A control method of a wind turbine generator system and related device

Abstract

The embodiment of the application discloses a kind of control method and related devices of wind turbine, processing equipment can determine the first sampling frequency corresponding to wind power generator controller, and the second sampling frequency corresponding to servo controller, to make the servo controller can be more reasonable to the parameter that the wind power generator controller exports adjust, to achieve accurate control to wind power generator, processing equipment can determine second parameter according to the first parameter that wind power generator controller exports, first sampling frequency and second sampling frequency, so that the second parameter can contain the first parameter information while more fit the parameter characteristics of the servo controller, to reduce the possibility of information loss.Processing equipment can determine control parameter by servo controller according to the second parameter, and the control parameter is used to control the wind power generator corresponding to the servo controller, to realize accurate control to wind power generator.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and in particular to a control method and related apparatus for a wind turbine generator set. Background Technology

[0002] Wind power generation is a core component of current new energy power generation technology. How to achieve more stable and efficient wind power generation has always been a key concern for relevant technical personnel.

[0003] In related technologies, wind turbines are commonly used for power generation. The basic structure of a wind turbine consists of a wind turbine controller and a pitch actuator servo controller. The servo controller is used to adjust the information output by the wind turbine controller.

[0004] However, the adjustment methods in related technologies are prone to information loss, making it difficult to accurately control wind turbines. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a control method for a wind turbine generator set. The processing equipment can adjust the parameters input to the servo controller in a targeted manner based on the first sampling frequency corresponding to the wind turbine generator controller and the second sampling frequency corresponding to the servo controller, making the parameters more suitable for the servo controller to adjust, while ensuring the integrity and effectiveness of the parameters.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, embodiments of this application disclose a control method for a wind turbine generator set, the method comprising:

[0008] Determine the first sampling frequency corresponding to the wind turbine controller and the second sampling frequency corresponding to the servo controller;

[0009] The second parameter is determined based on the first parameter output by the wind turbine controller, the first sampling frequency, and the second sampling frequency.

[0010] Based on the second parameter, control parameters are determined by the servo controller, and these control parameters are used to control the wind turbine corresponding to the servo controller.

[0011] In one possible implementation, the first parameter includes one or more combinations of blade amplitude, blade phase, and blade frequency.

[0012] In one possible implementation, the method further includes:

[0013] Determine the dead zone value corresponding to the servo controller;

[0014] The step of determining control parameters through the servo controller based on the second parameter includes:

[0015] The control parameters are determined by the servo controller based on the second parameter and the dead zone value.

[0016] In one possible implementation, the second parameter is a harmonic function, and the step of determining control parameters by the servo controller based on the second parameter and the dead-time value includes:

[0017] Determine the target parameter among the second parameters that satisfies the dead zone value;

[0018] Reduce the magnitude value corresponding to the target parameter;

[0019] The control parameters are determined by the servo controller based on the adjusted second parameter.

[0020] In one possible implementation, the method further includes:

[0021] Get the update frequency parameter;

[0022] The first sampling frequency is updated according to the update frequency parameter;

[0023] Update the second sampling frequency based on the updated first sampling frequency.

[0024] Secondly, embodiments of this application disclose a control device for a wind turbine generator set, the device comprising a first determining unit, a second determining unit, and a third determining unit:

[0025] The first determining unit is used to determine the first sampling frequency corresponding to the wind turbine controller and the second sampling frequency corresponding to the servo controller;

[0026] The second determining unit is used to determine the second parameter based on the first parameter output by the wind turbine controller, the first sampling frequency, and the second sampling frequency;

[0027] The third determining unit is used to determine control parameters through the servo controller based on the second parameter, and the control parameters are used to control the wind turbine corresponding to the servo controller.

[0028] In one possible implementation, the first parameter includes one or more combinations of blade amplitude, blade phase, and blade frequency.

