Wind turbine and method, apparatus and computing device for pitch control thereof

Abstract

The application discloses a wind turbine and a pitch control method and device thereof and a computing device. The pitch control method of the wind turbine comprises: acquiring current positions and current pitch speeds of three blades; in response to the wind turbine satisfying a pitch control condition and the current positions of the three blades being different, controlling the three blades to pitch to the same target position at the same time and then to a safe position at the same speed. According to the embodiment of the application, the problem of low load balance in the shutdown pitch control process in the related art can be solved, and the load balance in the shutdown pitch control process can be improved.

Description

Technical Field

[0001] This application belongs to the field of wind turbine generator control technology, and in particular relates to a wind turbine generator and its paddle control method, device and computing equipment. Background Technology

[0002] After the safety chain is broken, independent pitch control (IPC) is typically used to control each of the three blades of the wind turbine independently. Current IPC control controls the retraction of each blade according to a pre-set uniform pitch speed. However, this can easily cause load imbalance during the shutdown and retraction process. Summary of the Invention

[0003] This application provides a wind turbine generator set and its paddle retraction control method, device and computing equipment, which can solve the problem of low load balance during the shutdown and paddle retraction process in related technologies, and can improve the load balance during the shutdown and paddle retraction process.

[0004] In a first aspect, embodiments of this application provide a method for controlling the pitch retraction of a wind turbine generator set, the method comprising:

[0005] Obtain the current position and current pitch speed of the three blades;

[0006] In response to the wind turbine meeting the propeller retraction conditions and the current positions of the three blades being different, the system controls the three blades to retract to the same target position at the same time, and then retract to the safe position at the same speed.

[0007] On the other hand, embodiments of this application provide a wind turbine generator pitch control device, the device comprising:

[0008] The acquisition module is used to acquire the current position and current pitch speed of the three blades;

[0009] The control module is used to respond to the wind turbine generator meeting the propeller retraction conditions and the current positions of the three blades being different, by controlling the three blades to retract to the same target position at the same time and then retract to the safe position at the same speed.

[0010] In another aspect, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the wind turbine generator pitch control method as described in the first aspect.

[0011] In another aspect, embodiments of this application provide a computing device, which includes: a processor and a memory storing computer program instructions;

[0012] When the processor executes computer program instructions, it implements the propeller control method for wind turbine generators as described in the first aspect.

[0013] In another aspect, embodiments of this application provide a wind turbine generator set, including the computing device provided in embodiments of this application.

[0014] The wind turbine generator set pitch control method, apparatus, computer-readable storage medium, computing device, and wind turbine generator set of this application embodiment obtain the current position and current pitch speed of the three blades, and then respond to the wind turbine generator set meeting the pitch control conditions and the current positions of the three blades being different. The method controls the three blades to pitch up to the same target position at the same time, and then pitch up to the safe position at the same speed. In this way, if the three blades are at different current positions during the pitch control process, they can pitch up at the same speed after reaching the same target position. This makes the load of the three blades more balanced during at least part of the pitch control process, improves the load balance during the pitch control process, and solves the problem of low load balance during the pitch control process in related technologies. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram of an application scenario of the wind turbine generator paddle retraction control method provided in this application embodiment;

[0017] Figure 2 This is a schematic flowchart of the wind turbine generator paddle retraction control method provided in the embodiments of this application;

[0018] Figure 3 This is a schematic diagram illustrating the calculation of target location and target duration provided in an embodiment of this application;

[0019] Figure 4 This is a schematic diagram illustrating the calculation of the target pitch speed of the blade at the intermediate position, provided in an embodiment of this application.

[0020] Figure 5 This is a timing diagram of the response of each blade when a CAN fault occurs on one blade, as provided in an embodiment of this application.

[0021] Figure 6 This is a schematic diagram of the structure of a wind turbine generator set paddle retraction control device provided in another embodiment of this application;

[0022] Figure 7 This is a schematic diagram of the structure of a computing device provided in another embodiment of this application. Detailed Implementation

[0023] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0024] To address the problems of the prior art, this application provides a method, apparatus, computer-readable storage medium, computing device, and wind turbine generator set for controlling the propeller retraction of a wind turbine generator set. The propeller retraction control method for a wind turbine generator set provided in this application will be described below.

