Torque control methods, electronic devices, wind turbine generators, and readable storage media

Abstract

This application provides a torque control method, electronic device, wind turbine generator, and readable storage medium, relating to the field of wind power generation. In this method, a speed measurement value is filtered to obtain a speed filter value; generator operating parameters are determined based on a first torque demand, various pitch angles, and the speed filter value. These operating parameters include a torque control speed target value, a first torque limit, and a second torque limit; each pitch angle is biased to obtain a speed bias value; a speed deviation value is obtained based on the speed filter value, the torque control speed target value, and the speed bias value; a torque PID controller is adjusted based on the speed deviation value, the first torque limit, and the second torque limit to obtain a second torque demand value; if the second torque demand value is less than a preset torque upper limit, torque is controlled based on the second torque demand value. This application achieves torque control and reduces energy consumption by calculating a suitable torque demand.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, specifically to a torque control method, electronic equipment, wind turbine generator, and readable storage medium. Background Technology

[0002] In wind power generation, wind turbines need to operate within a certain power range. Torque control plays a crucial role in ensuring a constant power output. Because wind turbines operate in complex environments with significant uncertainties, the required torque control varies depending on wind speed. Stronger winds demand greater torque; adjusting this demand allows the generator to operate within a specific power range, resulting in higher power generation efficiency. However, improper torque adjustment can lead to low efficiency and high energy consumption. Summary of the Invention

[0003] This application provides a torque control method, electronic device, wind turbine, and readable storage medium. By calculating the appropriate torque demand, torque control is achieved, which can effectively improve the power generation efficiency of the wind turbine and reduce energy consumption.

[0004] In a first aspect, embodiments of this application provide a torque control method applied to a wind turbine generator, the wind turbine generator including a generator and multiple blades, the generator being connected to each of the blades respectively, the method including:

[0005] Obtain the first torque requirement of the generator, the measured speed of the generator, and the pitch angle of each blade;

[0006] The measured rotational speed value is filtered to obtain a filtered rotational speed value;

[0007] The operating parameters of the generator are determined based on the first torque requirement, each of the pitch angles and the speed filter value. The operating parameters include a torque control speed target value, a first torque limit and a second torque limit.

[0008] The pitch angles are subjected to offset filtering to obtain the speed offset values.

[0009] The speed deviation value is obtained based on the speed filter value, the torque control speed target value, and the speed offset value;

[0010] The torque PID is adjusted according to the speed deviation value, the first torque limit value, and the second torque limit value to obtain a second torque demand value. When the second torque demand value is less than the preset upper limit torque value, the torque is controlled according to the second torque demand value.

[0011] In the above technical solution, the first torque requirement of the generator, the measured speed of the generator, and the pitch angle of each blade are first obtained. Based on the obtained values, the operating status of the generator can be obtained. The measured speed is filtered to obtain the speed filter value, which facilitates the subsequent determination of the generator's operating parameters. The operating parameters of the generator are determined based on the first torque requirement, each pitch angle, and the speed filter value. The operating parameters include the torque control speed target value, the first torque limit, and the second torque limit. Once the operating parameters are determined, the torque requirement can be adjusted accordingly. Next, offset filtering is applied to each pitch angle to obtain the speed offset value. Based on the speed filter value, the torque control speed target value, and the speed offset value, the speed deviation value is obtained. Obtaining the speed deviation value allows for more accurate adjustment of torque demand. The torque PID is adjusted based on the speed deviation value, the first torque limit, and the second torque limit to obtain the second torque demand value. This second torque demand is limited to a reasonable range to reduce energy consumption. When the second torque demand value is less than the preset torque upper limit value, the torque is controlled based on the second torque demand value. At this time, the adjusted torque demand control torque can keep the generator power within a certain range, improving the generator's power generation efficiency.

[0012] In some embodiments of this application, obtaining the speed deviation value based on the speed filter value, the torque control speed target value, and the speed offset value includes:

[0013] The difference between the speed filter value and the torque control speed target value is calculated to obtain the speed difference value;

[0014] The speed difference value is summed with the speed offset value to obtain the speed deviation value.

[0015] In the above technical solution, the difference between the speed filter value and the torque control speed target value is first calculated to obtain the difference between the measured speed and the torque control speed target value. Then, the speed difference value is summed with the speed offset value to obtain the speed deviation value, which makes the torque requirement adjusted according to the speed deviation value more accurate.

