Flexible tower resonance avoidance control method, electronic device, and system

Abstract

The present disclosure relates to a flexible tower resonance avoidance control method, an electronic device and a system. The method comprises: determining a first operating parameter of a current period in a first sampling mode; if the first tower vibration peak value and the first tower vibration effective value of the current period meet the preset condition, controlling the wind turbine to adopt a first rotating speed jump control strategy when the rotating speed of the wind wheel is in a first rotating speed limit interval; if the first wind wheel rotating frequency or the first tower vibration frequency is within a first frequency range, and the number of times that the first tower vibration peak value and the first tower vibration effective value meet the preset condition is greater than a first number threshold, controlling the wind turbine to adopt a second rotating speed jump control strategy when the rotating speed of the wind wheel is in a second rotating speed limit interval, and the first rotating speed limit interval is smaller than the second rotating speed limit interval. In this way, the control strategy adopted by the wind turbine can be adjusted to ensure the safe operation of the wind turbine.

Description

Technical Field

[0001] This disclosure relates to the field of wind power generation technology, and more specifically, to a flexible tower resonance avoidance control method, electronic equipment, and system. Background Technology

[0002] With the rapid development of the new energy industry, high-tower and long-blade technologies have emerged to capture more wind energy, greatly improving the single-unit capacity and power generation capacity of wind turbines. Compared with traditional low-capacity rigid-tower wind turbines, flexible-tower wind turbines have a lower natural frequency. If the wind turbine operates near the first-order natural frequency of the tower for a long time, the fatigue load generated by resonance will seriously reduce the service life of the wind turbine and even directly affect the safety and stability of the unit. Summary of the Invention

[0003] The purpose of this disclosure is to provide a flexible tower resonance avoidance control method, electronic equipment, and system to achieve effective avoidance of resonance frequencies and ensure the safe operation of wind turbine units.

[0004] To achieve the above objectives, the first aspect of this disclosure provides a method for controlling resonance avoidance in flexible towers, the method comprising:

[0005] In response to receiving a high-frequency sampling command, the first operating parameters of the current cycle in the first sampling mode are determined, wherein the first operating parameters include the first wind turbine rotation frequency, the first tower vibration frequency, the first tower vibration peak value, and the first tower vibration effective value.

[0006] If the peak value of the first tower vibration and the effective value of the first tower vibration in the current period meet the preset conditions, then when the wind turbine speed is within the first wind turbine speed limit range, the wind turbine unit is controlled to adopt the first speed jump control strategy.

[0007] If the rotational frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then when the wind turbine speed is within the second wind turbine speed limit range, the wind turbine is controlled to adopt the second speed jump control strategy, where the first wind turbine speed limit range is smaller than the second wind turbine speed limit range.

[0008] Optionally, determining whether the preset conditions are met includes:

[0009] The peak value growth ratio is determined based on the first tower vibration peak value and the tower vibration peak value of the previous cycle.

[0010] The effective value growth rate is determined based on the first tower vibration effective value and the tower vibration effective value of the previous cycle.

[0011] If the peak growth rate is greater than the first growth rate threshold and the effective value growth rate is greater than the second growth rate threshold, then the preset condition is determined to be met.

[0012] Optionally, the first rate at which the wind turbine speed changes in the first speed jump control strategy is less than the second rate at which the wind turbine speed changes in the second speed jump control strategy.

[0013] Optionally, the method further includes:

[0014] If the rotation frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the second number threshold, then the wind turbine is controlled to stop, and the second number threshold is greater than the first number threshold.

[0015] Optionally, before receiving the high-frequency sampling command, the method further includes:

[0016] Determine the second operating parameters for the current cycle under the second sampling mode, wherein the second operating parameters include the second wind turbine rotation frequency, the second tower vibration frequency, the second tower vibration peak value, and the second tower vibration effective value, wherein the sampling frequency under the first sampling mode is greater than the sampling frequency under the second sampling mode, and the sampling duration under the first sampling mode is greater than the sampling duration under the second sampling mode.

[0017] If the rotational frequency of the second wind turbine and the vibration frequency of the second tower are outside the second frequency range, then the wind turbine is controlled to adopt the wind turbine maximum energy tracking mode control strategy, where the second frequency range is greater than the first frequency range.

[0018] If the rotation frequency of the second wind turbine or the vibration frequency of the second tower is within the second frequency range, then the high-frequency sampling command is generated.

[0019] Optionally, the method further includes:

[0020] If the peak value of the first tower vibration and the effective value of the first tower vibration in the current cycle meet the preset conditions, then when the wind turbine speed is not within the first wind turbine speed limit range, the wind turbine unit is controlled to adopt the wind turbine maximum energy tracking mode control strategy.

[0021] Optionally, the method further includes:

[0022] If the rotational frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then when the wind turbine speed is not within the second wind turbine speed limit range, the wind turbine unit is controlled to adopt the wind turbine maximum energy tracking mode control strategy.

[0023] Optionally, the method further includes:

[0024] The first wind turbine speed limit range is determined based on the first natural frequency of the tower and the first coefficient group;

[0025] The second wind turbine speed limit range is determined based on the first natural frequency of the tower and the second coefficient group, wherein the minimum value of the first coefficient group is greater than the minimum value of the second coefficient group, and the maximum value of the first coefficient group is less than the maximum value of the second coefficient group.

[0026] Optionally, determining the first operating parameter of the current period in the first sampling mode in response to the received high-frequency sampling command includes:

[0027] In response to the received high-frequency sampling command, the wind turbine speed signal and tower vibration signal of the current cycle are acquired in the first sampling mode;

[0028] Perform a fast Fourier transform on the wind turbine speed signal to determine the rotational frequency of the first wind turbine;

[0029] Perform a fast Fourier transform on the tower vibration signal to determine the vibration frequency of the first tower;

[0030] The maximum value of the tower vibration signal within a preset range is determined as the first tower vibration peak value;

[0031] The weighted average value of the tower vibration signal within the current period is determined as the effective value of the first tower vibration.

