Rotational speed estimation method and device, medium, current transformer and wind turbine generator system

Abstract

The present disclosure provides a rotating speed estimation method and device, a medium, a converter and a wind turbine generator. The rotating speed estimation method of a generator of a wind turbine generator comprises: determining the rotating speed of the generator based on a real-time measured voltage signal of the generator in response to IGBTs of a converter power module of the wind turbine generator not being modulated; and determining the rotating speed of the generator based on a real-time measured current signal of the generator in response to the IGBTs of the converter power module being modulated and a waveform of the real-time measured current signal of the generator not being distorted. The rotating speed estimation method and device of the generator according to the embodiments of the present disclosure can realize rotating speed estimation in a full rotating speed range. The rotating speed estimation method and device of the generator according to the embodiments of the present disclosure can improve the operation reliability of the wind turbine generator through two rotating speed estimation distribution strategies.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of generators, and more particularly, to a generator speed estimation method, a generator speed estimation device, a medium, a wind power converter and a wind turbine generator system. BACKGROUND

[0002] The wind turbine generator system generally controls the output power of the wind turbine generator system by adjusting the speed of the wind turbine. In order to maximize the conversion of wind energy into electrical energy and transmit the electrical energy, the main controller of the wind turbine generator system needs to calculate the maximum power that can be output by the wind turbine according to the speed of the wind turbine and the reference wind speed, and generate a speed command and a torque command according to the maximum power to control the speed of the wind turbine and the torque, respectively. In order to determine whether the speed command is effectively executed, the speed of the wind turbine needs to be measured.

[0003] In addition, the wind power converter also needs to perform corresponding control according to the speed of the generator during operation, and therefore, it is of great significance to estimate the speed of the generator or the speed of the wind turbine. SUMMARY

[0004] One of the purposes of the present disclosure is to provide a generator speed estimation method and a generator speed estimation device that can realize full-speed-range speed estimation.

[0005] One of the purposes of the present disclosure is to provide a generator speed estimation method and a generator speed estimation device that can improve the operation reliability of the wind turbine generator system through two speed estimation distribution strategies.

[0006] According to a first aspect of the present disclosure, a generator speed estimation method of a wind turbine generator system is provided, the generator speed estimation method comprising: determining the speed of a generator based on a real-time measured voltage signal of the generator in response to IGBTs of a power module of a converter of the wind turbine generator system not being modulated; and determining the speed of the generator based on a real-time measured current signal of the generator in response to the IGBTs of the power module of the converter being modulated and a waveform of the real-time measured current signal of the generator not being distorted.

[0007] According to a second aspect of the present disclosure, a generator speed estimation device of a wind turbine generator system is provided, the generator speed estimation device comprising: a speed estimation module configured to determine the speed of a generator based on a real-time measured voltage signal of the generator in response to IGBTs of a power module of a converter of the wind turbine generator system not being modulated; and determine the speed of the generator based on a real-time measured current signal of the generator in response to the IGBTs of the power module of the converter being modulated and a waveform of the real-time measured current signal of the generator not being distorted.

[0008] According to a third aspect of the present disclosure, a wind power converter is provided, the wind power converter comprising the computer readable storage medium or the generator speed estimation device.

[0009] According to a fourth aspect of the present disclosure, a wind turbine generator is provided, the wind turbine generator comprising the wind power converter.

[0010] The generator speed estimation method and the generator speed estimation device according to the embodiments of the present disclosure can reduce the hardware cost of other speed measurement devices of the whole wind turbine generator.

[0011] Additional aspects and / or advantages of the general inventive concept will be set forth in part in the description which follows, and in part will be obvious from the description, or can be learned by practice of the general inventive concept. BRIEF DESCRIPTION OF DRAWINGS

[0012] The above and other objects and features of the present exemplary embodiments of the present disclosure will become more apparent from the following description of the exemplary embodiments of the present disclosure given for the purpose of illustrations only, of which a preferred embodiment is illustrated in the accompanying drawings.

