A control method of a wind power generator and related device

Abstract

Embodiments of the present application disclose a control method and related device of a wind driven generator, which can acquire an acceleration parameter corresponding to a target wind driven generator in real time, determine whether the target wind driven generator meets a wind condition factor determination condition, and the wind condition factor determination condition is used to determine a reason for yaw vibration overrun of the wind driven generator. If the target wind driven generator meets the wind condition factor determination condition, it can be determined that the wind driven generator causes the acceleration effective value to exceed the vibration overrun threshold due to the wind condition factor. If the target wind driven generator does not meet the wind condition factor determination condition, it can be determined that the target wind driven generator causes the acceleration effective value to exceed the vibration overrun threshold due to the yaw brake disc system factor. Thus, the wind driven generator can be controlled based on the more accurate analysis of the overrun reason, avoiding frequent shutdown operations due to the wind condition factor, reducing the start-stop frequency of the wind driven generator, and reducing the loss.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and in particular to a control method and related apparatus for a wind turbine. Background Technology

[0002] Yaw refers to a change in the orientation of a wind turbine. During yaw, various factors may cause abnormal vibrations, which may affect the normal operation of the wind turbine and cause certain hazards.

[0003] Therefore, in related technologies, it is necessary to monitor and protect the yaw process of wind turbines. Currently, the protection scheme for excessive vibration of the unit during yaw is to immediately shut down the unit when the unit is in the yaw process and the effective value of acceleration detected by the acceleration sensor installed in the nacelle exceeds the preset fault threshold.

[0004] However, the vibration over-limit protection schemes in related technologies can easily cause frequent shutdowns of wind turbines, affecting the power generation of the unit and increasing the fatigue load caused by the start-up and shutdown of the unit. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a control method for a wind turbine. The processing equipment can perform targeted control based on accurate analysis results of yaw vibration, thereby ensuring stable operation of the wind turbine while reducing shutdown frequency, increasing the unit's power generation, and reducing start-up and shutdown losses.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, embodiments of this application disclose a control method for a wind turbine generator, the method comprising:

[0008] Real-time acquisition of acceleration parameters corresponding to the target wind turbine;

[0009] In response to the target wind turbine being in a yaw state and the effective value of acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold, it is determined whether the target wind turbine meets the wind condition factor judgment condition;

[0010] If the target wind turbine meets the wind condition factor determination condition, it is determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to wind condition factors.

[0011] If the target wind turbine does not meet the wind condition factor determination conditions, it is determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to the yaw brake disc system factor.

[0012] In response to the factor that causes the effective value of acceleration to exceed the vibration over-limit threshold being either a wind condition factor or a yaw brake disc system factor, the operating state of the target wind turbine is controlled.

[0013] In one possible implementation, the wind condition factor determination criteria include the target wind turbine having an absolute acceleration value greater than an instantaneous acceleration threshold during a first preset time period prior to the target time. The method further includes:

[0014] Determine the maximum absolute value of acceleration corresponding to the first preset time period before the target time of the target generator, wherein the target time is the time when the effective value of acceleration exceeds the vibration over-limit threshold.

[0015] In one possible implementation, the wind condition factor determination criteria include the maximum absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine during a second preset time period before the target time being greater than a first rate of change threshold, or the average absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine during a third preset time period before the target time being greater than a second rate of change threshold, wherein the third preset time period is shorter than the second preset time period, and the method further includes:

[0016] The absolute value of the rate of change of the vibration dominant direction acceleration of the target generator in the second preset period before the target time is determined, and the average absolute value of the rate of change of the vibration dominant direction acceleration of the target wind turbine in the third preset period before the target time is determined. The target time is the moment when the effective value of the acceleration exceeds the vibration over-limit threshold.

[0017] In one possible implementation, the wind condition factor determination criteria include the mean effective acceleration value of the target wind turbine being less than a threshold value for the fourth preset time period prior to the target time. The method further includes:

[0018] The average effective acceleration value of the target wind turbine is determined in the fourth preset time period before the target time, where the target time is the moment when the effective acceleration value exceeds the vibration over-limit threshold.

[0019] In one possible implementation, the wind condition factor determination criteria include the target duration corresponding to the target wind turbine being greater than a first duration threshold, and the method further includes:

[0020] The target duration corresponding to the target wind turbine is determined. The target duration is the time between the last zero-crossing point of the acceleration in the dominant vibration direction before the target time and the target time. The target time is the time when the effective value of the acceleration exceeds the vibration over-limit threshold. The first duration threshold is determined based on the first-order frequency and rotational frequency of the tower corresponding to the target wind turbine.