[0029] In one possible implementation, the device further includes a fourth determining unit:

[0030] The fourth determining unit is used to determine the dead zone value corresponding to the servo controller;

[0031] The third determining unit is specifically used for:

[0032] The control parameters are determined by the servo controller based on the second parameter and the dead zone value.

[0033] In one possible implementation, the second parameter is a harmonic function, and the third determining unit is specifically used for:

[0034] Determine the target parameter among the second parameters that satisfies the dead zone value;

[0035] Reduce the magnitude value corresponding to the target parameter;

[0036] The control parameters are determined by the servo controller based on the adjusted second parameter.

[0037] In one possible implementation, the apparatus further includes an acquisition unit, a first update unit, and a second update unit:

[0038] The acquisition unit is used to acquire the update frequency parameter;

[0039] The first update unit is configured to update the first sampling frequency according to the update frequency parameter;

[0040] The second update unit is used to update the second sampling frequency according to the updated first sampling frequency.

[0041] As can be seen from the above technical solution, this application provides a control method for a wind turbine generator set. The processing device can determine a first sampling frequency corresponding to the wind turbine generator controller and a second sampling frequency corresponding to the servo controller. In order for the servo controller to reasonably adjust the parameters output by the wind turbine generator controller, thereby achieving accurate control of the wind turbine generator, the processing device can determine the second parameter based on the first parameter output by the wind turbine generator controller, the first sampling frequency, and the second sampling frequency. This ensures that the second parameter contains the information of the first parameter while closely matching the parameter characteristics of the servo controller, thus reducing the possibility of information loss. The processing device can determine control parameters through the servo controller based on the second parameter. These control parameters are used to control the wind turbine generator corresponding to the servo controller, achieving precise control of the wind turbine generator. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 A schematic diagram of the operation of a wind power generator provided in an embodiment of this application;

[0044] Figure 2 A flowchart of a control method for a wind turbine generator set provided in this application embodiment;

[0045] Figure 3 A structural block diagram of a control device for a wind turbine generator set provided in an embodiment of this application;

[0046] Figure 4 This is a structural diagram of a server provided in an embodiment of this application. Detailed Implementation

[0047] The embodiments of this application will now be described with reference to the accompanying drawings.

[0048] In a wind turbine, the wind turbine controller collects relevant parameters from various sensors within the turbine and then sends these parameters to the servo controller. The servo controller adjusts the wind turbine based on these parameters, taking into account its operational status. For example, the wind turbine controller calculates a pitch position reference, which is then converted into a pitch rate reference and sent to the servo controller.

[0049] However, in related technologies, since wind turbine controllers and servo controllers can operate at the same or different sampling frequencies, some important parameters transmitted from the wind turbine controller to the servo controller may be lost when operating at different sampling frequencies. These important parameters involve different sampling frequencies, pitch position references, pitch rate references, and limitations in the servo controller. These important parameters protect the pitch actuator in terms of, for example, dead zone and torque limits.

[0050] To address the aforementioned technical problems, this application provides a control method for a wind turbine generator set. The processing equipment can adjust the parameters input to the servo controller in a targeted manner based on the first sampling frequency corresponding to the wind turbine generator controller and the second sampling frequency corresponding to the servo controller, making the parameters more suitable for the servo controller to adjust, while ensuring the integrity and effectiveness of the parameters.

[0051] It is understood that this method can be applied to processing devices, specifically those with wind turbine control functions, such as terminal devices or servers with wind turbine control capabilities. This method can be applied to network scenarios where terminal devices and servers communicate, operating in cooperation. The terminal device can be a desktop computer, tablet computer, or similar device. The server can be an application server or a web server; in actual deployment, it can be a standalone physical server, a server cluster, or a distributed system. The terminal and server can be directly or indirectly connected via wired or wireless communication, and this application does not impose any restrictions on this connection.

[0052] Next, with reference to the accompanying drawings, a control method for a wind turbine generator provided in an embodiment of this application will be described.