[0016] In some embodiments of this application, adjusting the torque PID based on the speed deviation value, the first torque limit, and the second torque limit to obtain the second torque demand value includes:

[0017] Adjust the torque PID based on the speed deviation value to obtain the torque PID requirement;

[0018] Based on the first torque limit and the second torque limit, the torque PID demand is subject to power limitation to obtain the second torque demand value.

[0019] In the above technical solution, by adjusting the speed deviation value using torque PID, the error can be reduced. Then, based on the first torque limit and the second torque limit, the power of the torque PID demand is limited, so that the second torque demand value is within a reasonable range, reducing energy consumption. Based on the second torque demand value, the torque is further controlled so that the generator's operating power is within a certain range, thereby improving the power generation efficiency.

[0020] In some embodiments of this application, the step of filtering the speed measurement value to obtain a filtered speed value includes:

[0021] The measured rotational speed value is low-pass filtered to obtain the low-pass filtered rotational speed value.

[0022] The speed low-pass filter value is subjected to notch filtering to obtain the speed filter value.

[0023] In the above technical solution, the speed measurement value is first subjected to low-pass filtering to filter out signals above the cutoff frequency, resulting in a low-pass filtered speed value, thus avoiding interference from other measurement signals. Then, notch filtering is applied to the low-pass filtered speed value to attenuate the signal amplitude, thereby suppressing resonance. The filtered speed value facilitates obtaining a more accurate torque requirement, thereby reducing energy consumption.

[0024] In some embodiments of this application, the preset upper limit value of torque is obtained through the following steps:

[0025] Obtain the preset power value;

[0026] The power value is subjected to power rate limiting processing to obtain a power limit value;

[0027] The target rotational speed is calculated using the power limit value.

[0028] The upper limit of torque is obtained by calculating the ratio between the power limit value and the target speed value.

[0029] In the above technical solution, a preset power value is first obtained, then the power value is rate-limited, and then the target speed value is calculated using the power limit value. The target speed value obtained through the preset power value is the rated speed target value. According to the relationship between power and speed, the ratio of the power limit value and the target speed value is calculated to obtain the upper limit value of torque. Based on the upper limit value of torque, the generator can be guaranteed to be in a safe operating state.

[0030] In some embodiments of this application, calculating the target rotational speed value using the power limit value includes:

[0031] The set speed value is obtained based on the power limit value and the preset power-speed mapping relationship;

[0032] The target speed value is obtained by limiting the rate of change of the set speed value.

[0033] In the above technical solution, since the power limit value is obtained through a preset power value, and by referring to the preset power-speed mapping relationship, the speed value corresponding to the power limit value can be obtained according to the power limit value, and the set speed value can be obtained, which is beneficial to obtaining the torque requirement for subsequent control torque to ensure the safe operation of the generator.

[0034] In some embodiments of this application, determining the generator's operating parameters based on the first torque requirement, each of the pitch angles, and the speed filter value includes:

[0035] Arithmetic calculations are performed on each of the aforementioned pitch angles to obtain the pitch angle values;

[0036] The pitch angle value is filtered to obtain the filtered pitch angle value;

[0037] The operating parameters of the generator are determined based on the first torque requirement, the pitch angle filter value, and the speed filter value.

[0038] In the above technical solution, there are multiple pitch angles. First, the pitch angles are arithmetically calculated and the multiple pitch angles are combined into one value. Then, the pitch angle value is filtered to reduce signal interference. Subsequently, the generator's operating parameters are determined based on the first torque requirement, the pitch angle filter value, and the speed filter value. The determined operating parameters are relatively accurate.

[0039] Secondly, embodiments of this application provide an electronic device, including a processor, a memory, the memory for storing instructions, and the processor for executing the instructions stored in the memory to cause the electronic device to perform any of the methods described above.

[0040] Thirdly, embodiments of this application provide a wind turbine generator, including electronic equipment as described in the second aspect.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed, perform the method described in any of the above-mentioned embodiments.

[0042] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0043] 1. By filtering the acquired measurement values ​​and adjusting the torque demand, a more accurate torque demand is obtained, reducing energy consumption. Controlling the torque according to the demand ensures the generator operates within a certain power range, thus improving power generation efficiency. This effectively solves the problem of low generator efficiency and high energy consumption caused by unreasonable torque demand adjustments in existing technologies. The embodiments of this application can effectively improve power generation efficiency and reduce energy consumption.