[0025] First, an exemplary application scenario of the wind turbine generator paddle retraction control method provided in this application embodiment will be described. For example... Figure 1 The diagram illustrates a hardware structure for a safety chain applied to a wind turbine generator set. The safety chain is a safety system for wind turbine generator sets; when triggered, it executes a safety chain shutdown strategy to ensure the safety of the wind turbine generator set. The safety chain requires connecting all critical signals of the wind turbine generator set in series. (Reference) Figure 1 The hardware structure of the safety chain may include a pitch controller 201, pitch drivers 202-204, a safety relay 205, and a slip ring 206. Pitch drivers 202-204 can independently drive the pitch motors of the wind turbine's pitch system, driving the movement of the three blades to achieve independent pitch control (IPC). The safety relay 205 provides safety protection in case of wind turbine failure or emergency shutdown. The slip ring 206 is responsible for the electrical components that connect the rotating body and transmit energy and signals. The pitch controller 201 can communicate with the pitch drivers 202-204, the safety relay 205, and the slip ring 206 to receive signals and send commands. The wind turbine's pitch retraction control method provided in this embodiment can be executed by the pitch controller 201. When the safety chain of the wind turbine is broken, the wind turbine will retract its pitch according to the control of the pitch controller 201 to balance the load during pitch retraction.

[0026] Optionally, Figure 1 The safety relay 205 shown can also be replaced by a safety PLC or other safety logic devices; the pitch controller 201 can be replaced by a PLC or other programmable logic controller; the safety chain can be transmitted via hardware 24V or by a safety bus protocol based on a certain safety protocol.

[0027] Figure 2 A schematic flowchart of a wind turbine generator paddle retraction control method according to an embodiment of this application is shown. Figure 2 As shown, the method may include the following steps:

[0028] Step 101: Obtain the current position and current pitch speed of the three blades.

[0029] The current position of the three blades of a wind turbine generator can be detected by a position rotary transformer configured on the corresponding blade. The current position of a blade refers to its current pitch angle, which can be detected by the position rotary transformer, and the current pitch speed of the blade can be calculated based on the current position. The position rotary transformer can communicate with the executor of the method provided in this application embodiment, for example, through... Figure 1 The example slip ring 206 communicates with the pitch controller 201.

[0030] Step 102: In response to the wind turbine meeting the propeller retraction conditions and the current positions of the three blades being different, control the three blades to retract to the same target position at the same time and then retract to the safe position at the same speed.

[0031] The conditions for retracting the propellers of a wind turbine generator can be determined according to the circumstances. For example, the conditions for retracting the propellers may be that the safety chain is broken, or that the data of the sensor on any blade is abnormal / a CAN communication failure occurs. Alternatively, the conditions for retracting the propellers may be that the wind turbine generator is damaged by lightning or that the blade is broken. This application does not limit these conditions.

[0032] When a wind turbine reaches the pitch retraction condition, the current positions of the three blades may be different. Therefore, in the method provided in this application embodiment, when the current positions of the three blades are different, the method first controls the three blades to retract to the same target position at the same time, and then retracts them to a safe position at the same speed. The safe position is the position where the blades are fully retracted, and the target position is the position where all blades have the same pitch angle during the blade retraction process. During the retraction process, the three blades continuously move in the retraction direction. That is, although the pitch angles of the three blades are different at the beginning of the retraction, they must retract to the same pitch angle (which is the target position) at the same time, and then the speed is controlled to be the same, retracting at the same speed until the safe position is reached. In this way, by setting an intermediate target position during the retraction process, the time the three blades are in different positions is greatly shortened. Furthermore, after reaching the intermediate target position, the three blades retract synchronously. Through this relatively complex pitch-based shutdown strategy, the load balance during the retraction process is greatly improved. Furthermore, under the condition of safety chain disconnection and other propeller retraction conditions, the strategy ensures that the three blades are retracted to the same position before the same retraction speed is applied. Simulation results show that this strategy will have a significant load reduction effect on single-blade runaway and three-blade runaway conditions, reducing the weight of the blades, turbine head, and tower, and lowering the cost of the wind turbine.

[0033] The wind turbine blade retraction control in this embodiment obtains the current position and pitch speed of the three blades. Then, in response to the wind turbine meeting the retraction conditions and the three blades being at different current positions, it controls the three blades to retract to the same target position at the same time, and then retract to a safe position at the same speed. This ensures that if the three blades are at different current positions during the shutdown retraction process, they can retract at the same speed after reaching the same target position. This makes the load on the three blades more balanced during at least part of the shutdown retraction process, improving the load balance during shutdown retraction and solving the problem of low load balance during shutdown retraction in related technologies.

[0034] In the embodiments of this application, it is used as follows Figure 1 In the structure shown, the pitch driver 201 can calculate, in real time, the target position, the target time to reach the target position, and the target pitch speed of the blade currently in the center position based on the current position and current pitch speed of each blade. It then combines these data with a pre-set target pitch speed and sends it to the corresponding blade. The pitch motor of each blade performs the pitch retraction action based on the data sent by the pitch driver 201.

