Method and device for controlling the rotational speed of a wind turbine

Abstract

The present disclosure provides a wind turbine generator set rotating speed control method and device. The rotating speed control method comprises: obtaining a tower inherent frequency of a wind turbine generator set during operation of the wind turbine generator set; determining a minimum operating rotating speed threshold of the wind turbine generator set according to the tower inherent frequency; comparing a minimum operating rotating speed of the wind turbine generator set with the minimum operating rotating speed threshold; and adjusting the minimum operating rotating speed according to a result of the comparison.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of wind power generation, in particular to a rotating speed control method and device of a wind turbine generator system. BACKGROUND

[0002] When the rotating speed frequency of the wind turbine generator system is coupled with the tower inherent frequency, resonance of the wind turbine generator system occurs, which particularly seriously damages the wind turbine generator system and affects the safety of the wind turbine generator system.

[0003] The resonance points of the wind turbine generator system are usually determined by simulation results. However, due to different geological conditions of different wind farms, or even different foundation stiffnesses of different sites of the same wind farm, the inherent frequencies of the towers of the same configuration model change. The inherent frequencies of the towers of the same wind turbine generator system change with the increase of the running time, which leads to inaccurate setting of the resonance region of the wind turbine generator system. Moreover, the inherent frequencies of the towers of each wind turbine generator system can be different, and the workload of the parameter maintenance in the later stage will be very large when facing a large number of units. SUMMARY

[0004] Embodiments of the present disclosure aim to provide a rotating speed control method and device of a wind turbine generator system, so as to effectively reduce vibration failure of the wind turbine generator system, reduce fatigue load of the unit, reduce damage of the unit, and prolong the service life of the unit.

[0005] According to an embodiment of the present disclosure, a rotating speed control method of a wind turbine generator system is provided, which comprises: obtaining a tower inherent frequency of the wind turbine generator system in the running process of the wind turbine generator system; determining a minimum running rotating speed threshold of the wind turbine generator system according to the tower inherent frequency; comparing a minimum running rotating speed of the wind turbine generator system with the minimum running rotating speed threshold; and adjusting the minimum running rotating speed according to the comparison result.

[0006] According to another embodiment of the present disclosure, a rotating speed control device of a wind turbine generator system is provided, which comprises: an obtaining unit configured to obtain a tower inherent frequency of the wind turbine generator system in the running process of the wind turbine generator system; a determining unit configured to determine a minimum running rotating speed threshold of the wind turbine generator system according to the tower inherent frequency; a comparing unit configured to compare a minimum running rotating speed of the wind turbine generator system with the minimum running rotating speed threshold; and an adjusting unit configured to adjust the minimum running rotating speed according to the comparison result.

[0007] According to another embodiment of the present disclosure, a computer readable storage medium storing a computer program is provided, which, when executed by a processor, implements the rotating speed control method of the wind turbine generator system as described above.

[0008] According to another embodiment of the present disclosure, a computing device is provided, and the computing device comprises a processor, and a memory storing a computer program, which, when executed by the processor, implements the wind turbine generator set rotating speed control method as described above.

[0009] The wind turbine generator set rotating speed control method and the wind turbine generator set rotating speed control device, the computer readable storage medium, and the computing device according to the embodiments of the present disclosure can achieve one of the following technical effects: the actual tower natural frequency of the wind turbine generator set is automatically identified online, the minimum operating rotating speed of the wind turbine generator set is automatically adjusted, the wind turbine generator set is kept away from the resonance region, the configuration and adjustment of the control parameters of the wind turbine generator set are implemented by using the processing mode of “one machine, one strategy” (i.e., for each wind turbine generator set, a corresponding control strategy is used), the first-order vibration phenomenon of the tower of the wind turbine generator set is reduced, the vibration failure and damage of the wind turbine generator set are reduced, the fatigue load of the wind turbine generator set is reduced, and the service life of the wind turbine generator set is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0010] The above and other objects and features of the present disclosure will become more apparent from the following description of the embodiments of the present disclosure when taken in conjunction with the accompanying drawings.