[0044] 2. By controlling the torque within a suitable range according to the adjusted torque requirements, energy consumption can be reduced. Attached Figure Description

[0045] Figure 1 This is a schematic flowchart of a torque control method provided in one embodiment of this application;

[0046] Figure 2 yes Figure 1 A flowchart illustrating a sub-step of step S200;

[0047] Figure 3 yes Figure 1 A flowchart illustrating a sub-step of step S300;

[0048] Figure 4 yes Figure 1 A flowchart illustrating a sub-step of step S500;

[0049] Figure 5 yes Figure 1 A flowchart illustrating a sub-step of step S600;

[0050] Figure 6 This is a schematic flowchart of a torque control method provided in another embodiment of this application;

[0051] Figure 7 yes Figure 6 A flowchart illustrating a sub-step of step S730 in the middle section;

[0052] Figure 8 This is a schematic diagram of the overall flow of a torque control method provided in one embodiment of this application;

[0053] Figure 9 This is a schematic diagram of the structure of a torque control device provided in one embodiment of this application;

[0054] Figure 10 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0055] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification 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.

[0056] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0057] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0058] First, the proper nouns involved in the embodiments of this application will be explained.

[0059] PID: Abbreviated as PID control, it uses proportional, integral, and derivative calculations to calculate the control quantity for control. It includes proportional (P) control, integral (I) control, and derivative (D) control. Proportional control ensures that the controller's output is proportional to the input error signal. When only proportional control is used, the system output exhibits a steady-state error.

[0060] In integral control, the controller's output is proportional to the integral of the input error signal. For an automatic control system, if a steady-state error exists after reaching steady state, the control system is said to have a steady-state error or be a system with error. To eliminate steady-state error, an "integral term" must be introduced into the controller. The integral term takes the integral of the error over time, and it increases with time. Thus, even if the error is small, the integral term will increase with time, driving the controller's output to increase and further reduce the steady-state error until it equals zero. Therefore, a proportional-integral (PI) controller can make the system error-free after reaching steady state.

[0061] In differential control, the controller's output is proportional to the derivative of the input error signal (i.e., the rate of change of the error). Automatic control systems may experience oscillations or even instability during the adjustment process to overcome errors. The solution is to predict the trend of error changes. Thus, a proportional-derivative (PD) controller can preemptively set the control action to zero or even a negative value to suppress the error, thereby avoiding severe overshoot of the controlled variable. Therefore, for controlled objects with significant inertia or lag, PD controllers can improve the dynamic characteristics of the system during adjustment. The parameter tuning of a PID controller involves determining the proportional coefficient, integral time, and derivative time based on the characteristics of the controlled process.

[0062] This application provides a torque control method, electronic device, wind turbine, and readable storage medium. The torque control method first acquires the generator's first torque requirement, the generator's speed measurement value, and the pitch angle of each blade. Based on the acquired values, the generator's operating state can be obtained. The speed measurement value is filtered to obtain a speed filter value, which facilitates the subsequent determination of the generator's operating parameters. The generator's operating parameters are determined based on the first torque requirement, each pitch angle, and the speed filter value. The operating parameters include a torque control speed target value, a first torque limit, and a second torque limit. Once the operating parameters are determined, the torque requirement can be adjusted accordingly. Next, offset filtering is applied to each pitch angle to obtain the speed offset value. Based on the speed filter value, the torque control speed target value, and the speed offset value, the speed deviation value is obtained. Obtaining the speed deviation value allows for more accurate adjustment of torque demand. The torque PID is adjusted based on the speed deviation value, the first torque limit, and the second torque limit to obtain the second torque demand value. This second torque demand is limited to a reasonable range, reducing energy consumption. When the second torque demand value is less than the preset torque upper limit value, the torque is controlled according to the second torque demand value. At this time, the adjusted torque demand control torque can keep the generator power within a certain range, improving the generator's power generation efficiency.

[0063] It should be noted that this torque control method is applied to wind turbine generators, which are installed on wind power generation equipment to generate electricity from wind energy. This embodiment of the application obtains a more accurate torque requirement by filtering the acquired measurement values ​​and adjusting the torque demand, thereby reducing energy consumption. By controlling the torque according to the torque demand, the generator operates within a certain power range, which improves power generation efficiency.

[0064] The technical solutions provided in the embodiments of this application will be further described below with reference to the accompanying drawings.