[0053] See Figure 2 , Figure 2 A flowchart of a control method for a wind turbine generator provided in this application embodiment, the method including:

[0054] S201: Determine the first sampling frequency corresponding to the wind turbine controller and the second sampling frequency corresponding to the servo controller.

[0055] The first sampling frequency is the sampling frequency required for the operation of the wind turbine controller, and the second sampling frequency is the sampling frequency required for the operation of the servo controller.

[0056] S202: Determine the second parameter based on the first parameter output by the wind turbine controller, the first sampling frequency, and the second sampling frequency.

[0057] To reduce the probability of parameter loss during parameter transmission, in this embodiment of the application, after the processing device obtains the first parameter output by the wind turbine controller, it can determine the second parameter based on the first sampling frequency and the second sampling frequency determined in the above steps, thereby enabling the first parameter to be converted from the first sampling frequency to the second parameter that conforms to the characteristics of the second sampling frequency.

[0058] The first parameter can include various parameters. In one possible implementation, the first parameter can include one or more combinations of blade amplitude, blade phase, and blade frequency. For example, as... Figure 1 As shown, Figure 1This application provides a schematic diagram of the operation of a wind turbine, wherein the wind turbine controller is a wind turbine controller, the pitch actuator servo controller is a servo controller, and the wind turbine is a wind turbine. Figure 1 In the process, the wind turbine controller can acquire the following parameters via pin A: rotor and / or generator speed, ω r ω g Blade load sensor M B,1,2,3 The acceleration a at the top of the tower xy Pitch positions β1, β2, β3, wind speed measurement v w etc.

[0059] The wind turbine controller can determine the first parameter based on these parameters and send it to the servo controller. The parameters received by each pin in the servo controller can be as follows:

[0060] B0: Non-harmonic pitch control reference (e.g., from the total pitch used for speed control) β0

[0061] B1: Vector of blade 1: Amplitude α1 of wave control signal

[0062] B2: Vector of blade 2: Amplitude α2 of wave control signal

[0063] B3: Vector of blade 3: Amplitude α3 of wave control signal

[0064] B4: Vector of blade 1: Frequency φ1 of wave control signal

[0065] B5: Vector of blade 2: Frequency φ2 of harmonic control signal

[0066] B6: Vector of blade 3: Frequency φ3 of harmonic control signal

[0067] B7: Vector of blade 1: Phase ρ1 of the harmonic control signal

[0068] B8: Vector of blade 2: Phase ρ2 of the harmonic control signal

[0069] B9: Vector of blade 3: Phase ρ3 of the harmonic control signal

[0070] S103: Based on the second parameter, the control parameters are determined by the servo controller.

[0071] This control parameter is used to control the wind turbine corresponding to the servo controller. Because this second parameter closely matches the frequency characteristics of the servo controller, determining the second parameter ensures that the information in the first parameter is fully received by the servo controller, thus enabling the determination of a more accurate control parameter and improving the accuracy of wind turbine control. Figure 1 As shown, in Figure 1 In the process, after receiving the first parameter from the wind turbine controller through various pins, the servo controller can convert the first parameter into a second parameter based on the first sampling frequency and the second sampling frequency, and then output the determined control parameters through pins C0, C1, and C2, as follows:

[0072] C0: Control signal c1 for the pitch actuator of blade 1

[0073] C1: Control signal for the pitch actuator of blade 2; c2

[0074] C2: Control signal c3 for the pitch actuator of blade 3

[0075] The control signal of the pitch actuator can be used to control the pitch actuator to perform corresponding control operations.