[0032] A second aspect of this disclosure provides a flexible tower resonance avoidance control device, the device comprising:

[0033] The first determining module is used to determine the first operating parameters of the current period in the first sampling mode in response to the received high-frequency sampling command, wherein the first operating parameters include the first wind turbine rotation frequency, the first tower vibration frequency, the first tower vibration peak value and the first tower vibration effective value.

[0034] The first control module is used to control the wind turbine to adopt a first speed jump control strategy if the peak value of the first tower vibration and the effective value of the first tower vibration in the current period meet the preset conditions, and the wind turbine speed is within the first wind turbine speed limit range.

[0035] The second control module is configured to control the wind turbine to adopt a second speed jump control strategy if the first wind turbine rotation frequency or the first tower vibration frequency is within a first frequency range, and the first tower vibration peak value and the first tower vibration effective value satisfy the preset condition for a number of consecutive times greater than the first threshold value, when the wind turbine speed is within the second wind turbine speed limit range. The first wind turbine speed limit range is smaller than the second wind turbine speed limit range.

[0036] Optionally, the first control module includes:

[0037] The first determining submodule is used to determine the peak value growth ratio based on the first tower vibration peak value and the tower vibration peak value of the previous cycle.

[0038] The second determining submodule is used to determine the effective value growth ratio based on the first tower vibration effective value and the tower vibration effective value of the previous cycle.

[0039] The third determining submodule is used to determine that the preset condition is met if the peak growth rate is greater than the first growth rate threshold and the effective value growth rate is greater than the second growth rate threshold.

[0040] Optionally, the first rate at which the wind turbine speed changes in the first speed jump control strategy is less than the second rate at which the wind turbine speed changes in the second speed jump control strategy.

[0041] Optionally, the device further includes:

[0042] The third control module is used to control the wind turbine to shut down if the first wind turbine rotation frequency or the first tower vibration frequency is within the first frequency range, and the number of consecutive times that the first tower vibration peak value and the first tower vibration effective value satisfy the preset conditions is greater than the second number threshold, wherein the second number threshold is greater than the first number threshold.

[0043] Optionally, the device further includes:

[0044] The second determining module is used to determine the second operating parameters of the current cycle in the second sampling mode. The second operating parameters include the second wind turbine rotation frequency, the second tower vibration frequency, the second tower vibration peak value, and the second tower vibration effective value. The sampling frequency in the first sampling mode is greater than the sampling frequency in the second sampling mode, and the sampling duration in the first sampling mode is greater than the sampling duration in the second sampling mode.

[0045] The fourth control module is used to control the wind turbine to adopt the wind turbine maximum energy tracking mode if the second wind turbine rotation frequency and the second tower vibration frequency are outside the second frequency range, wherein the second frequency range is greater than the first frequency range.

[0046] The instruction generation module is used to generate the high-frequency sampling instruction if the rotation frequency of the second wind turbine or the vibration frequency of the second tower is within the second frequency range.

[0047] Optionally, the first control module is further configured to control the wind turbine to adopt the wind turbine maximum energy tracking mode control strategy if the peak value of the first tower vibration and the effective value of the first tower vibration in the current period meet preset conditions, and the wind turbine speed is not within the first wind turbine speed limit range.

[0048] Optionally, the second control module is further configured to control the wind turbine to adopt the wind turbine maximum energy tracking mode control strategy if the first wind turbine rotation frequency or the first tower vibration frequency is within a first frequency range, and the number of consecutive times that the first tower vibration peak value and the first tower vibration effective value satisfy the preset condition is greater than the first threshold value, when the wind turbine speed is not in the second wind turbine speed limit range.

[0049] Optionally, the device further includes:

[0050] The third determining module is used to determine the first wind turbine speed limit range based on the first natural frequency of the tower and the first coefficient group;

[0051] The fourth determining module is used to determine the second wind turbine speed limit range based on the first natural frequency of the tower and the second coefficient group, wherein the minimum value of the first coefficient group is greater than the minimum value of the second coefficient group, and the maximum value of the first coefficient group is less than the maximum value of the second coefficient group.

[0052] Optionally, the first determining module includes:

[0053] The acquisition submodule is used to acquire the wind turbine speed signal and tower vibration signal of the current cycle in the first sampling mode in response to the received high-frequency sampling command.

[0054] The fourth determining submodule is used to perform a fast Fourier transform on the wind turbine speed signal to determine the rotational frequency of the first wind turbine.

[0055] The fifth determining submodule is used to perform a fast Fourier transform on the tower vibration signal to determine the vibration frequency of the first tower.

[0056] The sixth determining submodule is used to determine the maximum value of the tower vibration signal within a preset range as the first tower vibration peak value;

[0057] The seventh determining submodule is used to determine the weighted average value of the tower vibration signal within the current period as the effective value of the first tower vibration.

[0058] A third aspect of this disclosure provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method provided in the first aspect of this disclosure.

[0059] A fourth aspect of this disclosure provides an electronic device, comprising:

[0060] A memory on which computer programs are stored;

[0061] A controller, when the computer program is executed by the controller, implements the steps of the method provided in the first aspect of this disclosure.

[0062] The fifth aspect of this disclosure provides a flexible tower resonance avoidance control system, the system comprising:

[0063] The wind turbine speed sensor is installed inside the main shaft or hub of the wind turbine to obtain the wind turbine speed signal;

[0064] Tower vibration sensors are installed inside the wind turbine nacelle or on the top of the tower to acquire tower vibration signals.

[0065] The data acquisition unit is used to transmit the wind turbine speed signal and the tower vibration signal to the industrial control unit;

[0066] The industrial control unit includes the device provided in the second aspect of this disclosure, or the electronic device provided in the fourth aspect of this disclosure.