[0011] Figure 1 is a flowchart of the wind turbine generator set rotating speed control method according to an embodiment of the present disclosure;

[0012] Figure 2 is another flowchart of the wind turbine generator set rotating speed control method according to an embodiment of the present disclosure;

[0013] Figure 3 is another flowchart of the wind turbine generator set rotating speed control method according to an embodiment of the present disclosure;

[0014] Figure 4 is a block diagram of the wind turbine generator set rotating speed control device according to an embodiment of the present disclosure;

[0015] Figure 5 is a block diagram of the computing device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] The rotating speed control of the wind turbine generator set can generally adopt a control strategy of jumping rotating speed to avoid the wind turbine generator set running near the resonance point for a long time. Alternatively, the resonance can be avoided by actively setting the minimum operating rotating speed of the wind turbine generator set above the resonance point. Such a control strategy is often based on the resonance point determined by theoretically simulating and modeling the operation process of the wind turbine generator set. However, in the actual operation process, the resonance point of the wind turbine generator set can change due to the differences and changes of the physical conditions of the wind farm and the changes of the wind turbine generator set itself during the operation process.

[0017] The application provides a rotating speed control scheme of a wind turbine generator set, which can identify the inherent frequency of a tower in real time during the operation of the wind turbine generator set, automatically adjust the minimum operating rotating speed of the set, make the set away from the resonance region, effectively reduce the vibration failure and damage of the set, reduce the fatigue load of the set, and prolong the service life of the set.

[0018] The detailed description provided in connection with the appended drawings is intended as a description of the methods, apparatuses, and / or systems described herein and is not intended to limit the scope of the disclosure. Various changes, modifications, and equivalents can become apparent to those skilled in the art after having the benefit of this disclosure. For instance, the order in which operations are described is not intended to be limiting unless otherwise specified. Furthermore, features described herein can be omitted, combined, and / or substituted for one another, as would be apparent to one of ordinary skill in the art upon having the benefit of this disclosure.

[0019] The features described herein can be implemented in different ways depending upon the particular application and the like. The terminology used is for the purpose of describing examples and is not intended to limit the disclosure. Various modifications and changes can be made thereto by those skilled in the art without departing from the scope of the disclosure as set forth in the claims.

[0020] As used herein, the term "and / or" includes any one of the associated listed items, as well as any combination of any two or more of the associated listed items.

[0021] Although terms such as "first", "second", and "third" can be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Instead, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Therefore, the first element, component, region, layer or section referred to in the examples described herein can also be referred to as the second element, component, region, layer or section without departing from the teachings of the examples.

[0022] The terminology used herein is for the purpose of describing various examples only and is not intended to limit the disclosure. The singular forms are intended to include the plural forms unless the context clearly indicates otherwise. The terms "comprises", "comprising", and "having" indicate the presence of the stated features, numbers, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, numbers, operations, components, elements, and / or combinations thereof.

[0023] 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.

[0024] 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.

[0025] Figure 1 This is a flowchart of a wind turbine generator speed control method according to an embodiment of the present disclosure.

[0026] According to embodiments of this disclosure, each wind turbine generator has a tower natural frequency (e.g., the tower's first-order natural frequency), which is an inherent property of the tower and is determined by the mass and stiffness of the tower system itself. During the operation of the wind turbine generator, the tower natural frequency changes over time.

[0027] like Figure 1 As shown, in step S101, during the operation of the wind turbine generator set, the natural frequency of the wind turbine generator set tower is acquired. During the operation of the wind turbine generator set, the natural frequency of the tower (e.g., the first-order natural frequency of the tower) can be acquired through various data acquisition and processing methods. For example, during the normal power generation operation of the wind turbine generator set (e.g., after 5 minutes of operation in power generation mode), the vertical acceleration data of the nacelle of the wind turbine generator set can be collected (e.g., data sampling at a frequency of 5Hz, with a sampling length of 512 points). Then, a Fourier transform (e.g., Fast Fourier Transform (FFT)) is performed on the nacelle vertical acceleration data. For example, the FFT transformation execution period can be set to 200ms, and the frequency value corresponding to the data point with the largest amplitude within the range of 0.1Hz-0.5Hz can be read and output as the natural frequency of the tower.