[0065] Reference Figure 1 , Figure 1This is a schematic flowchart of the torque control method provided in an embodiment of this application. The torque control is applied to a wind turbine, which includes a generator and multiple blades. The generator is connected to each blade. The torque control method includes steps S100, S200, S300, S400, S500, and S600.

[0066] Step S100: Obtain the generator's first torque requirement, the generator's speed measurement value, and the pitch angle of each blade.

[0067] In one embodiment, the wind turbine also includes sensors that measure the generator's rotational speed and the pitch angle of each blade. Obtaining the generator's initial torque demand, rotational speed, and pitch angle from the sensors facilitates subsequent adjustments to the torque demand.

[0068] Step S200: Filter the speed measurement value to obtain the speed filter value.

[0069] In one embodiment, the speed measurement value obtained in step S100 is filtered to obtain a speed filter value. The filtering process avoids interference from other measurement signals, which is beneficial for obtaining a more accurate torque requirement in the future, thereby reducing energy consumption.

[0070] like Figure 2 As shown, the speed measurement value is filtered to obtain the speed filter value, including but not limited to the following steps:

[0071] Step S210: Perform low-pass filtering on the speed measurement value to obtain the low-pass filtered speed value.

[0072] In one possible embodiment of this application, the speed measurement value is first low-pass filtered to obtain a low-pass filtered speed value. This process filters out signals above the cutoff frequency, avoiding interference from other measurement signals, which is beneficial for obtaining the subsequent speed filter value and preparing for calculating a more accurate torque requirement. The speed measurement value can be low-pass filtered using a Butterworth filter, a Chebyshev filter, or other low-pass filters, which will not be elaborated here.

[0073] Step S220: Perform notch filtering on the low-pass filter value of the rotational speed to obtain the rotational speed filter value.

[0074] In one possible embodiment of this application, the low-pass filter value of the rotational speed obtained in step S210 is subjected to notch filtering. This first notch filtering process yields the rotational speed filter value. This process attenuates the signal amplitude, thereby suppressing resonance and facilitating the subsequent acquisition of a more accurate torque requirement, thus reducing energy consumption. Specifically, using a notch filter to perform notch filtering on the low-pass filter value of the rotational speed can suppress resonance and avoid signal interference.

[0075] In another possible embodiment of this application, the low-pass filter value of the speed obtained in step S210 is subjected to notch filtering, and then a second notch filtering is performed on the low-pass filter value of the speed to obtain the speed filtered value. Specifically, the low-pass filter value of the speed is first subjected to notch filtering, resulting in the speed notch filtered value, and then the speed notch filtered value of the speed is subjected to notch filtering again to obtain the speed filtered value. Through the second notch filtering, the amplitude of the signal is attenuated sequentially, effectively suppressing the resonance phenomenon, which is beneficial for obtaining a more accurate torque requirement in the subsequent process, thereby achieving the purpose of reducing energy consumption.

[0076] Step S300: Determine the generator's operating parameters based on the first torque requirement, each pitch angle, and the speed filter value. The operating parameters include the torque control speed target value, the first torque limit, and the second torque limit.

[0077] In one embodiment, the current operating state of the generator can be obtained based on the first torque requirement, various pitch angles, and speed filtering values. Various parameters of generator operation are determined through the current operating state, resulting in operating parameters. Based on these operating parameters, the critical values ​​of each parameter during generator operation can be obtained. The operating parameters include a torque control speed target value, a first torque limit, and a second torque limit. The torque control speed target value indicates the critical speed value during torque control.

[0078] like Figure 3 As shown, the generator's operating parameters are determined based on the first torque requirement, various pitch angles, and speed filtering values, including but not limited to the following steps:

[0079] Step S310: Perform arithmetic calculations on each pitch angle to obtain the pitch angle values.

[0080] In one embodiment, the wind turbine includes multiple blades, each forming a pitch angle. Therefore, there are multiple pitch angles. Arithmetic calculations are performed on the acquired pitch angles to obtain numerical values. These multiple parameters are then combined into a single parameter through arithmetic calculation, which is beneficial for subsequently determining the generator's current operating state and thus obtaining operating parameters. The pitch angle is a measured value acquired in real-time by sensors; therefore, this measured pitch angle reflects the generator's current operating state, facilitating the subsequent determination of operating parameters based on the pitch angle.

[0081] It should be noted that arithmetic calculations of each pitch angle include averaging each pitch angle, calculating the mode of the pitch angle, or other mathematical calculation methods, which will not be elaborated here.