[0021] In one possible implementation, the wind condition factor determination criteria include the dominant frequency of the acceleration in the dominant vibration direction corresponding to the target wind turbine being less than a frequency threshold, and the method further includes:

[0022] Determine the dominant acceleration frequency in the dominant vibration direction corresponding to the target wind turbine.

[0023] In one possible implementation, the factor responding to the effective value of acceleration exceeding the vibration over-limit threshold is a wind condition factor or a yaw brake disc system factor, and controlling the operating state of the target wind turbine includes:

[0024] In response to the target wind turbine's acceleration effective value exceeding the vibration over-limit threshold due to wind conditions, the number of wind condition anomalies corresponding to the target wind turbine is incremented by 1;

[0025] In response to the number of abnormal wind conditions corresponding to the target wind turbine reaching a preset threshold within a target time period, load reduction control is implemented for the target wind turbine.

[0026] In response to the target wind turbine's acceleration exceeding the vibration over-limit threshold due to factors related to the yaw brake disc system, the target wind turbine is shut down.

[0027] In one possible implementation, the method further includes:

[0028] Using a preset yaw time period as a unit, obtain the acceleration parameters of the target wind turbine in N preset yaw time periods, where N is a positive integer;

[0029] Based on the acceleration parameters corresponding to the N preset yaw periods, the abnormal yaw periods among the N preset yaw periods are determined;

[0030] In response to the fact that the proportion of abnormal yaw periods in the N preset yaw periods is greater than the proportion threshold, a yaw alarm is generated, which is used to identify that the target wind turbine has a fault risk.

[0031] In one possible implementation, the N preset yaw periods include a target preset yaw period, and determining the abnormal yaw period among the N preset yaw periods based on the acceleration parameters corresponding to each of the N preset yaw periods includes:

[0032] In response to the fact that the mean absolute value of acceleration corresponding to the target preset yaw period is greater than the absolute value mean threshold, the target preset yaw period is determined to be an abnormal yaw period;

[0033] And / or, in response to the fact that the time interval between two adjacent zero crossings of acceleration in the forward or backward or left or right directions within the target preset yaw period is greater than a second duration threshold, the target preset yaw period is determined to be an abnormal yaw period;

[0034] And / or, in response to the fact that the number of times the acceleration passes zero point within the target preset time period does not exceed 1 time, the target preset yaw time period is determined to be an abnormal yaw time period.

[0035] Secondly, embodiments of this application disclose a control device for a wind turbine generator, the device comprising a first acquisition unit, a first determination unit, a second determination unit, a third determination unit, and a control unit:

[0036] The first acquisition unit is used to acquire the acceleration parameters corresponding to the target wind turbine in real time;

[0037] The first determining unit is used to determine whether the target wind turbine meets the wind condition factor judgment conditions in response to the target wind turbine being in a yaw state and the effective value of acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold.

[0038] The second determining unit is used to determine, if the target wind turbine meets the wind condition factor determination condition, that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to wind condition factors.

[0039] The third determining unit is used to determine that if the target wind turbine does not meet the wind condition factor determination condition, the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to the yaw brake disc system factor.

[0040] The control unit is used to control the operating status of the target wind turbine in response to the factor that causes the effective value of acceleration to exceed the vibration over-limit threshold being either a wind condition factor or a yaw brake disc system factor.

[0041] In one possible implementation, the wind condition determination criteria include the target wind turbine having an absolute acceleration value greater than an instantaneous acceleration threshold during a first preset time period prior to the target time. The device further includes a fourth determining unit.

[0042] The fourth determining unit is used to determine the maximum absolute value of acceleration corresponding to the first preset time period before the target time of the target generator, wherein the target time is the time when the effective value of acceleration exceeds the vibration over-limit threshold.

[0043] In one possible implementation, the wind condition determination criteria include the maximum absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine during a second preset time period before the target time being greater than a first rate of change threshold, or the average absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine during a third preset time period before the target time being greater than a second rate of change threshold, wherein the third preset time period is shorter than the second preset time period, and the device further includes a fifth determining unit:

[0044] The fifth determining unit is used to determine the absolute value of the rate of change of the vibration dominant direction acceleration of the target generator in the second preset period before the target time, and to determine the average absolute value of the rate of change of the vibration dominant direction acceleration of the target wind turbine in the third preset period before the target time, wherein the target time is the moment when the effective value of the acceleration exceeds the vibration over-limit threshold.