[0028] Furthermore, during the acquisition of the tower's natural frequency, outliers can be removed from the read frequency values. For example, the removal rules may include removing frequency values ​​that deviate from a preset frequency value by a first predetermined percentage (e.g., 10%). The first-order tower frequency values ​​at different speeds can be calculated according to the unit's operating status. After removing outlier data points, the average tower frequency is calculated and output as the tower's natural frequency.

[0029] For example, the tower first order frequency values at high and low rotation speeds can be read respectively, 100 identification frequency values at high and low rotation speeds can be recorded respectively, 5 minimum values and 5 maximum values can be removed, and then the average frequency values at high and low rotation speeds can be taken respectively, and the average of the average frequency values at high and low rotation speeds can be taken to obtain the identified tower first order frequency value. When the identified tower first order frequency value deviates from the preset frequency value by more than a second predetermined percentage (for example, 5%), the tower first order frequency value can be considered as an unreasonable value, an alarm can be given, and the tower first order frequency value can be abandoned, and then resampling and calculation can be performed.

[0030] If it is determined that the identified tower first order frequency value is a reasonable value, the tower first order frequency value can be output and saved as the tower natural frequency, and data sampling and calculation can be continued. In addition, in the case where it is determined that the tower first order frequency value is a reasonable value, the parameters of the sampling filter can be adaptively adjusted to continue to obtain the tower natural frequency. In the operation process of the wind turbine generator set, the tower natural frequency can be continuously obtained, and the tower natural frequency can be long-term monitored without rewriting.

[0031] In step S102, a minimum operating speed threshold of the wind turbine generator set is determined according to the tower natural frequency. According to an embodiment of the present disclosure, the minimum operating speed threshold of the wind turbine generator set can be determined by processing the tower natural frequency obtained in real time in the operation process of the unit by various data processing methods.

[0032] For example, the resonance speed of the wind turbine generator set can be determined according to the tower natural frequency, and the minimum operating speed threshold of the wind turbine generator set can be determined according to the resonance speed. The resonance speed can be multiplied by a predetermined weight to obtain the minimum operating speed threshold. For example, the minimum operating speed threshold can be a predetermined multiple of the resonance speed, and the predetermined multiple can be greater than 1, for example, the predetermined multiple is 1.15.

[0033] In step S103, the minimum operating speed of the wind turbine generator set is compared with the minimum operating speed threshold. By comparison, the size of the minimum operating speed relative to the minimum operating speed threshold can be identified, so as to determine whether the minimum operating speed needs to be adjusted and how to adjust.

[0034] In step S104, the minimum operating speed can be adjusted according to the result of the above comparison. Then, the operating speed of the wind turbine generator set can be controlled according to the adjusted minimum operating speed, that is, the speed control is realized.

[0035] Reference will be made below to Figure 2 Examples of how to adjust the minimum operating speed are described, but the present disclosure is not limited thereto. Figure 2 is another flowchart of a speed control method of a wind turbine generator set according to an embodiment of the present disclosure.

[0036] At step S201, it can be determined whether the minimum operating speed is less than the minimum operating speed threshold. In response to determining that the minimum operating speed is less than the minimum operating speed threshold, step S202 can be performed. At step S202, the minimum operating speed can be adjusted to the minimum operating speed threshold. For example, the minimum operating speed can be adjusted to a predetermined multiple of the resonance speed. The adjusted minimum operating speed can be saved to the power-down hold area for later operation of the wind turbine generator set based on the adjusted minimum operating speed.

[0037] In response to determining that the minimum operating speed is greater than or equal to the minimum operating speed threshold, step S203 can be performed. At step S203, it can be determined whether there is a risk of resonance. According to embodiments of the present disclosure, there are various ways to determine in real time whether there is a risk of resonance for the wind turbine generator set.

[0038] Examples of how to determine whether there is a risk of resonance are described below in connection with Figure 3 the present disclosure is not limited thereto. Figure 3 is another flowchart of a speed control method for a wind turbine generator set according to embodiments of the present disclosure.

[0039] At step S301, it is determined whether the difference between the operating speed of the wind turbine generator set and the minimum operating speed is less than a predetermined threshold. During operation of the wind turbine generator set, the operating speed can be obtained in real time for comparison with the minimum operating speed. For example, the predetermined threshold for comparison can be set according to the minimum operating speed. The predetermined threshold can be a relatively small value, for example, 1 rpm.

