A method, system, device and medium for controlling tower lateral load

Abstract

The application discloses a tower transverse resistance control method, system, device and medium, and is applied to the technical field of wind power generation. The method provided by the application comprises the following steps: determining a transverse first-order frequency corresponding to a transverse acceleration; performing filtering processing on the transverse acceleration to obtain filtered transverse acceleration; the filtering processing frequency is determined by the transverse first-order frequency; determining a transverse resistance compensation torque according to the filtered transverse acceleration; limiting the transverse resistance compensation torque to obtain a target transverse resistance compensation torque; determining a corresponding transverse resistance torque according to the target transverse resistance compensation torque and a basic torque output by a torque controller; and adjusting the tower transverse resistance according to the transverse resistance torque. The application automatically adjusts the filtering processing frequency according to the transverse first-order frequency, achieves the best filtering effect, limits the transverse resistance compensation torque, controls the power fluctuation caused by the compensation torque within a range, avoids the unit over-power shutdown, and thus effectively controls the tower transverse resistance.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and in particular to a method, system, device and medium for lateral resistance control of towers. Background Technology

[0002] With the development of wind power technology and changes in market demand, wind turbine generators are evolving towards larger capacity, lighter weight, and offshore units. On the one hand, for large-capacity units, tower costs account for a large proportion of the total cost. Therefore, better controlling tower loads and reducing tower vibration is key to achieving tower lightweighting while ensuring turbine safety. On the other hand, for monopile and floating wind turbine generators that frequently experience combined wind and wave excitation, the first-order lateral damping ratio of the support structure is relatively small. Lateral wave excitation can cause significant lateral tower vibration and an increase in lateral bending moments at the tower base. Lateral tower damping can effectively suppress lateral tower vibration and reduce lateral fatigue loads at the tower base.

[0003] In recent years, the mainstream method for increasing lateral drag on the tower has been to use software control strategies to change the thrust applied to the tower, thereby increasing the tower's equivalent lateral damping. Existing control strategies fall into two categories: superimposing independent pitch angles and superimposing torque. Superimposing independent pitch angles increases the load on the pitch bearings to some extent, and the lag and inaccuracy of azimuth measurement can potentially affect the final drag effect. Furthermore, strategies using torque to achieve lateral drag use fixed-frequency bandpass filters without limiting the drag compensation torque. However, as the unit operates, the frequency of the tower or support structure changes, especially for offshore units. Using a fixed-frequency bandpass filter weakens the filtering effect, leading to a poorer drag effect. Using only a bandpass filter to filter the nacelle's lateral acceleration signal introduces high-frequency signals into the torque, increasing fatigue loads on the hub and tower top. Without limiting the drag compensation torque, a slightly higher drag gain can result in excessive drag torque, causing excessive power fluctuations and the risk of over-power shutdown.

[0004] In view of the above-mentioned technologies, finding a tower lateral resistance control method based on online identification of wind turbine generator frequency is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, system, device, and medium for lateral damping control of towers. This application uses a torque superposition method to increase the equivalent lateral damping of the tower. A non-fixed filtering frequency is used to filter the acquired acceleration, avoiding the weakening effect caused by a fixed filtering frequency, which leads to a deterioration in the damping effect. Simultaneously, the compensation torque is limited to prevent excessive torque, which could cause excessive power fluctuations and the risk of over-power shutdown.

[0006] To solve the above-mentioned technical problems, this application provides a method for lateral resistance control of towers, including:

[0007] Determine the first-order transverse frequency corresponding to the transverse acceleration;

[0008] The lateral acceleration is filtered to obtain the filtered lateral acceleration; wherein the frequency of the filtering process is determined based on the first-order lateral frequency.

[0009] The lateral drag compensation torque is determined based on the filtered lateral acceleration.

[0010] The lateral resistance compensation torque is limited to obtain the target lateral resistance compensation torque.

[0011] The corresponding torque after lateral resistance is determined based on the target lateral resistance compensation torque and the base torque output by the torque controller.

[0012] The lateral resistance of the tower is adjusted according to the torque after lateral resistance is applied.