[0067] Through the above technical solution, if the peak value and effective value of the first tower vibration in the current cycle meet preset conditions, then when the first wind turbine speed is within the first wind turbine speed limit range, the wind turbine will be controlled to adopt a first speed jump control strategy. If the first wind turbine rotation frequency or the first tower vibration frequency is within the first frequency range, and the number of consecutive times the peak value and effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then when the first wind turbine speed is within the second wind turbine speed limit range, the wind turbine will be controlled to adopt a second speed jump control strategy. The first wind turbine speed limit range is smaller than the second wind turbine speed limit range. In this way, the speed jump control strategy adopted by the wind turbine can be adjusted based on the actual operating state of the wind turbine speed and tower vibration, changing the wind turbine speed limit range, i.e., changing the safety margin. This improves the accuracy of judging the resonance trend of the tower and the wind turbine, enabling the wind turbine to effectively avoid resonance frequencies and ensuring the safe operation of the wind turbine.

[0068] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0069] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0070] Figure 1 This is a flowchart of a flexible tower resonance avoidance control method provided in an exemplary embodiment of this disclosure.

[0071] Figure 2 This is a schematic diagram of a flexible tower resonance avoidance control system provided in an exemplary embodiment of this disclosure.

[0072] Figure 3 This is a flowchart of a flexible tower resonance avoidance control method provided in an exemplary embodiment of this disclosure.

[0073] Figure 4 This is a block diagram of a flexible tower resonance avoidance control device provided in an exemplary embodiment of this disclosure.

[0074] Figure 5 This is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure. Detailed Implementation

[0075] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0076] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0077] Currently, to address the resonance issue between flexible wind turbine towers and wind turbines, a common approach is to use rotor speed jump control. This involves setting a fixed speed resonance range (i.e., a rotor speed limit range). When the rotor speed is within this range, the speed is controlled to quickly traverse the resonance zone, minimizing the wind turbine's operation within it. However, this method relies on the wind turbine's design values, resulting in a discrepancy between the resonance point and actual conditions. Furthermore, the resonance range is difficult to dynamically adjust based on the actual operating conditions of the rotor and tower, leading to significant power generation losses.

[0078] To address the aforementioned issues, this disclosure provides a flexible tower resonance avoidance control method.

[0079] Figure 1 This is a flowchart of a flexible tower resonance avoidance control method provided in an exemplary embodiment of this disclosure. This method can be applied to industrial control units installed inside the nacelle of a wind turbine. Figure 1 As shown, the method may include S101 to S103.

[0080] S101, in response to receiving a high-frequency sampling command, determines the first operating parameter of the current period in the first sampling mode.

[0081] The first operating parameters may include the first wind turbine rotation frequency, the first tower vibration frequency, the first tower vibration peak value, and the first tower vibration effective value.

[0082] like Figure 2 As shown, the wind turbine rotation speed signal can be monitored in real time by a wind turbine rotation speed sensor 1 installed inside the main shaft or hub of the wind turbine, and transmitted to the data acquisition unit 3. Similarly, the tower vibration signal can be acquired in real time by a tower vibration sensor 2 installed inside the nacelle or at the top of the tower, and transmitted to the data acquisition unit 3.

[0083] The wind turbine speed sensor 1 can be equipped with a three-axis accelerometer and a three-axis gyroscope to preprocess the acquired data, eliminating the effects of wind turbine vibration, gyroscope drift during long-term operation, and wind turbine yaw, thereby outputting a stable and reliable wind turbine speed signal. The tower vibration sensor 2 can be equipped with a MEMS three-axis accelerometer and a gyroscope to perform nonlinear compensation, orthogonal compensation, temperature compensation, and drift compensation on the acquired data, thereby outputting a stable and reliable tower vibration signal.

[0084] Data acquisition unit 3 can be used to transmit wind turbine speed signals and tower vibration signals to industrial control unit 4. Data acquisition unit 3 can be installed inside the wind turbine nacelle. Industrial control unit 4 can determine the first operating parameter of the current cycle based on the acquired wind turbine speed signals and tower vibration signals, and then control the wind turbine to adopt the corresponding control strategy to reduce the possibility of resonance. Industrial control unit 4 can also be installed inside the wind turbine nacelle. Wind turbine speed sensor 1, tower vibration sensor 2 and data acquisition unit 3 can be connected wirelessly, and data acquisition unit 3 and industrial control unit 4 can be connected wiredly. Data transmission can use standardized protocols such as Modbus TCP and TCP / IP.

[0085] High-frequency sampling commands can be input by staff or generated automatically by the industrial control unit when the original rotor rotation frequency and tower first-order natural frequency are relatively close, or when the original tower vibration frequency and tower first-order natural frequency are relatively close. The rotor rotation frequency and tower vibration frequency can be determined based on the original rotor speed signal and tower vibration signal. The sampling frequency in the first sampling mode can be 12 times per hour, and the sampling duration can be 2 minutes per sampling.

[0086] The method for obtaining the first-order natural frequency of the tower may include: pressing the emergency stop button during the normal operation of the wind turbine, acquiring the time-domain response of the wind turbine collected by the tower vibration sensor at this time, and determining the first-order natural frequency of the tower through fast Fourier transform.

[0087] For example, the rotor speed signal and tower vibration signal of the current cycle, acquired in the first sampling mode, can be input into a pre-trained parameter determination model. This model can output the rotor rotation frequency, tower vibration frequency, tower vibration peak value, and tower vibration RMS value. The parameter determination model can be trained using machine learning. In this way, the first operating parameters for the current cycle in the first sampling mode can be determined.

[0088] S102, if the peak value of the first tower vibration and the effective value of the first tower vibration in the current cycle meet the preset conditions, then when the wind turbine speed is within the first wind turbine speed limit range, the wind turbine unit is controlled to adopt the first speed jump control strategy.

[0089] For example, the wind turbine speed can be determined based on the wind turbine speed signal, which is a real-time acquired value. During the control process, even if it is not within the acquisition cycle corresponding to the acquisition mode, the wind turbine speed can still be acquired in real time to determine the wind turbine speed.