[0040] In response to determining that the difference between the operating speed of the wind turbine generator set and the minimum operating speed is less than the predetermined threshold, step S302 can be performed, otherwise step S301 is continued. At step S302, the nacelle vertical acceleration envelope value of the wind turbine generator set can be obtained. Thereby, the risk of resonance can be further determined based on the nacelle vertical acceleration envelope value.

[0041] For example, step S303 can be performed to determine whether the nacelle vertical acceleration envelope value is greater than a predetermined acceleration threshold for a predetermined time period, i.e., to determine whether the nacelle vertical acceleration envelope value is greater than the predetermined acceleration threshold and remains so for the predetermined time period.

[0042] According to an embodiment of the present disclosure, the predetermined acceleration threshold value can be a predetermined threshold value based on the gravitational acceleration (g). For example, the predetermined acceleration threshold value can be less than the gravitational acceleration (g). Alternatively, the predetermined acceleration threshold value can include a first predetermined acceleration threshold value (e.g., 0.05g) and a second predetermined acceleration threshold value (e.g., 0.08g). The predetermined time period can include a first predetermined time period (e.g., 10s) corresponding to the first predetermined acceleration threshold value and a second predetermined time period (e.g., 6s) corresponding to the second predetermined acceleration threshold value, wherein the first predetermined acceleration threshold value is less than the second predetermined acceleration threshold value, and the first predetermined time period is greater than the second predetermined time period.

[0043] Correspondingly, the case that the nacelle vertical acceleration envelope value is greater than the predetermined acceleration threshold value for the predetermined time period can include, but is not limited to, the case that the nacelle vertical acceleration envelope value is greater than the first predetermined acceleration threshold value for the first predetermined time period, and the nacelle vertical acceleration envelope value is greater than the second predetermined acceleration threshold value for the second predetermined time period.

[0044] The present disclosure is not limited to the above examples, and the predetermined acceleration threshold value can include more or less predetermined acceleration threshold values, and correspondingly, different predetermined acceleration threshold values correspond to different predetermined time periods. The greater the predetermined acceleration threshold value, the smaller the corresponding predetermined time period can be. In this way, the resonance risk can be identified from multiple aspects.

[0045] In response to determining that the nacelle vertical acceleration envelope value is greater than the predetermined acceleration threshold value for the predetermined time period, step S304 can be performed, otherwise step S302 or step S301 is continued to be performed.

[0046] In step S304, the nacelle vertical acceleration envelope value can be subjected to Fourier transform to obtain a maximum amplitude in the frequency domain, and a second largest amplitude in the frequency domain can also be obtained. In step S305, the maximum amplitude in the frequency domain can be compared with a preset multiple of the second largest amplitude in the frequency domain to identify whether the maximum amplitude in the frequency domain is greater than the preset multiple of the second largest amplitude in the frequency domain. The preset multiple can be set according to actual needs and the degree of resonance risk to be identified. For example, the maximum amplitude in the frequency domain can be compared with twice the second largest amplitude in the frequency domain to identify whether there is a resonance risk.

[0047] In response to determining that the maximum amplitude in the frequency domain is greater than the preset multiple of the second largest amplitude in the frequency domain, step S306 can be performed, that is, it is determined that there is a resonance risk. In the case that it is determined that there is a resonance risk, the minimum operating speed of the wind turbine generator needs to be adjusted.

[0048] The following will again be described in combination with Figure 2 whether there is a resonance risk. As described above, in step S203, it can be determined whether there is a resonance risk.

[0049] According to an embodiment of the present disclosure, step S204 can be performed in response to determining that there is no risk of resonance, i.e., keeping the minimum operating rotational speed unchanged. In addition, step S205 can be performed in response to determining that there is a risk of resonance, i.e., increasing the minimum operating rotational speed by a predetermined amount. For example, the predetermined amount can be a small value relative to the minimum operating rotational speed. In this way, the resonance can be avoided by fine-tuning the minimum operating rotational speed (e.g., increasing the minimum operating rotational speed by 1 rpm), while ensuring normal power generation of the wind turbine generator unit.

