A fan jump speed control method, device, equipment and storage medium

Abstract

The application provides a wind turbine jump speed control method, device, equipment and storage medium, and belongs to the field of wind power generation. The method is as follows: a plurality of first generator speed values and first generator torque values are obtained, and a plurality of first generator power values are calculated according to the obtained data; the plurality of first generator speed values, the first generator torque values and the first generator power values are respectively input into a filter to obtain a plurality of second generator speed values, second generator torque values and second generator power values; whether the wind turbine rotor rotation frequency range coincides with the first-order natural frequency of the flexible tower is judged according to the plurality of second generator speed values, the second generator torque values and the second generator power values; if yes, a target torque value, a minimum torque limit value and a maximum torque limit value are determined according to the first-order natural frequency of the flexible tower; and the generator speed is adjusted according to the generator speed isolation interval. The application can avoid resonance and improve the service life of the wind turbine.

Description

Technical Field

[0001] This invention relates to the field of wind power generation technology, and in particular to a method, device, equipment and storage medium for controlling the speed jump of a wind turbine. Background Technology

[0002] Currently, the wind power industry is developing rapidly, with significant progress in turbine models, turbine development technology, and control methods. As the current situation shows, many countries in the world that manufacture wind turbines are committed to researching ways to increase the single-unit capacity of wind turbines, in order to maximize the economic benefits of power generation without significantly increasing design costs.

[0003] To improve the wind turbine's ability to capture wind energy and enhance its economic efficiency, the development of large-scale wind turbine units is accelerating. These large wind turbine towers are all ultra-high flexible towers, exceeding 100 meters in height. To reduce development costs, these towers typically use lightweight materials with low rigidity and high flexibility, increasing the tower's flexibility. Simultaneously, as the tower height increases, its rigidity decreases, further increasing its flexibility. However, this flexible tower reduces the operational stability of the wind turbine unit. During operation, the turbine unit may resonate with the tower's frequency, potentially causing damage, reducing its lifespan, and in severe cases, leading to collapse and irreparable losses. Summary of the Invention

[0004] This invention provides a method, device, equipment, and storage medium for controlling the speed jump of a wind turbine. By acquiring the speed, torque, and power data of the wind turbine generator and combining them with the first-order natural frequency of the flexible tower, the generator speed isolation range is obtained. Then, by adjusting the speed of the wind turbine generator so that the speed can quickly pass through the generator speed isolation range, resonance can be effectively reduced, the service life of the wind turbine can be improved, and accidents caused by resonance can be avoided.

[0005] In a first aspect, embodiments of the present invention provide a method for controlling the speed jump of a fan, the method comprising:

[0006] Multiple first generator speed values ​​and corresponding multiple first generator torque values ​​are obtained, and multiple first generator power values ​​are calculated based on the multiple first generator speed values ​​and multiple first generator torque values;

[0007] Multiple first generator speed values, multiple first generator torque values, and multiple first generator power values ​​are input into the filter to obtain multiple second generator speed values, multiple second generator torque values, and multiple second generator power values.

[0008] Determine whether the rotational frequency range of the wind turbine rotor coincides with the first natural frequency of the flexible tower based on multiple second generator speed values, second generator torque values, and second generator power values.

[0009] If so, the target torque value, minimum torque limit, and maximum torque limit are determined based on the first natural frequency of the flexible tower.

[0010] Among them, the target torque value is the corresponding torque value of the generator when the rotation frequency of the wind turbine rotor is the first natural frequency of the flexible tower. The minimum torque limit and the maximum torque limit are used to determine the generator speed isolation range.

[0011] Adjust the generator speed according to the generator speed isolation range.

[0012] Optionally, the generator operating status of the wind turbine includes:

[0013] The first interval is the interval where the speed and torque increase upon entry.

[0014] The second interval is the interval with the optimal tip speed ratio.

[0015] The third range is the rated speed torque ramp-up range;

[0016] The fourth range is the constant power control range above the rated power.

[0017] Optionally, the switching of the generator operating status of the wind turbine includes:

[0018] The generator operates in the first range immediately after grid connection;

[0019] When the generator is operating in the first interval and the generator power exceeds the minimum generator power in the second interval, the generator operating status is switched to the second interval.

[0020] When the generator is operating in the second range and the generator speed reaches the rated speed, the generator operating state switches to the third range.