[0090] For example, determining that a preset condition is met can include:

[0091] The peak value increment is determined based on the peak value of the first tower vibration and the peak value of the tower vibration in the previous cycle;

[0092] The effective value increment is determined based on the effective value of the first tower vibration and the effective value of the tower vibration in the previous cycle;

[0093] If the peak increment is greater than the first increment threshold and the effective value increment is greater than the second increment threshold, then the preset conditions are met.

[0094] The first and second increment thresholds can be preset. The difference between the peak value of the first tower vibration and the peak value of the tower vibration in the previous cycle can be determined as the peak value increment; the difference between the effective value of the first tower vibration and the effective value of the tower vibration in the previous cycle can be determined as the effective value increment. If the peak value increment is greater than the first increment threshold and the effective value increment is greater than the second increment threshold, it can be determined that both the peak value and the effective value of the tower vibration are increasing at a relatively fast rate.

[0095] For example, determining that preset conditions are met can include:

[0096] The peak value growth rate is determined based on the peak value of the first tower vibration and the peak value of the tower vibration in the previous cycle.

[0097] The effective value growth rate is determined based on the effective value of the first tower vibration and the effective value of the tower vibration in the previous cycle.

[0098] If the peak growth rate is greater than the first growth rate threshold and the effective value growth rate is greater than the second growth rate threshold, then the preset conditions are met.

[0099] The first growth rate threshold and the second growth rate threshold can be preset, for example, both can be set to 5%.

[0100] Specifically, the peak growth rate can be determined using the following formula:

[0101]

[0102] Where, r p a represents the peak growth rate. p (n) represents the peak value of the tower vibration in the nth cycle, a p (n-1) represents the peak value of the tower vibration in the (n-1)th cycle.

[0103] The percentage increase in effective value can be determined using the following formula:

[0104]

[0105] Where, r m a represents the percentage increase in effective value. m(n) represents the effective value of the tower vibration in the nth cycle, a m (n-1) is the effective value of tower vibration in the (n-1)th cycle.

[0106] If the peak value growth rate is greater than the first growth rate threshold and the effective value growth rate is greater than the second growth rate threshold, then it can be determined that both the peak value and the effective value of tower vibration are growing at a relatively fast rate.

[0107] It is worth noting that the effective value and peak value of the tower vibration in the previous cycle can be determined based on the tower vibration signal collected in the first sampling mode or the tower vibration signal collected in the second sampling mode described below. The specific values ​​are related to the actual operation of the tower in the corresponding sampling mode of the previous cycle.

[0108] As mentioned above, the high-frequency sampling command is generated by the industrial control unit when the original rotor rotation frequency and the first-order natural frequency of the tower are relatively close, or when the original tower vibration frequency and the first-order natural frequency of the tower are relatively close. Therefore, if a high-frequency sampling command is received, it can be determined that there is a possibility that the tower and the wind turbine may resonate within a short period of time. If the preset conditions are met, it can be determined that both the peak value of the full-scale tower vibration and the effective value of the tower vibration are increasing at a relatively rapid rate, increasing the possibility of resonance between the tower and the wind turbine within a short period of time. If resonance occurs, it is necessary to exit the resonance state as soon as possible to ensure the safe operation of the wind turbine.

[0109] The first rotor speed limit range can be preset based on the first-order natural frequency of the tower. For example, the upper limit of the first rotor speed limit range (i.e., the lower limit of the rotor speed in the high-speed range) can be 2π·0·105%, and the lower limit of the first rotor speed limit range (i.e., the upper limit of the rotor speed in the low-speed range) can be 2π·0·95%, where f0 is the first-order natural frequency of the tower. If the rotor speed is within the first rotor speed limit range, it can be determined that the rotor speed is operating near the first-order natural frequency of the tower, resulting in resonance. To quickly exit the resonance state, when the rotor speed is within the first rotor speed limit range, the wind turbine can be controlled using a first speed jump control strategy to ensure the safe operation of the wind turbine.

[0110] S103, if the rotation frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then when the wind turbine speed is within the second wind turbine speed limit range, the wind turbine unit is controlled to adopt the second speed jump control strategy, and the first wind turbine speed limit range is smaller than the second wind turbine speed limit range.

[0111] For example, the first frequency range can be preset based on the first natural frequency of the tower. For instance, the lower limit of the first frequency range can be set to 95% of the first natural frequency of the tower, and the upper limit of the first frequency range can be set to 105% of the first natural frequency of the tower. If the first wind turbine rotation frequency or the first tower vibration frequency is within the first frequency range, it can be determined that the tower and the wind turbine are more likely to resonate in a short period of time.

[0112] The initial count threshold can be preset, for example, to 3 times. If the number of consecutive times the peak value and effective value of the first tower vibration meet the preset conditions is greater than the initial count threshold, it can be determined that the industrial control unit has repeatedly determined that the tower and wind turbine are likely to resonate within a short period of time. Therefore, if the rotational frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times the peak value and effective value of the first tower vibration meet the preset conditions is greater than the initial count threshold, it can be further confirmed that the tower and wind turbine are highly likely to resonate within a short period of time.

[0113] At this point, in order to improve the wind turbine's ability to safely avoid the first natural frequency of the tower and further reduce the possibility of the wind turbine operating near the first natural frequency of the tower for a long time, the wind turbine speed limit range can be expanded so that the second wind turbine speed limit range is greater than the first wind turbine speed limit range. This would make the restrictions on the wind turbine adopting the second speed jump control strategy more relaxed, making it easier for it to enter the speed jump control state.

[0114] The second rotor speed limit range can be preset based on the first-order natural frequency of the tower. For example, the upper limit of the second rotor speed limit range (i.e., the updated lower limit of the rotor speed in the high-speed range) can be 2π·0·107%, and the lower limit of the second rotor speed limit range (i.e., the updated upper limit of the rotor speed in the low-speed range) can be 2π·0·93%, where f0 is the first-order natural frequency of the tower. If the rotor speed is within the second rotor speed limit range, it can be determined that the rotor speed is operating near the first-order natural frequency of the tower, resulting in resonance. To quickly exit the resonance state, when the rotor speed is within the second rotor speed limit range, the wind turbine can be controlled using a second speed jump control strategy to ensure the safe operation of the wind turbine.