[0013] Preferably, determining the first-order lateral frequency corresponding to the lateral acceleration includes:

[0014] The lateral acceleration is stored in a buffer of a preset length to obtain the data in the buffer.

[0015] Based on the data in the cache and the preset segment number requirement, determine any segment of data;

[0016] Determine the power spectral density corresponding to any given data segment based on any given data segment, a preset function, and a fast Fourier transform.

[0017] The power spectrum estimate is determined based on the power spectral density corresponding to any segment of data and the preset number of segments.

[0018] The transverse first-order frequency is determined based on power spectrum estimation.

[0019] Preferably, determining the lateral drag compensation torque based on the filtered lateral acceleration includes:

[0020] The filtered lateral acceleration is subjected to second-order low-pass filtering and integration processing in sequence to obtain the lateral velocity signal.

[0021] The lateral velocity signal is amplified by proportional gain to obtain the lateral resistance compensation torque.

[0022] Preferably, the lateral drag compensation torque is limited to obtain the target lateral drag compensation torque, including:

[0023] When the lateral resistance compensation torque is within the preset torque amplitude range, the lateral resistance compensation torque is taken as the target lateral resistance compensation torque.

[0024] When the lateral resistance compensation torque is not within the preset torque amplitude range, the upper or lower limit of the preset torque amplitude range is used as the target lateral resistance compensation torque.

[0025] Preferably, determining the corresponding torque after lateral resistance based on the target lateral resistance compensation torque and the base torque output by the torque controller includes:

[0026] The target lateral resistance compensation torque is superimposed with the base torque output by the torque controller to obtain the torque after lateral resistance.

[0027] Preferably, the first-order transverse frequency falls within a preset frequency range, wherein the upper limit of the preset frequency range is the sum of the preset first-order transverse fundamental frequency and the preset frequency, and the lower limit of the preset frequency range is the difference between the preset first-order transverse fundamental frequency and the preset frequency.

[0028] Preferably, the upper limit of the preset torque amplitude range is the product of the preset rated torque and a first percentage, and the lower limit of the preset torque amplitude range is the product of the preset rated torque and a second percentage.

[0029] To address the aforementioned problems, this application also provides a tower lateral resistance control system, comprising:

[0030] The first determining module is used to determine the first-order lateral frequency corresponding to the lateral acceleration.

[0031] The filtering module is used to filter the lateral acceleration to obtain the filtered lateral acceleration; wherein, the frequency of the filtering process is determined based on the first-order lateral frequency.

[0032] The second determining module is used to determine the lateral drag compensation torque based on the filtered lateral acceleration.

[0033] The limiting module is used to limit the lateral resistance compensation torque in order to obtain the target lateral resistance compensation torque.

[0034] The third determining module is used to determine the corresponding torque after lateral resistance based on the target lateral resistance compensation torque and the basic torque output by the torque controller.

[0035] The adjustment module is used to adjust the lateral resistance of the tower according to the torque after lateral resistance is applied.

[0036] To address the aforementioned problems, this application also provides a tower lateral resistance control device, including a memory for storing computer programs;

[0037] The processor is used to implement the steps of the above-described tower lateral resistance control method when executing a computer program.

[0038] To address the aforementioned issues, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the aforementioned tower lateral resistance control method.

[0039] This application provides a tower lateral resistance control method, comprising: determining the lateral first-order frequency corresponding to the lateral acceleration; filtering the lateral acceleration to obtain a filtered lateral acceleration; wherein the frequency of the filtering process is determined based on the lateral first-order frequency; determining the lateral resistance compensation torque based on the filtered lateral acceleration; limiting the lateral resistance compensation torque to obtain a target lateral resistance compensation torque; determining the corresponding lateral resistance torque based on the target lateral resistance compensation torque and the base torque output by the torque controller; and adjusting the tower lateral resistance based on the lateral resistance torque. This application automatically adjusts the filtering frequency based on the lateral first-order frequency determined by the lateral acceleration, achieving optimal filtering effect. Simultaneously, limiting the lateral resistance compensation torque controls power fluctuations caused by the lateral resistance compensation torque within a certain range, preventing unit shutdown due to overpower, thereby achieving effective control of the tower lateral resistance. Attached Figure Description