[0021] When the generator is operating in the second interval and the generator speed drops to the cut-in speed and the generator torque is lower than the minimum torque in the second interval, the generator operating state switches to the first interval.

[0022] When the generator is operating in the third interval and the generator torque reaches the rated torque, the generator operating state switches to the fourth interval.

[0023] When the generator is operating in the third interval and the generator speed is lower than the rated speed and the generator torque is less than the minimum torque in the second interval, the generator operating state switches to the second interval.

[0024] When the generator is operating in the fourth interval and the generator torque is less than the rated torque and the pitch angle becomes the minimum pitch angle, the generator operating state switches to the third interval.

[0025] Optionally, the fan speed control method further includes:

[0026] When the wind turbine's generator is operating in the first interval, if the wind speed reaches the wind speed at which the wind turbine generator cuts in and the wind turbine generator is fault-free, the blades are controlled to retract, reducing the pitch angle to 0°, thereby increasing the blade's angle of attack and reducing the wind turbine's acceleration time.

[0027] When there is a deviation between the generator's set speed and the measured speed, the generator speed is controlled by adjusting the pitch angle according to the deviation.

[0028] When the wind turbine's generator is operating in the fourth range, if the power generation is greater than the rated power, the blade angle of attack is reduced to reduce the wind energy captured by the rotor; if the wind speed decreases, the blade angle of attack is increased to increase the wind energy captured by the rotor.

[0029] Optionally, the generator speed is adjusted according to the generator speed isolation range, including:

[0030] The generator speed is controlled by an incremental PID controller;

[0031] When the generator torque exceeds the maximum torque limit, the incremental PID controller stops controlling the generator speed, allowing the generator speed to increase rapidly through the generator speed isolation range under the influence of wind speed and torque reduction.

[0032] When the wind speed decreases and the generator torque is less than the minimum torque limit, the incremental PID controller restarts to control the generator speed, causing the generator speed to decrease rapidly through the generator speed isolation range under the action of decreasing wind speed and increasing torque.

[0033] Alternatively, the incremental algorithm for the incremental PID controller is as follows:

[0034] Δu(k)=+m0e(k)-m1e(k-1)+m2e(k-2);

[0035]

[0036]

[0037]

[0038] In the formula, Δu(k) is the increment of the generator speed, e(k) is the input deviation value at the k-th sampling time, e(k-1) is the input deviation value at the (k-1)-th sampling time, e(k-2) is the input deviation value at the (k-2)-th sampling time, and K p This is the proportionality coefficient. K is the integral coefficient. D T is the integral coefficient. d Let T be the differential time constant, T be the sampling period, and k be the sampling number. i is the integration time constant.

[0039] In a second aspect, embodiments of the present invention provide a fan speed control device, the device comprising:

[0040] The acquisition module is used to acquire multiple first generator speed values ​​and corresponding multiple first generator torque values, and to calculate multiple first generator power values ​​based on the multiple first generator speed values ​​and multiple first generator torque values;

[0041] The filtering module is used to input multiple first generator speed values, multiple first generator torque values ​​and multiple first generator power values ​​into the filter respectively to obtain multiple second generator speed values, multiple second generator torque values ​​and multiple second generator power values;

[0042] The judgment module is used to determine whether the rotational frequency range of the wind turbine rotor coincides with the first natural frequency of the flexible tower based on multiple second generator speed values, multiple second generator torque values, and multiple second generator power values.

[0043] If so, the target torque value, minimum torque limit, and maximum torque limit are determined based on the first natural frequency of the flexible tower.

[0044] The target torque value is the corresponding torque value of the generator when the rotation frequency of the wind turbine rotor is the first natural frequency of the flexible tower. The minimum torque limit and the maximum torque limit are used to determine the generator speed isolation range.

[0045] The adjustment module is used to adjust the generator speed according to the generator speed isolation range.

[0046] Optionally, the adjustment module is also used to control the generator speed via an incremental PID controller;

[0047] When the generator torque exceeds the maximum torque limit, the incremental PID controller stops controlling the generator speed, allowing the generator speed to increase rapidly through the generator speed isolation range under the influence of wind speed and torque reduction.

[0048] When the wind speed decreases and the generator torque is less than the minimum torque limit, the incremental PID controller restarts to control the generator speed, causing the generator speed to decrease rapidly through the generator speed isolation range due to the decrease in wind speed and the increase in torque.

[0049] Thirdly, embodiments of the present invention provide an electronic device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the program to implement the method as described in any of the implementations of the first aspect.