[0035] In one example, the steps of controlling the three blades to retract the propeller to the target position at the same time and then retract the propeller to the safe position at the same speed may include the following steps 1021-1022:

[0036] Step 1021: Based on the current positions of the three blades and the current pitch speed, calculate the target position, the target time to reach the target position, and the target pitch speed of the blade in the center of the current position.

[0037] Before reaching the target position, the motion of each blade can include both variable-speed and uniform-speed motion. The target pitch speed for each blade is the pitch speed at which it transitions from variable-speed motion to the initial position of uniform-speed motion. The sum of the duration of variable-speed motion and the duration of uniform-speed motion for each blade is the target duration. That is, after each blade begins to retract its paddle from its current position, it can gradually retract to the target position based on the current pitch speed through a combination of variable-speed and uniform-speed motion. The duration until reaching the target position is the target duration. In one example, the motion of each blade before reaching the target position may consist only of variable-speed motion.

[0038] Optionally, the variable speed motion can be uniform or non-uniform, and can be calculated based on parameters such as the current blade position, current pitch speed, target position, target duration, and target pitch speed.

[0039] When the variable motion is uniformly variable motion, each blade can include the following first segment of motion (i.e., variable motion) and second segment of motion (i.e., uniform motion):

[0040] For the first segment of variable-speed motion, it is a quadratic curve: the current position is s0, the previous position is v0, and after time t1, the velocity reaches v1, and the position reaches s1, where s1 = s0 + v0 * t1 + 0.5at1 2 .

[0041] For the second uniform motion, the starting position is s1. After time t2, the position reaches s, and the velocity is always v1. s2 = v1 * t2, and v1 = v0 + a * t1, where a is the acceleration of the actuator, which is a known quantity.

[0042] The sum of the duration t1 of the variable-speed motion and the duration t2 of the uniform-speed motion is the target duration T, and v1 is the target pitch speed. The duration t2 of the uniform-speed motion can be 0, meaning that a blade can reach the target position solely through variable-speed motion. Using the parameters of the blade with the largest and smallest positions, a mathematical model is used to calculate the target S and the delay time T.

[0043] Figure 3Here is an example illustrating the curves used to calculate the target position and duration based on the maximum and minimum position blades. The maximum and minimum positions refer to the pitch angle positions of each blade at the start of the propeller recovery. The horizontal axis represents time, and the vertical axis represents the blade pitch angle positions. In this figure, the leftmost point represents the moment when the IPC normalized propeller recovery condition is met.

[0044] refer to Figure 3 The leftmost curve of the blade represents the initial position at the start of propeller retraction, i.e., the current position, and its slope represents the current pitch speed. First, using the parameters of the blade with the largest and smallest positions, a mathematical model (detailed below) is used to calculate the target speed S and the delay time T. The known parameters for the blade with the largest position are: current position S1, current speed V10, target speed V11, and time T1 to reach the target speed. The known parameters for the blade with the smallest position are: current position S30, current speed V30, target speed V31, and time T3 to reach the target speed. T1 and T3 are not necessarily equal.

[0045] When the blade at its maximum position reaches the target speed, its trajectory changes from a quadratic curve to a straight line. The speed no longer changes, and it moves along the straight line with a constant slope. This straight line is the tangent to the quadratic curve at the target speed. The tangent and the quadratic curve intersect at only one point, which is the point where the current speed reaches the target speed. Figure 3 It can calculate the target position S and the target duration T.

[0046] Step 1022: Control each blade to move from its current pitch speed to its corresponding target pitch speed within the target time period according to the target time period and its corresponding target pitch speed. After moving to the target position within the target time period, the blade will retract at the same speed.

[0047] In this embodiment of the invention, only the target pitch speed of the blade at the middle position is calculated, while the target pitch speeds of the blade at the largest position and the blade at the smallest position are determined according to the aforementioned preset attenuation coefficient and pitch emergency stop speed.

[0048] Each blade continues to operate at its current pitch speed, and when its speed reaches its target pitch speed, it moves at a constant speed. Accordingly, in step 1021, when calculating the target position, the target time to reach the target position, and the target pitch speed of the blade at the intermediate position, the uniform pitch motion of each blade can be used as a constraint condition to calculate the target pitch speed of each blade, as well as the target time and target position of all blades.

[0049] For example, it could be Figure 1The pitch controller 201 distributes information such as the target pitch speed to the pitch drivers 202-204 of each blade. Upon receiving the target pitch speed, each blade's pitch driver 202-204 controls the corresponding pitch motor to drive the blade to perform pitch control. Specifically, the pitch driver can control the pitch point to drive the corresponding blade to change speed from its current pitch speed to the corresponding target pitch speed within a target time period. Then, it moves at a constant speed at its respective target pitch speed to the same target position.

[0050] After the three blades reach the target position, they continue to retract to the safe position at the same speed. The speed from the target position to the safe position can be a preset speed. Since the three blades reach the same target position at the same time, the load balance can be achieved by retracting the blades at the same speed after this moment.

