A wind turbine variable pitch control shutdown protection method and system

Abstract

The application discloses a kind of wind generating set variable pitch control shutdown protection method and system, belong to wind generating set control technical field, comprising: whether the average rate of judging blade variable pitch demand is less than demand variable pitch rate identification threshold;Judge whether the acceleration of generator measurement signal change acceleration is greater than set value;Judge whether the current generator speed is greater than generator speed judgment threshold;If the three determination results are no, the corresponding control process terminates;If the three determination results are all yes, then variable pitch system executes shutdown operation.The application judges the matching relationship of the given variable pitch instruction by the real-time running data of the generator speed, and judges whether the variable pitch control instruction matched according to the speed fluctuation is correct, such as judging that it does not match to stop protection, guaranteeing the normal and safe operation of the unit.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wind turbine generator set control, and particularly relates to a wind turbine generator set variable pitch control shutdown protection method and system. BACKGROUND

[0002] The wind wheel of a horizontal axis wind turbine absorbs wind energy to rotate, and further drives the connected generator to rotate to generate electricity. According to the difference of wind speed, the control target of the wind turbine generator set is different. Above the rated wind speed, the control target is to control the speed of the unit near the rated speed through variable pitch control, so that the output power of the unit is near the rated power, and the mechanical and electrical components of the wind turbine generator set can normally operate within the design range.

[0003] The input of the traditional generator speed-variable pitch control loop is the difference between the actual detected generator speed and the generator speed set value, and the corresponding variable pitch angle is given through PI or PID control. The size of the variable pitch angle can limit or absorb wind energy to control the generator speed. However, the traditional generator speed-variable pitch control loop does not further judge the matching relationship between the generator speed and the variable pitch control command. When there is a deviation in the variable pitch control command given due to the main control PLC software and hardware problems, and no check is performed, such as continuous rise of the generator speed, the variable pitch command is incorrect and does not limit the wind energy absorption, which will lead to deviation of the control target, and the control target of the generator speed control through variable pitch control cannot be achieved. SUMMARY

[0004] In order to overcome the defects of the prior art, the application provides a wind turbine generator set variable pitch control shutdown protection method. The application judges the matching relationship of the generator speed real-time operation data and the given variable pitch command, judges whether the variable pitch control command matched according to the speed fluctuation is correct, performs shutdown protection if it is judged that it is not matched, and guarantees normal and safe operation of the unit.

[0005] To achieve the above purpose, the application adopts the following technical solutions:

[0006] The first object of the application is to provide a wind turbine generator set variable pitch control shutdown protection method, which comprises:

[0007] The difference between the current variable pitch demand average angle of the blade and the previous variable pitch demand average angle of the blade is obtained, and then divided by the variable pitch rate change time constant to obtain the average variable pitch demand rate of the blade. It is judged whether the average variable pitch demand rate of the blade is less than the demand variable pitch rate identification threshold.

[0008] Subtracting the previous generator measurement signal from the current generator measurement signal obtains a generator measurement signal difference, and dividing the generator measurement signal difference by a measurement signal acceleration change time constant obtains a generator measurement signal change acceleration; dividing the generator measurement signal change acceleration by the measurement signal acceleration change time constant obtains a generator measurement signal change acceleration acceleration; determining whether the generator measurement signal change acceleration acceleration is greater than a set value;

[0009] Determining whether the current generator speed is greater than a generator speed determination threshold;

[0010] If the three determination results are no, the corresponding control flow is terminated; if the three determination results are all yes, the pitch system performs a shutdown operation.

[0011] As a further improvement of the present application, the difference between the previous and current pitch demand average angles of the blades is obtained by subtracting the previous pitch demand average angle of the blades from the current pitch demand average angle of the blades, and dividing the difference by a pitch rate change time constant to obtain a pitch demand average rate of the blades, comprising:

[0012] Summing the current pitch demand angles of the n blades to obtain pitch_demand_sum_c; n≥1;

[0013] Obtaining the current pitch demand average angle pitch_demand_avg_c of the n blades by averaging the obtained pitch_demand_sum_c;

[0014] Summing the previous pitch demand angles of the n blades to obtain pitch_demand_sum_p;

[0015] Obtaining the previous pitch demand average angle pitch_demand_avg_p of the n blades by averaging the obtained pitch_demand_sum_p;

[0016] Obtaining a pitch rate change time constant rate_t;

[0017] Subtracting the previous pitch demand average angle pitch_demand_avg_p of the n blades from the current pitch demand average angle pitch_demand_avg_c of the n blades to obtain a difference between the previous and current pitch demand average angles, and dividing the difference by the pitch rate change time constant rate_t to obtain a pitch demand average rate pitchrate_demand_avg of the n blades.