[0050] After adjusting the minimum operating rotational speed, it can be continued to monitor whether the risk of resonance disappears, i.e., continuously monitoring whether there is still a risk of resonance. The method described in combination with Figure 3 may be used to determine whether the risk of resonance disappears. In this way, the operation safety of the wind turbine generator unit can be sufficiently ensured.

[0051] According to an embodiment of the present disclosure, after the minimum operating rotational speed is increased by a predetermined amount in response to determining that there is a risk of resonance, step S206 can be performed to determine whether the risk of resonance disappears. In response to determining that the risk of resonance disappears, step S207 can be performed to decrease the minimum operating rotational speed by a predetermined amount, so as to restore the minimum operating rotational speed to the rotational speed value before the adjustment by step S205.

[0052] In response to determining that the risk of resonance disappears, step S205 can be performed again to continue to adjust the minimum operating rotational speed until the risk of resonance disappears. Alternatively, after the risk of resonance disappears, the minimum operating rotational speed can be timely restored to the rotational speed value before the adjustment.

[0053] As described above, the part of the rotational speed control method of the wind turbine generator unit according to an embodiment of the present disclosure is described with reference to Figures 1 to 3 However, the present disclosure is not limited thereto. The rotational speed control method according to an embodiment of the present disclosure can identify the tower natural frequency online during the entire operation of each wind turbine generator unit, and automatically adjust the minimum operating rotational speed of each wind turbine generator unit. In this way, instead of a single control strategy for all wind turbine generator units, the control parameter configuration and adjustment of each unit can be implemented in a processing mode of "one machine, one strategy" (i.e., for each wind turbine generator unit, a control strategy corresponding thereto is used), so as to effectively reduce the vibration failure (e.g., first-order vibration failure) of each wind turbine generator unit, reduce the fatigue load of the unit, reduce the damage of the unit, and prolong the service life of the unit.

[0054] The present disclosure also provides a rotational speed control device capable of performing each operation in the above-described rotational speed control method. The following exemplary description is made in combination with Figure 4 .

[0055] Figure 4 is a block diagram of a rotational speed control device of a wind turbine generator unit according to an embodiment of the present disclosure.

[0056] As shown in Figure 4 The rotational speed control device 4 can comprise an obtaining unit 401. The obtaining unit 401 can be configured to obtain the tower natural frequency of the wind turbine during operation of the wind turbine.

[0057] The rotational speed control device 4 can comprise a determining unit 402. The determining unit 402 can be configured to determine a minimum operating rotational speed threshold of the wind turbine according to the tower natural frequency. According to an embodiment of the present disclosure, the determining unit 402 can be configured to determine a resonance rotational speed of the wind turbine according to the tower natural frequency, and determine the minimum operating rotational speed threshold of the wind turbine according to the resonance rotational speed. For example, the minimum operating rotational speed threshold is a predetermined multiple of the resonance rotational speed, wherein the predetermined multiple is greater than 1.

[0058] The rotational speed control device 4 can comprise a comparing unit 403. The comparing unit 403 can be configured to compare the minimum operating rotational speed of the wind turbine with the minimum operating rotational speed threshold.

[0059] The rotational speed control device 4 can comprise an adjusting unit 404. The adjusting unit 404 can be configured to adjust the minimum operating rotational speed according to a result of the comparison. According to an embodiment of the present disclosure, the adjusting unit 404 can be configured to, in response to determining that the minimum operating rotational speed is less than the minimum operating rotational speed threshold, adjust the minimum operating rotational speed to the minimum operating rotational speed threshold; and / or, in response to determining that the minimum operating rotational speed is greater than or equal to the minimum operating rotational speed threshold, determine whether there is a resonance risk; in response to determining that there is no resonance risk, keep the minimum operating rotational speed unchanged, and / or, in response to determining that there is a resonance risk, increase the minimum operating rotational speed by a predetermined amount.

[0060] Optionally, the adjusting unit 404 can be configured to, after increasing the minimum operating rotational speed by the predetermined amount in response to determining that there is a resonance risk, determine whether the resonance risk disappears; in response to determining that the resonance risk disappears, decrease the minimum operating rotational speed by the predetermined amount.