[0051] Optionally, when calculating the target position, the target time to reach the target position, and the target pitch speed of the intermediate blade based on the current position of the three blades and the current pitch speed, the following steps may be included:

[0052] Step 1211: Determine the first blade with the largest current position and the third blade with the smallest current position.

[0053] For example, such as Figure 3 As shown, the topmost curve corresponds to the first blade with the largest size at the current position S10 (corresponding to the left endpoint of the curve), and the bottommost curve corresponds to the third blade with the smallest size at the current position S30.

[0054] Step 1212: Determine the motion curves of the first and third blades based on their current positions S10 and S30, current pitch speeds V10 and V30, and target pitch speeds V11 and V31 (pre-determined based on pitch stop speed and corresponding attenuation coefficients).

[0055] The motion curves of each blade include variable speed motion curves and uniform speed motion curves. The current positions S10 and S30 of the first and third blades, as well as the current pitch speeds V10 and V30 (corresponding to the positions and slopes of the left endpoints of the curves), the target pitch speeds V11 and V31, and the actuator acceleration a are known, so the motion curves of the first and third blades can be calculated.

[0056] Specifically, the motion curve of each blade includes a quadratic curve (corresponding to variable speed motion) and a straight line (corresponding to uniform speed motion). For example, when the first blade reaches the target pitch speed V11, its trajectory changes from a quadratic curve to a straight line. The speed no longer changes, and it moves along the straight line with a constant slope. This straight line is the tangent line between the quadratic curve and the target pitch speed V11 at this moment. The tangent line and the quadratic curve intersect at only one point, which is the intersection point where the current speed reaches the target speed. Figure 3 The position of the dots shown.

[0057] Step 1213: Based on the motion curves of the first and third blades, solve for the intersection of the uniform motion curves of the first and third blades to obtain the target position S and the target duration T.

[0058] Each blade's pitch motor performs variable speed motion according to a preset acceleration. Based on the known constraints mentioned above, the target position and target duration can be calculated.

[0059] Reference Figure 3 Let's assume that the first and third blades reach their target pitch speeds V11 and V31 after running for time T1 and T3 respectively. At this point, the pitch angle of the first blade is S11, and the pitch angle of the third blade is S31. Subsequently, the two blades move at a constant speed to their respective target positions S. The following equation holds true for this:

[0060] S11=S10+V10*T1+0.5aT1 2

[0061] S = S11 + V11*(T - T1)

[0062] V11=V10+aT1

[0063] S31=S30+V30*T3+0.5aT3 2

[0064] S = S31 + V31*(T - T3)

[0065] V31=V30+aT3

[0066] In the above equations, the unknowns in the first three equations are S, T, T1, and S11, and the unknowns in the last three equations are S, T, T3, and S31. Therefore, the final unknowns are S, T, T1, T3, S31, and S11. Solving these six equations simultaneously yields a system of six quadratic equations, which can then be used to solve for the six unknowns, thus determining the target position, target duration, and the motion curves of the first and second blades.

[0067] Step 1214: Determine the target pitch speed V21 of the second blade based on the target position S and the target duration T.

[0068] When calculating the target duration and target position, known conditions can be used as constraints. Specifically, the constraints include the target position, target duration, and current pitch speed of each blade. Furthermore, it can be stipulated that each blade is in uniformly accelerated motion when performing variable speed motion, that is, the acceleration is constant. Therefore, the constraints can also include that the acceleration during the variable speed motion process is a constant value.

[0069] After obtaining the target position S and the target duration T, the target pitch speed V21 of the blade at the midpoint of the pitch angle at the start of the blade recovery can be obtained according to the following equation:

[0070] S21=S20+V20*T2+0.5aT2 2

[0071] V21=V20+a*T2

[0072] S = S21 + V21*(T - T2)

[0073] Given the parameters S20, V20, a, T, and S, and the unknowns S21, T2, and V21, solving the above ternary quadratic equation will yield the target pitch speed V21 of the blade at the intermediate position, the time T2 required to reach this speed, and the actual position S21 of the blade after T2.

[0074] After calculating the above unknown parameters, the second blade is controlled to reach the target pitch speed V21 within time T2, that is, to perform a period of variable speed motion.