[0115] Through the above technical solution, if the peak value and effective value of the first tower vibration in the current cycle meet preset conditions, then when the first wind turbine speed is within the first wind turbine speed limit range, the wind turbine will be controlled to adopt a first speed jump control strategy. If the first wind turbine rotation frequency or the first tower vibration frequency is within the first frequency range, and the number of consecutive times the peak value and effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then when the first wind turbine speed is within the second wind turbine speed limit range, the wind turbine will be controlled to adopt a second speed jump control strategy. The first wind turbine speed limit range is smaller than the second wind turbine speed limit range. In this way, the speed jump control strategy adopted by the wind turbine can be adjusted based on the actual operating state of the wind turbine speed and tower vibration, changing the wind turbine speed limit range, i.e., changing the safety margin. This improves the accuracy of judging the resonance trend of the tower and the wind turbine, enabling the wind turbine to effectively avoid resonance frequencies and ensuring the safe operation of the wind turbine.

[0116] Optionally, the first rate at which the wind turbine speed changes in the first speed jump control strategy is less than the second rate at which the wind turbine speed changes in the second speed jump control strategy.

[0117] As mentioned above, the second speed jump control strategy is a means to further reduce the possibility of wind turbines operating near the first natural frequency of the tower for extended periods, based on the first speed jump control strategy. The second speed jump control strategy also increases the likelihood of resonance. In the first speed jump control strategy, the rotor speed is controlled to change at a first rate to effectively avoid the resonance frequency while ensuring the stability of the wind turbine operation. However, when the second speed jump control strategy is used, to control the rotor speed to quickly pass through the resonance zone, the rotor speed can be controlled to change at a larger rate (the second rate).

[0118] Optionally, the flexible tower resonance avoidance control method provided in this disclosure may further include:

[0119] If the rotation frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the second threshold, then the wind turbine unit is controlled to stop, and the second threshold is greater than the first threshold.

[0120] For example, the second threshold number can be preset, for instance, it can be set to 5 times. If the rotational frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the second threshold number, it can be determined that there is a very high probability that the tower and the wind turbine will resonate. Even if a speed jump control strategy is adopted, it will be difficult for the wind turbine to effectively avoid the resonance frequency. In order to ensure that the operating conditions of the wind turbine are not further deteriorated and to ensure the safety of the wind turbine operation, the wind turbine can be shut down.

[0121] Optionally, before receiving the high-frequency sampling command, the flexible tower resonance avoidance control method provided in this disclosure may further include:

[0122] Determine the second operating parameter for the current period under the second sampling mode;

[0123] If the rotation frequency of the second wind turbine and the vibration frequency of the second tower are outside the second frequency range, the wind turbine will be controlled using the wind turbine maximum energy tracking mode control strategy.

[0124] If the rotation frequency of the second wind turbine or the vibration frequency of the second tower is within the second frequency range, a high-frequency sampling command is generated.

[0125] The second operating parameters include the second wind turbine rotation frequency, the second tower vibration frequency, the second tower vibration peak value, and the second tower vibration effective value. The sampling frequency in the first sampling mode is greater than the sampling frequency in the second sampling mode, the sampling duration in the first sampling mode is greater than the sampling duration in the second sampling mode, and the second frequency range is greater than the first frequency range.

[0126] For example, the method for determining the second operating parameter is similar to that for the first operating parameter, and will not be repeated here. The second frequency range can be preset according to the first-order natural frequency of the tower. For example, the lower limit of the second frequency range can be set to 90% of the first-order natural frequency of the tower, and the upper limit of the second frequency range can be set to 110% of the first-order natural frequency of the tower.

[0127] If the rotational frequency of the second wind turbine and the vibration frequency of the second tower are outside the second frequency range, it can be determined that the possibility of resonance between the tower and the wind turbine in a short period of time is extremely low. In this case, controlling the wind turbine using the maximum energy tracking mode of the wind turbine can improve the power generation efficiency of the wind turbine. The method of using the maximum energy tracking mode to operate the wind turbine at its highest power generation efficiency is common knowledge in this field and will not be described in detail here.

[0128] If the rotation frequency of the second wind turbine or the vibration frequency of the second tower are within the second frequency range, it can be determined that there is a possibility of resonance between the tower and the wind turbine in a short period of time. At this time, a high-frequency sampling command can be generated to further combine the actual operating conditions of the wind turbine and the tower in more detail to dynamically adjust the control strategy of the wind turbine, improve the accuracy of the judgment on the resonance trend of the tower and the wind turbine, enable the wind turbine to effectively avoid the resonance frequency, and ensure the safe operation of the wind turbine.

[0129] Optionally, the flexible tower resonance avoidance control method provided in this disclosure may further include:

[0130] If the peak value of the first tower vibration and the effective value of the first tower vibration in the current cycle meet the preset conditions, then the wind turbine will be controlled using the wind turbine maximum energy tracking mode if the wind turbine speed is not within the first wind turbine speed limit range.

[0131] Thus, when the wind turbine speed is not near the first natural frequency of the tower, i.e., no resonance occurs, the control strategy of using the wind turbine maximum energy tracking mode can improve the power generation efficiency of the wind turbine.

[0132] Optionally, the flexible tower resonance avoidance control method provided in this disclosure may further include:

[0133] If the rotational frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then when the wind turbine speed is not within the second wind turbine speed limit range, the wind turbine unit is controlled to adopt the wind turbine maximum energy tracking mode control strategy.

[0134] Thus, when the wind turbine speed is not near the first natural frequency of the tower, i.e., no resonance occurs, the control strategy of using the wind turbine maximum energy tracking mode can improve the power generation efficiency of the wind turbine.

[0135] Optionally, the flexible tower resonance avoidance control method provided in this disclosure may further include:

[0136] The first wind turbine speed limit range is determined based on the first natural frequency of the tower and the first set of coefficients.

[0137] The speed limit range of the second wind turbine is determined based on the first-order natural frequency of the tower and the second set of coefficients.