[0013] Figure 1 is a flowchart illustrating a generator speed estimation method according to a first embodiment of the present disclosure;

[0014] Figure 2 is a flowchart illustrating determination of a speed of a generator according to a voltage signal according to an embodiment of the present disclosure;

[0015] Figure 3 is a flowchart illustrating real-time acquisition of three-phase phase voltages of a generator according to an embodiment of the present disclosure;

[0016] Figure 4 is a block diagram illustrating determination of a speed of a generator according to a voltage signal according to an embodiment of the present disclosure;

[0017] Figure 5 is a reference coordinate system involved in coordinate conversion;

[0018] Figure 6 is a flowchart illustrating determination of a speed of a generator according to a current signal according to an embodiment of the present disclosure;

[0019] Figure 7 is a block diagram illustrating a generator speed estimation device according to a first embodiment of the present disclosure;

[0020] Figure 8 is a block diagram illustrating a generator speed estimation device according to a second embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] Reference will now be made in detail embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout. The embodiments will be explained by referring to the drawings in order to explain the present disclosure.

[0022] The wind turbine converter can estimate the speed of the generator according to the current of the generator. For a specific signal wind turbine generator set, the speed of the generator can be estimated according to the current of the generator, which can only be performed after the speed of the generator reaches a predetermined speed, because the current signal can only be detected after the speed of the generator reaches the predetermined speed, in other words, the speed of the generator estimated according to the current of the generator realizes the speed estimation in the interval from a specific minimum speed to a maximum speed, and cannot realize the speed estimation in the whole speed range.

[0023] In addition, in order to realize the speed estimation in the whole speed range, i.e. the speed estimation in the interval from zero speed to a specific low speed, an additional speed measurement device is needed, which will increase the cost. In addition, the measurement reliability of the additional speed measurement device is poor.

[0024] The generator speed estimation method and the generator speed estimation device of the wind turbine generator set according to the embodiments of the present disclosure can realize the wind turbine speed estimation in the whole speed range. In addition, the generator speed estimation method and the generator speed estimation device of the present disclosure can improve the control safety and reliability of the wind turbine generator set.

[0025] The generator speed estimation method and the generator speed estimation device of the wind turbine generator set according to the embodiments of the present disclosure can switch between the two speed estimation schemes of estimating the speed of the generator according to the voltage signal and estimating the speed of the generator according to the current signal, thereby improving the accuracy of the speed estimation.

[0026] According to the embodiments of the present disclosure, the speed of the generator can be estimated by using a single synchronous voltage phase-locked loop technique. This will be described in detail below in combination with the preferred embodiments of the present disclosure.

[0027] Figure 1 is a flow chart showing a generator speed estimation method according to a first embodiment of the present disclosure.

[0028] The generator speed estimation method according to the embodiments of the present disclosure can include a step of determining the speed of the generator based on the real-time measured voltage signal of the generator and a step of determining the speed of the generator based on the real-time measured current signal of the generator.

[0029] Specifically, the generator speed estimation method according to embodiments of the present disclosure may include: determining the generator speed based on a real-time measured generator voltage signal in response to the IGBT of the converter power module of the wind turbine generator not being modulated; and determining the generator speed based on a real-time measured generator current signal in response to the IGBT modulation of the converter power module and the waveform of the real-time measured generator current signal not being distorted.

[0030] As an example, the generator speed estimation method according to an embodiment of the present disclosure may further include: in response to the IGBT modulation of the converter power module and the waveform distortion of the generator current signal measured in real time, determining the generator speed based on the generator voltage signal measured in real time.

[0031] Here, IGBT refers to the IGBT in the converter power module of a wind power converter, such as the IGBT in the rectifier and / or inverter. The number of IGBTs in the rectifier and / or inverter is not specifically limited. It should be noted that "IGBT unmodulated" can refer to any one of the IGBTs in the rectifier and inverter of the wind power converter being unmodulated, while "IGBT modulated" can refer to all the IGBTs in the rectifier and inverter of the wind power converter being modulated.

[0032] like Figure 1 As shown, the generator speed estimation method according to the embodiments of the present disclosure may include steps S110, S120, S130 and S140.