[0018] As a further improvement of the present application, the determination whether the pitch demand average rate of the blades is less than a demand pitch rate identification threshold comprises:

[0019] Obtaining a demand pitch rate identification threshold pitchrate demand threshold;

[0020] Determining whether the average demand pitch rate pitchrate demand avg of the n blades is less than the demand pitch rate identification threshold pitchrate demand threshold;

[0021] If the average demand pitch rate pitchrate demand avg of the n blades is greater than or equal to the demand pitch rate identification threshold pitchrate demand threshold, the control flow is terminated.

[0022] As a further improvement of the application, the measurement signal is a generator speed, a wind speed, a wind direction detected by a wind direction meter or a generator power.

[0023] As a further improvement of the application, the obtaining of the generator measurement signal change acceleration by subtracting the previous generator measurement signal from the current generator measurement signal and dividing by a measurement signal acceleration change time constant comprises:

[0024] Obtaining a current generator measurement signal omega c;

[0025] Obtaining a previous generator measurement signal omega p;

[0026] Obtaining a measurement signal acceleration change time constant acc t;

[0027] Obtaining a generator measurement signal change acceleration omega acc by subtracting the previous generator measurement signal omega p from the current generator measurement signal omega c and dividing by the measurement signal acceleration change time constant acc t.

[0028] As a further improvement of the application, the obtaining of the generator measurement signal change acceleration acceleration by dividing the generator measurement signal change acceleration by a measurement signal acceleration change time constant comprises:

[0029] Obtaining a measurement signal acceleration change time constant accacc t;

[0030] Obtaining a generator measurement signal change acceleration acceleration omega accacc by dividing the generator measurement signal change acceleration omega acc by the measurement signal acceleration change time constant accacc t.

[0031] As a further improvement of the application, the judging whether the acceleration of the generator measurement signal change acceleration is greater than a set value comprises:

[0032] judging whether the acceleration omega_accacc of the generator measurement signal change acceleration is greater than a set value;

[0033] If the acceleration omega_accacc of the generator measurement signal change acceleration is less than or equal to 0, the control flow is terminated.

[0034] As a further improvement of the application, the judging whether the current generator speed is greater than a generator speed judgment threshold comprises:

[0035] obtaining a generator speed judgment threshold omega_threshold;

[0036] judging whether the current generator speed omega_c detected in the sixteenth step is greater than the generator speed judgment threshold omega_threshold;

[0037] If the current generator speed omega_c is less than or equal to the generator speed judgment threshold omega_threshold, the control flow is terminated.

[0038] As a further improvement of the application, the shutdown operation adopts a shutdown protection mode, and the shutdown protection mode comprises a power limiting mode or a speed limiting mode.

[0039] A second object of the application is to provide a wind turbine generator set variable pitch control shutdown protection system, comprising:

[0040] A speed judgment module is configured to subtract a previous variable pitch demand average angle of a blade from a current variable pitch demand average angle of the blade to obtain a difference between the previous and current variable pitch demand average angles, and divide the difference by a variable pitch speed change time constant to obtain a variable pitch demand average speed of the blade; and judge whether the variable pitch demand average speed of the blade is less than a demand variable pitch speed identification threshold.

[0041] A measurement signal change judgment module is configured to subtract a previous generator measurement signal from a current generator measurement signal to obtain a difference between the previous and current generator measurement signals, and divide the difference by a measurement signal acceleration change time constant to obtain a generator measurement signal change acceleration; divide the generator measurement signal change acceleration by the measurement signal acceleration change time constant to obtain an acceleration omega_accacc of the generator measurement signal change acceleration; and judge whether the acceleration omega_accacc of the generator measurement signal change acceleration is greater than a set value.

[0042] A speed judgment module is configured to judge whether a current generator speed is greater than a generator speed judgment threshold.

[0043] If the three judgment results are no, the corresponding control flow is terminated; if the three judgment results are yes, the pitch system performs shutdown operation.

[0044] A third object of the present application is to provide an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the wind turbine pitch control shutdown protection method when executing the computer program.

[0045] A fourth object of the present application is to provide a computer readable storage medium storing a computer program, the computer program implementing the steps of the wind turbine pitch control shutdown protection method when executed by a processor.