[0050] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the implementations of the first aspect.

[0051] This invention provides a method, device, equipment, and storage medium for controlling the speed jump of a wind turbine. By dividing the operating range of the wind turbine generator and adjusting the generator speed by adjusting the pitch angle in different ranges, the stability of wind turbine operation can be improved and the wind power generation can be increased. Furthermore, by acquiring the speed, torque, and power data of the wind turbine generator and combining them with the first-order natural frequency of the flexible tower, the generator speed isolation range can be obtained. By adjusting the speed of the wind turbine generator so that the speed can quickly pass through the generator speed isolation range, resonance can be effectively reduced, the service life of the wind turbine can be improved, and accidents caused by resonance can be avoided.

[0052] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0053] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements.

[0054] Figure 1 This is a schematic diagram illustrating the division of the operating state range of a wind turbine generator according to an embodiment of the present invention;

[0055] Figure 2 This is a flowchart of a fan speed control method according to an embodiment of the present invention;

[0056] Figure 3 This is a diagram showing the relationship between generator speed and torque during operation of a wind turbine generator according to an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of a fan speed control device according to an embodiment of the present invention;

[0058] Figure 5 This is a structural diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0059] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0060] It should be noted that the embodiments of the present invention are described only to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention.

[0061] Figure 1 This is a schematic diagram illustrating the division of the operating state range of a wind turbine generator according to an embodiment of the present invention, as shown below. Figure 1 As shown:

[0062] The first interval is AB, which is the range for the entry speed and torque ramp-up; the second interval is BC, which is the range for the optimal tip speed ratio; the third interval is CD, which is the range for the rated speed and torque ramp-up; and the fourth interval is EF, which is the range for constant power control above the rated power.

[0063] Optionally, the operating status of the wind turbine generator can be switched based on factors such as operating time, speed, torque power, and pitch angle.

[0064] Specifically, the switching logic for the wind turbine generator's operating state can be as follows: Upon initial grid connection, the generator operates in the first interval; when the generator is in the first interval and its power exceeds the minimum generator power in the second interval, the generator switches to the second interval; when the generator is in the second interval and its speed reaches the rated speed, the generator switches to the third interval; when the generator is in the second interval and its speed drops to the cut-off speed and its torque is lower than the minimum torque in the second interval, the generator switches to the first interval; when the generator is in the third interval and its torque reaches the rated torque, the generator switches to the fourth interval; when the generator is in the third interval and its speed is lower than the rated speed and its torque is less than the minimum torque in the second interval, the generator switches to the second interval; when the generator is in the fourth interval and its torque is less than the rated torque and its pitch angle becomes the minimum pitch angle, the generator switches to the third interval.

[0065] Optionally, in addition to switching operating ranges according to different influencing factors, the operating status of wind turbine generators also needs to be fine-tuned according to the actual situation in different operating ranges.

[0066] In one embodiment, the wind turbine generator is in the first interval. If the wind speed reaches the cut-in wind speed of the wind turbine generator and the detection system detects that the generator is fault-free, the blades are controlled to retract, the blade pitch angle is reduced to 0°, the blade angle of attack is increased, and the wind turbine can absorb wind energy to the maximum extent to generate aerodynamic torque and start to rotate.

[0067] In another embodiment, the wind turbine generator operates in the first interval. When there is a deviation between the set speed and the measured speed of the generator, the pitch angle is adjusted according to the deviation to control the speed so that the speed reaches the set speed.

[0068] In another embodiment, the wind turbine generator operates in the fourth interval. If the power generation is greater than the rated power, the blade angle of attack is reduced to reduce the wind energy captured by the wind turbine; if the wind speed decreases, the blade angle of attack is increased to increase the wind energy captured by the wind turbine.

[0069] Figure 2 This is a flowchart of a fan speed control method according to an embodiment of the present invention. Figure 1 As shown, it includes:

[0070] S201. Obtain multiple first generator speed values ​​and corresponding multiple first generator torque values, and calculate multiple first generator power values ​​based on the multiple first generator speed values ​​and multiple first generator torque values.

[0071] Alternatively, the power of the first generator can be calculated based on the first generator speed and the first generator torque using the following formula:

[0072] In the formula, P is power, in Nm / s; T is torque, in Nm; and n is rotational speed, in r / min.