[0033] In step S110, it can be determined whether the IGBT is modulated. IGBT modulation means that the IGBT receives the switching control signal and performs the corresponding action according to the received switching control signal. IGBT non-modulation means that the IGBT does not receive the switching control signal, or that the IGBT receives the switching control signal but does not perform the corresponding action due to a fault.

[0034] IGBT unmodulation typically occurs during the startup phase, such as the transition from zero speed to a predetermined low speed. For example, taking a certain type of wind power converter as an example, before the wind turbine speed reaches 3.5 rpm, the IGBT is unmodulated and cannot determine the generator speed based on the detected current (there may be a predetermined proportional relationship between the wind turbine speed and the generator speed); only after the wind turbine speed reaches 3.5 rpm and the IGBT is modulated can the generator speed be determined based on the detected current.

[0035] Of course, in the case that the IGBT receives the switch control signal but does not perform the corresponding action due to a fault, the IGBT is in an unmodulated state, at this time, the fault can be that the switch drive circuit works abnormally to cause the current waveform to be non-sinusoidal, the main circuit is open to cause some or several phases of the current to be missing, the winding of the generator is abnormal to cause the motor control to be abnormal, and the like.

[0036] These faults can cause the waveform of the current signal to be abnormal, and the speed of the generator cannot be accurately determined or estimated based on the current signal.

[0037] In step S120, it can be further determined whether the waveform of the current signal is distorted, the distortion here is mainly caused by the faults mentioned above, the distortion of the waveform of the current signal can include open phase, non-sinusoidal, and the like, and the distortion of the waveform of the current signal will cause the speed of the generator to be unable to be accurately determined based on the current signal.

[0038] If it is determined that the waveform of the current signal is not distorted, in step S130, the speed of the generator can be determined based on the current signal. As an example, the distortion of the waveform of the current signal can be determined by performing frequency domain analysis on the current signal.

[0039] If it is determined that the waveform of the current signal is distorted, in step S140, the speed of the generator can be determined or estimated based on the voltage signal.

[0040] In addition, if it is determined that the IGBT is not modulated, the speed of the generator can be determined based on the voltage signal of the generator measured in real time. That is, in the case that the speed of the generator is relatively low and / or the waveform of the current signal is abnormal, the speed of the generator can be determined or estimated according to the voltage signal.

[0041] As an example, after the speed of the wind turbine or the speed of the generator reaches a predetermined speed, if the IGBT is not modulated due to a fault, the speed of the generator can be determined or estimated based on the voltage signal of the generator measured in real time. The speed of the wind turbine and the speed of the generator have a predetermined proportional relationship.

[0042] Before the speed of the generator increases from zero to a predetermined speed, the IGBT is not modulated, when or after the speed of the generator increases to the predetermined speed, the IGBT is modulated, and the current signal can be measured in real time when or after the speed of the generator increases to the predetermined speed.

[0043] As an example, the voltage signal can be measured all the time in the full speed range (from 0 to the maximum speed), and the speed of the generator can be calculated according to the voltage signal as the case can be. As an example, in the case of IGBT modulation and no distortion of the waveform of the current signal, the speed of the generator can also be determined according to the voltage estimation scheme. Preferably, in the case where the speed of the generator can be determined using the current estimation scheme, the current estimation scheme can be used preferentially, of course, the speed of the generator can also be estimated based on both estimation schemes, and then the average of the two estimation results is taken as the speed of the generator.

[0044] Figure 2 is a flow chart illustrating determination of the speed of the generator according to the voltage signal according to an embodiment of the present disclosure, Figure 3 is a flow chart illustrating real-time acquisition of the three-phase phase voltage of the generator according to an embodiment of the present disclosure, Figure 4 is a block diagram illustrating determination of the speed of the generator according to the voltage signal according to an embodiment of the present disclosure, Figure 5 is a reference coordinate system involved in coordinate conversion.

[0045] Referring to Figure 2 , the step of determining the speed of the generator set according to the voltage signal can include steps S210, S220, S230 and S240.