[0045] In one possible implementation, the wind condition determination criteria include the target wind turbine's average effective acceleration value being less than an effective value average threshold during a fourth preset time period prior to the target time. The device further includes a sixth determining unit.

[0046] The sixth determining unit is used to determine the average effective acceleration value of the target wind turbine in the fourth preset time period before the target time, wherein the target time is the time when the effective acceleration value exceeds the vibration over-limit threshold.

[0047] In one possible implementation, the wind condition determination criteria include the target duration corresponding to the target wind turbine being greater than a first duration threshold, and the device further includes a seventh determining unit:

[0048] The seventh determining unit is used to determine the target duration corresponding to the target wind turbine. The target duration is the time between the last zero-crossing point of the acceleration in the dominant vibration direction before the target time and the target time. The target time is the time when the effective value of the acceleration exceeds the vibration over-limit threshold. The first duration threshold is determined based on the first-order frequency and rotational frequency of the tower corresponding to the target wind turbine.

[0049] In one possible implementation, the wind condition determination criteria include the dominant frequency of the vibration-dominant direction acceleration corresponding to the target wind turbine being less than a frequency threshold, and the device further includes an eighth determining unit:

[0050] The eighth determining unit is used to determine the dominant acceleration frequency in the dominant vibration direction corresponding to the target wind turbine.

[0051] In one possible implementation, the control unit is specifically used for:

[0052] In response to the target wind turbine's acceleration effective value exceeding the vibration over-limit threshold due to wind conditions, the number of wind condition anomalies corresponding to the target wind turbine is incremented by 1;

[0053] In response to the number of abnormal wind conditions corresponding to the target wind turbine reaching a preset threshold within a target time period, load reduction control is implemented for the target wind turbine.

[0054] In response to the target wind turbine's acceleration exceeding the vibration over-limit threshold due to factors related to the yaw brake disc system, the target wind turbine is shut down.

[0055] In one possible implementation, the apparatus further includes a second acquisition unit, an eighth determination unit, and a generation unit:

[0056] The second acquisition unit is used to acquire the acceleration parameters of the target wind turbine in N preset yaw periods, with each preset yaw period as a unit;

[0057] The eighth determining unit is used to determine the abnormal yaw period among the N preset yaw periods based on the acceleration parameters corresponding to the N preset yaw periods respectively;

[0058] The generation unit is used to generate yaw alarm information in response to the fact that the proportion of abnormal yaw periods in the N preset yaw periods is greater than the proportion threshold. The yaw alarm information is used to identify that the target wind turbine has a fault risk.

[0059] In one possible implementation, the N preset yaw time periods include a target preset yaw time period, and the eighth determining unit is specifically used for:

[0060] In response to the fact that the mean absolute value of acceleration corresponding to the target preset yaw period is greater than the absolute value mean threshold, the target preset yaw period is determined to be an abnormal yaw period;

[0061] And / or, in response to the fact that the time interval between two adjacent zero crossings of acceleration in the forward or backward or left or right directions within the target preset yaw period is greater than a second duration threshold, the target preset yaw period is determined to be an abnormal yaw period;

[0062] And / or, in response to the fact that the number of times the acceleration passes zero point within the target preset time period does not exceed 1 time, the target preset yaw time period is determined to be an abnormal yaw time period.

[0063] Thirdly, embodiments of this application disclose a processing device, which includes a processor and a memory:

[0064] The memory is used to store program code and transmit the program code to the processor;

[0065] The processor is used to execute the wind turbine control method described in any one of the first aspects according to the instructions in the program code.

[0066] Fourthly, embodiments of this application disclose a computer-readable storage medium for storing a computer program for executing the control method of the wind turbine generator described in any one of the first aspects.

[0067] Fifthly, embodiments of this application disclose a computer program product including instructions that, when run on a processing device, cause the processing device to execute the wind turbine control method described in any one of the first aspects.