[0046] Compared with the prior art, the present application has the following beneficial effects:

[0047] The present application performs shutdown protection based on the pitch control demand of the wind turbine, judges the matching relationship of the real-time operation data of the generator speed and the given pitch command, judges whether the pitch control command matched according to the speed fluctuation is correct, performs shutdown protection if it is judged that it is not matched, and guarantees the normal and safe operation of the unit. The present application replaces the shortcoming in the prior art solution that the pitch demand command and the generator speed fluctuation trend cannot be further analyzed, thereby more specifically solving the influence that the control target cannot be achieved due to the error of the given pitch command. The present application can effectively identify whether the generator speed fluctuation trend and the pitch control command are matched, immediately performs shutdown protection when they are not matched, and avoids the unit continuously executing the wrong pitch control command. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 A wind turbine pitch control shutdown protection method flowchart is given for the present application;

[0049] Figure 2 A wind turbine pitch control shutdown protection method flowchart is given for the present application;

[0050] Figure 3 A wind turbine pitch control shutdown protection system is provided for the present application;

[0051] Figure 4 An electronic device schematic diagram is provided for the present application. DETAILED DESCRIPTION

[0052] In order to make the person skilled in the art better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should belong to the protection scope of the present application.

[0053] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0054] As shown in Figure 1 The first object of the present application is to provide a wind turbine unit variable pitch control shutdown protection method, comprising:

[0055] S100, subtracting the previous variable pitch demand average angle of the blade from the current variable pitch demand average angle of the blade to obtain the difference between the previous and subsequent variable pitch demand average angles, and dividing by the variable pitch rate change time constant to obtain the average variable pitch demand rate of the blade; judging whether the average variable pitch demand rate of the blade is less than the demand variable pitch rate identification threshold;

[0056] S200, subtracting the previous generator measurement signal from the current generator measurement signal to obtain the difference between the previous and subsequent generator measurement signals, and dividing by the measurement signal acceleration change time constant to obtain the generator measurement signal change acceleration; dividing the generator measurement signal change acceleration by the acceleration change time constant of the measurement signal acceleration to obtain the acceleration of the generator measurement signal change acceleration; judging whether the acceleration of the generator measurement signal change acceleration is greater than a set value;

[0057] S300, judging whether the current generator speed is greater than the generator speed judgment threshold;

[0058] S400, if the three judgment results are no, the corresponding control flow is terminated; if the three judgment results are all yes, the variable pitch system performs shutdown operation.

[0059] The embodiment of the present application ensures the matching of the generator speed fluctuation trend and the pitch control instruction from the perspective of the pitch control instruction, and analyzes the judgment from the pitch actuator control input. The continuous rise of the generator speed indicates that the unit is experiencing rising wind conditions. At this moment, if the pitch control instruction cannot timely limit the absorption of wind energy to make the speed continuously rise, it will lead to serious consequences such as overspeed and runaway.

[0060] In S100, the difference between the current pitch demand average angle of the blade and the previous pitch demand average angle of the blade is obtained by subtracting the previous pitch demand average angle of the blade from the current pitch demand average angle of the blade, and the pitch demand average rate of the blade is obtained by dividing the difference by the pitch rate change time constant, including:

[0061] The current pitch demand angles of the n blades are summed to obtain pitch_demand_sum_c; n≥1;

[0062] The obtained pitch_demand_sum_c is averaged to obtain the current pitch demand average angle pitch_demand_avg_c of the n blades;

[0063] The previous pitch demand angles of the n blades are summed to obtain pitch_demand_sum_p;

[0064] The obtained pitch_demand_sum_p is averaged to obtain the previous pitch demand average angle pitch_demand_avg_p of the n blades;

[0065] The pitch rate change time constant rate_t is obtained;

[0066] The difference between the current pitch demand average angle pitch_demand_avg_c of the n blades and the previous pitch demand average angle pitch_demand_avg_p of the n blades is obtained by subtracting the previous pitch demand average angle pitch_demand_avg_p of the n blades from the current pitch demand average angle pitch_demand_avg_c of the n blades, and the pitch demand average rate pitchrate_demand_avg of the n blades is obtained by dividing the difference by the pitch rate change time constant rate_t.

[0067] Among them, the embodiment of the present application adopts three-blade average pitch control demand instruction, but is not limited to this way, other ways such as single-blade pitch control demand instruction for judgment and the like.

[0068] In S100, it is judged whether the pitch demand average rate of the blade is less than the demand pitch rate identification threshold, including:

[0069] The demand pitch rate identification threshold pitchrate_demand_threshold is obtained;

[0070] determining whether the average pitch demand rate pitchrate demand_avg of the n blades is less than a pitch demand rate identification threshold pitchrate demand_threshold;

[0071] If the average pitch demand rate pitchrate demand_avg of the n blades is greater than or equal to the pitch demand rate identification threshold pitchrate demand_threshold, the control flow is terminated.

