) × [500 / (6 / 0.984)] = -1.064153 degrees;

[0067] After calculating the angle values ​​rotated by blades numbered 1 and 18, we can proceed as follows: Figure 5 The schematic diagram shows the cumulative value of the angles rotated by the blades numbered 1 and 18 (assuming no pitch adjustment occurred between the intermediate time t1 and t2). The sum of the two values ​​is: 2.096704 + (-1.064153) = 1.032551 degrees, which is the minimum rotation angle mentioned above.

[0068] In step S104, in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle, an anomaly in the pitch setpoint speed of the wind turbine generator is determined. For example, the theoretical rotation angle of 5.792 degrees obtained from the data based on the anomaly is much larger than the actual change angle of the blade (0.28 - 0.26 = 0.02 degrees), and the minimum rotation angle of 1.032551 degrees obtained from the data based on the anomaly is also much larger than the actual change angle of the blade (0.28 - 0.26 = 0.02 degrees). Therefore, when the obtained theoretical rotation angle and / or minimum rotation angle are greater than the actual change angle of the blade, it can be characterized that at the midpoint between the two sampling time points, the blade experienced frequent changes in velocity, alternating between positive and negative values, resulting in a very small final change in the blade angle, i.e., fluctuations in the pitch setpoint speed occurred.

[0069] According to embodiments of this disclosure, the step of determining an abnormal pitch setpoint speed of a wind turbine generator set in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle includes: in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle, obtaining the temperature of the pitch motor of the wind turbine generator set at the first sampling time point and the temperature at the second sampling time point; and determining that the pitch setpoint speed of the wind turbine generator set is abnormal when the temperature at the first sampling time point is lower than the temperature at the second sampling time point. This embodiment allows for the use of motor temperature to assist in determining whether a pitch abnormality has occurred in the wind turbine generator set, making the determination more accurate. It should be noted that frequent commutation of the pitch motor leads to a continuously large starting current, and according to Ohm's law, a larger pitch motor current results in a faster increase in pitch motor temperature. Therefore, this embodiment can assist in determining whether a pitch abnormality has occurred in the wind turbine generator set, making the determination more accurate.

[0070] According to embodiments of this disclosure, the step of determining an abnormal pitch setpoint of a wind turbine generator in response to the temperature at a first sampling time point being lower than the temperature at a second sampling time point includes: obtaining the actual rotation angle of each blade of the wind turbine generator from the first sampling time point to the second sampling time point in response to the temperature at the first sampling time point being lower than the temperature at the second sampling time point; and determining an abnormal pitch setpoint of the wind turbine generator if the actual rotation angle of each blade from the first sampling time point to the second sampling time point is consistent. This embodiment can further detect the consistency of the angle of each blade of the wind turbine generator, thereby further ensuring the accuracy of the detection. It should be noted that in a normal wind turbine generator, the main controller sends the pitch speed to the controller of each pitch control unit. Therefore, if the pitch speed fluctuates, the controller of each pitch control unit will receive the abnormal fluctuation speed, and thus the angle of each blade will change in the same way.

[0071] To better understand the above embodiments, the following is in conjunction with... Figure 6 The system explains the above-mentioned pitch anomaly detection method. It should be noted that the following example uses a wind turbine generator with three blades and the pitch speed as the pitch setpoint. Figure 6 This is a flowchart illustrating an optional pitch detection method for wind turbine generators according to this disclosure, such as... Figure 6 As shown, the method includes:

[0072] SS601: Reads transient data files to obtain pitch setpoint, pitch motor temperature, and three-blade angle values. It should be noted that reading the transient data file primarily involves the pitch setpoint, pitch motor temperature, and the angle values ​​of the three blades.

[0073] S602, determine if the data reading is normal. If the result is yes, proceed to S603; if the result is no, end the current anomaly detection. This step mainly refers to whether the transient file contains the variable to be read, and whether the pitch setpoint values ​​between any two adjacent values ​​are both non-zero or at least one is non-zero. If the setpoint values ​​at two adjacent moments are both 0, end the current anomaly detection and proceed to the next data judgment.

[0074] S603, calculate the theoretical rotation angle and the minimum rotation angle according to the formula. This step refers to calculating the theoretical rotation angle according to formula (1) and the minimum rotation angle according to formula (2), which specifically refers to the change in angle.

