A wind turbine gust control method, device, medium and system

Abstract

The application discloses a kind of gust control method, device, medium and system of wind generating set, method includes the following steps: 1) obtains the state signal of wind generating set, state signal includes wind speed, wind direction, generator speed, generator acceleration, cabin vibration acceleration, variable pitch speed, generator torque change rate, generator power change rate at least two kinds;2) according to at least two kinds of state information to obtain the correlation coefficient between state information;3) correlation coefficient is compared with preset threshold value;When correlation coefficient is not in preset threshold value, then judge wind generating set is operated in gust mode, and carry out variable pitch action.The application is based on correlation coefficient to detect gust in advance, and the action of pitch angle of actuator is executed by early triggering, reduce the extreme blade load and tower cylinder overturning bending moment of wind generating set under the condition of extreme related gust with wind direction change, guarantee the safety and reliability of wind generating set under the condition of extreme gust.

Description

Technical Field

[0001] This invention mainly relates to the field of wind power generation technology, specifically to a method, device, medium, and system for controlling gusts in wind turbine generator sets. Background Technology

[0002] Because wind speed and direction changes are random and unpredictable during normal operation, wind turbines require additional wind speed detection devices such as lidar to detect these changes in advance. However, adding lidar incurs significant additional costs, posing a considerable economic challenge. Furthermore, with the increasing rated power and rotor diameter of wind turbines, under extreme gust conditions with changing wind direction, traditional control logic and monitoring methods struggle to anticipate these gusts. This results in slower pitch actuator response, leading to larger ultimate bending moments at the turbine hub and tower overturning moments. This significantly increases the cost of the transmission chain, particularly the gearbox and tower, and reduces the turbine's reliability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: In view of the technical problems existing in the prior art, the present invention provides a method, device, medium and system for wind turbine generator gust control that can detect in advance that the wind turbine generator is operating under gusts and reduce blade load and tower overturning moment by triggering pitch control in advance.

[0004] To solve the above-mentioned technical problems, the technical solution proposed by this invention is as follows:

[0005] A method for controlling gusts in a wind turbine generator set, comprising the following steps:

[0006] 1) Acquire the status signals of the wind turbine generator set, including at least two of the following: wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate, and generator power change rate;

[0007] 2) Obtain the correlation coefficient between state information based on at least two types of state information;

[0008] 3) Compare the correlation coefficient with a preset threshold; if the correlation coefficient is not within the preset threshold, it is determined that the wind turbine is operating in gust mode, and pitch control is performed to reduce the ultimate load on the blades.

[0009] Preferably, in step 3), when the correlation coefficient is not within the preset threshold, one or more auxiliary variables are introduced for auxiliary judgment; the one or more auxiliary variables are compared with the preset auxiliary threshold, and when the one or more auxiliary variables are not within the corresponding preset auxiliary threshold, it is determined that the wind turbine is operating in gust mode.

[0010] Preferably, the auxiliary variables include one or more of the following: generator speed, nacelle vibration acceleration, or wind direction yaw error angle.

[0011] Preferably, in step 3), while performing the pitch control action, the pitch speed is increased to the maximum pitch speed limit or set value.

[0012] Preferably, in step 3), the generator torque is maintained at the rated torque while the pitching action is performed.

[0013] Preferably, in step 2), the specific calculation process for the correlation coefficient among the N types of state information is as follows:

[0014]

[0015] Where β is the correlation coefficient between N variables, Var1 is variable 1, Var2 is variable 2, VarN is variable N, and Var variables are wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate or generator power change rate; abs is the absolute value, and Max is the maximum value.

[0016] Preferably, in step 2), the correlation coefficient includes the correlation coefficient between wind direction and generator acceleration, and the specific calculation process is as follows:

[0017]

[0018] Where β is the correlation coefficient between wind direction and generator acceleration; Di r is the wind direction, and AccGen is the generator acceleration.