[0073] S202. Input multiple first generator speed values, multiple first generator torque values ​​and multiple first generator power values ​​into the filter respectively to obtain multiple second generator speed values, multiple second generator torque values ​​and multiple second generator power values.

[0074] Optionally, by setting a filter, inaccurate measurements can be filtered out, and measurements with large fluctuation ranges can be eliminated, which can improve the accuracy of calculating the generator speed isolation range in subsequent steps.

[0075] For example, filtering processes include methods such as moving average or median filtering of the measured values.

[0076] Optionally, the filter used here can be a first-order low-pass filter, a second-order low-pass filter, a second-order high-pass filter, a second-order band-pass filter, or a second-order band-stop filter, etc.

[0077] S203. Determine whether the rotational frequency range of the wind turbine rotor coincides with the first natural frequency of the flexible tower based on multiple second generator speed values, second generator torque values, and second generator power values.

[0078] If so, the target torque value, minimum torque limit, and maximum torque limit are determined based on the first natural frequency of the flexible tower.

[0079] The target torque value is the corresponding torque value of the generator when the rotation frequency of the wind turbine rotor is the first natural frequency of the flexible tower. The minimum torque limit and the maximum torque limit are used to determine the generator speed isolation range.

[0080] Optionally, the rotational frequency of the wind turbine rotor can be calculated based on the first natural frequency of the flexible tower, and the corresponding generator speed can be obtained. Based on the obtained generator speed value, a pre-generator speed range is obtained by expanding the value by a preset ratio. When the generator speed reaches this threshold range, it indicates that the rotational frequency of the wind turbine rotor may coincide with the first natural frequency of the flexible tower. At this time, the generator speed needs to be adjusted. The range of the generator speed threshold range is greater than or equal to the generator speed isolation range.

[0081] By setting the generator speed preset range and generator speed isolation range in the above technical solution, problems such as wind turbine damage caused by the wind turbine rotor rotation frequency possibly coinciding with the first-order natural frequency of the flexible tower can be further avoided.

[0082] For example, the natural frequency of the wind turbine tower is 0.22Hz, which corresponds to a rotor speed of 1.37 rad / s. Given that the gearbox speed ratio of the wind turbine is 114.6, the corresponding generator speed is 157.1 rad / s. The generator speed isolation zone can be designed within a 10% speed range centered on this speed. Therefore, the lower limit of the generator speed isolation zone is 141.3 rad / s, corresponding to a generator torque of 3593.8 Nm, and the upper limit of the generator speed isolation zone is 172.8 rad / s, corresponding to a generator torque of 5374.8 Nm.

[0083] It should be noted that the range of the generator speed isolation zone can be adjusted according to the environmental factors of the wind turbine, including terrain, altitude, wind speed, temperature, location, etc. For example, if the altitude of a certain place is high and the climate conditions are relatively harsh, the resonance will have a greater impact on the wind turbine. In this case, the generator speed isolation zone can be reduced, and it can be modified to a speed range of 5% centered on the resonance speed.

[0084] S204. Adjust the generator speed according to the generator speed isolation range.

[0085] Alternatively, the generator speed can be controlled using an incremental PID controller.

[0086] Specifically, such as Figure 3 As shown:

[0087] When the wind turbine starts, in section BM, the wind turbine generator adopts optimal power point tracking control to maximize the absorption of wind energy for increasing power generation. When the generator speed reaches the low-speed boundary M, the controller starts working, controlling the wind turbine generator speed to be fixed, and the torque begins to increase along MN. When the torque exceeds the predetermined upper limit N, the controller stops controlling the speed, and the generator speed begins to increase under the combined effect of wind speed and torque, quickly crossing the resonance zone. After the speed reaches the upper limit P of the isolation zone, the control torque tracks the maximum power curve, increasing power generation and completing the upward crossing process.

[0088] When the wind speed decreases, the torque decreases, and the controller reduces the generator torque requirement to track the optimal power curve, causing the generator speed to decrease. When the generator torque is below the upper limit of the speed isolation zone, the controller restarts and fixes the generator speed. At this time, due to the decrease in wind speed, the generator torque will continue to decrease. After the torque decreases to point P, the control of the generator speed stops. Since the speed is too high at this time, there is no wind energy to provide the load capacity of the wind turbine, so the speed drops rapidly. At this time, the control torque rises along the PN segment, and the generator speed begins to decrease under the combined action of wind speed and torque, quickly passing through the resonance zone.