[0068] As can be seen from the above technical solution, this application provides a control method for a wind turbine. By acquiring the acceleration parameters corresponding to the target wind turbine in real time, and responding to the target wind turbine being in a yaw state and the effective value of the acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold, it can be determined whether the target wind turbine meets the wind condition factor judgment condition. This wind condition factor judgment condition is used to determine the cause of the yaw vibration exceeding the limit. If the target wind turbine meets the wind condition factor judgment condition, it can be determined that the effective value of the acceleration of the wind turbine exceeds the vibration over-limit threshold due to wind conditions; if the target wind turbine does not meet the wind condition factor judgment condition, it can be determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to yaw brake disc system factors. In response to the fact that the effective value of acceleration exceeds the vibration over-limit threshold, which is either a wind condition factor or a yaw brake disc system factor, the operating state of the target generator can be controlled. This allows for control of the wind turbine based on a more accurate analysis of the cause of the over-limit, avoiding frequent shutdowns for over-limits caused by wind conditions. This reduces the start-stop frequency of the wind turbine, thereby increasing its power generation and reducing losses caused by start-stop operations. Attached Figure Description

[0069] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0070] Figure 1 A flowchart of a control method for a wind turbine provided in this application embodiment;

[0071] Figure 2 A schematic diagram of a wind turbine control method provided in an embodiment of this application;

[0072] Figure 3 A schematic diagram of a wind turbine control method provided in an embodiment of this application;

[0073] Figure 4 A schematic diagram of a wind turbine control method provided in an embodiment of this application;

[0074] Figure 5 A schematic diagram of a wind turbine control method provided in an embodiment of this application;

[0075] Figure 6 A schematic diagram illustrating a control method for a wind turbine in a practical application scenario, provided as an embodiment of this application;

[0076] Figure 7 A schematic diagram illustrating a control method for a wind turbine in a practical application scenario, provided as an embodiment of this application;

[0077] Figure 8 This is a structural block diagram of a control device for a wind turbine provided in an embodiment of this application. Detailed Implementation

[0078] The embodiments of this application will now be described with reference to the accompanying drawings.

[0079] The main factors causing vibration during yaw are complex wind conditions and excessive wear or contamination of the yaw brake disc. Current vibration protection strategies during yaw do not further differentiate between the contributing factors, thus preventing the unit from implementing adaptive control based on the root cause. It cannot issue early warnings when yaw brake disc wear or contamination is not severe (i.e., before causing a vibration over-limit failure shutdown), thus failing to guide maintenance personnel in developing maintenance plans for low-wind weather. Furthermore, it cannot identify vibration over-limit caused by complex wind conditions and implement fault ride-through and short-term load reduction control. Directly shutting down the unit when vibration exceeds limits during yaw not only affects power generation but also increases fatigue loads from unit start-up and shutdown.

[0080] To address the aforementioned technical problems, this application provides a control method for a wind turbine generator. The processing equipment can perform targeted control based on accurate analysis results of yaw vibration, thereby ensuring stable operation of the wind turbine generator while reducing shutdown frequency, increasing the generator's power generation, and reducing start-up and shutdown losses.

[0081] It is understood that this method can be applied to a processing device capable of controlling a wind turbine. In one example, this processing device can be a terminal device or a server with wind turbine control functionality. The method can be executed independently by the terminal device or server, or it can be applied to network scenarios where the terminal device and server communicate, executing in cooperation. The terminal device can be a desktop computer, laptop, or similar device. The server can be an application server or a web server; in actual deployment, the server can be a standalone server, a cluster server, or a cloud platform. In another example, the processing device can be a wind turbine controller, which can execute the wind turbine control method described in any of the following embodiments based on a computer program.

[0082] Next, with reference to the accompanying drawings, a control method for a wind turbine provided in an embodiment of this application will be described.

[0083] See Figure 1 , Figure 1 A flowchart of a control method for a wind turbine provided in this application embodiment is included, the method comprising:

[0084] S101: Real-time acquisition of acceleration parameters corresponding to the target wind turbine.

[0085] The target wind turbine can be any wind turbine that needs to be controlled. The acceleration parameter is used to reflect the vibration of the target wind turbine. The acceleration parameter can include the acceleration x in the forward and backward direction and the acceleration y in the left and right direction. Optionally, the above acceleration parameter can be obtained by an acceleration sensor.

[0086] S102: In response to the target wind turbine being in a yaw state and the effective value of the acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold, determine whether the target wind turbine meets the wind condition factor judgment condition.

[0087] To achieve proper control of the target wind turbine, the processing equipment needs to accurately analyze the reasons for excessive vibration during yaw. The processing equipment can detect whether the target wind turbine is in a yaw state in real time and preset a vibration exceedance threshold, which is used to determine whether the target wind turbine is experiencing abnormal vibration.