[0046] In step S210, the three-phase phase voltage of the generator can be acquired in real time. For example, the three-phase phase voltage of the generator can be measured directly in real time by a voltage acquisition unit. It can also be detected by detecting the line voltage of the generator and then converting the line voltage into the three-phase phase voltage.

[0047] As shown in Figure 3 , the step of acquiring the three-phase phase voltage of the generator in real time can include steps S310 and S320.

[0048] In step 310, the line voltage of the generator can be detected in real time. For example, the line voltage V1 of the generator can be detected directly by a voltage acquisition unit. The line voltage here can include any two-phase line voltage of the generator, and three-phase line voltage can also be acquired without considering the cost.

[0049] In step S320, the line voltage can be converted into the three-phase phase voltage V2, for example, the phase voltage

[0050] In step S220, coordinate conversion can be performed on the three-phase phase voltage to obtain a first rotating voltage component in a rotating coordinate system.

[0051] For example, the three-phase phase voltages can be subjected to Clark transformation to obtain the first static voltage component and the second static voltage component in the static coordinate system, and then the first static voltage component and the second static voltage component can be subjected to Park transformation to obtain the first rotating voltage component.

[0052] like Figure 4 As shown, the line voltage U can be... ab and U bc Converted to three-phase phase voltage U a U b and U c It can control the three-phase phase voltage U a U b and U c Perform Clark transformation to obtain the first static voltage component U in the static coordinate system. α Second static voltage component U β Then, a Park transform can be performed on the first static voltage component and the second static voltage component to obtain the first rotating voltage component U. d .

[0053] In step S230, the first rotating voltage component U can be... d Perform PI control to obtain angular velocity.

[0054] In other words, angular velocity can be obtained through single synchronous voltage phase-locked loop technology. Specifically, the three-phase voltage can be decomposed onto the dq coordinate axis. If the voltage component of the d coordinate axis is controlled to 0, the voltage will be entirely on the q coordinate axis. In the process of controlling the voltage component of the d coordinate axis to 0, the change in phase angle can be obtained. Then, the rotational speed can be calculated based on the change in phase angle.

[0055] like Figure 4 As shown, when the electric angular velocity ω is obtained e The rotor position angle θ of the generator can then be obtained through integration. This angle θ needs to be fed back to the Park transform to achieve the voltage coordinate transformation. In other words, the phase angle θ of the Park transform is obtained by integrating the angular velocity.

[0056] Figure 5 This shows the reference coordinate system involved in the coordinate transformation.

[0057] like Figure 5 As shown, assuming the rotating reference coordinate system doq, the angle between the d-axis and the stationary coordinate system α-axis is ω't, and the angle between the combined three-phase voltage vector E and the α-axis is ωt.

[0058] The angle between the voltage vector E and the reference coordinate axis d can be calculated using Equation 1 below.

[0059] Δθ = ωt - ω't = (ω - ω')t (1)

[0060] Assuming that the error of the voltage vector E with respect to the reference coordinate axis d is small, the error can be calculated by the following equation 2.

[0061]

[0062] Therefore, the q-axis component of the unit voltage vector in the reference coordinate system reflects the positional relationship of the reference coordinate system with respect to the resultant voltage vector E, indicates that the reference coordinate system leads the voltage vector E, and the synchronous signal frequency should be reduced, indicates that the reference coordinate system lags the voltage vector E, and the synchronous signal frequency should be increased. indicates that the reference coordinate axis d is in phase with the resultant voltage vector E. Thus, the following equation 3 can be obtained:

[0063]

[0064]

[0065] The above equation is replaced by a PI regulator in part, and the following equation 4 is obtained to obtain the electrical angular velocity ω.

[0066] ω = K p_PLL Δθ + K i_PLL ∫Δθ + ω' (4)

[0067] In equation 4, K p_PLL and K i_PLL are the proportional coefficient and the integral coefficient of the proportional integral algorithm, respectively, and are constants. The magnitudes of K p_PLL and K i_PLL may be adjusted in real time, or the optimal values of K p_PLL and K i_PLL may be selected and kept unchanged.