[0072] In S200, the present application adopts the detection of the generator speed as the condition input for matching the generator speed change trend and the pitch control instruction, but is not limited to this way. Other measurement signals such as the wind speed, the wind direction detected by the wind direction instrument, and the generator power can also be used.

[0073] Therefore, the measurement signals are the generator speed, the wind speed, the wind direction detected by the wind direction instrument, or the generator power.

[0074] In S210, the generator measurement signal change acceleration omega_acc is obtained by subtracting the previous generator measurement signal omega_p from the current generator measurement signal omega_c and dividing the result by the measurement signal acceleration change time constant acc_t, including:

[0075] obtaining the current generator measurement signal omega_c;

[0076] obtaining the previous generator measurement signal omega_p;

[0077] obtaining the measurement signal acceleration change time constant acc_t;

[0078] subtracting the previous generator measurement signal omega_p from the current generator measurement signal omega_c to obtain the difference between the previous and current generator measurement signals, and dividing the result by the measurement signal acceleration change time constant acc_t to obtain the generator measurement signal change acceleration omega_acc.

[0079] In S200, the generator measurement signal change acceleration is divided by the acceleration change time constant of the measurement signal acceleration to obtain the acceleration of the generator measurement signal change acceleration, including:

[0080] obtaining the acceleration change time constant accacc_t of the measurement signal acceleration;

[0081] dividing the generator measurement signal change acceleration omega_acc by the acceleration change time constant accacc_t of the measurement signal acceleration to obtain the acceleration omega_accacc of the generator measurement signal change acceleration.

[0082] In S200, determining whether the acceleration of the generator's measured signal change is greater than a set value includes:

[0083] Determine whether the acceleration omega_accacc of the generator's measured acceleration signal is greater than the set value;

[0084] If the acceleration of the generator's measured signal change, omega_accacc, is less than or equal to 0, the control flow terminates.

[0085] In S300, determining whether the current generator speed is greater than the generator speed threshold includes:

[0086] Obtain the generator speed threshold omega_threshold;

[0087] Determine whether the current generator speed omega_c detected in step sixteen is greater than the generator speed judgment threshold omega_threshold;

[0088] If the current generator speed omega_c is less than or equal to the generator speed judgment threshold omega_threshold, the control flow terminates.

[0089] The shutdown operation in this embodiment of the invention adopts a shutdown protection method, which includes a power limiting method or a speed limiting method.

[0090] Based on the above description, it can be concluded that this invention can effectively identify whether the generator speed fluctuation trend matches the pitch control command. When there is a mismatch, it immediately performs a shutdown protection to prevent the unit from continuously executing erroneous pitch control commands. This invention can be achieved simply by detecting the generator speed and pitch control command, without the need for additional detection hardware.

[0091] The method used in this invention, such as identifying a mismatch between the generator speed fluctuation trend and the pitch control command, prompts the operation and maintenance personnel through shutdown protection measures to re-check whether the main control PLC hardware and software are normal.

[0092] This invention ensures the matching of generator speed fluctuation trends with pitch control commands from the perspective of pitch control commands, and makes judgments and analyses based on the control input of the pitch actuator. A continuous increase in generator speed indicates that the unit is experiencing updraft conditions. If the pitch control commands cannot limit the absorption of wind energy in time, the continued increase in speed can lead to serious consequences such as overspeeding.

[0093] This invention uses the generator speed change trend and pitch control command as control inputs, and determines whether the generator speed change trend and pitch control command match by judging their relationship with a threshold. This invention also uses the generator speed change acceleration as a criterion to judge the generator speed fluctuation trend.

[0094] The present invention uses pitch demand control commands as the conditional input for whether to match the generator speed change trend and pitch control commands, but is not limited to this method. Other methods include using the actual pitch angle position, etc.

[0095] This invention ensures the accuracy of generator speed change acceleration and average pitch control demand rate by varying the time constant. It also uses real-time generator speed as one of the judgment conditions; by setting different thresholds, pitch control demand can be checked at different speed ranges. This invention employs a shutdown protection method, but is not limited to this; other methods such as power limiting and speed limiting are also possible.

[0096] The following is a detailed description of a method for wind turbine generator pitch control shutdown protection according to an embodiment of the present invention, with reference to the accompanying drawings.

[0097] like Figure 2 As shown in the attached diagram, the various decision conditions and control processes are illustrated. A detailed explanation will follow, referring to the attached diagram.