[0061] Optionally, the adjusting unit 404 can be configured to, in response to determining that a difference between the operating rotational speed of the wind turbine and the minimum operating rotational speed is less than a predetermined threshold, obtain a nacelle vertical acceleration envelope value of the wind turbine; in response to determining that the nacelle vertical acceleration envelope value is greater than a predetermined acceleration threshold for a predetermined time period, perform a Fourier transform on the nacelle vertical acceleration envelope value to obtain a frequency domain maximum amplitude; in response to determining that the frequency domain maximum amplitude is greater than a preset multiple of a second largest amplitude in the frequency domain, determine that there is a resonance risk.

[0062] According to embodiments of this disclosure, the predetermined acceleration threshold may include a first predetermined acceleration threshold and a second predetermined acceleration threshold, and the predetermined time period includes a first predetermined time period corresponding to the first predetermined acceleration threshold and a second predetermined time period corresponding to the second predetermined acceleration threshold. The first predetermined acceleration threshold is less than the second predetermined acceleration threshold, and the first predetermined time period is greater than the second predetermined time period.

[0063] Accordingly, the adjustment unit 404 can be configured to determine that the cabin vertical acceleration envelope value is greater than a predetermined acceleration threshold for a predetermined period of time by the following operations: determining that the cabin vertical acceleration envelope value is greater than a first predetermined acceleration threshold for a first predetermined period of time, and the cabin vertical acceleration envelope value is greater than a second predetermined acceleration threshold for a second predetermined period of time.

[0064] Can be referenced and combined Figures 1 to 3 The speed control method described herein is used to understand the functions and operations of each unit in the speed control device 4. For the sake of brevity, these details will not be repeated here.

[0065] According to embodiments of the present disclosure, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed, implements a wind turbine generator speed control method according to embodiments of the present disclosure.

[0066] In embodiments of this disclosure, the computer-readable storage medium may carry one or more programs, which, when executed, can achieve reference... Figures 1 to 3 The described steps are as follows: during the operation of the wind turbine generator set, the natural frequency of the wind turbine generator set tower is obtained; based on the natural frequency of the tower, the minimum operating speed threshold of the wind turbine generator set is determined; the minimum operating speed of the wind turbine generator set is compared with the minimum operating speed threshold; and the minimum operating speed is adjusted according to the comparison result.

[0067] The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In an embodiment of the disclosure, the computer readable storage medium can be any tangible medium that contains or stores a computer program that can be used by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium can contain or store a computer program that can be transmitted in any suitable medium, including but not limited to an electrical, optical, RF (radio frequency), or any suitable combination of the foregoing. The computer readable storage medium can be contained in any device; it can also exist separately from the device and not be assembled into the device.

[0068] Figure 5 is a block diagram of a computing device 5 according to an embodiment of the disclosure.

[0069] With reference to Figure 5 , the computing device 5 according to an embodiment of the disclosure can include a memory 51 and a processor 52, and the memory 51 stores a computer program 53, and when the computer program 53 is executed by the processor 52, the computer program 53 can implement the wind turbine generator set speed control method according to an embodiment of the disclosure.

[0070] In an embodiment of the disclosure, when the computer program 53 is executed by the processor 52, the operation of the wind turbine generator set speed control method described with reference to Figures 1 to 3 may be implemented: during the operation of the wind turbine generator set, the tower natural frequency of the wind turbine generator set is obtained; according to the tower natural frequency, the minimum operating speed threshold of the wind turbine generator set is determined; the minimum operating speed of the wind turbine generator set is compared with the minimum operating speed threshold; and according to the result of the comparison, the minimum operating speed is adjusted.

[0071] Figure 5 The computing device shown is only an example and should not impose any limitation on the function and use range of the embodiments of the disclosure.

[0072] The wind turbine generator set speed control method, speed control device, computer readable storage medium, and computing device according to an embodiment of the disclosure have been described above with reference to Figures 1 to 5 . However, it should be understood that: Figure 4The rotation speed control device and each unit thereof shown can be configured as software, hardware, firmware or any combination thereof to perform specific functions, Figure 5 The computing device shown is not limited to include the components shown above, but some components can be added or deleted as needed, and the above components can also be combined.