[0068] Referring to Figure 2 , in step S240, the rotational speed of the generator can be calculated according to the angular velocity.

[0069] For example, the rotational speed n of the generator can be calculated by the following equation 5.

[0070] n = 60ω e / (2π×Pn) (5)

[0071] where the unit of n is rpm, and Pn is the number of motor pole pairs and is a known constant.

[0072] As described above, in the case that the IGBT is modulated and the waveform of the current signal is not distorted, the speed of the generator can be determined according to the current signal. There are various ways to determine whether the waveform of the current signal is distorted, for example, the fast Fourier transform (FFT) can be performed on the current signal, and whether the current signal is distorted can be determined according to the FFT analysis result. In the following, the process of determining or estimating the speed of the generator according to the current signal according to the embodiments of the present disclosure will be described in detail. Figure 6 The process of determining or estimating the speed of the generator according to the current signal according to the embodiments of the present disclosure will be described in detail.

[0073] Figure 6 is a flowchart illustrating the process of determining the speed of the generator according to the current signal according to the embodiments of the present disclosure.

[0074] According to the embodiments of the present disclosure, the step of determining the speed of the generator based on the current signal of the generator measured in real time can include step S610, step S620, step S630, step S640 and step S650.

[0075] In step S610, the winding current (apparent current) of the generator can be measured in real time.

[0076] In step S620, the winding current can be Clark transformed to obtain a first static current component and a second static current component.

[0077] For example, the winding current can be Clark transformed to obtain a first static current component iα and a second static current component iβ.

[0078] In step S630, a first back EMF component Eα and a second back EMF component Eβ can be calculated based on the first static current component iα and the second static current component iβ.

[0079]

[0080]

[0081] wherein Eα is the first generated EMF component; Eβ is the second back EMF component; Uα and Uβ are both estimated generator voltages, and can be obtained according to the reference voltage output by the current loop of the wind power converter; Rs and Ls are respectively the stator resistance and the stator inductance of the generator.

[0082] In step S640, the rotor position angle is calculated according to the first back EMF component and the second back EMF component. For example, the arctangent of the ratio of the second back EMF component to the first back EMF component can be taken to obtain the generator rotor position angle ω e .

[0083] In step S650, the angular velocity ω eto determine the rotational speed n of the generator. For example, the angular speed ω of the generator can be calculated by differentiating the rotor position angle of the generator set e and then the rotational speed n of the generator is calculated according to the following formula 8.

[0084] n = 60ω e / (2π) (8)

[0085] Figure 7 is a block diagram illustrating a generator rotational speed estimation device according to a first embodiment of the present disclosure, Figure 8 is a block diagram illustrating a generator rotational speed estimation device according to a second embodiment of the present disclosure.

[0086] As shown in Figure 7 , the generator rotational speed estimation device of the wind power generator set according to the embodiments of the present disclosure can include a generator rotational speed estimation module 700.

[0087] The generator rotational speed estimation module can determine the rotational speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBT of the power converter module of the wind power generator set not being modulated; and determine the rotational speed of the generator based on the real-time measured current signal of the generator in response to the IGBT of the power converter module being modulated and the waveform of the real-time measured current signal of the generator not being distorted.

[0088] As an example, the generator rotational speed estimation module 700 can also be configured to determine the rotational speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBT of the power converter module being modulated and the waveform of the real-time measured current signal of the generator being distorted.

[0089] As described above, the voltage signal and the current signal can be measured in real time by the voltage acquisition unit and the current acquisition unit respectively, and the voltage signal can be a three-phase phase voltage or a line voltage. The current signal can be the current signal of the winding of the generator.

[0090] As an example, during the operation of the wind power generator set, the voltage signal and the current signal can be acquired all the time, regardless of whether the generator of the wind power generator set is generating electricity or idling.

[0091] As shown in Figure 8 , the generator rotational speed estimation module 700 according to the embodiments of the present disclosure can include a voltage estimation module 710, a judgment module 720 and a current estimation module 730.