[0075] S604. Determine whether the calculated theoretical rotation angle and / or minimum rotation angle are greater than 5 times the actual angle change of the blade, that is, whether the calculated amount is greater than 5 times the actual change. If the determination result is yes, proceed to step S605. If the determination result is no, end this anomaly detection.

[0076] S605, Check if the pitch motor temperature has increased. If the result is yes, proceed to step S606; if the result is no, end the current anomaly detection. This step is used to assist in determining if the pitch motor temperature has increased, because the pitch motor has a large starting current when it frequently reverses. Frequent reversing will cause the pitch motor temperature to rise. On the other hand, this step can also include detecting the maximum value of the pitch motor temperature. If the maximum value is greater than 80°C, it can be determined that the pitch is abnormal.

[0077] S606, determine whether the angles of the three blades are consistent. If the result is yes, proceed to step S607. If the result is no, end the current anomaly detection. This step is used to help determine whether the angles of the three blades are receiving the same pitch control speed, i.e., there is no pitch jamming, pitch control failure, slow pitch control, etc.

[0078] S607 outputs an alarm message for abnormal pitch setpoint.

[0079] In summary, the embodiments of this disclosure can detect pitch speed fluctuations using transient data without updating the PLC program, thus enabling the monitoring and maintenance of wind turbine generator operation status. This is particularly significant for the analysis of historical operating data. Furthermore, the embodiments of this disclosure can analyze historical operating data even without PLC data, which is of even greater importance for understanding and mastering the operating status and characteristics of wind turbine generators. Moreover, the embodiments of this disclosure do not require acquiring data at intermediate moments; they can detect changes in variables at intermediate moments using data from two sampling times of the pitch system's operating results, demonstrating a certain degree of technological advancement.

[0080] Figure 7 This is a block diagram illustrating the pitch anomaly detection device for wind turbine generators disclosed herein, as shown below. Figure 7 As shown, the device includes a real-time operation data acquisition unit 70, a theoretical rotation angle acquisition unit 72, a minimum rotation angle acquisition unit 74, and an anomaly determination unit 76.

[0081] The real-time operation data acquisition unit 70 is configured to acquire real-time operation data of the wind turbine generator set, wherein the real-time operation data includes pitch speeds at multiple sampling time points, and the pitch speeds include pitch setpoint speeds and actual pitch speeds; the theoretical rotation angle acquisition unit 72 is configured to acquire the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speeds at the first and second sampling time points in the real-time operation data; the minimum rotation angle acquisition unit 74 is configured to acquire the minimum rotation angle of the blade from the first sampling time point to the second sampling time point, wherein the minimum rotation angle is the rotation angle of the blade when a pitch adjustment is performed between the first and second sampling time points; the anomaly determination unit 76 is configured to determine that the pitch setpoint speed of the wind turbine generator set is abnormal in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle.

[0082] According to an embodiment of the present disclosure, the minimum rotation angle acquisition unit 74 is further configured to acquire a first rotation angle of the blade during the period from the first sampling time point when the pitch speed decreases to zero; acquire a second rotation angle of the blade during the period from the zero pitch speed to the second sampling time point; and add the first rotation angle and the second rotation angle to obtain the minimum rotation angle.

[0083] According to an embodiment of this disclosure, the minimum rotation angle acquisition unit 74 is further configured to acquire the average value of the pitch speed at a first sampling time point and zero; based on the ratio of the reference speed to the reference time and the pitch speed at the first sampling time point, obtain the time from the pitch speed at the first sampling time point to zero, wherein the reference time is the time from the reference speed to zero; and based on the average value and the time, obtain the first rotation angle of the blade.

[0084] According to an embodiment of this disclosure, the minimum rotation angle acquisition unit 74 is further configured to acquire the average value of the pitch speed at the second sampling time point and zero; based on the ratio of the reference speed and the reference time, and the pitch speed at the second sampling time point, obtain the time from zero to the pitch speed at the second sampling time point, wherein the reference time is the time from the reference speed to zero; and based on the average value and the time, obtain the second rotation angle of the blade.

[0085] According to an embodiment of this disclosure, the theoretical rotation angle acquisition unit 72 is further configured to acquire the speed difference between the pitch speed at the second sampling time point and the pitch speed at the first sampling time point; acquire the time difference between the second sampling time point and the first sampling time point; and obtain the theoretical rotation angle based on the pitch speed at the first sampling time point, the speed difference, and the time difference.