[0040] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of a tower lateral resistance control method provided in this application embodiment;

[0042] Figure 2 A flowchart of a tower lateral resistance control method provided in this application embodiment;

[0043] Figure 3 A schematic diagram of a tower lateral resistance control method provided in this application embodiment;

[0044] Figure 4 A comparison diagram of the lateral acceleration spectrum corresponding to the lateral dragging function provided in the embodiments of this application;

[0045] Figure 5 A block diagram of a tower lateral resistance control system provided in another embodiment of this application;

[0046] Figure 6This is a structural diagram of a tower lateral resistance control device provided in another embodiment of this application. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0048] The core of this application is to provide a method, system, device, and medium for lateral resistance control of towers.

[0049] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] Figure 1 A flowchart of a tower lateral resistance control method provided in this application embodiment is shown in the figure, including the following steps:

[0051] S10: Determine the first-order lateral frequency corresponding to the lateral acceleration.

[0052] In a specific embodiment, the lateral acceleration is obtained from an acceleration sensor installed inside the nacelle of the wind turbine generator. This acceleration sensor, using its own working principle, converts mechanical vibration into electrical signals, then measures and converts these signals into lateral acceleration. The corresponding first-order lateral frequency is determined based on the lateral acceleration. This determination can be based on a correspondence, processed by certain devices, or other methods; this application is not limited to these methods and can be customized according to the user's needs.

[0053] The lateral acceleration can be acquired periodically or in real time; this application does not limit this and users can set it according to their needs.

[0054] S11: Filter the lateral acceleration to obtain the filtered lateral acceleration; wherein the frequency of the filtering process is determined based on the first-order lateral frequency.

[0055] In a specific embodiment, the lateral acceleration is filtered by a bandpass filter. The center frequency of the bandpass filter is not fixed, but is updated according to the first-order lateral frequency to ensure that the bandpass filter can maintain the best filtering effect even if the tower frequency changes.

[0056] S12: Determine the lateral drag compensation torque based on the filtered lateral acceleration.

[0057] In a specific embodiment, the lateral drag compensation torque is determined based on the filtered lateral acceleration. The determination method can be calculated according to a preset formula or determined according to the correspondence between lateral acceleration and lateral drag compensation torque. This application is not limited to this method and can be set according to the user's needs.

[0058] S13: Limit the lateral resistance compensation torque to obtain the target lateral resistance compensation torque.

[0059] In a specific embodiment, the lateral resistance compensation torque is limited, that is, the lateral resistance compensation torque is fixed within a certain range, and the target lateral resistance compensation torque is determined within the range to avoid the power unit from shutting down due to overpower caused by the lateral resistance compensation torque.

[0060] The amplitude processing can be customized to a range based on the numerical value, fixing the lateral resistance compensation torque within a certain range, or fixing the lateral resistance compensation torque within a certain range based on the calculation relationship, thus determining the target lateral resistance compensation torque. This application is not limited to this and can be set according to the user's needs.

[0061] S14: Determine the corresponding torque after lateral resistance based on the target lateral resistance compensation torque and the base torque output by the torque controller.

[0062] In a specific embodiment, the torque after lateral resistance is determined based on the target lateral resistance compensation torque and the base torque output by the torque controller. This is done by superimposing the target lateral resistance compensation torque and the base torque output by the torque controller.

[0063] S15: Adjust the lateral resistance of the tower according to the lateral resistance torque.

[0064] In a specific embodiment, according to the equation of motion for the lateral vibration of the tower, the lateral resistance torque can adjust the lateral resistance of the tower, thereby suppressing the lateral vibration of the tower and reducing the lateral fatigue load at the tower base.

[0065] The equation of motion for the lateral vibration of the tower can be approximated as follows: Where x is the tower displacement. Take the first derivative of x. Find the second derivative of x, F thrust The applied force is primarily the wind turbine thrust, ΔF is the additional thrust caused by changes in external excitation, and the controller can change the thrust on the tower by altering the pitch angle or torque. M is the tower modal mass, K is the modal stiffness, and the tower frequency is... D represents damping. Generally, the value of D is very small, but when ΔF is proportional to... The effective damping is increased, thereby achieving lateral resistance to the tower.