[0088] In response to a target wind turbine being in a yaw state and the effective value of the acceleration parameter exceeding the vibration exceedance threshold, the processing equipment can determine that the target wind turbine is in a yaw vibration exceedance state. At this point, the processing equipment can determine whether the target wind turbine meets the wind condition judgment criteria. These criteria are used to determine whether the yaw vibration exceedance is caused by wind conditions, which refer to wind factors in the environment. For example, excessively strong winds in a short period may cause the wind turbine to vibrate excessively in a certain direction, thus exceeding the limit. The effective acceleration value can be a composite acceleration value in the forward / backward and left / right directions, calculated using the following formula:

[0089]

[0090] A is the effective value of acceleration.

[0091] S103: If the target wind turbine meets the wind condition factor determination conditions, it is determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to wind condition factors.

[0092] S104: If the target wind turbine does not meet the wind condition factor determination conditions, it is determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to the yaw brake disc system factor.

[0093] S105: In response to factors such as wind conditions or yaw brake disc system factors where the effective value of acceleration exceeds the vibration over-limit threshold, control the operating status of the target wind turbine.

[0094] The treatment equipment can target the wind turbine based on the factors that cause vibration exceeding the limit identified in the above steps, thereby avoiding shutdown for every vibration exceeding the limit factor and reducing start-up and shutdown losses.

[0095] Specifically, in response to the target wind turbine's acceleration exceeding the vibration threshold due to wind conditions, the processing equipment can perform fault walkthrough for the target wind turbine. This means the equipment increments the number of wind condition anomalies corresponding to the target wind turbine by 1 and then counts the total number of anomalies within the target time period. If the number of anomalies for the target wind turbine within the target time period reaches a preset threshold, it indicates that the target wind turbine is currently experiencing abnormal wind conditions. The processing equipment can then implement load reduction control for the target wind turbine to ensure its safe operation.

[0096] In response to the target wind turbine's acceleration exceeding the vibration threshold due to factors related to the yaw brake disc system, the processing equipment can shut down the target wind turbine to prevent more serious equipment failure.

[0097] As can be seen from the above technical solution, this application provides a control method for a wind turbine. By acquiring the acceleration parameters corresponding to the target wind turbine in real time, and responding to the target wind turbine being in a yaw state and the effective value of the acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold, it can be determined whether the target wind turbine meets the wind condition factor judgment condition. This wind condition factor judgment condition is used to determine the cause of the yaw vibration exceeding the limit. If the target wind turbine meets the wind condition factor judgment condition, it can be determined that the effective value of the acceleration of the wind turbine exceeds the vibration over-limit threshold due to wind conditions; if the target wind turbine does not meet the wind condition factor judgment condition, it can be determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to yaw brake disc system factors. In response to the fact that the effective value of acceleration exceeds the vibration over-limit threshold, which is either a wind condition factor or a yaw brake disc system factor, the operating state of the target generator can be controlled. This allows for control of the wind turbine based on a more accurate analysis of the cause of the over-limit, avoiding frequent shutdowns for over-limits caused by wind conditions. This reduces the start-stop frequency of the wind turbine, thereby increasing its power generation and reducing losses caused by start-stop operations.

[0098] Specifically, when setting the conditions for determining wind conditions, the processing equipment can first analyze the data characteristics corresponding to the two factors that cause yaw vibration to exceed the limit.

[0099] As attached Figure 2 ~Attached Figure 5 As shown in the diagram. In the title, k represents the left signal line, b represents the right signal line, power represents the generator power, yawposition represents the yaw position, accx represents the forward and backward acceleration, accy represents the left and right acceleration, fftaccx represents the forward and backward acceleration spectrum, fftaccy represents the left and right acceleration spectrum, and the horizontal axis 0 represents the moment when the vibration exceeds the limit, and the horizontal axis greater than 0 represents the moment before the vibration exceeds the limit.

[0100] Figure 2 The characteristics shown are frequency-dependent vibrations of the unit caused by complex wind conditions during yaw, which are not caused by wear or contamination of the yaw braking system. It can be seen that the amplitude of accx is greater than that of accy before the vibration exceeds the limit. The vibration caused by complex wind conditions has a dominant vibration frequency of 3 times the rotational frequency or the first-order frequency of the tower, both of which are less than 1.2Hz, and the acceleration curve is relatively smooth.

[0101] Figure 3This is a typical vibration over-limit characteristic caused by wear or contamination of a yaw braking system. It can be seen that the dominant vibration direction is accy. Before the vibration exceeds the limit, the accy bulges severely and the curve is extremely rough. The absolute value of the corresponding accy change rate is larger than that of vibration over-limit caused by complex wind conditions.