[0082] Step S320: Filter the pitch angle value to obtain the filtered pitch angle value.

[0083] In one possible embodiment of this application, the pitch angle value is low-pass filtered to obtain a filtered pitch angle value. This process filters out signals above the cutoff frequency, avoiding interference from other measurement signals and preparing for the calculation of a more accurate torque requirement. The pitch angle can be low-pass filtered using a Butterworth filter, a Chebyshev filter, or other low-pass filters, which will not be elaborated here.

[0084] Step S330: Determine the generator's operating parameters based on the first torque requirement, the pitch angle filter value, and the speed filter value.

[0085] In one embodiment, based on the pitch angle filter value obtained through steps S310 and S320, the current operating state of the generator can be obtained based on the first torque requirement, the pitch angle filter value, and the speed filter value. Various parameters of generator operation are determined through the current operating state, resulting in operating parameters. Based on these operating parameters, the critical values ​​of each parameter during generator operation can be obtained. The operating parameters include a torque control speed target value, a first torque limit, and a second torque limit. The torque control speed target value indicates the critical speed value during torque control.

[0086] Step S400: Perform offset filtering on each pitch angle to obtain the speed offset value.

[0087] In one possible embodiment of this application, offset filtering can also be applied to each pitch angle. Specifically, based on the measured pitch angle and the mapping relationship between pitch angle and speed offset, the speed offset can be obtained from the known pitch angle. The speed offset is then filtered to obtain the speed offset value. The mapping relationship between pitch angle and speed offset can be displayed through a pitch angle-speed offset interpolation table or a pitch angle-speed offset diagram. When filtering the speed offset, an offset filter can be used to filter the speed offset to obtain the speed offset value. This is beneficial for subsequently obtaining the speed deviation value based on the speed offset value, thereby obtaining a more accurate torque requirement value. The offset filter can extract certain frequencies of the speed offset while suppressing other frequencies, and can also be used to eliminate noise and improve the quality of the speed offset.

[0088] Step S500: Based on the speed filter value, the torque control speed target value, and the speed offset value, the speed deviation value is obtained.

[0089] In one possible embodiment of this application, the speed filter value, torque control speed target value, and speed offset value are obtained through the above steps S100 to S400. Based on the speed filter value, torque control speed target value, and speed offset value, the speed deviation value is obtained, which is beneficial to obtain a more accurate torque demand value by using the speed deviation value in the future, thereby controlling the torque so that the generator power is within a certain range and the power generation efficiency is high.

[0090] like Figure 4 As shown, the speed deviation value is obtained based on the speed filter value, the torque control speed target value, and the speed offset value, including but not limited to the following steps:

[0091] Step S510: The difference between the speed filter value and the torque control speed target value is calculated to obtain the speed difference value.

[0092] In one possible embodiment of this application, the speed difference is obtained by subtracting the torque control speed target value from the speed filter value, which is beneficial for subsequently calculating the speed deviation value based on the speed difference. Alternatively, the speed difference can be obtained by subtracting the speed filter value from the torque control speed target value, which is also beneficial for subsequently calculating the speed deviation value based on the speed difference. It should be noted that the speed difference obtained by subtracting the torque control speed target value from the speed filter value or vice versa may be a value less than zero. When the speed difference is less than zero, the absolute value of the speed difference is calculated to facilitate subsequent calculations using the speed difference.

[0093] Step S520: Sum the speed difference and the speed offset value to obtain the speed deviation value.

[0094] In one possible embodiment of this application, based on the speed difference obtained in step S510, the speed difference is summed with the speed offset value to obtain the speed deviation value. This is beneficial for obtaining a more accurate torque demand value using the speed deviation value, thereby controlling the torque so that the generator power is within a certain range and the power generation efficiency is high.

[0095] In step S600, the torque PID is adjusted according to the speed deviation value, the first torque limit value, and the second torque limit value to obtain the second torque demand value. If the second torque demand value is less than the preset upper limit value of torque, the torque is controlled according to the second torque demand value.