[0089] Optionally, the incremental PID controller includes:

[0090] Proportional element: proportional coefficient K p It reflects how quickly the controller adjusts the speed; when K p The larger the value, the faster the response; the function of this step is to reduce the deviation.

[0091] Integral component: can eliminate the steady-state error of the system, integral time constant T i The magnitude of this determines the speed at which steady-state errors are eliminated;

[0092] Differential element: used to improve the dynamic characteristics of the system and to predict the trend of deviation changes in the system in advance. At the same time, it suppresses and reduces the overshoot of the system to improve the response speed of the system.

[0093] Alternatively, the incremental algorithm for the incremental PID controller is as follows:

[0094] Δu(k)=+m0e(k)-m1e(k-1)+m2e(k-2);

[0095]

[0096]

[0097]

[0098] In the formula, Δu(k) is the increment of the generator speed, e(k) is the input deviation value at the k-th sampling time, e(k-1) is the input deviation value at the (k-1)-th sampling time, e(k-2) is the input deviation value at the (k-2)-th sampling time, and K p This is the proportionality coefficient. K is the integral coefficient. D T is the integral coefficient. d Let T be the differential time constant, T be the sampling period, and k be the sampling number. i is the integration time constant.

[0099] By using an incremental PID controller, only the change in the controlled object can be adjusted. When mechanical failures occur during the control process, the impact range is small and will not have a significant impact on the production process. Moreover, it can achieve seamless switching when changing control modes.

[0100] This invention provides a wind turbine speed control method. By dividing the wind turbine generator into operating ranges and adjusting the generator speed by adjusting the pitch angle in different ranges, the stability of wind turbine operation can be improved and the wind power generation can be increased. Furthermore, by acquiring the wind turbine generator's speed, torque, and power data and combining them with the first-order natural frequency of the flexible tower, the generator speed isolation range can be obtained. By adjusting the wind turbine generator speed so that the speed can quickly pass through the generator speed isolation range, resonance can be effectively reduced, the service life of the wind turbine can be improved, and accidents caused by resonance can be avoided.

[0101] The following combination Figure 4 This application provides a detailed description of the apparatus provided in its embodiments that can execute the aforementioned fan speed control method.

[0102] For example, Figure 4 This is a schematic diagram of a fan speed control device according to an embodiment of the present invention; as shown. Figure 4 As shown, the control device 40 includes:

[0103] The acquisition module 401 is used to acquire multiple first generator speed values ​​and corresponding multiple first generator torque values, and to calculate multiple first generator power values ​​based on the multiple first generator speed values ​​and multiple first generator torque values;

[0104] The filtering module 402 is used to input multiple first generator speed values, multiple first generator torque values ​​and multiple first generator power values ​​into the filter respectively to obtain multiple second generator speed values, multiple second generator torque values ​​and multiple second generator power values;

[0105] The judgment module 403 is used to determine whether the rotational frequency range of the wind turbine rotor coincides with the first natural frequency of the flexible tower based on multiple second generator speed values, multiple second generator torque values ​​and multiple second generator power values.

[0106] If so, the target torque value, minimum torque limit, and maximum torque limit are determined based on the first natural frequency of the flexible tower.

[0107] The target torque value is the corresponding torque value of the generator when the rotation frequency of the wind turbine rotor is the first natural frequency of the flexible tower. The minimum torque limit and the maximum torque limit are used to determine the generator speed isolation range.

[0108] The adjustment module 404 is used to adjust the generator speed according to the generator speed isolation range.

[0109] Optionally, the adjustment module 404 is also used to control the generator speed via an incremental PID controller;

[0110] When the generator torque exceeds the maximum torque limit, the incremental PID controller stops controlling the generator speed, allowing the generator speed to increase rapidly through the generator speed isolation range under the influence of wind speed and torque reduction.

[0111] When the wind speed decreases and the generator torque is less than the minimum torque limit, the incremental PID controller restarts to control the generator speed, causing the generator speed to decrease rapidly through the generator speed isolation range under the action of decreasing wind speed and increasing torque.

[0112] Alternatively, the incremental algorithm for the incremental PID controller is as follows:

[0113] Δu(k)=+m0e(k)-m1e(k-1)+m2e(k-2);

[0114]

[0115]

[0116]

[0117] In the formula, Δu(k) is the increment of the generator speed, e(k) is the input deviation value at the k-th sampling time, e(k-1) is the input deviation value at the (k-1)-th sampling time, e(k-2) is the input deviation value at the (k-2)-th sampling time, and K p This is the proportionality coefficient. K is the integral coefficient. D T is the integral coefficient. d Let T be the differential time constant, T be the sampling period, and k be the sampling number. i is the integration time constant.