[0019] The present invention also discloses a gust control device for a wind turbine generator set, comprising:

[0020] The acquisition module is used to acquire the status signals of the wind turbine generator set. The status signals include at least two of the following: wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate, and generator power change rate.

[0021] The calculation module is used to obtain the correlation coefficient between state information based on at least two types of state information;

[0022] The judgment module is used to compare the correlation coefficient with a preset threshold; when the correlation coefficient is not within the preset threshold, it is determined that the wind turbine is operating in gust mode and pitch control is performed to reduce the ultimate load on the blades.

[0023] The present invention further discloses a computer-readable storage medium having a computer program stored thereon, the computer program executing the steps of the method described above when run by a processor. The present invention also discloses a wind turbine generator gust control system, including a memory and a processor, the memory having a computer program stored thereon, the computer program executing the steps of the method described above when run by a processor.

[0024] Compared with the prior art, the advantages of the present invention are as follows:

[0025] This invention obtains corresponding correlation coefficients based on two or more sets of state information, and uses these correlation coefficients as sufficient conditions for detecting and judging gusts. This allows for early determination of whether the unit is operating under gust conditions, and by triggering the actuator's pitch angle action in advance, it reduces the extreme blade load and tower overturning moment of the wind turbine under extreme gust conditions with wind direction changes, thus ensuring the safety and reliability of the wind turbine under extreme gust conditions.

[0026] This invention uses auxiliary variables to assist in judgment, which can greatly improve the accuracy of judgment under gust conditions and effectively avoid erroneous operation of the pitch angle under normal operating conditions. Attached Figure Description

[0027] Figure 1 This is a flowchart of the control method of the present invention in an embodiment.

[0028] Figure 2 This is a univariate trend chart in this invention. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1 As shown, the wind turbine generator gust control method of this invention includes the following steps:

[0031] 1) Acquire the status signals of the wind turbine generator set, including at least two of the following: wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate, and generator power change rate.

[0032] 2) Obtain the correlation coefficient between state information based on at least two types of state information;

[0033] 3) Compare the correlation coefficient with the preset threshold; if the correlation coefficient is not within the preset threshold, it is determined that the wind turbine is operating in gust mode, and pitch control is performed to reduce the ultimate load on the blades.

[0034] This invention obtains corresponding correlation coefficients based on two or more sets of state information, and uses these correlation coefficients as sufficient conditions for detecting and judging gusts. By using one or more sets of state information to predict the trend of gusts in wind turbine generators, the arrival of gusts can be predicted earlier than a single signal (such as speed or acceleration). When the arrival of gusts is predicted in advance, pitch control can be triggered in advance to reduce the extreme blade load and tower overturning moment of wind turbine generators under extreme gust conditions with wind direction changes, thus ensuring the safety and reliability of wind turbine generators under extreme gust conditions.

[0035] In one specific embodiment, in step 3), if the correlation coefficient is not within a preset threshold, one or more auxiliary variables are introduced for auxiliary judgment. These auxiliary variables are compared with preset auxiliary thresholds. If one or more auxiliary variables are not within their corresponding preset auxiliary thresholds, it is determined that the wind turbine is operating in gust mode. The auxiliary variables include one or more of the following: generator speed, nacelle vibration acceleration, or wind direction yaw error angle. During actual turbine operation, these auxiliary variables are used as auxiliary judgment conditions to avoid or minimize malfunctions of the pitch system.

[0036] This invention uses auxiliary variables to assist in judgment, which can greatly improve the accuracy of judgment under gust conditions and effectively avoid erroneous operation of the pitch angle under normal operating conditions.

[0037] In one specific embodiment, in step 3), while performing pitch control, the pitch speed is increased to the maximum pitch speed limit or set value, the generator torque is maintained at the rated torque, and the generator operating speed is reduced according to the pitch angle, thereby reducing the blade ultimate load of the wind turbine under extreme gust conditions with varying wind direction.