[0138] Among them, the minimum value of the first coefficient group is greater than the minimum value of the second coefficient group, and the maximum value of the first coefficient group is less than the maximum value of the second coefficient group.

[0139] For example, the first coefficient group may include a first sub-coefficient and a second sub-coefficient. For instance, the first sub-coefficient may be set to 0.95, and the second sub-coefficient may be set to 1.05. The product of the first natural frequency of the tower and the first sub-coefficient can be determined as the lower limit of the first wind turbine speed limit range; the product of the first natural frequency of the tower and the second sub-coefficient can be determined as the upper limit of the first wind turbine speed limit range.

[0140] The second coefficient group may include a third sub-coefficient and a fourth sub-coefficient. For example, the third sub-coefficient may be set to 0.93 and the fourth sub-coefficient may be set to 1.07. The product of the first-order natural frequency of the tower and the third sub-coefficient can be determined as the lower limit of the first wind turbine speed limit range; the product of the first-order natural frequency of the tower and the fourth sub-coefficient can be determined as the upper limit of the first wind turbine speed limit range.

[0141] The minimum value of the first coefficient group is greater than the minimum value of the second coefficient group, and the maximum value of the first coefficient group is less than the maximum value of the second coefficient group. This ensures that the speed limit range of the first wind turbine is less than the speed limit range of the second wind turbine.

[0142] Optionally, in S101, in response to receiving a high-frequency sampling command, determining the first operating parameter of the current period in the first sampling mode may include:

[0143] In response to the received high-frequency sampling command, the wind turbine speed signal and tower vibration signal of the current cycle are acquired in the first sampling mode;

[0144] Perform a fast Fourier transform on the wind turbine speed signal to determine the rotational frequency of the first wind turbine;

[0145] The tower vibration signal is subjected to a fast Fourier transform to determine the vibration frequency of the first tower.

[0146] The maximum value of the tower vibration signal within a preset range is determined as the first tower vibration peak value;

[0147] The weighted average value of the tower vibration signal within the current period is determined as the first effective value of tower vibration.

[0148] For example, the wind turbine speed signal for the current period can be obtained using a wind turbine speed sensor, and a Fast Fourier Transform (FFT) can be performed on the wind turbine speed signal to determine the first wind turbine rotation frequency. Similarly, the tower vibration signal for the current period can be obtained using a tower vibration sensor, and a FFT can be performed on the tower vibration signal to determine the first tower vibration frequency.

[0149] Determining the maximum value of the tower vibration signal within a preset range as the first tower vibration peak value avoids identifying extreme outliers as the first tower vibration peak value, thus improving the accuracy of the determined first tower vibration peak value. The weights used to determine the effective value of the first tower vibration can be preset to improve the accuracy of the determined effective value by weighted averaging of the tower vibration signals within the current cycle. The second operating parameter can be determined using the same method based on the wind turbine speed signal and tower vibration signal of the current cycle under the second sampling mode; this will not be elaborated further here.

[0150] Figure 3 This is a flowchart of a flexible tower resonance avoidance control method provided in an exemplary embodiment of this disclosure. Through this... Figure 3 This allows for a clearer understanding of the implementation process of the flexible tower resonance avoidance control method provided in this disclosure. For example... Figure 3 As shown, the method may include S301 to S312.

[0151] S301, acquire the wind turbine speed signal and tower vibration signal of the current cycle in the second sampling mode.

[0152] S302, determine the second operating parameter of the current cycle in the second sampling mode.

[0153] The second operating parameters include the rotational frequency of the second wind turbine, the vibration frequency of the second tower, the peak value of the second tower vibration, and the effective value of the second tower vibration.

[0154] S303, determine whether the rotation frequency of the second wind turbine and the vibration frequency of the second tower are outside the second frequency range. If yes, proceed to S304; if no, proceed to S305.

[0155] S304, the control strategy for controlling wind turbine units adopts the maximum energy tracking mode of the wind turbine.

[0156] S305 generates high-frequency sampling instructions.

[0157] S306, in response to receiving a high-frequency sampling command, acquires the wind turbine speed signal and tower vibration signal of the current cycle in the first sampling mode, and determines the first operating parameter of the current cycle in the first sampling mode.

[0158] The first operating parameters include the first wind turbine rotation frequency, the first tower vibration frequency, the first tower vibration peak value, and the first tower vibration RMS value. The sampling frequency in the first sampling mode is greater than that in the second sampling mode, and the sampling duration in the first sampling mode is greater than that in the second sampling mode.

[0159] S307, determine whether the peak value and effective value of the first tower vibration in the current cycle meet the preset conditions. If yes, proceed to S308; otherwise, proceed to S304.

[0160] S308, determine whether the wind turbine speed is within the first wind turbine speed limit range. If yes, proceed to S309; ​​otherwise, proceed to S304.

[0161] S309, the wind turbine is controlled by a first speed jump control strategy.

[0162] S310: If the rotational frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then determine whether the wind turbine speed is within the second wind turbine speed limit range. If yes, execute S311; if no, execute S308.

[0163] The first wind turbine speed limit range is smaller than the second wind turbine speed limit range. The second frequency range is larger than the first frequency range.

[0164] S311, the wind turbine is controlled using the second speed jump control strategy.

[0165] In the first speed jump control strategy, the first rate at which the wind turbine speed changes is less than the second rate at which the wind turbine speed changes in the second speed jump control strategy.

[0166] S312, if the rotation frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the second threshold, then control the wind turbine to stop.

[0167] Among them, the threshold for the second number is greater than the threshold for the first number.

[0168] In this way, the speed jump control strategy adopted by the wind turbine can be adjusted based on the actual operating conditions of the wind turbine speed and tower vibration, thereby changing the wind turbine speed limit range, i.e., changing the safety margin. This can improve the accuracy of judging the resonance trend of the tower and wind turbine, enabling the wind turbine to effectively avoid the resonance frequency and ensure the safe operation of the wind turbine.