[0086] According to an embodiment of this disclosure, the anomaly determination unit 76 is further configured to, in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle, acquire the temperature of the pitch motor of the wind turbine generator at the first sampling time point and the temperature at the second sampling time point; and, if the temperature at the first sampling time point is less than the temperature at the second sampling time point, determine that the pitch given speed of the wind turbine generator is abnormal.

[0087] According to an embodiment of this disclosure, the anomaly determination unit 76 is further configured to, in response to the temperature at the first sampling time point being lower than the temperature at the second sampling time point, acquire the actual rotation angle of each blade of the wind turbine generator from the first sampling time point to the second sampling time point; and, if the actual rotation angle of each blade from the first sampling time point to the second sampling time point is consistent, determine that the pitch setpoint of the wind turbine generator is abnormal.

[0088] According to an embodiment of the present disclosure, the speed detection unit 78 is configured to determine that at least one of the pitch speed at the first sampling time point and the pitch speed at the second sampling time point is not zero.

[0089] According to embodiments of this disclosure, the pitch anomaly detection device is integrated into the pitch controller or main controller of the wind turbine generator set.

[0090] According to embodiments of this disclosure, a wind turbine generator set is provided, including any of the pitch anomaly detection devices described above.

[0091] According to embodiments of the present disclosure, a computer-readable storage medium for storing instructions is provided, wherein when the instructions are executed by at least one computing device, they cause at least one computing device to perform a pitch anomaly detection method for a wind turbine generator set as described in any of the above embodiments.

[0092] According to embodiments of the present disclosure, a system is provided that includes at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by at least one computing device, cause at least one computing device to perform a pitch anomaly detection method for a wind turbine generator as described in any of the above embodiments.

[0093] While some embodiments of this disclosure have been shown and described, those skilled in the art will understand that modifications may be made to these embodiments without departing from the principles and spirit of this disclosure, which are defined by the claims and their equivalents.

Claims

1. A method for detecting pitch anomalies in wind turbine generator sets, characterized in that, include: Acquire real-time operating data of a wind turbine generator set, wherein the real-time operating data includes pitch speed at multiple sampling time points, and the pitch speed is the pitch setpoint. Based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in the real-time operating data, the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point is obtained. Obtain the minimum rotation angle of the blade from the first sampling time point to the second sampling time point, wherein the minimum rotation angle is the rotation angle of the blade when a pitch adjustment is performed between the first sampling time point and the second sampling time point; In response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle, it is determined that the pitch setpoint of the wind turbine is abnormal.

2. The pitch anomaly detection method as described in claim 1, characterized in that, The step of obtaining the minimum rotation angle of the blade from the first sampling time point to the second sampling time point includes: The first rotation angle of the blade is obtained during the period from the first sampling time point when the pitch speed decreases to zero. The second rotation angle of the blade is obtained during the pitch speed increase from zero to the second sampling time point; The minimum rotation angle is obtained by adding the first rotation angle and the second rotation angle.

3. The pitch anomaly detection method as described in claim 2, characterized in that, The step of obtaining the first rotation angle of the blade during the period from the first sampling time point when the pitch speed decreases to zero includes: Obtain the average value of the pitch speed at the first sampling time point and zero; Based on the ratio of reference speed to reference time and the pitch speed at the first sampling time point, the time from the first sampling time point when the pitch speed drops to zero is obtained, wherein the reference time is the time from the reference speed to zero. Based on the average value and the time, the first rotation angle of the blade is obtained.

4. The pitch anomaly detection method as described in claim 2, characterized in that, The steps of obtaining the second rotation angle of the blade during the pitch speed rise from zero to the second sampling time point include: Obtain the average value of the pitch speed at the second sampling time point and zero; Based on the ratio of reference speed to reference time and the pitch speed at the second sampling time point, the time from zero to the pitch speed at the second sampling time point is obtained, wherein the reference time is the time from the reference speed to zero. Based on the average value and the time, the second rotation angle of the blade is obtained.

5. The pitch anomaly detection method as described in claim 1, characterized in that, The steps for obtaining the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in the real-time operating data include: Obtain the speed difference between the pitch speed at the second sampling time point and the pitch speed at the first sampling time point; Obtain the time difference between the second sampling time point and the first sampling time point; The theoretical rotation angle is obtained based on the pitch speed at the first sampling time point, the speed difference, and the time difference.