[0038] In one specific embodiment, in step 2), the correlation calculation method is based on the following principle:

[0039] For any discrete time series {X1, X2, X3, X4...X... n}, x t and x t+k This corresponds to two separate sets of samples. k is the number of sample lags (k is a positive integer greater than or equal to 1 and less than the sample ΔT period). x t Let {x1, x2, x3, x4, ... x} be the sampled data {x1, x2, x3, x4, ... x} after a time lag of k data points within a time period ΔT. i…x t}, and x t+k For the sampled data {x} within the time period ΔT 1+k +x 2+k +x 3+k ...x i+k …x t+k The trend of the univariate change is shown in the figure. Figure 2 As shown, its correlation coefficient α is given by the following formula:

[0040]

[0041] In the formula: x t+k x represents the numerical value at time (t+k) in a discrete time series; t x represents the value at time t in a discrete time series; i+k -x i+k-1 For x within a period of ΔT i+k Time and x i+k-1 The difference in values ​​at time points; α is the univariate correlation trend coefficient, where 0 indicates a weak correlation and 1 indicates a strong correlation.

[0042] In practical applications, the specific calculation process for the correlation coefficient between N types of state information is as follows:

[0043]

[0044] Where β is the correlation coefficient between N variables, Var1 is variable 1, Var2 is variable 2, VarN is variable N, and Var variables are wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate or generator power change rate; abs is the absolute value, and Max is the maximum value.

[0045] For example, the correlation coefficient is the correlation coefficient between wind direction and generator acceleration. The specific calculation process is as follows:

[0046]

[0047] Where β is the correlation coefficient between wind direction and generator acceleration, Dir is the wind direction, and AccGen is the generator acceleration.

[0048] This invention acquires wind direction and generator acceleration, calculates the correlation coefficient in the time domain, and uses the calculated correlation coefficient to determine the timing of the pitch actuator's action. This reduces the ultimate load on the blades of the wind turbine under extreme gust wind conditions with changing wind direction, effectively reducing the weight of the wind turbine blades, tower, and the entire wind turbine system, thereby improving the economic efficiency of the wind turbine.

[0049] In practical applications, the correlation coefficients between two, three, or more signals can be used to identify the gust conditions of wind turbines. Different signals correspond to different standard values ​​(preset thresholds).

[0050] This invention also discloses a wind turbine gust control system, comprising:

[0051] The acquisition module is used to acquire the status signals of the wind turbine generator set, and the status signals include at least two of the following: wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, and generator power change rate.

[0052] The calculation module is used to obtain the correlation coefficient between state information based on at least two types of state information;

[0053] The judgment module is used to compare the correlation coefficient with a preset threshold; when the correlation coefficient is not within the preset threshold, it is determined that the wind turbine is operating in gust mode and pitch control is performed to reduce the ultimate load on the blades.

[0054] The wind turbine gust control system of the present invention, corresponding to the control method described above, also has the advantages described above.

[0055] This invention uses a wind turbine main controller and corresponding sensing devices to collect signals such as wind speed, wind direction, generator speed, and nacelle vibration acceleration. The controller calculates the generator acceleration and the correlation coefficient β of two or more of the aforementioned signals. When the correlation coefficient β is greater than or equal to a set threshold and the auxiliary variables (e.g., generator speed, nacelle vibration acceleration, etc.) are also greater than or equal to the set threshold, the pitch actuator performs a pitch control action, increasing the pitch speed to the maximum pitch speed limit or set value, setting the generator torque to the rated torque, and reducing the turbine's operating speed according to the pitch angle. When one of the conditions in the gust control logic is less than the set threshold, the gust control logic exits, and the normal closed-loop operation control logic of the turbine is executed.

[0056] This invention further discloses a computer-readable storage medium storing a computer program thereon, which, when run by a processor, executes the steps of any of the methods described above. This invention also discloses a wind turbine generator gust control system, including a memory and a processor, wherein the memory stores a computer program that, when run by a processor, executes the steps of the methods described above.