[0066] This application provides a tower lateral resistance control method, comprising: determining the lateral first-order frequency corresponding to the lateral acceleration; filtering the lateral acceleration to obtain a filtered lateral acceleration; wherein the frequency of the filtering process is determined based on the lateral first-order frequency; determining the lateral resistance compensation torque based on the filtered lateral acceleration; limiting the lateral resistance compensation torque to obtain a target lateral resistance compensation torque; determining the corresponding lateral resistance torque based on the target lateral resistance compensation torque and the base torque output by the torque controller; and adjusting the tower lateral resistance based on the lateral resistance torque. This application automatically adjusts the filtering frequency based on the lateral first-order frequency determined by the lateral acceleration, achieving optimal filtering effect. Simultaneously, limiting the lateral resistance compensation torque controls power fluctuations caused by the lateral resistance compensation torque within a certain range, preventing unit shutdown due to overpower, thereby achieving effective control of the tower lateral resistance.

[0067] Based on the above embodiments, as a preferred embodiment, determining the first-order lateral frequency corresponding to the lateral acceleration includes:

[0068] The lateral acceleration is stored in a buffer of a preset length to obtain the data in the buffer.

[0069] Based on the data in the cache and the preset segment number requirement, determine any segment of data;

[0070] Determine the power spectral density corresponding to any given data segment based on any given data segment, a preset function, and a fast Fourier transform.

[0071] The power spectrum estimate is determined based on the power spectral density corresponding to any segment of data and the preset number of segments.

[0072] The transverse first-order frequency is determined based on power spectrum estimation.

[0073] The first-order horizontal frequency falls within a preset frequency range. The upper limit of the preset frequency range is the sum of the preset first-order horizontal fundamental frequency and the preset frequency, while the lower limit of the preset frequency range is the difference between the preset first-order horizontal fundamental frequency and the preset frequency.

[0074] In a specific embodiment, the lateral acceleration data is stored in a buffer of length N, and the data in the buffer is denoted as:

[0075] x(n), n=1,2,...,N-1;

[0076] Then, the data of length N is divided into L segments, each segment containing M data points. The i-th segment is represented as:

[0077] x i (n)=x(n+iM-M),0≤n<M,1≤i≤L;

[0078] Then, a preset function (window function w(n)) is added to each data segment, and the power spectral density of each segment is calculated using a fast Fourier transform. The power spectral density of the i-th segment is:

[0079]

[0080] Where U is the normalization factor:

[0081]

[0082] Among them, e -jn Rotation factor:

[0083] e -jn =complex(cos(n),sin(n));

[0084] Then, based on the power spectral density of each segment, the final power spectral estimate is obtained as follows:

[0085]

[0086] Where n is a non-negative integer and ω is the angular frequency variable.

[0087] Finally, peak detection is performed within the preset frequency range, and the frequency corresponding to the peak is output, thus determining the first-order transverse frequency.

[0088] The first-order lateral frequency falls within a preset frequency range. The upper limit of this preset frequency range is the sum of the preset first-order lateral fundamental frequency and the preset frequency, while the lower limit is the difference between the preset first-order lateral fundamental frequency and the preset frequency. In a specific embodiment, the preset first-order lateral fundamental frequency is ω0, the preset frequency is Δω, and the preset frequency range is ω0 ± Δω. The preset first-order lateral fundamental frequency is obtained by analyzing the lateral acceleration of the engine compartment during an emergency stop. This application is not limited to this setting and can be configured according to real-time operating conditions.

[0089] As a preferred embodiment, the preset frequency Δω is taken as 10% to 15% of the preset first-order fundamental frequency in the transverse direction. However, this application is not limited to this, and the frequency can be set according to the user's needs.

[0090] It should also be noted that the Haining window in the preset function is only one possible way to achieve this, but this application is not limited to it and users can set it themselves according to their needs.

[0091] Based on the embodiments of this application, such as Figure 2 As shown, Figure 2 This is a flowchart of a tower lateral resistance control method provided in an embodiment of this application.