[0098] Step 1: Obtain the current pitch demand angle 1pitch_demand1_c;

[0099] Step 2: Obtain the current pitch demand angle 2pitch_demand2_c;

[0100] Step 3: Obtain the current pitch demand angle 3pitch_demand3_c;

[0101] Step 4: Sum the current pitch demand angles of the three blades to get pitch_demand_sum_c = pitch_demand1_c + pitch_demand2_c + pitch_demand3_c;

[0102] Step 5: Divide the pitch_demand_sum_c obtained in step 4 by 3 to obtain the average pitch demand angle of the three-bladed pitch blades, pitch_demand_avg_c.

[0103] Step 6: Obtain the previous pitch demand angle 1pitch_demand1_p;

[0104] Step 7: Obtain the previous pitch demand angle 2pitch_demand2_p;

[0105] Step 8: Obtain the previous pitch demand angle 3pitch_demand3_p;

[0106] Step 9: Sum the three previous pitch demand angles to get pitch demand sum p = pitch demand 1 p + pitch demand 2 p + pitch demand 3 p;

[0107] Step 10: Divide the pitch demand sum p by 3 to get the average of the three previous pitch demand angles pitch demand avg p;

[0108] Step 11: Get the pitch rate change time constant rate t;

[0109] Step 12: Subtract the average of the three previous pitch demand angles pitch demand avg p from the average of the three current pitch demand angles pitch demand avg c to get the difference between the two averages, and divide the result by the pitch rate change time constant rate t to get the average pitch rate demand pitch rate demand avg;

[0110] Step 13: Get the pitch rate demand identification threshold pitch rate demand threshold;

[0111] Step 14: Determine whether the average pitch rate demand pitch rate demand avg is less than the pitch rate demand identification threshold pitch rate demand threshold;

[0112] Step 15: If the average pitch rate demand pitch rate demand avg is greater than or equal to the pitch rate demand identification threshold pitch rate demand threshold, then the control flow terminates;

[0113] Step 16: Get the current generator speed omega c;

[0114] Step 17: Get the previous generator speed omega p;

[0115] Step 18: Get the speed acceleration change time constant acc t;

[0116] Step 19: Subtract the previous generator speed omega p from the current generator speed omega c to get the difference between the two speeds, and divide the result by the speed acceleration change time constant acc t to get the generator speed change acceleration omega acc;

[0117] Step 20: Get the acceleration change time constant accacc t for the speed acceleration;

[0118] Twenty-first step: divide the generator speed change acceleration omega_acc by the acceleration change time constant accacc_t of the speed acceleration to obtain the acceleration omega_accacc of the generator speed change acceleration;

[0119] Twenty-second step: determine whether the acceleration omega_accacc of the generator speed change acceleration is greater than 0;

[0120] Twenty-third step: if the acceleration omega_accacc of the generator speed change acceleration is less than or equal to 0, the control flow is terminated;

[0121] Twenty-fourth step: obtain the generator speed judgment threshold omega_threshold;

[0122] Twenty-fifth step: determine whether the current generator speed omega_c detected in the sixteenth step is greater than the generator speed judgment threshold omega_threshold;

[0123] Twenty-sixth step: if the current generator speed omega_c is less than or equal to the generator speed judgment threshold omega_threshold, the control flow is terminated;

[0124] Twenty-seventh step: if the three-blade variable pitch demand average rate pitchrate_demand_avg in the judgment of the fourteenth step is less than the demand variable pitch rate identification threshold pitchrate_demand_threshold, the acceleration omega_accacc of the generator speed change acceleration in the judgment of the twenty-second step is greater than 0, and the current generator speed omega_c in the twenty-fifth step is greater than the generator speed judgment threshold omega_threshold, the variable pitch system performs a shutdown operation.

[0125] As Figure 3 shown, the second object of the application is to provide a variable pitch control shutdown protection system for a wind turbine generator set, comprising:

[0126] The rate judgment module 100 is used for subtracting the previous variable pitch demand average angle of the blade from the current variable pitch demand average angle of the blade to obtain the difference between the previous and current variable pitch demand average angles, and dividing the difference by the variable pitch rate change time constant to obtain the average variable pitch demand rate of the blade; and determining whether the average variable pitch demand rate of the blade is less than the demand variable pitch rate identification threshold.