[0075] After a period of curvilinear motion (variable speed motion), the blade begins linear motion (uniform speed motion), and eventually, the three linear motion lines converge at the same point, which is the target position. The dot in the middle of each curve indicates the starting position and time of the corresponding blade's uniform speed motion. Before reaching the dot on the curve, the motion of each blade is variable speed motion (decelerated by a change in velocity). Figure 4 As can be seen, the slopes of each curve change, meaning the blade pitch speed varies. The intersection of the curvilinear motion and the linear motion is the dot. From the dot of each curve onwards, the slope no longer changes; this slope represents the corresponding blade's velocity during uniform motion, i.e., the target pitch speed. Figure 4 The target pitch speeds of the three blades shown are not the same. The time it takes for each blade to reach the dot position on its respective motion curve (i.e., the starting position of the linear motion) is not necessarily equal, such as... Figure 4As shown. When the three straight lines converge at the same point, it indicates that the three blades have moved to the same position (i.e., the target position) at the same time (after the target duration). After reaching the target position ( Figure 4 (Not shown in the image), the three blades can begin to retract at the same speed until the final safe position is reached.

[0076] As mentioned above, only the target pitch speed of the middle blade is calculated, while the target pitch speeds of the blades at the largest and smallest positions are determined according to the pre-set attenuation coefficients and pitch stop speeds. When determining the target pitch speeds of the blades at the largest and smallest positions, this invention typically pre-sets the attenuation coefficients for the pitch stop speeds of all three blades. These coefficients are usually determined based on the speeds of each blade and the pitch stop speed at the start of the system's pitch retraction or the moment before retraction begins. For example, if the positions of the three blades at the start of pitch retraction or the moment before retraction are S10, S20, and S30 from largest to smallest, to control all three blades to retract to a safe position simultaneously, the average pitch retraction speed of the blade at position S10 is the smallest, while the average pitch retraction speed of the blade at position S30 is the largest. Based on this principle, to ensure all three blades reach a certain position simultaneously, the blade at position S10 needs to retract more slowly, and the blade at position S30 needs to retract more quickly.

[0077] Based on the above principles, in this embodiment of the invention, the current pitch speed of the three blades is compared with the pitch emergency stop speed (e.g., 2 degrees / second, 4 degrees / second, etc., the basic pitch rate). A pre-set attenuation coefficient for the pitch emergency stop speed is used. For example, if the attenuation coefficient for the larger blade is set to 1, then the target pitch speed for that blade is 1 times the pitch emergency stop speed. If the attenuation coefficient for the smaller blade is set to 0.3 to 0.7 (less than the attenuation coefficient for the larger blade), then the target pitch speed for that blade is 0.3 to 0.7 times the pitch emergency stop speed. These coefficients are merely examples and are not intended to limit the invention.

[0078] The following is a detailed description of a specific embodiment of the wind turbine generator pitch control method provided in this application scenario.

[0079] In this application scenario, wind turbine generators can be configured with, for example... Figure 1 The security chain of the hardware structure shown, the method of this specific embodiment, can be executed by the pitch controller 201 via software.

[0080] The pitch controller 201 can receive data monitored by the position rotary transformer in real time, including the current position of the three blades. Based on the current position, it calculates the current pitch speed of the blades, and then calculates the target position of the three blades during the pitch retraction process, as well as the target time to reach the target position. Furthermore, it calculates the target pitch speed of the blade currently in the middle position.

[0081] After calculating the above results, the pitch controller 201 can distribute the calculated target pitch speed and the set target pitch speed to the pitch driver of the corresponding blade. Upon receiving the parameters, the pitch driver drives the pitch motor to perform pitch retraction according to the corresponding parameters. Furthermore, the calculation results of the pitch controller 201 are updated in real time and distributed to the corresponding pitch motors in real time, so that the parameters received by each pitch motor are the parameters calculated based on the latest current position and current pitch speed.

[0082] The pitch controller 201 can execute four parts of code during calculation:

[0083] Part 1: Sort the current positions of the three blades: maximum blade position S10, middle blade position S20, and minimum blade position S30. Simultaneously record the current pitch rate V10 for the blade at the maximum position, V20 for the blade at the middle position, and V30 for the blade at the minimum position.

[0084] Part Two: Based on the positions of the three blades in their ordered order and their current pitch speed values, the normalized pitch recovery process is divided into a variable-speed motion process and a uniform-speed motion process. The target position S and target duration T, as well as the target pitch speed V21 when the blade in the middle position reaches the starting uniform-speed motion position, are calculated. The variable-speed motion can be uniformly variable-speed motion. During the calculation, the sign of the acceleration needs to be determined by comparing the current pitch speed and the target pitch speed to avoid calculation errors.

[0085] Part Three: Boundary checks are performed on the target position S, target duration T, and target pitch speed V21 of the blades at the intermediate position. For example, S must be greater than S1, S2, and S3, T must be a positive value, and V21 must be a positive value (i.e., the blades cannot be deployed; they can only move in the retraction direction). If any of the above three conditions are not met, non-normalized output is executed. That is, it is not necessary for the blades to reach the same position at the same time and retract at the same speed; each blade can retract independently. The normalization module calculates the fault, and the process data is recorded in the fault file.