[0092] S20: Store the lateral acceleration in the data buffer.

[0093] S21: Segment the buffer data.

[0094] S22: Superimpose a preset function onto any data segment and obtain the power spectral density of any segment through a fast Fourier transform.

[0095] S23: Obtain the power spectrum estimate based on the power spectral density of each segment.

[0096] S24: Perform peak detection within a preset frequency range and output the frequency corresponding to the peak value.

[0097] Steps S20-S24 are a process for determining the corresponding first-order lateral frequency based on the lateral acceleration, and the specific steps are as described in the embodiments of this application.

[0098] Based on the above embodiments, as a preferred embodiment, determining the lateral drag compensation torque according to the filtered lateral acceleration includes:

[0099] The filtered lateral acceleration is subjected to second-order low-pass filtering and integration processing in sequence to obtain the lateral velocity signal.

[0100] The lateral velocity signal is amplified by proportional gain to obtain the lateral resistance compensation torque.

[0101] In a specific embodiment, regarding the lateral acceleration filtering, in addition to using a bandpass filter to filter the lateral acceleration, a second-order low-pass filter is also added for low-pass filtering of the lateral acceleration. This is because the measured lateral acceleration of the nacelle usually contains other high-frequency signals besides the tower frequency. Using only a bandpass filter cannot achieve the best filtering effect. Adding a second-order low-pass filter can significantly reduce the high-frequency signal energy introduced into the drag compensation torque, ensuring that the tower's lateral drag strategy reduces the fatigue load at the tower base while minimizing the increase in other fatigue loads. After the second-order low-pass filtering, integration is also required to obtain the lateral velocity signal, which is then proportionally amplified to ultimately determine the lateral drag compensation torque.

[0102] This application adds second-order low-pass filtering, integral processing, and proportional gain amplification processing, which reduces the energy of other high-frequency signals introduced during wind power generation and improves the accuracy of subsequent determination of lateral resistance compensation torque.

[0103] Based on the above embodiments, as a preferred embodiment, the lateral drag compensation torque is limited to obtain the target lateral drag compensation torque, including:

[0104] When the lateral resistance compensation torque is within the preset torque amplitude range, the lateral resistance compensation torque is taken as the target lateral resistance compensation torque.

[0105] When the lateral resistance compensation torque is not within the preset torque amplitude range, the upper or lower limit of the preset torque amplitude range is used as the target lateral resistance compensation torque.

[0106] The upper limit of the preset torque amplitude range is the product of the preset rated torque and the first percentage, and the lower limit of the preset torque amplitude range is the product of the preset rated torque and the second percentage.

[0107] In a specific embodiment, the lateral resistance compensation torque is limited to obtain the target lateral resistance compensation torque. This involves judging the lateral resistance compensation torque. When the lateral resistance compensation torque is within a preset torque amplitude range, it indicates that the current lateral resistance compensation torque has not exceeded the limit, and the risk of unit over-power shutdown is low; therefore, the lateral resistance compensation torque is used as the target lateral resistance compensation torque. When the lateral resistance compensation torque is not within the preset torque amplitude range, it indicates that the lateral resistance compensation torque may be less than the lower limit of the preset torque amplitude or greater than the upper limit of the preset torque amplitude. When the lateral resistance compensation torque is less than the lower limit of the preset torque amplitude, the lower limit of the preset torque amplitude is taken as the target lateral resistance compensation torque. When the lateral resistance compensation torque is less than or greater than the upper limit of the preset torque amplitude, the upper limit of the preset torque amplitude is taken as the target lateral resistance compensation torque, thus avoiding excessive lateral resistance compensation torque that could cause unit over-power shutdown.

[0108] In a specific embodiment, the upper limit of the preset torque amplitude range is the product of the preset rated torque and a first percentage, and the lower limit of the preset torque amplitude range is the product of the preset rated torque and a second percentage. Preferably, the first percentage is 5% and the second percentage is -5%. However, it should be noted that the specific value of the preset rated torque is not limited in this application and can be set according to the user's needs. The specific values ​​of the first percentage and the second percentage are only one possible implementation method, but are not limited to this method and can be set according to the user's needs.