[0169] Based on the same inventive concept, this disclosure also provides a flexible tower resonance avoidance control device. Figure 4 This is a block diagram of a flexible tower resonance avoidance control device 400 provided in an exemplary embodiment of this disclosure.

[0170] Reference Figure 4 The flexible tower resonance avoidance control device 400 may include:

[0171] The first determining module 401 is used to determine the first operating parameters of the current cycle in the first sampling mode in response to the received high-frequency sampling command, wherein the first operating parameters include the first wind turbine rotation frequency, the first tower vibration frequency, the first tower vibration peak value and the first tower vibration effective value.

[0172] The first control module 402 is used to control the wind turbine to adopt a first speed jump control strategy if the peak value of the first tower vibration and the effective value of the first tower vibration in the current period meet the preset conditions, and the wind turbine speed is in the first wind turbine speed limit range.

[0173] The second control module 403 is configured to control the wind turbine to adopt a second speed jump control strategy if the first wind turbine rotation frequency or the first tower vibration frequency is within a first frequency range, and the first tower vibration peak value and the first tower vibration effective value satisfy the preset condition for a number of consecutive times greater than the first threshold value, when the wind turbine speed is within the second wind turbine speed limit range. The first wind turbine speed limit range is smaller than the second wind turbine speed limit range.

[0174] Through the above technical solution, if the peak value and effective value of the first tower vibration in the current cycle meet preset conditions, then when the first wind turbine speed is within the first wind turbine speed limit range, the wind turbine will be controlled to adopt a first speed jump control strategy. If the first wind turbine rotation frequency or the first tower vibration frequency is within the first frequency range, and the number of consecutive times the peak value and effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then when the first wind turbine speed is within the second wind turbine speed limit range, the wind turbine will be controlled to adopt a second speed jump control strategy. The first wind turbine speed limit range is smaller than the second wind turbine speed limit range. In this way, the speed jump control strategy adopted by the wind turbine can be adjusted based on the actual operating state of the wind turbine speed and tower vibration, changing the wind turbine speed limit range, i.e., changing the safety margin. This improves the accuracy of judging the resonance trend of the tower and the wind turbine, enabling the wind turbine to effectively avoid resonance frequencies and ensuring the safe operation of the wind turbine.

[0175] Optionally, the first control module 402 includes:

[0176] The first determining submodule is used to determine the peak value growth ratio based on the first tower vibration peak value and the tower vibration peak value of the previous cycle.

[0177] The second determining submodule is used to determine the effective value growth ratio based on the first tower vibration effective value and the tower vibration effective value of the previous cycle.

[0178] The third determining submodule is used to determine that the preset condition is met if the peak growth rate is greater than the first growth rate threshold and the effective value growth rate is greater than the second growth rate threshold.

[0179] Optionally, the first rate at which the wind turbine speed changes in the first speed jump control strategy is less than the second rate at which the wind turbine speed changes in the second speed jump control strategy.

[0180] Optionally, the device 400 further includes:

[0181] The third control module is used to control the wind turbine to shut down if the first wind turbine rotation frequency or the first tower vibration frequency is within the first frequency range, and the number of consecutive times that the first tower vibration peak value and the first tower vibration effective value satisfy the preset conditions is greater than the second number threshold, wherein the second number threshold is greater than the first number threshold.

[0182] Optionally, the device 400 further includes:

[0183] The second determining module is used to determine the second operating parameters of the current cycle in the second sampling mode. The second operating parameters include the second wind turbine rotation frequency, the second tower vibration frequency, the second tower vibration peak value, and the second tower vibration effective value. The sampling frequency in the first sampling mode is greater than the sampling frequency in the second sampling mode, and the sampling duration in the first sampling mode is greater than the sampling duration in the second sampling mode.

[0184] The fourth control module is used to control the wind turbine to adopt the wind turbine maximum energy tracking mode if the second wind turbine rotation frequency and the second tower vibration frequency are outside the second frequency range, wherein the second frequency range is greater than the first frequency range.

[0185] The instruction generation module is used to generate the high-frequency sampling instruction if the rotation frequency of the second wind turbine or the vibration frequency of the second tower is within the second frequency range.

[0186] Optionally, the first control module is further configured to control the wind turbine to adopt the wind turbine maximum energy tracking mode control strategy if the peak value of the first tower vibration and the effective value of the first tower vibration in the current period meet preset conditions, and the wind turbine speed is not within the first wind turbine speed limit range.

[0187] Optionally, the second control module is further configured to control the wind turbine to adopt the wind turbine maximum energy tracking mode control strategy if the first wind turbine rotation frequency or the first tower vibration frequency is within a first frequency range, and the number of consecutive times that the first tower vibration peak value and the first tower vibration effective value satisfy the preset condition is greater than the first threshold value, when the wind turbine speed is not in the second wind turbine speed limit range.

[0188] Optionally, the device 400 further includes:

[0189] The third determining module is used to determine the first wind turbine speed limit range based on the first natural frequency of the tower and the first coefficient group;

[0190] The fourth determining module is used to determine the second wind turbine speed limit range based on the first natural frequency of the tower and the second coefficient group, wherein the minimum value of the first coefficient group is greater than the minimum value of the second coefficient group, and the maximum value of the first coefficient group is less than the maximum value of the second coefficient group.

[0191] Optionally, the first determining module 401 includes:

[0192] The acquisition submodule is used to acquire the wind turbine speed signal and tower vibration signal of the current cycle in the first sampling mode in response to the received high-frequency sampling command.

[0193] The fourth determining submodule is used to perform a fast Fourier transform on the wind turbine speed signal to determine the rotational frequency of the first wind turbine.

[0194] The fifth determining submodule is used to perform a fast Fourier transform on the tower vibration signal to determine the vibration frequency of the first tower.

[0195] The sixth determining submodule is used to determine the maximum value of the tower vibration signal within a preset range as the first tower vibration peak value;

[0196] The seventh determining submodule is used to determine the weighted average value of the tower vibration signal within the current period as the effective value of the first tower vibration.