6. The pitch anomaly detection method as described in claim 1, characterized in that, The step of determining an anomaly in the pitch setpoint of the wind turbine generator in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle includes: In response to the fact that the actual rotation angle of the blade from the first sampling time point to the second sampling time point is less than the theoretical rotation angle and / or the minimum rotation angle, the temperature of the pitch motor of the wind turbine generator set at the first sampling time point and the temperature at the second sampling time point are obtained. If the temperature at the first sampling time point is lower than the temperature at the second sampling time point, it is determined that the pitch setpoint of the wind turbine generator is abnormal.

7. The pitch anomaly detection method as described in claim 6, characterized in that, The step of determining that the pitch setpoint of the wind turbine generator is abnormal in response to the temperature at the first sampling time point being lower than the temperature at the second sampling time point includes: In response to the temperature at the first sampling time point being lower than the temperature at the second sampling time point, the actual rotation angle of each blade of the wind turbine generator from the first sampling time point to the second sampling time point is obtained; If the actual rotation angle of each blade is consistent from the first sampling time point to the second sampling time point, the pitch setpoint of the wind turbine generator is determined to be abnormal.

8. The pitch anomaly detection method as described in claim 1, characterized in that, Before obtaining the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in the real-time operating data, the method further includes: Determine that at least one of the pitch speeds at the first sampling time point and the second sampling time point is not zero.

9. A pitch anomaly detection device for a wind turbine generator set, characterized in that, include: The real-time operation data acquisition unit is configured to acquire real-time operation data of the wind turbine generator set, wherein the real-time operation data includes pitch speed at multiple sampling time points, and the pitch speed is the pitch setpoint. The theoretical rotation angle acquisition unit is configured to acquire the theoretical rotation angle of the blade from the first sampling time point to the second sampling time point based on the pitch speed at the first sampling time point and the pitch speed at the second sampling time point in the real-time operating data. The minimum rotation angle acquisition unit is configured to acquire the minimum rotation angle of the blade from the first sampling time point to the second sampling time point, wherein the minimum rotation angle is the rotation angle of the blade when a pitch adjustment is performed between the first sampling time point and the second sampling time point; An anomaly determination unit is configured to determine an anomaly in the pitch given speed of the wind turbine generator in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle.

10. The pitch anomaly detection device as described in claim 9, characterized in that, The minimum rotation angle acquisition unit is further configured to acquire the first rotation angle of the blade during the period from the first sampling time point when the pitch speed drops to zero; The second rotation angle of the blade is obtained during the pitch speed increase from zero to the second sampling time point; The minimum rotation angle is obtained by adding the first rotation angle and the second rotation angle.

11. The pitch anomaly detection device as described in claim 9, characterized in that, The theoretical rotation angle acquisition unit is further configured to acquire the speed difference between the pitch speed at the second sampling time point and the pitch speed at the first sampling time point; Obtain the time difference between the second sampling time point and the first sampling time point; The theoretical rotation angle is obtained based on the pitch speed at the first sampling time point, the speed difference, and the time difference.

12. The pitch anomaly detection device as described in any one of claims 9 to 11, characterized in that, The anomaly determination unit is further configured to, in response to the actual rotation angle of the blade from the first sampling time point to the second sampling time point being less than the theoretical rotation angle and / or the minimum rotation angle, acquire the temperature of the pitch motor of the wind turbine generator set at the first sampling time point and the temperature at the second sampling time point. If the temperature at the first sampling time point is lower than the temperature at the second sampling time point, it is determined that the pitch setpoint of the wind turbine generator is abnormal.

13. The pitch anomaly detection device as described in claim 12, characterized in that, The anomaly determination unit is further configured to, in response to the temperature at the first sampling time point being lower than the temperature at the second sampling time point, acquire the actual rotation angle of each blade of the wind turbine generator from the first sampling time point to the second sampling time point. If the actual rotation angle of each blade is consistent from the first sampling time point to the second sampling time point, the pitch setpoint of the wind turbine generator is determined to be abnormal.

14. The pitch anomaly detection device as described in claim 13, characterized in that, The aforementioned pitch anomaly detection device is integrated into the pitch controller or main controller of the wind turbine generator set.

15. A wind turbine generator set, characterized in that, Includes the pitch anomaly detection device as described in any one of claims 9 to 14.

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