[0109] The embodiments of this application limit the lateral resistance compensation torque, which can control the power fluctuation caused by the lateral resistance compensation torque within a certain range, avoid the unit from overpowering and shutting down, and thus achieve effective control of the lateral resistance of the tower.

[0110] Based on the above embodiments, as a preferred embodiment, determining the corresponding torque after lateral resistance based on the target lateral resistance compensation torque and the base torque output by the torque controller includes:

[0111] The target lateral resistance compensation torque is superimposed with the base torque output by the torque controller to obtain the torque after lateral resistance.

[0112] In a specific embodiment, as a preferred embodiment, the target lateral resistance compensation torque is superimposed with the base torque output by the torque controller, and the frequency converter of the wind turbine generator sets the torque according to the final torque setting, thereby realizing the lateral resistance of the tower.

[0113] In a specific embodiment, such as Figure 3 As shown, Figure 3 This application provides a schematic diagram of a tower lateral drag control method. The pitch controller, pitch system, wind turbine generator, torque controller, frequency converter, and filter are all existing schematic diagrams of tower lateral drag control methods. The principle is as follows: the pitch controller determines the pitch angle and adjusts it according to the pitch system to obtain the pitch angle, which is then input to the wind turbine generator resistance; the torque controller provides the torque, which is output to the wind turbine generator resistance via the frequency converter; and the filter is used to filter the feedback engine speed.

[0114] This application embodiment, based on the previous one, adds an online frequency identifier and a tower lateral drag controller. The online frequency identifier determines the first-order lateral frequency corresponding to the lateral acceleration. The tower lateral drag controller determines the lateral drag compensation torque based on the filtered lateral acceleration and performs amplitude limiting processing on the lateral drag compensation torque to obtain the target lateral drag compensation torque. The lateral drag function corresponds to the lateral acceleration spectrum... Figure 4 As shown.

[0115] In the above embodiments, a method for lateral resistance control of a tower has been described in detail. This application also provides an embodiment of a corresponding lateral resistance control device for a tower. It should be noted that this application describes the embodiments of the device from two perspectives: one based on functional modules and the other based on hardware.

[0116] Figure 5 A block diagram of a tower lateral resistance control system provided in another embodiment of this application is shown in the figure, including:

[0117] The first determining module 11 is used to determine the first-order lateral frequency corresponding to the lateral acceleration;

[0118] The filtering module 12 is used to filter the lateral acceleration to obtain the filtered lateral acceleration; wherein the frequency of the filtering process is determined based on the first-order lateral frequency.

[0119] The second determining module 13 is used to determine the lateral drag compensation torque based on the filtered lateral acceleration.

[0120] Limiting module 14 is used to limit the lateral resistance compensation torque to obtain the target lateral resistance compensation torque.

[0121] The third determining module 15 is used to determine the corresponding torque after lateral resistance based on the target lateral resistance compensation torque and the basic torque output by the torque controller.

[0122] The adjustment module 16 is used to adjust the lateral resistance of the tower according to the torque after lateral resistance is applied.

[0123] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0124] Figure 6 This is a structural diagram of a tower lateral resistance control device provided in another embodiment of this application, as shown below. Figure 6 As shown, the tower lateral resistance control device includes: a memory 20 for storing computer programs;

[0125] The processor 21 is used to execute a computer program to implement the steps of the method of the tower lateral resistance control device mentioned in the above embodiments.

[0126] The tower lateral resistance control device provided in this embodiment can include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0127] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0128] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the tower lateral resistance control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc.

[0129] In some embodiments, the tower lateral resistance control device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0130] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the tower lateral resistance control device and may include more or fewer components than shown.

[0131] The tower lateral resistance control device provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: tower lateral resistance control method.