[0086] That is, before distributing the target pitch speed to each blade, it is also possible to verify whether the target position, target pitch speed and target time meet the following conditions: the target position is greater than the current position of each blade, the direction of the target pitch speed of the blade in the middle position is the pitch retraction direction, and the target duration is a positive value.

[0087] Part 4: Distribute the target pitch speed V21 of the calibrated middle position blade, the target pitch speeds V11 and V31 of the other two blades determined according to the preset attenuation coefficient and pitch emergency stop speed, and the target duration T to the corresponding blades.

[0088] In one scenario, a CAN communication failure may occur between the blades, meaning communication between the pitch controller and the pitch driver fails. This can be further divided into two situations: First, all three blades are lost simultaneously. In this case, the pitch recovery process can still be completed as described above. Second, only some blades experience a CAN communication failure. In this situation, the faulty blades no longer receive the latest updated pitch recovery data (i.e., target duration and target pitch speed, etc.), while the other blades, due to the reaction delay caused by the safety chain disconnection, will receive the updated data. Therefore, the pitch recovery process of the three blades may become asynchronous due to the reaction delay.

[0089] refer to Figure 5 The given timing diagram, for the case of a broken safety chain, takes the scenario where cabinets 1 and 2 have normal CAN communication, and cabinet 3 has a broken CAN communication as an example: t1 is the time from when the CAN anomaly of the faulty blade is detected to when its own safety chain is broken. t2 is the time from when the CAN anomaly of the faulty blade is detected to when the CAN filtering time of the faulty blade's own driver is met, and the normalized propeller recovery begins. Because blade 3 experiences a CAN communication failure, it no longer receives updated parameters from the pitch controller after the failure point. Therefore, the normal blades 1# (# represents the sequence number) and 2#, which have not experienced a CAN communication failure, need to cooperate with blade 3# to complete the propeller recovery. That is, at the moment the CAN anomaly of the faulty blade is detected, the time is recorded based on... Figures 2-4 The target position S and target duration T are calculated using the corresponding method. Blade #3 will execute S and T after time t2. The position change correction S is calculated as S' using the current pitch speed V30 of blade #3 at the CAN fault point and t2, where S' = S + V30 × t2.

[0090] For blades #1 and #2, the strategy objective is to move them to position S' within the time interval T+t2-t1. This requires calculating the speed multiplier using the real-time blade positions S10 and S20, and the current velocities V10 and V20. The calculation method is described in the basic algorithm. Figure 4 The method for calculating V21.

[0091] Specifically, when one of the blades experiences a CAN communication failure, the following steps can be performed:

[0092] Step 131: Based on the position of the three blades at the time of the fault and the pitch speed, determine the target position corresponding to the time of the fault and the target time T to reach the target position S.

[0093] Step 132: Based on the target duration T, the duration t2 from the detection of the faulty blade's CAN anomaly to the CAN filtering time of the driver, and the pitch speed V30 of the faulty blade at the time of the fault, determine the corrected target position S' and the corrected duration T' to reach position S', where S' = S + V30 × t2, T' = T + t2, and control the faulty blade to run to the corrected target position S' at the pitch speed V30 at the time of the fault after duration t2.

[0094] Step 133: Based on the correction duration T', the time t1 from when the CAN anomaly of the faulty blade is detected to when its own safety chain is broken, the corrected target position S', the positions S10 and S20 of the normal blade at the time of the fault, and the pitch speeds V10 and V20, determine the target pitch speeds V11 and V21 of the normal blade at time t1, and control the normal blade to run to the corrected target position S' at the corresponding target pitch speed after time t1.

[0095] Step 134: In response to the arrival of blade #3, blade #1, and blade #2 at the corrected target position S', control the three blades to retract to the safe position at the same speed.

[0096] In this way, by following the steps above, normalized propeller retraction can still be achieved even when some blades experience CAN communication failures. This avoids the situation where the target position changes due to the response delay of the blade experiencing CAN communication failure, resulting in the three blades being unable to retract at the same target position.

[0097] This application provides a propeller retraction control device for a wind turbine generator set. Figure 6 A schematic diagram of the structure of a wind turbine generator's paddle retraction control device according to an embodiment of this application is shown. Figure 6 As shown, the device includes an acquisition module 11 and a control module 12.

[0098] The acquisition module 11 is used to acquire the current position and current pitch speed of the three blades;

[0099] The control module 12 is used to respond to the wind turbine generator meeting the propeller retraction conditions and the current positions of the three blades being different, by controlling the three blades to retract to the same target position at the same time, and then retract to the safe position at the same speed. Optionally, the control module 12 may include:

[0100] The first calculation unit is used to calculate the target position, the target time to reach the target position, and the target pitch speed of the blade in the middle position based on the current position and the current pitch speed of the three blades. Before reaching the target position, the motion of each blade includes variable speed motion and uniform speed motion. The target pitch speed of each blade is the pitch speed of each blade when it moves from variable speed motion to the starting position of uniform speed motion.