[0197] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0198] Figure 5 This is a block diagram of an electronic device 700 provided in another exemplary embodiment of this disclosure. (See diagram below.) Figure 5As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0199] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the flexible tower resonance avoidance control method described above. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0200] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the flexible tower resonance avoidance control method described above.

[0201] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the flexible tower resonance avoidance control method described above. For example, the computer-readable storage medium may be the memory 702 including program instructions described above, which may be executed by the processor 701 of the electronic device 700 to complete the flexible tower resonance avoidance control method described above.

[0202] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described flexible tower resonance avoidance control method when executed by the programmable device.

[0203] In another exemplary embodiment, a flexible tower resonance avoidance control system is also provided, the system comprising:

[0204] The wind turbine speed sensor is installed inside the main shaft or hub of the wind turbine to obtain the wind turbine speed signal;

[0205] Tower vibration sensors are installed inside the wind turbine nacelle or on the top of the tower to acquire tower vibration signals.

[0206] The data acquisition unit is used to transmit the wind turbine speed signal and the tower vibration signal to the industrial control unit;

[0207] The industrial control unit includes the device 400 of this disclosure, or the electronic device 700 of this disclosure.

[0208] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0209] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0210] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for controlling resonance avoidance in a flexible tower, characterized in that, The method includes: In response to receiving a high-frequency sampling command, the first operating parameters of the current cycle in the first sampling mode are determined, wherein the first operating parameters include the first wind turbine rotation frequency, the first tower vibration frequency, the first tower vibration peak value, and the first tower vibration effective value. If the peak value of the first tower vibration and the effective value of the first tower vibration in the current period meet the preset conditions, then when the wind turbine speed is within the first wind turbine speed limit range, the wind turbine unit is controlled to adopt the first speed jump control strategy. If the first wind turbine rotation frequency or the first tower vibration frequency is within the first frequency range, and the first tower vibration peak value and the first tower vibration effective value satisfy the preset condition for more than the first number threshold, then when the wind turbine speed is within the second wind turbine speed limit range, the wind turbine unit is controlled to adopt the second speed jump control strategy, and the first wind turbine speed limit range is smaller than the second wind turbine speed limit range. Among them, determining that the preset conditions are met includes: The peak value growth ratio is determined based on the first tower vibration peak value and the tower vibration peak value of the previous cycle. The effective value growth rate is determined based on the first tower vibration effective value and the tower vibration effective value of the previous cycle. If the peak growth rate is greater than the first growth rate threshold and the effective value growth rate is greater than the second growth rate threshold, then the preset condition is determined to be met. Before receiving the high-frequency sampling command, the method further includes: Determine the second operating parameters for the current cycle under the second sampling mode, wherein the second operating parameters include the second wind turbine rotation frequency, the second tower vibration frequency, the second tower vibration peak value, and the second tower vibration effective value, wherein the sampling frequency under the first sampling mode is greater than the sampling frequency under the second sampling mode, and the sampling duration under the first sampling mode is greater than the sampling duration under the second sampling mode. If the rotational frequency of the second wind turbine and the vibration frequency of the second tower are outside the second frequency range, then the wind turbine is controlled to adopt the wind turbine maximum energy tracking mode control strategy, where the second frequency range is greater than the first frequency range. If the rotation frequency of the second wind turbine or the vibration frequency of the second tower is within the second frequency range, then the high-frequency sampling command is generated.

2. The method according to claim 1, characterized in that, The first rate at which the wind turbine speed changes in the first speed jump control strategy is less than the second rate at which the wind turbine speed changes in the second speed jump control strategy.

3. The method according to claim 1, characterized in that, The method further includes: If the rotation frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the second number threshold, then the wind turbine is controlled to stop, and the second number threshold is greater than the first number threshold.

4. The method according to claim 1, characterized in that, The method further includes: If the peak value of the first tower vibration and the effective value of the first tower vibration in the current cycle meet the preset conditions, then when the wind turbine speed is not within the first wind turbine speed limit range, the wind turbine unit is controlled to adopt the wind turbine maximum energy tracking mode control strategy.

5. The method according to claim 1, characterized in that, The method further includes: If the rotational frequency of the first wind turbine or the vibration frequency of the first tower is within the first frequency range, and the number of consecutive times that the peak value of the first tower vibration and the effective value of the first tower vibration meet the preset conditions is greater than the first threshold, then when the wind turbine speed is not within the second wind turbine speed limit range, the wind turbine unit is controlled to adopt the wind turbine maximum energy tracking mode control strategy.

6. The method according to claim 1, characterized in that, The method further includes: The first wind turbine speed limit range is determined based on the first natural frequency of the tower and the first coefficient group; The second wind turbine speed limit range is determined based on the first natural frequency of the tower and the second coefficient group, wherein the minimum value of the first coefficient group is greater than the minimum value of the second coefficient group, and the maximum value of the first coefficient group is less than the maximum value of the second coefficient group.

7. The method according to claim 1, characterized in that, The step of determining the first operating parameters of the current period in the first sampling mode in response to the received high-frequency sampling command includes: In response to the received high-frequency sampling command, the wind turbine speed signal and tower vibration signal of the current cycle are acquired in the first sampling mode; Perform a fast Fourier transform on the wind turbine speed signal to determine the rotational frequency of the first wind turbine; Perform a fast Fourier transform on the tower vibration signal to determine the vibration frequency of the first tower. The maximum value of the tower vibration signal within a preset range is determined as the first tower vibration peak value; The weighted average value of the tower vibration signal within the current period is determined as the effective value of the first tower vibration.

8. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-7.

9. A flexible tower resonance avoidance control system, characterized in that, The system includes: The wind turbine speed sensor is installed inside the main shaft or hub of the wind turbine to obtain the wind turbine speed signal; Tower vibration sensors are installed inside the wind turbine nacelle or on the top of the tower to acquire tower vibration signals. The data acquisition unit is used to transmit the wind turbine speed signal and the tower vibration signal to the industrial control unit; The industrial control unit includes the electronic equipment as described in claim 8.

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