[0132] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0133] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0134] The foregoing has provided a detailed description of a tower lateral resistance control method, system, apparatus, and medium. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0135] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for lateral resistance control of a tower, characterized in that, include: The lateral acceleration is stored in a buffer of a preset length to obtain the data in the buffer. Based on the data in the cache area and the preset segment number requirement, determine any segment of data; Based on any given data segment, a preset function, and a fast Fourier transform, determine the power spectral density corresponding to the given data segment; The power spectrum estimate is determined based on the power spectral density corresponding to any segment of data and the preset number of segments. Based on the power spectrum estimation, peak detection is performed within a preset frequency range to determine the first-order lateral frequency corresponding to the lateral acceleration. The lateral acceleration is filtered to obtain a filtered lateral acceleration; wherein the frequency of the filtering process is determined based on the first-order lateral frequency. The lateral drag compensation torque is determined based on the filtered lateral acceleration. When the lateral resistance compensation torque is within the preset torque amplitude range, the lateral resistance compensation torque is taken as the target lateral resistance compensation torque. When the lateral resistance compensation torque does not belong to the preset torque amplitude range, the upper limit or lower limit of the preset torque amplitude range is taken as the target lateral resistance compensation torque, wherein the upper limit of the preset torque amplitude range is the product of the preset rated torque and a first percentage, and the lower limit of the preset torque amplitude range is the product of the preset rated torque and a second percentage. The corresponding torque after lateral resistance is determined based on the target lateral resistance compensation torque and the base torque output by the torque controller. The lateral resistance of the tower is adjusted according to the torque after the lateral resistance is applied.

2. The tower lateral resistance control method according to claim 1, characterized in that, The step of determining the lateral drag compensation torque based on the filtered lateral acceleration includes: The filtered lateral acceleration is subjected to second-order low-pass filtering and integration processing in sequence to obtain the lateral velocity signal. The lateral velocity signal is amplified by a proportional gain to obtain the lateral resistance compensation torque.

3. The tower lateral resistance control method according to claim 1, characterized in that, The step of determining the corresponding torque after lateral resistance based on the target lateral resistance compensation torque and the base torque output by the torque controller includes: The target lateral resistance compensation torque is superimposed with the base torque output by the torque controller to obtain the torque after lateral resistance.

4. The tower lateral resistance control method according to claim 1, characterized in that, The first-order lateral frequency falls within the preset frequency range, wherein the upper limit of the preset frequency range is the sum of the preset first-order lateral fundamental frequency and the preset frequency, and the lower limit of the preset frequency range is the difference between the preset first-order lateral fundamental frequency and the preset frequency.

5. A tower lateral resistance control system, characterized in that, include: The first determining module is used to store the lateral acceleration into a buffer of a preset length to obtain the data in the buffer. Based on the data in the cache area and the preset segment number requirement, determine any segment of data; Based on any given data segment, a preset function, and a fast Fourier transform, determine the power spectral density corresponding to the given data segment; based on the power spectral density corresponding to the given data segment and the preset number of segments, determine the power spectrum estimate; based on the power spectrum estimate, perform peak detection within a preset frequency range to determine the first-order transverse frequency corresponding to the transverse acceleration; A filtering module is used to filter the lateral acceleration to obtain a filtered lateral acceleration; wherein the frequency of the filtering process is determined based on the first-order lateral frequency. The second determining module is used to determine the lateral drag compensation torque based on the filtered lateral acceleration. The limiting module is used to take the lateral resistance compensation torque as the target lateral resistance compensation torque when the lateral resistance compensation torque is within a preset torque amplitude range; and to take the upper or lower limit of the preset torque amplitude range as the target lateral resistance compensation torque when the lateral resistance compensation torque is not within the preset torque amplitude range. The upper limit of the preset torque amplitude range is the product of the preset rated torque and a first percentage, and the lower limit of the preset torque amplitude range is the product of the preset rated torque and a second percentage. The third determining module is used to determine the corresponding torque after lateral resistance based on the target lateral resistance compensation torque and the basic torque output by the torque controller. The adjustment module is used to adjust the lateral resistance of the tower according to the torque after the lateral resistance is applied.

6. A tower lateral resistance control device, characterized in that, Includes memory used to store computer programs; A processor, configured to execute the computer program to implement the steps of the tower lateral resistance control method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the tower lateral resistance control method as described in any one of claims 1 to 4.

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