[0076] As can be seen from the above technical solution, this application provides a control method for a wind turbine generator set. The processing device can determine a first sampling frequency corresponding to the wind turbine generator controller and a second sampling frequency corresponding to the servo controller. In order for the servo controller to reasonably adjust the parameters output by the wind turbine generator controller, thereby achieving accurate control of the wind turbine generator, the processing device can determine the second parameter based on the first parameter output by the wind turbine generator controller, the first sampling frequency, and the second sampling frequency. This ensures that the second parameter contains the information of the first parameter while closely matching the parameter characteristics of the servo controller, thus reducing the possibility of information loss. The processing device can determine control parameters through the servo controller based on the second parameter. These control parameters are used to control the wind turbine generator corresponding to the servo controller, achieving precise control of the wind turbine generator.

[0077] Understandably, in order to protect the pitch actuator, in one possible implementation, the processing device can set a dead zone value for the servo controller. When the parameter is at this dead zone value, the attribute corresponding to the parameter is appropriately reduced to achieve pitch control parameters.

[0078] Specifically, in one possible implementation, the second parameter can be a harmonic function that matches the second sampling frequency. The processing device can first determine the target parameter among the second parameters that satisfies the dead zone value; this target parameter is the parameter that may harm the pitch actuator of the wind turbine. The processing device can reduce the amplitude value corresponding to the target parameter, thereby reducing the impact of the target parameter on the pitch actuator. The processing device can determine the control parameters through the servo controller based on the adjusted second parameter. For example, if the processing device determines that the amplitude of a parameter is less than the dead zone value, it can set the amplitude value of that parameter to 0. If one of the blade functions of a given control characteristic is set to 0, then the amplitudes of all parameters for that control characteristic should also be set to 0. Since the processing device implements the resampling processing of the first parameter in the form of a harmonic function, it can better preserve the parameter characteristics of the original parameter compared to other parameter forms.

[0079] For example, if the dead zone value is γ, and ,but All elements (where k belongs to {1,2,3}) have an amplitude of 0.

[0080] Alternatively, if it is necessary to limit the action due to current or torque limiters, the parameter amplitude can be reduced by a preset ratio to reduce the impact on the parameter characteristics. For example, when the parameter is a harmonic control signal, the damage to the shape of the harmonic control signal can be reduced.

[0081] Understandably, based on the different operating states of the wind turbine generator, the processing equipment can update the equipment parameters in the wind turbine generator in real time. During the update process, to ensure the stable operation of the wind turbine generator, in one possible implementation, the processing equipment can obtain an update frequency parameter, and then first update the first sampling frequency according to this parameter, allowing the wind turbine generator controller to accurately process the basic parameters. Subsequently, the processing equipment can update the second sampling frequency based on the updated first sampling frequency, which can, to some extent, avoid the problem of low accuracy of the first parameters received by the servo controller due to updating the second sampling frequency first.

[0082] To facilitate understanding of the technical solutions provided in the embodiments of this application, the following will introduce a control method for a wind turbine generator provided in the embodiments of this application, in conjunction with a practical application scenario.

[0083] In this practical application scenario, the processing device is a server used to control the wind turbine, which may have features such as... Figure 1The structure is shown. The server can receive the aforementioned multiple first parameters via pins. These first parameters may include a harmonic control signal, which is generated based on control characteristics of a specific frequency and can be represented as the following function:

[0084] α·Sin(φ·(t[n]+ρ))

[0085] Where α represents amplitude, φ represents frequency divided by 2π, and ρ represents phase of the control signal. The vector definitions of amplitude, frequency, and phase for each blade in a wind turbine are as follows, where the superscript number corresponds to a given control feature number, organized in ascending order of frequency, including N control features, and k corresponds to the blade number:

[0086]

[0087]

[0088]

[0089] For example, control features such as IPC, front and rear tower dampers, and lateral tower dampers all operate at frequency; therefore, the corresponding pitch reference components can be identified by a single harmonic function. In this embodiment, the current and last two to three parameters can be sampled and projected onto a known harmonic function with a specified frequency, thereby preserving the parameter characteristics of the original parameters as much as possible while achieving resampling. Here, IPC can correspond to 1P or 2P, the front and rear tower dampers correspond to the first tower frequency, and the lateral tower dampers correspond to the frequency trend from 1P to the first tower frequency.