[0073] The rotation speed control method and the rotation speed control device of the wind turbine generator set according to the embodiments of the present disclosure can at least achieve one of the following technical effects: by automatically identifying the actual tower natural frequency of the set online, the minimum operating speed of the set is automatically adjusted to make the set away from the resonance zone; the configuration and adjustment of the control parameters of the set are realized by using the processing mode of "one set, one strategy" (i.e., for each wind turbine generator set, the corresponding control strategy is used, instead of using a single control strategy for all sets), reducing the first-order vibration phenomenon of the set tower, reducing the vibration failure and damage of the set, reducing the fatigue load of the set, and prolonging the service life of the set.

[0074] The control logic or functions performed by each component or controller in the system, device, etc. can be represented by flowcharts or similar diagrams in one or more of the accompanying drawings. These flowcharts provide representative control strategies and / or logic, which can be implemented using one or more processing strategies, such as event-driven, interrupt-driven, multi-tasking, multi-threading, etc. Thus, the various steps or functions shown can be performed in the order shown, in parallel, or in some cases omitted. Although not always explicitly shown, one of ordinary skill in the art will recognize that one or more of the steps or functions shown can be repeated as necessary, depending on the particular processing strategy used.

[0075] Although the present disclosure has been shown and described with respect to the preferred embodiments, it will be understood by those skilled in the art that various modifications and changes can be made without departing from the spirit and scope of the present disclosure as defined by the claims.

Claims

1. A method for controlling the speed of a wind turbine generator set, characterized in that, The speed control method includes: During the operation of the wind turbine generator set, the natural frequency of the wind turbine generator set tower is obtained; The minimum operating speed threshold of the wind turbine generator set is determined based on the natural frequency of the tower. Compare the minimum operating speed of the wind turbine generator set with the minimum operating speed threshold; Based on the results of the comparison, adjust the minimum operating speed; The step of adjusting the minimum operating speed based on the comparison result includes: In response to determining that the minimum operating speed is greater than or equal to the minimum operating speed threshold, determine whether there is a resonance risk; in response to determining that there is no resonance risk, keep the minimum operating speed unchanged; in response to determining that there is a resonance risk, increase the minimum operating speed by a predetermined amount.

2. The speed control method according to claim 1, characterized in that, The determination of the minimum operating speed threshold of the wind turbine generator based on the tower's natural frequency includes: Determine the resonant speed of the wind turbine generator based on the natural frequency of the tower; The minimum operating speed threshold of the wind turbine generator set is determined based on the resonant speed.

3. The speed control method according to claim 2, characterized in that, The minimum operating speed threshold is a predetermined multiple of the resonant speed, wherein the predetermined multiple is greater than 1.

4. The speed control method according to claim 1, characterized in that, The step of adjusting the minimum operating speed based on the comparison result includes: In response to determining that the minimum operating speed is less than the minimum operating speed threshold, the minimum operating speed is adjusted to the minimum operating speed threshold.

5. The speed control method according to claim 4, characterized in that, The step of adjusting the minimum operating speed based on the comparison result further includes: After increasing the minimum operating speed by a predetermined amount in response to the determination of resonance risk, it is determined whether the resonance risk has disappeared. In response to the determination that the resonance risk has disappeared, the minimum operating speed is reduced by the predetermined amount.

6. The speed control method according to claim 4, characterized in that, The determination of whether there is a risk of resonance includes: In response to determining that the difference between the operating speed and the minimum operating speed of the wind turbine generator set is less than a predetermined threshold, the vertical acceleration envelope value of the nacelle of the wind turbine generator set is obtained; In response to determining that the cabin vertical acceleration envelope value is greater than a predetermined acceleration threshold for a predetermined period of time, a Fourier transform is performed on the cabin vertical acceleration envelope value to obtain the maximum amplitude in the frequency domain; In response to the determination that the maximum amplitude in the frequency domain is greater than a preset multiple of the second maximum amplitude in the frequency domain, a resonance risk is identified.