[0057] As shown in this disclosure and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. The terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. The terms "connected" or "linked" are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect.

[0058] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A method for controlling gusts in wind turbine generator sets, characterized in that, Including the following steps: 1) Acquire the status signals of the wind turbine generator set, including at least two of the following: wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate, and generator power change rate. 2) Obtain the correlation coefficient between state information based on at least two types of state information; the principle of calculating the correlation coefficient is as follows: in time... Time series lag within the period The sampled data after each data point is In time The sampling data within the period is , Discrete time series The value of the moment. The number of sample lags. A positive integer greater than or equal to 1 and less than the sample value. Periodicity, its correlation coefficient for: In practical applications, the specific calculation process for the correlation coefficient between N types of state information is as follows: in Let N variables be the correlation coefficients. For variable 1, For variable 2, Let N be the variable, where The variables are wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate, or generator power change rate; abs is the absolute value, and Max is the maximum value; 3) Compare the correlation coefficient with a preset threshold; if the correlation coefficient is not within the preset threshold, introduce one or more auxiliary variables for further judgment; One or more auxiliary variables are compared with preset auxiliary thresholds. If one or more auxiliary variables are not within the corresponding preset auxiliary thresholds, it is determined that the wind turbine is operating in gust mode and pitch control is performed to reduce the ultimate load on the blades. The auxiliary variables include one or more of the following: generator speed, nacelle vibration acceleration, or wind direction yaw error angle.

2. The wind turbine generator gust control method according to claim 1, characterized in that, In step 3), while performing the pitch control action, the pitch speed is increased to the maximum pitch speed limit or set value.

3. The wind turbine generator gust control method according to claim 2, characterized in that, In step 3), the generator torque is maintained at the rated torque while the pitching action is performed.

4. The wind turbine generator gust control method according to claim 1, characterized in that, In step 2), the correlation coefficient includes the correlation coefficient between wind direction and generator acceleration. The specific calculation process is as follows: in Dir represents the correlation coefficient between wind direction and generator acceleration; Dir is the wind direction, and AccGen is the generator acceleration.

5. A gust control device for a wind turbine generator set, characterized in that, include: The acquisition module is used to acquire the status signals of the wind turbine generator set. The status signals include at least two of the following: wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate, and generator power change rate. The calculation module is used to obtain the correlation coefficient between state information based on at least two types of state information; the principle of the correlation coefficient calculation method is as follows: in time... Time series lag within the period The sampled data after each data point is In time The sampling data within the period is , Discrete time series The value of the moment. The number of sample lags. A positive integer greater than or equal to 1 and less than the sample value. Periodicity, its correlation coefficient for: In practical applications, the specific calculation process for the correlation coefficient between N types of state information is as follows: in Let N variables be the correlation coefficients. For variable 1, For variable 2, Let N be the variable, where The variables are wind speed, wind direction, generator speed, generator acceleration, nacelle vibration acceleration, pitch speed, generator torque change rate, or generator power change rate; abs is the absolute value, and Max is the maximum value; The judgment module is used to compare the correlation coefficient with a preset threshold; when the correlation coefficient is not within the preset threshold, one or more auxiliary variables are introduced for auxiliary judgment. One or more auxiliary variables are compared with preset auxiliary thresholds. If one or more auxiliary variables are not within the corresponding preset auxiliary thresholds, it is determined that the wind turbine is operating in gust mode and pitch control is performed to reduce the ultimate load on the blades. The auxiliary variables include one or more of the following: generator speed, nacelle vibration acceleration, or wind direction yaw error angle.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program, when run by a processor, performs the steps of the method as described in any one of claims 1 to 4.

7. A gust control system for a wind turbine generator set, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, The computer program, when run by a processor, performs the steps of the method as described in any one of claims 1 to 4.

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