[0092] The judgment module 720 can judge whether the IGBT is modulated or not, and the modulation or non-modulation of the IGBT is related to whether the switch control signal of the IGBT can be received or not, and also related to whether the corresponding action can be performed after the IGBT is received or not.

[0093] As an example, during the starting stage of the wind turbine generator, the speed of the generator is relatively small, the IGBT is generally not modulated, and the winding current cannot be detected. In this stage, according to the embodiment of the present disclosure, the speed of the generator can be estimated according to the real-time measured voltage signal.

[0094] In addition, in the case where the related faults cause the IGBT to be not modulated, for example, the switch driving circuit works abnormally to cause the current waveform to be not sinusoidal, the main circuit is open to cause some phases or some phases to be missing, the winding of the generator is abnormal to cause the motor control to be abnormal, and the like. These faults will cause the waveform of the current signal to be abnormal, and it is difficult to accurately determine or estimate the speed of the generator based on the current signal.

[0095] As an example, the judging module 720 can further judge whether the waveform of the current signal is distorted. The distortion here is mainly caused by the faults mentioned above, and the distortion of the waveform of the current signal can include open phase, non-sinusoidal, and the like. The distortion of the waveform of the current signal will cause it to be difficult to accurately determine the speed of the generator based on the current signal. If a more serious fault such as open phase occurs, the judging module 720 can detect the fault and report the open phase fault. After the fault is processed, the wind power converter can continue to operate.

[0096] The results of the judging module 720 judging whether the IGBT is modulated and judging whether the waveform of the current signal is distorted can be output to the voltage estimation module 710 and the current estimation module 730. The voltage estimation module 710 and the current estimation module 730 can perform corresponding speed estimation in response to the received signals.

[0097] For example, the voltage estimation module 710 can determine the speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBT of the power module of the converter of the wind turbine generator being not modulated.

[0098] The current estimation module 730 can determine the speed of the generator based on the real-time measured current signal of the generator in response to the IGBT of the power module of the converter being modulated and the waveform of the real-time measured current signal of the generator being not distorted.

[0099] As an example, the voltage estimation module 710 can also determine the speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBT of the power module of the converter being modulated and the waveform of the real-time measured current signal of the generator being distorted.

[0100] That is, the voltage estimation module 710 can perform voltage estimation in the unmodulation stage when the rotating speed of the generator is lower than the predetermined rotating speed, and can also perform voltage estimation when the rotating speed of the generator set is higher than the predetermined rotating speed but the waveform of the current signal is distorted.

[0101] According to the embodiments of the present disclosure, the rotating speed estimation in the full rotating speed range can be achieved, and the cost can be reduced by switching between the voltage estimation scheme and the current estimation scheme.

[0102] The voltage estimation module 710 can obtain the three-phase phase voltage of the generator in real time, perform coordinate conversion on the three-phase phase voltage to obtain a first rotating voltage component in the rotating coordinate system, perform PI regulation on the first rotating voltage component to obtain an angular speed, and calculate the rotating speed of the generator according to the angular speed.

[0103] The process of calculating the rotating speed of the generator by the voltage estimation module 710 can be as described above, and will not be repeated here.

[0104] The current estimation module 730 can obtain the winding current of the generator in real time, perform Clark transformation on the winding current to obtain a first static current component and a second static current component, calculate a first counter electromotive force component and a second counter electromotive force component based on the first static current component and the second static current component, calculate a rotor position angle according to the first counter electromotive force component and the second counter electromotive force component, and calculate an angular speed based on the rotor position angle to determine the rotating speed of the generator.

[0105] It should be understood that each unit or module in the generator rotating speed estimation device according to the exemplary embodiments of the present disclosure can be implemented by hardware components and / or software components. Those skilled in the art can implement each unit by using, for example, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a software algorithm, etc., according to the processing performed by each unit.

[0106] Each operation of the above steps can be written as a software program or instruction, and therefore, the generator rotating speed estimation method according to the exemplary embodiments of the present disclosure can be implemented via software, and the computer readable storage medium of the exemplary embodiments of the present disclosure can store a computer program which, when executed by a processor, implements the generator rotating speed estimation method of the wind power generator set as described in the above exemplary embodiments.