[0090] The second parameter corresponding to the servo controller can be calculated using the following formula:

[0091]

[0092] Where n corresponds to the sampling number of the wind turbine controller sampled at sampling frequency f1, m corresponds to the sampling number of the servo controller since the most recent update of the wind turbine controller, and f2 corresponds to the sampling frequency of the servo controller.

[0093] If a pitch position reference or pitch rate reference is followed, this pitch position reference or pitch rate reference is provided to the servo controller, and the sample value m of the servo controller can be determined, as shown in the following formula:

[0094]

[0095]

[0096]

[0097] The server can input the above parameters to the servo controller, and the servo controller can calculate the control parameters c1, c2, and c3.

[0098] The conversion between harmonic control signals and time control signals can be calculated within the wind turbine controller. In this embodiment, since the time-based control trajectory calculated in the MPC can be projected onto a frequency-specific harmonic function, it can better support the resampling of parameters of the wind turbine controller operating at low frequencies. Simultaneously, since the amplitude can be reduced to match the dead zone value corresponding to the wind turbine, the negative impact on the wind turbine can be reduced while preserving the original characteristics of the parameters to a certain extent, thus improving the stability of wind turbine operation.

[0099] Based on the control method for a wind turbine generator provided in the above embodiments, this application also provides a control device for a wind turbine generator. See [link to relevant documentation]. Figure 3 , Figure 3 This application provides a structural block diagram of a wind turbine generator control device 300, which includes a first determining unit 301, a second determining unit 302, and a third determining unit 303.

[0100] The first determining unit 301 is used to determine the first sampling frequency corresponding to the wind turbine controller and the second sampling frequency corresponding to the servo controller.

[0101] The second determining unit 302 is used to determine the second parameter based on the first parameter output by the wind turbine controller, the first sampling frequency and the second sampling frequency;

[0102] The third determining unit 303 is used to determine control parameters through the servo controller based on the second parameter, and the control parameters are used to control the wind turbine corresponding to the servo controller.

[0103] In one possible implementation, the first parameter includes one or more combinations of blade amplitude, blade phase, and blade frequency.

[0104] In one possible implementation, the device 300 further includes a fourth determining unit:

[0105] The fourth determining unit is used to determine the dead zone value corresponding to the servo controller;

[0106] The third determining unit 303 is specifically used for:

[0107] The control parameters are determined by the servo controller based on the second parameter and the dead zone value.

[0108] In one possible implementation, the second parameter is a harmonic function, and the third determining unit 303 is specifically used for:

[0109] Determine the target parameter among the second parameters that satisfies the dead zone value;

[0110] Reduce the magnitude value corresponding to the target parameter;

[0111] The control parameters are determined by the servo controller based on the adjusted second parameter.

[0112] In one possible implementation, the device 300 further includes an acquisition unit, a first update unit, and a second update unit:

[0113] The acquisition unit is used to acquire the update frequency parameter;

[0114] The first update unit is used to update the first sampling frequency according to the update frequency parameter;

[0115] The second update unit is used to update the second sampling frequency according to the updated first sampling frequency.

[0116] This application also provides a server; please refer to [link / reference]. Figure 4 As shown, Figure 4 This is a structural diagram of a server 800 provided in an embodiment of this application. The server 800 can vary significantly due to different configurations or performance. It may include one or more Central Processing Units (CPUs) 822 (e.g., one or more processors) and a memory 832, and one or more storage media 830 (e.g., one or more mass storage devices) for storing application programs 842 or data 844. The memory 832 and storage media 830 can be temporary or persistent storage. The program stored in the storage media 830 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the server. Furthermore, the CPU 822 may be configured to communicate with the storage media 830 and execute the series of instruction operations in the storage media 830 on the server 800.