[0127] The measurement signal change judgment module 200 is configured to subtract the previous generator measurement signal from the current generator measurement signal to obtain a difference between the previous and current generator measurement signals, divide the difference by an acceleration change time constant of the measurement signal to obtain a generator measurement signal change acceleration, divide the generator measurement signal change acceleration by the acceleration change time constant of the measurement signal to obtain an acceleration of the generator measurement signal change acceleration, and judge whether the acceleration of the generator measurement signal change acceleration is greater than a set value.

[0128] The rotation speed judgment module 300 is configured to judge whether the current generator rotation speed is greater than a generator rotation speed judgment threshold.

[0129] The shutdown operation execution module 400 is configured to terminate the corresponding control flow if the three judgment results are all no, and execute a shutdown operation on the pitch system if the three judgment results are all yes.

[0130] In the rate judgment module 100, the current pitch demand average angle of the blade is subtracted from the previous pitch demand average angle of the blade to obtain a difference between the previous and current pitch demand average angles, and the difference is divided by a pitch rate change time constant to obtain a pitch demand average rate of the blade, including:

[0131] The current pitch demand angles of the n blades are summed to obtain pitch_demand_sum_c; n≥1.

[0132] The obtained pitch_demand_sum_c is averaged to obtain a current pitch demand average angle pitch_demand_avg_c of the n blades.

[0133] The previous pitch demand angles of the n blades are summed to obtain pitch_demand_sum_p.

[0134] The obtained pitch_demand_sum_p is averaged to obtain a previous pitch demand average angle pitch_demand_avg_p of the n blades.

[0135] The pitch rate change time constant rate_t is obtained.

[0136] The current pitch demand average angle pitch_demand_avg_c of the n blades is subtracted from the previous pitch demand average angle pitch_demand_avg_p of the n blades to obtain a difference between the previous and current pitch demand average angles, and the difference is divided by the pitch rate change time constant rate_t to obtain a pitch demand average rate pitchrate_demand_avg of the n blades.

[0137] In the rate judgment module 100, whether the pitch demand average rate of the blade is less than a demand pitch rate identification threshold is judged, including:

[0138] obtain a demand pitch rate identification threshold pitchrate demand threshold;

[0139] determine whether the average demand pitch rate pitchrate demand avg of the n blades is less than the demand pitch rate identification threshold pitchrate demand threshold;

[0140] if the average demand pitch rate pitchrate demand avg of the n blades is greater than or equal to the demand pitch rate identification threshold pitchrate demand threshold, the control flow is terminated.

[0141] In the measurement signal change determination module 200, the measurement signal is the generator speed, the wind speed, the wind direction detected by the wind direction instrument, or the generator power.

[0142] Specifically, the current generator measurement signal is subtracted from the previous generator measurement signal to obtain the difference between the previous and subsequent generator measurement signals, and divided by the measurement signal acceleration change time constant to obtain the generator measurement signal change acceleration, including:

[0143] obtain the current generator measurement signal omega c;

[0144] obtain the previous generator measurement signal omega p;

[0145] obtain the measurement signal acceleration change time constant acc t;

[0146] Subtract the previous generator measurement signal omega p from the current generator measurement signal omega c to obtain the difference between the previous and subsequent generator measurement signals, and divide by the measurement signal acceleration change time constant acc t to obtain the generator measurement signal change acceleration omega acc.

[0147] In the measurement signal change determination module 200, the generator measurement signal change acceleration is divided by the acceleration change time constant of the measurement signal acceleration to obtain the acceleration of the generator measurement signal change acceleration, including:

[0148] obtain the acceleration change time constant accacc t of the measurement signal acceleration;

[0149] Divide the generator measurement signal change acceleration omega acc by the acceleration change time constant accacc t of the measurement signal acceleration to obtain the acceleration omega accacc of the generator measurement signal change acceleration.

[0150] determine whether the acceleration of the generator measurement signal change acceleration is greater than a set value, including:

[0151] determining whether the acceleration omega_accacc of the generator measurement signal change acceleration is greater than a set value;

[0152] If the acceleration omega_accacc of the generator measurement signal change acceleration is less than or equal to 0, the control flow is terminated.

[0153] In the rotation speed determination module 300, it is determined whether the current generator rotation speed is greater than a generator rotation speed determination threshold, comprising:

[0154] obtaining the generator rotation speed determination threshold omega_threshold;

[0155] determining whether the current generator rotation speed omega_c detected in the sixteenth step is greater than the generator rotation speed determination threshold omega_threshold;

[0156] If the current generator rotation speed omega_c is less than or equal to the generator rotation speed determination threshold omega_threshold, the control flow is terminated.

[0157] As shown in Figure 4 The third object of the present application is to provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the wind turbine generator set variable pitch control shutdown protection method when executing the computer program.