[0118] Optionally, the control device 40 further includes an operating state switching module, used to switch the generator operating state to the first interval when it is first connected to the grid; when the generator operating state is in the first interval and the generator power exceeds the minimum generator power in the second interval, the generator operating state switches to the second interval; when the generator operating state is in the second interval and the generator speed reaches the rated speed, the generator operating state switches to the third interval; when the generator operating state is in the second interval and the generator speed drops to the switching speed and the generator torque is lower than the minimum torque in the second interval, the generator operating state switches to the first interval; when the generator operating state is in the third interval and the generator torque reaches the rated torque, the generator operating state switches to the fourth interval; when the generator operating state is in the third interval and the generator speed is lower than the rated speed and the generator torque is less than the minimum torque in the second interval, the generator operating state switches to the second interval; when the generator operating state is in the fourth interval and the generator torque is less than the rated torque and the pitch angle becomes the minimum pitch angle, the generator operating state switches to the third interval.

[0119] Optionally, the first interval is the cut-in speed and torque ramp-up interval; the second interval is the optimal tip speed ratio interval; the third interval is the rated speed and torque ramp-up interval; and the fourth interval is the constant power control interval above the rated power.

[0120] Optionally, the operating state switching module is also used to control the blades to retract and reduce the blade pitch angle to 0° when the wind speed reaches the cut-in wind speed of the wind turbine and the wind turbine is fault-free, so as to increase the blade angle of attack and reduce the wind turbine acceleration time when the generator of the wind turbine is in the first interval; when there is a deviation between the set speed and the measured speed of the generator, the pitch angle is adjusted according to the deviation to control the speed of the generator; when the generator of the wind turbine is in the fourth interval, if the power generation is greater than the rated power, the blade angle of attack is reduced to reduce the wind energy captured by the wind turbine; if the wind speed decreases, the blade angle of attack is increased to increase the wind energy captured by the wind turbine.

[0121] This invention also provides a computer electronic device. Figure 5 A schematic diagram of the structure of an electronic device to which embodiments of the present invention can be applied is shown, such as... Figure 5 As shown, this computer electronic device includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 502 or programs loaded from storage section 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0122] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. A removable medium 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 510 as needed so that computer programs read from it can be installed into storage section 508 as needed.

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0124] The modules or modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules or modules can also be housed in a processor. For example, a processor can be described as including an acquisition module 401, a filtering module 402, a judgment module 403, and an adjustment module 404. The names of these modules do not necessarily limit the module itself; for example, the adjustment module 404 can also be described as "an adjustment module 404 for adjusting the generator speed according to the generator speed isolation range".

[0125] In another aspect, the present invention also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the wind turbine speed control device described in the above embodiments; or it may be a standalone computer-readable storage medium not assembled into an electronic device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to execute the wind turbine speed control method described in the present invention.