[0101] The first control unit is used to control each blade to move from its current pitch speed to its corresponding target pitch speed within the target time period according to the target time period and its corresponding target pitch speed. After moving to the target position at a constant speed, the blades are retracted at the same speed. The target pitch speeds of the blade with the largest current position and the blade with the smallest current position are preset.

[0102] Optionally, the first computing unit includes:

[0103] The first determining subunit is used to determine the first blade with the largest current position and the third blade with the smallest current position;

[0104] The second determining subunit is used to determine the motion curves of the first blade and the third blade based on the current position of the first blade and the third blade, the current pitch speed and the target pitch speed of the two blades. The motion curves of each blade include variable speed motion curves and uniform speed motion curves.

[0105] The first calculation subunit is used to solve for the intersection of the uniform motion curves of the first and third blades based on the motion curves of the first and third blades, and to obtain the target position and target duration.

[0106] The third determining subunit is used to determine the target pitch speed of the second blade based on the target position and target duration, wherein the second blade is the blade currently in the center position.

[0107] Optionally, the device may further include:

[0108] The verification module is used to verify whether the target position, target pitch speed, and target time meet the following conditions: the target position is greater than the current position of each blade, the direction of the target pitch speed of each blade is the pitch retraction direction, and the target duration is a positive value.

[0109] Optionally, the target pitch speeds of the blade with the largest current position and the blade with the smallest current position are preset based on the pitch emergency stop speed.

[0110] Optionally, the device may further include:

[0111] The first determining module is used to determine the target position and the target time to run to the target position when one of the blades experiences a CAN communication failure, based on the position of the three blades at the time of the failure and the pitch speed.

[0112] The second determining module is used to determine the corrected target position and the correction time to reach the corrected target position based on the target duration, the first preset duration and the pitch speed of the faulty blade at the time of the fault, and control the faulty blade to run to the corrected target position at the pitch speed at the time of the fault when the first preset duration is reached; wherein, the first preset duration refers to the time from when the CAN anomaly of the faulty blade is detected to when the CAN filtering time of the driver is reached.

[0113] The third determining module is used to determine the target pitch speed of the normal blade when the second preset time expires, based on the correction duration, the second preset duration, the corrected target position, the position of the normal blade at the time of the fault, and the pitch speed, and to control the normal blade to run to the corrected target position at the corresponding target pitch speed when the second preset time expires; wherein, the second preset duration refers to the time from when the CAN anomaly of the faulty blade is detected to when its own safety chain is broken.

[0114] Control module 12 is used to control the three blades to retract to a safe position at the same speed in response to the faulty blade and the normal blade reaching the corrected target position.

[0115] The wind turbine blade retraction control device of this application obtains the current position and current pitch speed of the three blades, and then responds to the wind turbine meeting the retraction conditions and the current positions of the three blades being different. It controls the three blades to retract to the same target position at the same time, and then retract to the safe position at the same speed. In this way, if the three blades are at different current positions during the shutdown retraction process, they can retract at the same speed after reaching the same target position. This makes the load of the three blades more balanced during at least part of the shutdown retraction process, improves the load balance during the shutdown retraction process, and solves the problem of low load balance during the shutdown retraction process in related technologies.

[0116] This application provides a computer-readable storage medium storing computer program instructions. When executed by a processor, the computer program instructions can implement the wind turbine generator pitch control method provided in this application.

[0117] This application provides a computing device, which includes: a processor and a memory storing computer program instructions;

[0118] When the processor executes computer program instructions, it implements the wind turbine generator pitch control method provided in the embodiments of this application.

[0119] Figure 7 A schematic diagram of the hardware structure of the computing device provided in an embodiment of this application is shown.

[0120] The computing device may include a processor 701 and a memory 702 storing computer program instructions.

[0121] Specifically, the processor 701 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0122] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 702 is non-volatile solid-state memory.

[0123] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this application.

[0124] The processor 701 reads and executes computer program instructions stored in the memory 702 to implement any of the wind turbine generator pitch control methods in the above embodiments.

[0125] In one example, the computing device may also include a communication interface 703 and a bus 710. Wherein, as... Figure 7 As shown, the processor 701, memory 702, and communication interface 703 are connected through bus 710 and complete communication with each other.

[0126] The communication interface 703 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0127] Bus 710 includes hardware, software, or both, that couples components of a computing device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0128] This application also provides a wind turbine generator set, including the computing device provided in this application embodiment.