[0158] The wind turbine generator set variable pitch control shutdown protection method comprises the following steps:

[0159] obtaining the difference between the current average angle of the blade variable pitch demand and the previous average angle of the blade variable pitch demand, dividing by the variable pitch rate change time constant, and obtaining the average rate of the blade variable pitch demand; determining whether the average rate of the blade variable pitch demand is less than the demand variable pitch rate identification threshold;

[0160] obtaining the difference between the current generator measurement signal and the previous generator measurement signal, dividing by the measurement signal acceleration change time constant, and obtaining the generator measurement signal change acceleration; dividing the generator measurement signal change acceleration by the measurement signal acceleration change time constant to obtain the acceleration of the generator measurement signal change acceleration; determining whether the acceleration of the generator measurement signal change acceleration is greater than a set value;

[0161] determining whether the current generator rotation speed is greater than a generator rotation speed determination threshold;

[0162] If the three determination results are no, the corresponding control flow is terminated; if the three determination results are all yes, the variable pitch system performs a shutdown operation.

[0163] A fourth object of the present application is to provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the wind turbine pitch control shutdown protection method.

[0164] The wind turbine pitch control shutdown protection method comprises the following steps:

[0165] The difference between the current pitch demand average angle of the blade and the previous pitch demand average angle of the blade is obtained by subtracting the previous pitch demand average angle of the blade from the current pitch demand average angle of the blade, and the pitch demand average rate of the blade is obtained by dividing the difference by the pitch rate change time constant; it is determined whether the pitch demand average rate of the blade is less than the demand pitch rate identification threshold value;

[0166] The generator measurement signal change acceleration is obtained by dividing the difference between the current generator measurement signal and the previous generator measurement signal by the measurement signal acceleration change time constant; the acceleration of the generator measurement signal change acceleration is obtained by dividing the generator measurement signal change acceleration by the acceleration change time constant of the measurement signal acceleration; it is determined whether the acceleration of the generator measurement signal change acceleration is greater than the set value;

[0167] It is determined whether the current generator speed is greater than the generator speed determination threshold value;

[0168] If the three determination results are no, the corresponding control flow is terminated; if the three determination results are all yes, the pitch system performs the shutdown operation.

[0169] Those skilled in the art will understand that embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) having computer-usable program code embodied therein.

[0170] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts 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, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the flowcharts and / or block diagrams. Figure 1apparatuses that implement the functions specified in the flowchart or flowcharts and / or blocks. Figure 1

[0171] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flowchart or flowcharts and / or blocks. Figure 1 apparatuses that implement the functions specified in the flowchart or flowcharts and / or blocks. Figure 1

[0172] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart or flowcharts and / or blocks. Figure 1 apparatuses that implement the functions specified in the flowchart or flowcharts and / or blocks. Figure 1

[0173] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the technical solutions of the present application. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalent replaced without departing from the spirit and scope of the present application, and any modification or equivalent replacement should be covered in the protection scope of the claims of the present application.​​​

Claims

1. A wind turbine generator system variable pitch control shutdown protection method, characterized by, The method comprises the following steps: The difference between the current pitch demand average angle of the blade and the previous pitch demand average angle of the blade is obtained, and the difference is divided by a pitch rate change time constant to obtain a pitch demand average rate of the blade; it is determined whether the pitch demand average rate of the blade is less than a demand pitch rate identification threshold; The difference between the current generator measurement signal and the previous generator measurement signal is obtained, and the difference is divided by a measurement signal acceleration change time constant to obtain a generator measurement signal change acceleration; the generator measurement signal change acceleration is divided by the acceleration change time constant of the measurement signal acceleration to obtain an acceleration of the generator measurement signal change acceleration; it is determined whether the acceleration of the generator measurement signal change acceleration is greater than a set value; It is determined whether the current generator speed is greater than a generator speed determination threshold; If the three determination results are all no, the corresponding control process is terminated; if the three determination results are all yes, the pitch system performs a shutdown operation.

2. A wind turbine generator system pitch control shutdown protection method according to claim 1, characterized by, The pitch demand average rate of the blade is obtained by subtracting the previous pitch demand average angle of the blade from the current pitch demand average angle of the blade and dividing the difference by a pitch rate change time constant. The current pitch demand angles of the n blades are summed to obtain pitch_demand_sum_c; n≥1. The obtained pitch_demand_sum_c is averaged to obtain the current pitch demand average angle pitch_demand_avg_c of the n blades. The previous pitch demand angles of the n blades are summed to obtain pitch_demand_sum_p. The obtained pitch_demand_sum_p is averaged to obtain the previous pitch demand average angle pitch_demand_avg_p of the n blades. A pitch rate change time constant rate_t is obtained. The difference between the current pitch demand average angle pitch_demand_avg_c of the n blades and the previous pitch demand average angle pitch_demand_avg_p of the n blades is obtained, and the difference is divided by the pitch rate change time constant rate_t to obtain the pitch demand average rate pitchrate_demand_avg of the n blades.