[0126] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method for controlling the speed fluctuation of a fan, characterized in that, The method includes: Multiple first generator speed values ​​and corresponding multiple first generator torque values ​​are obtained, and multiple first generator power values ​​are calculated based on the multiple first generator speed values ​​and the multiple first generator torque values; The multiple first generator speed values, multiple first generator torque values, and multiple first generator power values ​​are respectively input into the filter to obtain multiple second generator speed values, multiple second generator torque values, and multiple second generator power values; Based on the multiple second generator speed values, multiple second generator torque values, and multiple second generator power values, determine whether the wind turbine rotor rotation frequency range coincides with the first natural frequency of the flexible tower; If so, the target torque value, minimum torque limit, and maximum torque limit are determined based on the first natural frequency of the flexible tower. Wherein, the target torque value is the corresponding torque value of the generator when the rotation frequency of the wind turbine rotor is the first natural frequency of the flexible tower, and the minimum torque limit and the maximum torque limit are used to determine the generator speed isolation range; Adjust the generator speed according to the generator speed isolation range. The operating status of the wind turbine's generator includes: The first interval is the interval where the speed and torque increase upon entry. The second interval is the interval with the optimal tip speed ratio. The third range is the rated speed torque ramp-up range; The fourth range is the constant power control range above the rated power. The switching of the generator operating status of the wind turbine includes: When the generator is first connected to the grid, its operating status is in the first interval; When the generator is operating in the first interval and the generator power exceeds the minimum generator power in the second interval, the generator operating state switches to the second interval. When the generator is operating in the second interval and the generator speed reaches the rated speed, the generator operating state switches to the third interval. When the generator is operating in the second interval and the generator speed drops to the cut-in speed and the generator torque is lower than the minimum torque in the second interval, the generator operating state switches to the first interval. When the generator is operating in the third interval and the generator torque reaches the rated torque, the generator operating state switches to the fourth interval. When the generator is operating in the third interval and the generator speed is lower than the rated speed and the generator torque is less than the minimum torque in the second interval, the generator operating state switches to the second interval. When the generator is operating in the fourth interval and the generator torque is less than the rated torque and the pitch angle becomes the minimum pitch angle, the generator operating state switches to the third interval. The step of adjusting the generator speed according to the generator speed isolation range includes: The generator speed is controlled by an incremental PID controller; When the generator torque exceeds the maximum torque limit, the incremental PID controller stops controlling the generator speed and allows the generator speed to increase rapidly under the influence of decreasing wind speed and torque through the generator speed isolation range. When the wind speed decreases and the generator torque is less than the minimum torque limit, the incremental PID controller restarts to control the generator speed. Through the generator speed isolation range, the generator speed is rapidly reduced under the combined effects of decreasing wind speed and increasing torque. The incremental algorithm of the incremental PID controller is as follows: ； ； ； ； In the formula, This is the increment of the generator speed. Input the deviation value at the k-th sampling time. Input the deviation value at the (k-1)th sampling time. Input the deviation value at the (k-2)th sampling time. This is the proportionality coefficient. The integral coefficient is... Let T be the differential time constant, T be the sampling period, and k be the sampling sequence number. is the integration time constant.

2. The fan speed control method according to claim 1, characterized in that, Also includes: When the generator of the wind turbine is operating in the first range, if the wind speed reaches the cut-in speed of the generator and the generator of the wind turbine is fault-free, the blades are controlled to retract, the pitch angle is reduced to 0°, the angle of attack of the blades is increased, and the acceleration time of the wind turbine is reduced. When there is a deviation between the generator's set speed and the measured speed, the generator speed is controlled by adjusting the pitch angle according to the deviation. When the generator of the wind turbine is operating in the fourth range, if the generator power is greater than the rated power, the blade angle of attack is reduced to reduce the wind energy captured by the wind turbine; if the wind speed decreases, the blade angle of attack is increased to increase the wind energy captured by the wind turbine.

3. A fan speed control device, applied to the fan speed control method as described in claim 1, characterized in that, The device includes: The acquisition module is used to acquire multiple first generator speed values ​​and corresponding multiple first generator torque values, and to calculate multiple first generator power values ​​based on the multiple first generator speed values ​​and the multiple first generator torque values; The filtering module is used to input the plurality of first generator speed values, the plurality of first generator torque values ​​and the plurality of first generator power values ​​into the filter respectively to obtain a plurality of second generator speed values, a plurality of second generator torque values ​​and a plurality of second generator power values; The judgment module is used to determine whether the rotational frequency range of the wind turbine rotor coincides with the first-order natural frequency of the flexible tower based on the multiple second generator speed values, multiple second generator torque values ​​and multiple second generator power values. If so, the target torque value, minimum torque limit, and maximum torque limit are determined based on the first natural frequency of the flexible tower. Wherein, the target torque value is the corresponding torque value of the generator when the rotation frequency of the wind turbine rotor is the first natural frequency of the flexible tower, and the minimum torque limit and the maximum torque limit are used to determine the generator speed isolation range; An adjustment module is used to adjust the generator speed according to the generator speed isolation range.

4. The fan speed control device according to claim 3, characterized in that, The adjustment module is also used to control the generator speed through an incremental PID controller; When the generator torque exceeds the maximum torque limit, the incremental PID controller stops controlling the generator speed and allows the generator speed to increase rapidly under the influence of decreasing wind speed and torque through the generator speed isolation range. When the wind speed decreases and the generator torque is less than the minimum torque limit, the incremental PID controller restarts to control the generator speed. Through the generator speed isolation range, the generator speed is rapidly reduced under the influence of decreasing wind speed and increasing torque.

5. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1 to 2.

6. A computer-readable storage medium, characterized in that, The system contains a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 2.

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