7. The speed control method according to claim 6, characterized in that, The predetermined acceleration threshold includes a first predetermined acceleration threshold and a second predetermined acceleration threshold. The predetermined time period includes a first predetermined time period corresponding to the first predetermined acceleration threshold and a second predetermined time period corresponding to the second predetermined acceleration threshold. The first predetermined acceleration threshold is less than the second predetermined acceleration threshold, and the first predetermined time period is greater than the second predetermined time period. The determination that the cabin vertical acceleration envelope value is greater than a predetermined acceleration threshold for a predetermined period of time includes: determining that the cabin vertical acceleration envelope value is greater than a first predetermined acceleration threshold for a first predetermined period of time, and that the cabin vertical acceleration envelope value is greater than a second predetermined acceleration threshold for a second predetermined period of time.

8. A speed control device for a wind turbine generator set, characterized in that, The speed control device includes: The acquisition unit is configured to acquire the natural frequency of the wind turbine tower during the operation of the wind turbine generator set; The determining unit is configured to determine the minimum operating speed threshold of the wind turbine generator based on the tower's natural frequency; The comparison unit is configured to compare the minimum operating speed of the wind turbine generator set with a minimum operating speed threshold. The adjustment unit is configured to adjust the minimum operating speed based on the result of the comparison; The adjustment unit is further configured to: In response to determining that the minimum operating speed is greater than or equal to the minimum operating speed threshold, determine whether there is a resonance risk; in response to determining that there is no resonance risk, keep the minimum operating speed unchanged; in response to determining that there is a resonance risk, increase the minimum operating speed by a predetermined amount.

9. The speed control device according to claim 8, characterized in that, The determining unit is further configured as follows: Determine the resonant speed of the wind turbine generator based on the natural frequency of the tower; The minimum operating speed threshold of the wind turbine generator set is determined based on the resonant speed.

10. The speed control device according to claim 9, characterized in that, The minimum operating speed threshold is a predetermined multiple of the resonant speed, wherein the predetermined multiple is greater than 1.

11. The speed control device according to claim 8, characterized in that, The adjustment unit is further configured to: In response to determining that the minimum operating speed is less than the minimum operating speed threshold, the minimum operating speed is adjusted to the minimum operating speed threshold.

12. The speed control device according to claim 11, characterized in that, The adjustment unit is further configured to: After increasing the minimum operating speed by a predetermined amount in response to the determination of resonance risk, it is determined whether the resonance risk has disappeared. In response to the determination that the resonance risk has disappeared, the minimum operating speed is reduced by the predetermined amount.

13. The speed control device according to claim 11, characterized in that, The adjustment unit is further configured to: In response to determining that the difference between the operating speed and the minimum operating speed of the wind turbine generator set is less than a predetermined threshold, the vertical acceleration envelope value of the nacelle of the wind turbine generator set is obtained; In response to determining that the cabin vertical acceleration envelope value is greater than a predetermined acceleration threshold for a predetermined period of time, a Fourier transform is performed on the cabin vertical acceleration envelope value to obtain the maximum amplitude in the frequency domain; In response to the determination that the maximum amplitude in the frequency domain is greater than a preset multiple of the second maximum amplitude in the frequency domain, a resonance risk is identified.

14. The speed control device according to claim 13, characterized in that, The predetermined acceleration threshold includes a first predetermined acceleration threshold and a second predetermined acceleration threshold. The predetermined time period includes a first predetermined time period corresponding to the first predetermined acceleration threshold and a second predetermined time period corresponding to the second predetermined acceleration threshold. The first predetermined acceleration threshold is less than the second predetermined acceleration threshold, and the first predetermined time period is greater than the second predetermined time period. The adjustment unit is configured to determine that the cabin vertical acceleration envelope value is greater than a predetermined acceleration threshold for a predetermined period of time by the following operations: determining that the cabin vertical acceleration envelope value is greater than a first predetermined acceleration threshold for a first predetermined period of time, and that the cabin vertical acceleration envelope value is greater than a second predetermined acceleration threshold for a second predetermined period of time.

15. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the speed control method for wind turbine generator sets as described in any one of claims 1 to 7.

16. A computing device, characterized in that, The computing device includes: processor; A memory storing a computer program that, when executed by a processor, implements the speed control method for a wind turbine generator set as described in any one of claims 1 to 7.

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