[0117] Server 800 may also include one or more power supplies 826, one or more wired or wireless network interfaces 850, one or more input / output interfaces 858, and / or one or more operating systems 841, such as Windows Server. TM Mac OS X TM Unix TM Linux TM FreeBSDTM etc.

[0118] The steps performed by the server in the above embodiments can be based on Figure 4 The server structure shown.

[0119] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium can be at least one of the following media: read-only memory (ROM), RAM, magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0120] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0121] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of a wind turbine generator system, characterized by, The method comprises: determining a first sampling frequency corresponding to a wind turbine controller and a second sampling frequency corresponding to a servo controller, the wind turbine controller being configured to collect parameters from a wind turbine at the first sampling frequency, and the servo controller being configured to receive parameters from the wind turbine controller at the second sampling frequency; determining a second parameter according to a first parameter output by the wind turbine controller, the first parameter being collected by the wind turbine controller at the first sampling frequency, the second parameter fitting a parameter characteristic of the servo controller, and the second parameter containing information of the first parameter; determining a control parameter for controlling a wind turbine corresponding to the servo controller according to the second parameter.

2. The method of claim 1, wherein, The first parameter comprises one or more combinations of blade amplitude, blade phase and blade frequency.

3. The method of claim 1, wherein, The method further comprises: determining a dead zone value corresponding to the servo controller; The determining of the control parameter for controlling the wind turbine corresponding to the servo controller according to the second parameter comprises: determining the control parameter for controlling the wind turbine corresponding to the servo controller according to the second parameter and the dead zone value.

4. The method of claim 3, wherein, The second parameter is a harmonic function, and the determining of the control parameter for controlling the wind turbine corresponding to the servo controller according to the second parameter and the dead zone value comprises: determining a target parameter in the second parameter that satisfies the dead zone value; reducing an amplitude value corresponding to the target parameter; determining the control parameter for controlling the wind turbine corresponding to the servo controller according to the adjusted second parameter.

5. The method of claim 1, wherein, The method further comprises: obtaining an update frequency parameter; updating the first sampling frequency according to the update frequency parameter; updating the second sampling frequency according to the updated first sampling frequency.

6. A control device for a wind power plant, characterized in that The device comprises a first determining unit, a second determining unit and a third determining unit: The first determining unit is configured to determine a first sampling frequency corresponding to a wind turbine controller and a second sampling frequency corresponding to a servo controller, the wind turbine controller being configured to collect parameters from a wind turbine at the first sampling frequency, and the servo controller being configured to receive parameters from the wind turbine controller at the second sampling frequency; The second determining unit is configured to determine a second parameter according to a first parameter output by the wind turbine controller, the first parameter being collected by the wind turbine controller at the first sampling frequency, the second parameter fitting a parameter characteristic of the servo controller, and the second parameter containing information of the first parameter; The third determining unit is configured to determine a control parameter for controlling a wind turbine corresponding to the servo controller according to the second parameter.

7. The apparatus of claim 6, wherein, The first parameter comprises one or more combinations of blade amplitude, blade phase and blade frequency.

8. The apparatus of claim 6, wherein, The device further comprises a fourth determining unit: The fourth determining unit is configured to determine a dead zone value corresponding to the servo controller; The third determining unit is specifically configured to: According to the second parameter and the dead zone value, a control parameter is determined by the servo controller.

9. The apparatus of claim 8, wherein, The second parameter is a harmonic function, and the third determination unit is specifically configured to: determine a target parameter in the second parameter that satisfies the dead zone value; reduce an amplitude value corresponding to the target parameter; and determine a control parameter by the servo controller according to the adjusted second parameter.

10. The apparatus of claim 6, wherein, The device further includes an acquisition unit, a first updating unit, and a second updating unit. The acquisition unit is configured to acquire an update frequency parameter. The first updating unit is configured to update the first sampling frequency according to the update frequency parameter. The second updating unit is configured to update the second sampling frequency according to the updated first sampling frequency.

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