[0107] According to various embodiments of the present disclosure, an apparatus (e.g., modules or their functions) or a method can be implemented by programs or instructions stored in a computer-readable storage medium. In the case where the instructions are executed by a processor, the processor can perform a function corresponding to the instructions or execute a method corresponding to the instructions. At least a part of the modules can be implemented (e.g., executed) by the processor. At least a part of the programming module can include a module, a program, a routine, an instruction set, and a process for performing at least one function. In one example, the instructions or software include machine code, such as produced by a compiler, which is directly executed by one or more processors or computers. In another example, the instructions or software include higher-level code, which is executed by one or more processors or computers using an interpreter. The instructions or software can be written using any programming language, based on the block diagrams and flowcharts illustrated in the accompanying drawings, and corresponding descriptions in the specification.

[0108] The computer-readable storage medium can include a magnetic medium such as a floppy disk and a magnetic tape, an optical medium (including a compact disc (CD) ROM and a DVD ROM), a magneto-optical medium such as a floptical disk, a hardware device designed for storing and executing program commands such as ROM, RAM, and a flash memory designed to store and execute program commands. The program commands include language codes executable by a computer using an interpreter and machine language codes generated by a compiler. The above-described hardware device can be implemented by one or more software modules for performing operations of various embodiments of the present disclosure.

[0109] The modules or programming modules of the present disclosure can include at least one of the aforementioned components with some components omitted or other components added. The operations of the modules, programming modules, or other components can be executed sequentially, in parallel, cyclically, or heuristically. Furthermore, some operations can be executed in different orders, can be omitted, or can be extended with other operations.

[0110] The computer-readable storage medium and / or the generator speed estimation apparatus of the exemplary embodiments of the present disclosure can be a part of a wind turbine generator system or a part of a controller or a control system, or a part of a wind power converter.

[0111] For example, according to the exemplary embodiments of the present disclosure, a controller can be provided, which can include a processor (not shown) and a memory (not shown), wherein the memory stores a computer program which, when executed by the processor, implements the generator speed estimation method as described in the above exemplary embodiments.

[0112] The generator speed estimation method and the generator speed estimation apparatus according to the embodiments of the present disclosure can achieve full-speed-range speed estimation.

[0113] The generator speed estimation method and the generator speed estimation device according to the embodiments of the present disclosure can improve the operation reliability of the wind turbine generator set through two speed estimation distribution strategies.

[0114] The generator speed estimation method and the generator speed estimation device according to the embodiments of the present disclosure can reduce the hardware cost of other speed measurement devices of the whole machine.

[0115] The generator speed estimation method and the generator speed estimation device according to the embodiments of the present disclosure can accurately estimate the speed of the generator by using a single synchronous voltage phase-locked loop.

[0116] Although some exemplary embodiments of the present disclosure have been shown and described, those skilled in the art should understand that modifications can be made to these embodiments without departing from the principles and spirits of the present disclosure, for example, technical features of different embodiments can be combined, and the combined embodiments are also part of the present disclosure, and the protection scope of the present disclosure is defined by the claims.

Claims

1. A method of estimating the rotational speed of a generator of a wind turbine generator system, characterized by, The method comprises: determining the rotational speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBTs of the converter power module of the wind turbine generator system being unmodulated; determining the rotational speed of the generator based on the real-time measured current signal of the generator in response to the IGBTs of the converter power module being modulated and the waveform of the real-time measured current signal of the generator being un-distorted, wherein the step of determining the rotational speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBTs of the converter power module of the wind turbine generator system being unmodulated comprises: determining the rotational speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBTs of the converter power module of the wind turbine generator system being unmodulated before the rotational speed of the generator of the wind turbine generator system increases from zero to a predetermined rotational speed. The step of determining the rotational speed of the generator based on the real-time measured current signal of the generator in response to the IGBTs of the converter power module being modulated and the waveform of the real-time measured current signal of the generator being un-distorted comprises: determining the rotational speed of the generator based on the real-time measured current signal of the generator in response to the IGBTs of the converter power module being modulated and the waveform of the real-time measured current signal of the generator being un-distorted when or after the rotational speed of the generator increases to the predetermined rotational speed.