[0129] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0130] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0131] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0132] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0133] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for controlling the paddle retraction of a wind turbine generator set, characterized in that, The method includes: Obtain the current position and current pitch speed of the three blades; In response to the wind turbine meeting the blade retraction conditions and the current positions of the three blades being different, the system controls the three blades to retract to the same target position at the same time and then retract to the safe position at the same speed. The steps for controlling the three blades of the propeller to retract to the same target position at the same time and then retract to a safe position at the same speed include: Based on the current position of the three blades and the current pitch speed, calculate the target position, the target time to reach the target position, and the target pitch speed of the blade in the middle of the current position. Before reaching the target position, the motion of each blade includes variable speed motion and uniform speed motion. The target pitch speed of each blade is the pitch speed of each blade when it moves from variable speed motion to the starting position of uniform speed motion. Each blade is controlled to move from its current pitch speed to its corresponding target pitch speed within the target time period according to the target duration and its corresponding target pitch speed. After moving at a constant speed to the target position, the blades are retracted at the same speed. The target pitch speeds of the blades with the largest current position and the blades with the smallest current position are preset.

2. The propeller control method according to claim 1, characterized in that, Based on the current positions of the three blades and the current pitch speed, calculate the target position, the target time to reach the target position, and the target pitch speed of the blade currently in the center position, including: Determine the first blade with the largest current position and the third blade with the smallest current position; Based on the current position of the first and third blades, the current pitch speed, and the target pitch speed of the two blades, determine the motion curves of the first and third blades. The motion curves of each blade include variable speed motion curves and uniform speed motion curves. Based on the motion curves of the first and third blades, the intersection point of the uniform motion curves of the first and third blades is determined to obtain the target position and target duration. Based on the target position and target duration, the target pitch speed of the second blade is determined, wherein the second blade is the blade currently in the center position.

3. The propeller control method according to claim 1, characterized in that, Before distributing the corresponding target pitch speed and constant velocity duration to each blade, the method further includes: Verify whether the target position, target pitch speed, and target time meet the following conditions: the target position is greater than the current position of each blade, the direction of the target pitch speed of each blade is the pitch retraction direction, and the target duration is a positive value.

4. The propeller control method according to any one of claims 1-3, characterized in that, The target pitch speeds for the blade with the largest current position and the blade with the smallest current position are preset based on the pitch emergency stop speed.

5. The propeller control method according to claim 1, characterized in that, When one of the blades experiences a CAN communication failure, the method further includes: Based on the position of the three blades and the pitch speed at the time of the fault, determine the target position corresponding to the time of the fault and the target time to reach the target position; Based on the target duration, the first preset duration, and the pitch speed of the faulty blade at the time of the fault, the corrected target position and the correction duration to reach the corrected target position are determined, and the faulty blade is controlled to run to the corrected target position at the pitch speed at the time of the fault when the first preset duration is reached; wherein, the first preset duration refers to the time from when the CAN anomaly of the faulty blade is detected to when the CAN filtering time of the driver is reached. Based on the correction duration, the second preset duration, the corrected target position, the position of the normal blade at the time of the fault, and the pitch speed, the target pitch speed of the normal blade when the second preset duration is reached is determined, and the normal blade is controlled to run to the corrected target position at the corresponding target pitch speed when the second preset duration is reached; wherein, the second preset duration refers to the time from when the CAN anomaly of the faulty blade is detected to when its own safety chain is broken. In response to the faulty blade and the normal blade reaching the corrected target position, control all three blades to retract to the safe position at the same speed.

6. A propeller control device for a wind turbine generator set, characterized in that, The device includes: The acquisition module is used to acquire the current position and current pitch speed of the three blades; The control module is used to respond to the wind turbine generator meeting the blade retraction conditions and the current positions of the three blades being different, by controlling the three blades to retract to the same target position at the same time and then retract to the safe position at the same speed. The control module includes: The first calculation unit is used to calculate the target position, the target time to reach the target position, and the target pitch speed of the blade in the middle of the current position based on the current position of the three blades and the current pitch speed. Before reaching the target position, the motion of each blade includes variable speed motion and uniform speed motion. The target pitch speed of each blade is the pitch speed of each blade when it moves from variable speed motion to the starting position of uniform speed motion. The first control unit is used to control each blade to move from its current pitch speed to its corresponding target pitch speed within the target time period according to the target time period and its corresponding target pitch speed. After moving at a constant speed to the target position, the blades are retracted at the same speed. The target pitch speeds of the blade with the largest current position and the blade with the smallest current position are preset.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the wind turbine generator pitch control method as described in any one of claims 1-5.

8. A computing device, characterized in that, The computing device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the wind turbine generator set propeller control method as described in any one of claims 1-5.

9. A wind turbine generator set, characterized in that, Includes the computing device as described in claim 8.

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