[0096] In one embodiment, a speed deviation value is obtained in step S500. Since the speed deviation value is obtained based on the measured pitch angle, it also reflects the current operating state of the generator. Furthermore, a first torque limit and a second torque limit are obtained in step S300. These limits also reflect the current operating state of the generator. The torque PID is adjusted based on the speed deviation value, the first torque limit, and the second torque limit to obtain the torque requirement supported by the current operating parameters, resulting in a second torque requirement value. If the second torque requirement value is less than a preset upper torque limit, it indicates that the currently provided torque requirement value can ensure the safe operation of the generator. Controlling the torque based on the second torque requirement value ensures that the generator's power output meets the current state, improving power generation efficiency. Because the second torque requirement value provides appropriate torque, energy consumption can be saved.

[0097] like Figure 5 As shown, the torque PID is adjusted based on the speed deviation value, the first torque limit, and the second torque limit to obtain the second torque requirement value, including but not limited to the following steps:

[0098] Step S610: Adjust the torque PID according to the speed deviation value to obtain the torque PID requirement.

[0099] In one embodiment, interference signals are filtered based on the speed deviation value obtained in step 500. Then, based on the speed deviation value, calculations such as proportional, derivative, and integral operations are performed by setting preset parameters to adjust the torque PID and obtain the torque PID requirement. The above process calculates the control quantity, which facilitates subsequent torque control based on the torque requirement value.

[0100] Step S620: Based on the first torque limit and the second torque limit, power limit is applied to the torque PID demand to obtain the second torque demand value.

[0101] In one embodiment, the first torque limit and the second torque limit are operating parameters of the generator in its current operating state, indicating the torque limit value during the generator's current operation. The first torque limit can be the lower limit and the second torque limit the upper limit; alternatively, the first torque limit can be the upper limit and the second torque limit the lower limit, which will not be elaborated here. When the first torque limit is the lower limit and the second torque limit is the upper limit, the torque PID demand is power-limited based on the first and second torque limits, ensuring that the power-limited demand value falls between the first and second torque limits, thus obtaining a second torque demand value. This guarantees that the generator's power is within a certain range and that the generator operates safely.

[0102] like Figure 6 As shown, the preset upper limit of torque is obtained through the following steps:

[0103] Step S710: Obtain the preset power value.

[0104] In one possible embodiment of this application, the preset power value of the generator is first obtained. The preset power value can be read from the stored setting parameters using a preset parameter reading interface. The obtained preset power value is helpful for obtaining the torque upper limit value later.

[0105] Step S720: Perform power rate limiting processing on the power value to obtain the power limit value.

[0106] In one possible embodiment of this application, the power value obtained in step S710 is subjected to power rate limiting. This can be achieved using a power limiter to obtain a power limit value. Power rate limiting can suppress noise and improve signal quality.

[0107] Step S730: Calculate the target speed value using the power limit value.

[0108] like Figure 7 As shown, the target speed value is calculated using the power limit value, including but not limited to the following steps:

[0109] Step S731: Obtain the set speed value based on the power limit value and the preset power-speed mapping relationship.

[0110] In one possible embodiment of this application, the power limit value is obtained according to step S720. Based on the power limit value and a preset power-speed mapping relationship, a set speed value can be obtained from the known power limit value, which is beneficial for subsequently obtaining the target speed value based on the obtained set speed value. The preset power-speed mapping relationship can be displayed through a power-speed interpolation table or through a power-speed diagram.

[0111] Step S732: Limit the rate of change of the set rotational speed value to obtain the target rotational speed value.

[0112] In one possible embodiment of this application, based on the set rotational speed value obtained in step S732, the rate of change of the set rotational speed value is limited to obtain a target rotational speed value, which is beneficial for subsequently calculating the upper limit of torque based on the target rotational speed value. A filter can be used to limit the rate of change to obtain the target rotational speed value. Limiting the rate of change avoids abrupt changes, thereby ensuring constant power output.

[0113] Step S740: Calculate the ratio between the power limit value and the speed target value to obtain the upper limit value of torque.

[0114] In one embodiment, based on the relationship between power, speed, and torque, a ratio calculation is performed between the power limit value and the speed target value. Specifically, the upper limit value of torque is obtained by dividing the power limit value by the speed target value; alternatively, the upper limit value of torque can be obtained by dividing the speed target value by the power limit value and then taking the reciprocal. The upper limit value of torque restricts the torque demand value; only within the upper limit value of torque can the generator be guaranteed to operate in a safe state.