2. The generator speed estimation method of a wind turbine system according to claim 1, characterized by, The method further comprises: determining the rotational speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBTs of the converter power module being modulated and the waveform of the real-time measured current signal of the generator being distorted.

3. The generator speed estimation method of a wind turbine system according to claim 2, characterized by, The IGBTs are unmodulated before the rotational speed of the generator of the wind turbine generator system increases from zero to a predetermined rotational speed, and the current signal is real-time measured when or after the rotational speed of the generator increases to the predetermined rotational speed.

4. The generator speed estimation method of a wind turbine generator system according to claim 1, characterized by, The step of determining the rotational speed of the generator based on the real-time measured voltage signal of the generator comprises: real-time acquiring three-phase phase voltages of the generator; performing coordinate conversion on the three-phase phase voltages to obtain a first rotating voltage component in a rotating coordinate system; performing PI regulation on the first rotating voltage component to obtain an angular velocity; calculating the rotational speed of the generator according to the angular velocity.

5. The generator speed estimation method of a wind turbine system according to claim 4, characterized by, The step of real-time acquiring three-phase phase voltages of the generator comprises: real-time detecting line voltages of the generator; converting the line voltages into three-phase phase voltages.

6. The generator speed estimation method of a wind turbine system according to claim 5, characterized by, The line voltages comprise any two-phase line voltages of the generator. The step of performing coordinate conversion on the three-phase phase voltages comprises: performing Clark transformation on the three-phase phase voltages to obtain a first static voltage component and a second static voltage component in a static coordinate system; performing Park transformation on the first static voltage component and the second static voltage component to obtain the first rotating voltage component, a phase angle of the Park transformation being obtained by integrating the angular velocity.

7. The generator speed estimation method of a wind turbine generator system according to claim 1, characterized by, The step of determining the rotational speed of the generator based on the real-time measured current signal of the generator comprises: real-time measuring winding currents of the generator; performing Clark transformation on the winding currents to obtain a first static current component and a second static current component; calculating a first back EMF component and a second back EMF component based on the first static current component and the second static current component; calculating a rotor position angle based on the first back EMF component and the second back EMF component; calculating an angular velocity based on the rotor position angle to determine the rotational speed.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions or programs which, when executed by a processor, implement the generator rotational speed estimation method according to any one of claims 1 to 7.

9. A generator speed estimation device for a wind turbine generator system, characterized by, comprising: a generator rotational speed estimation module configured to determine a rotational speed of a generator based on a real-time measured voltage signal of the generator in response to IGBTs of a power converter module of the wind turbine generator system not being modulated, and determine the rotational speed of the generator based on a real-time measured current signal of the generator in response to the IGBTs of the power converter module being modulated and a waveform of the current signal of the generator not being distorted, the generator rotational speed estimation module is further configured to determine the rotational speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBTs of the power converter module of the wind turbine generator system not being modulated before the rotational speed of the generator of the wind turbine generator system increases from zero to a predetermined rotational speed, determine the rotational speed of the generator based on the real-time measured current signal of the generator in response to the IGBTs of the power converter module being modulated and the waveform of the current signal of the generator not being distorted when or after the rotational speed of the generator increases to the predetermined rotational speed.

10. The wind turbine generator set generator speed estimation device according to claim 9, characterized by, the generator rotational speed estimation module is further configured to determine the rotational speed of the generator based on the real-time measured voltage signal of the generator in response to the IGBTs of the power converter module being modulated and the waveform of the current signal of the generator being distorted.

11. A wind power converter, characterized in that comprising the computer readable storage medium according to claim 8 or the generator rotational speed estimation apparatus according to claim 9 or 10.

12. A wind power unit, characterized in that comprising the wind power converter according to claim 11.

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