3. A wind turbine generator system pitch control shutdown protection method according to claim 2, characterized by, The demand pitch rate identification threshold pitchrate_demand_threshold is obtained. It is determined whether the pitch demand average rate pitchrate_demand_avg of the n blades is less than the demand pitch rate identification threshold pitchrate_demand_threshold. If the pitch demand average rate pitchrate_demand_avg of the n blades is greater than or equal to the demand pitch rate identification threshold pitchrate_demand_threshold, the control process is terminated. The measurement signal is the generator speed, the wind speed, the wind direction detected by a wind direction instrument, or the generator power.

4. A wind turbine generator system pitch control shutdown protection method according to claim 1, characterized by, ​ 5. A wind turbine generator system variable pitch control shutdown protection method according to claim 1, characterized by, The current generator measurement signal is subtracted from the previous generator measurement signal to obtain a difference between the previous and current generator measurement signals, and the difference is divided by a measurement signal acceleration change time constant to obtain a generator measurement signal change acceleration, comprising: obtaining a current generator measurement signal omega_c; obtaining a previous generator measurement signal omega_p; obtaining a measurement signal acceleration change time constant acc_t; subtracting the previous generator measurement signal omega_p from the current generator measurement signal omega_c to obtain a difference between the previous and current generator measurement signals, and dividing the difference by the measurement signal acceleration change time constant acc_t to obtain a generator measurement signal change acceleration omega_acc.

6. A wind turbine generator system variable pitch control shutdown protection method according to claim 1, characterized by, The generator measurement signal change acceleration is divided by the acceleration change time constant of the measurement signal acceleration to obtain an acceleration of the generator measurement signal change acceleration, comprising: obtaining an acceleration change time constant accacc_t of the measurement signal acceleration; dividing the generator measurement signal change acceleration omega_acc by the acceleration change time constant accacc_t of the measurement signal acceleration to obtain an acceleration omega_accacc of the generator measurement signal change acceleration.

7. A wind turbine generator system variable pitch control shutdown protection method according to claim 1, characterized by, The acceleration of the generator measurement signal change acceleration is determined to be greater than a set value, comprising: determining whether the acceleration omega_accacc of the generator measurement signal change acceleration is greater than a set value; if the acceleration omega_accacc of the generator measurement signal change acceleration is less than or equal to 0, the control flow is terminated.

8. A wind turbine generator system variable pitch control shutdown protection method according to claim 1, characterized by, The current generator speed is determined to be greater than a generator speed determination threshold, comprising: obtaining a generator speed determination threshold omega_threshold; determining whether the detected current generator speed is greater than the generator speed determination threshold omega_threshold; if the current generator speed is less than or equal to the generator speed determination threshold omega_threshold, the control flow is terminated.

9. A wind turbine generator system variable pitch control shutdown protection method according to claim 1, characterized by, The shutdown operation adopts a shutdown protection mode, and the shutdown protection mode includes a power limit mode or a speed limit mode.

10. A wind turbine generator system variable pitch control shutdown protection system characterized by, Comprising: a rate determination module for subtracting a previous blade pitch demand average angle from a current blade pitch demand average angle to obtain a difference between the previous and current blade pitch demand average angles, and dividing the difference by a pitch rate change time constant to obtain a blade pitch demand average rate; determining whether the blade pitch demand average rate is less than a demand pitch rate identification threshold; a measurement signal change determination module for subtracting a previous generator measurement signal from a current generator measurement signal to obtain a difference between the previous and current generator measurement signals, and dividing the difference by a measurement signal acceleration change time constant to obtain a generator measurement signal change acceleration; dividing the generator measurement signal change acceleration by an acceleration change time constant of the measurement signal acceleration to obtain an acceleration of the generator measurement signal change acceleration; determining whether the acceleration of the generator measurement signal change acceleration is greater than a set value; a speed determination module for determining whether the current generator speed is greater than a generator speed determination threshold; The shutdown operation execution module is configured to terminate the corresponding control flow if the three judgment results are all no, and to make the pitch system execute a shutdown operation if the three judgment results are all yes.

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