[0115] Reference Figure 8 , Figure 8 This diagram illustrates the overall flow of a torque control method according to an embodiment of this application. First, the generator's first torque requirement, the generator's measured speed, and the pitch angle of each blade are obtained. Then, the measured speed is filtered to obtain a filtered speed value. The pitch angles are then averaged to obtain filtered pitch angle values, and finally, offsetted to obtain a speed offset value. Subsequently, the generator's operating parameters are determined based on the first torque requirement, the filtered pitch angle values, and the filtered speed values. These operating parameters include a torque control speed target value, a first torque limit, and a second torque limit. Obtaining the generator's operating parameters from the acquired measurements facilitates subsequent adjustments to the torque requirement to control the torque and keep the generator's operating power within a certain range.

[0116] In one embodiment, based on the torque control speed target value parameter obtained above, the speed difference is obtained by subtracting the torque control speed target value from the speed filter value. The difference between the measured speed and the torque control speed target value can be obtained. Then, the speed difference is summed with the speed offset value to obtain the speed deviation value, so that the torque requirement adjusted according to the speed deviation value is more accurate.

[0117] In one embodiment, a preset power value is obtained, and a power limit value is obtained by limiting the preset power value. According to the preset mapping relationship between power and speed, given the power limit value, the corresponding target speed value can be obtained. Then, the power limit value is divided by the target speed value to obtain the upper limit torque value. Based on the upper limit torque value, the generator can be ensured to be in a safe operating state.

[0118] In one embodiment, the speed deviation value, the first torque limit, and the second torque limit all reflect the parameter settings for generator operation. The torque PID is adjusted based on these values ​​to obtain the torque requirement that the current operating state can support, resulting in a second torque requirement value. If the second torque requirement value is less than a preset upper torque limit, it indicates that the currently provided torque requirement value is sufficient to ensure generator operation safety. Torque is controlled according to the second torque requirement value to meet the generator's power output in the current state, thereby improving power generation efficiency. Because the second torque requirement value control provides appropriate torque, energy consumption can be saved.

[0119] like Figure 9 As shown, this application also provides a torque control device 100. The torque control device 100 first acquires the first torque requirement of the generator, the measured speed of the generator, and the pitch angle of each blade through the acquisition module 110. Based on the acquired values, the current operating state of the generator can be obtained. The speed measurement value is filtered by the first filtering module 120 to obtain the speed filter value, which facilitates the subsequent determination of the generator's operating parameters. The parameter determination module 130 determines the generator's operating parameters based on the first torque requirement, each pitch angle, and the speed filter value. The operating parameters include the torque control speed target value, the first torque limit, and the second torque limit. Once the operating parameters are determined, the torque requirement can be adjusted according to the operating parameters. The second filtering module 140 then performs offset filtering on each pitch angle to obtain the speed offset value. The deviation calculation module 150 uses the speed filter value, the torque control speed target value, and the speed offset value to obtain the speed deviation value. By obtaining the speed deviation value, the torque demand adjustment can be made more accurate. The torque adjustment module 160 adjusts the torque PID according to the speed deviation value, the first torque limit, and the second torque limit to obtain the second torque demand value. The second torque demand is limited to a reasonable range to reduce energy consumption. When the second torque demand value is less than the preset torque upper limit value, the torque is controlled according to the second torque demand value. At this time, the adjusted torque demand control torque can keep the generator power within a certain range and improve the generator's power generation efficiency.

[0120] It should be noted that the acquisition module 110 is connected to the first filtering module 120, the first filtering module 120 is connected to the parameter determination module 130, the parameter determination module 130 is connected to the second filtering module 140, the second filtering module 140 is connected to the deviation calculation module 150, and the deviation calculation module 150 is connected to the torque adjustment module 160. The above torque control method is applied to the torque control device 100. The torque control device 100 obtains a more accurate torque demand by filtering the acquired measurement values ​​and adjusting the torque demand, thereby reducing energy consumption. By controlling the torque according to the torque demand, the generator operates within a certain power range, thus improving power generation efficiency.

[0121] In one embodiment, the acquisition module 110 is further configured to acquire a preset power value, and use a filter to perform power rate limiting processing on the power value to obtain a power limit value. Power rate limiting can suppress noise and improve signal quality. The torque control device 100 also includes a torque limit calculation module. Through the torque limit calculation module, a set speed value can be obtained based on the power limit value and a preset power-speed mapping relationship. Then, the rate of change of the set speed value is limited to obtain a speed target value, which is beneficial for subsequently calculating the torque upper limit value based on the speed target value. According to the relationship between power, speed, and torque, the ratio of the power limit value and the speed target value is calculated. The torque upper limit value limits the torque demand value. Only within the torque upper limit value can the generator be guaranteed to operate in a safe state.

[0122] It should also be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0123] This application also discloses an electronic device. (See reference...) Figure 10 , Figure 10 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. The electronic device 500 may include: at least one processor 501, a memory 503, and at least one communication bus 502.

[0124] The communication bus 502 is used to enable communication between these components.

[0125] The processor 501 may include one or more processing cores. The processor 501 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 503, and by calling data stored in memory 503. Optionally, the processor 501 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 501 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 501 and may be implemented as a separate chip.

[0126] The memory 503 may include random access memory (RAM) or read-only memory. Optionally, the memory 503 may include a non-transitory computer-readable storage medium. The memory 503 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 503 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 503 may also be at least one storage device located remotely from the aforementioned processor 501. (Refer to...) Figure 10 The memory 503, which serves as a computer storage medium, may include an operating system, a network communication module, and an application program for a torque control method.

[0127] exist Figure 10In the illustrated electronic device 500, the processor 501 can be used to call an application program storing a torque control method in the memory 503. When executed by one or more processors 501, the electronic device 500 performs one or more methods as described in the above embodiments. It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0128] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0129] In the various embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0130] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0131] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0132] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). 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 memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0133] The above are merely exemplary embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will readily conceive of those skilled in the art upon consideration of the specification and the disclosure of practical truths.

[0134] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A torque control method, characterized in that, Applied to wind turbine generators, the wind turbine generator including a generator and multiple blades, the generator being connected to each of the blades respectively, the method includes: Obtain the first torque requirement of the generator, the measured speed of the generator, and the pitch angle of each blade; The measured rotational speed value is filtered to obtain a filtered rotational speed value; The operating parameters of the generator are determined based on the first torque requirement, each of the pitch angles and the speed filter value. The operating parameters include a torque control speed target value, a first torque limit and a second torque limit. The pitch angles are subjected to offset filtering to obtain the speed offset values. The speed deviation value is obtained based on the speed filter value, the torque control speed target value, and the speed offset value; The torque PID is adjusted according to the speed deviation value, the first torque limit value, and the second torque limit value to obtain a second torque demand value. When the second torque demand value is less than the preset upper torque limit value, the torque is controlled according to the second torque demand value. The step of obtaining the speed deviation value based on the speed filter value, the torque control speed target value, and the speed offset value includes: The difference between the speed filter value and the torque control speed target value is calculated to obtain the speed difference value; The speed difference value is summed with the speed offset value to obtain the speed deviation value.

2. The method according to claim 1, characterized in that, The step of adjusting the torque PID based on the speed deviation value, the first torque limit, and the second torque limit to obtain the second torque demand value includes: Adjust the torque PID based on the speed deviation value to obtain the torque PID requirement; Based on the first torque limit and the second torque limit, the torque PID demand is subject to power limitation to obtain the second torque demand value.

3. The method according to claim 1, characterized in that, The step of filtering the measured rotational speed value to obtain a filtered rotational speed value includes: The measured rotational speed value is low-pass filtered to obtain the low-pass filtered rotational speed value. The speed low-pass filter value is subjected to notch filtering to obtain the speed filter value.

4. The method according to claim 1, characterized in that, The preset upper limit value of torque is obtained through the following steps: Obtain the preset power value; The power value is subjected to power rate limiting processing to obtain a power limit value; The target rotational speed is calculated using the power limit value. The upper limit of torque is obtained by calculating the ratio between the power limit value and the target speed value.

5. The method according to claim 4, characterized in that, The calculation of the target speed value using the power limit value includes: The set speed value is obtained based on the power limit value and the preset power-speed mapping relationship; The target speed value is obtained by limiting the rate of change of the set speed value.

6. The method according to claim 1, characterized in that, The step of determining the generator's operating parameters based on the first torque requirement, each of the pitch angles, and the speed filter value includes: Arithmetic calculations are performed on each of the aforementioned pitch angles to obtain the pitch angle values; The pitch angle value is filtered to obtain the filtered pitch angle value; The operating parameters of the generator are determined based on the first torque requirement, the pitch angle filter value, and the speed filter value.

7. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store instructions, and the processor being used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1-6.

8. A wind turbine generator set, characterized in that, Including the electronic device as described in claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed, perform the method as described in any one of claims 1-6.

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