[0102] Figure 4 Another type of vibration exceeding the limit is caused by wear or contamination of the yaw braking system. It can be seen that the instantaneous values ​​of accx or accy will be relatively large, which is also a diagnostic feature.

[0103] Figure 5 This is also a characteristic of vibration exceeding limits caused by wear or contamination of the yaw braking system. It can be seen that the dominant vibration direction is left and right, i.e., accy. The normal period of the accy signal is t1, and t2 is equivalent to 0.5 periods. It can be seen that the time for acceleration to pass zero point has been extended, which is equivalent to a longer period. This method is also a way to judge the vibration exceeding limits caused by wear or contamination of the yaw braking system.

[0104] Based on this, the processing device can make condition judgments in a variety of ways.

[0105] In one possible implementation, the wind condition factor determination criteria include that the maximum absolute value of the acceleration of the target wind turbine during a first preset time period before the target time is greater than an instantaneous acceleration threshold. The processing equipment can determine the maximum absolute value of the acceleration of the target turbine during the first preset time period before the target time, where the target time is the moment when the effective acceleration value exceeds the vibration over-limit threshold. The maximum absolute value of acceleration refers to the maximum acceleration in the left-right or front-back direction. The first preset time period can be within the range of 30s to 90s, and the instantaneous acceleration threshold should be greater than the vibration over-limit threshold. That is, if the maximum absolute value of the acceleration of the target wind turbine during the first preset time period before the target time is greater than the instantaneous acceleration threshold, the factor can be determined to be a wind condition factor; if the maximum absolute value of the acceleration of the target wind turbine during the first preset time period before the target time is not greater than the instantaneous acceleration threshold, the factor can be determined to be a yaw brake disc system factor.

[0106] In one possible implementation, the wind condition determination criteria include the maximum absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine in the second preset time period before the target time being greater than the first rate of change threshold, or the average absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine in the third preset time period before the target time being greater than the second rate of change threshold, and the third preset time period being shorter than the second preset time period.

[0107] The processing equipment can determine the absolute value of the rate of change of acceleration in the dominant vibration direction of the target generator during the second preset time period before the target time, and the average absolute value of the rate of change of acceleration in the dominant vibration direction of the target wind turbine during the third preset time period before the target time. The target time is the moment when the effective value of acceleration exceeds the vibration over-limit threshold. The dominant vibration frequency is obtained by performing a fast Fourier transform on the acceleration signal to obtain the spectrum; the frequency value corresponding to the point of maximum amplitude in the spectrum is the dominant vibration frequency.

[0108] The dominant vibration direction is determined to be the front-back direction if, within a specific time period, the absolute maximum value of the acceleration peak or trough in the front-back direction is greater than the absolute maximum value of the acceleration peak or trough in the left-right direction; otherwise, the dominant vibration direction is determined to be the left-right direction.

[0109] The rate of change of acceleration is (accx detected in the previous period - accx detected in the previous period) / detection period, where the unit of the detection period is time (seconds); the rate of change of accy is similar.

[0110] The second preset time period can be set to 30s to 90s, the first rate of change threshold is a constant and can be 4, the third preset time period can be referenced to the range of 10s to 60s, the second rate of change threshold is a constant and needs to be greater than 0.3.

[0111] In one possible implementation, the wind condition factor determination criteria include the target wind turbine's average effective acceleration value being less than an effective value threshold during a fourth preset time period prior to the target time. Before determination, the processing equipment can determine the average effective acceleration value of the target wind turbine during the fourth preset time period prior to the target time. The target time is the moment when the effective acceleration value exceeds the vibration over-limit threshold. The fourth preset time period can be set to a range of 10s to 60s, and the effective value threshold can be set to 0.02.

[0112] In one possible implementation, the wind condition factor determination criteria include a target duration corresponding to the target wind turbine exceeding a first duration threshold. Before determination, the processing equipment can determine the target duration corresponding to the target wind turbine. The target duration is the time between the last zero-crossing point of the acceleration in the dominant vibration direction before the target time and the target time. The target time is the moment when the effective value of acceleration exceeds the vibration over-limit threshold. The first duration threshold is determined based on the first-order frequency and rotational frequency of the tower corresponding to the target wind turbine. The zero-crossing point refers to the moment when the acceleration direction of the target wind turbine reverses. The first-order frequency of the tower refers to the first-order natural mode frequency of the tower, ranging from 0.1Hz to 0.3Hz. The turbine rotational frequency is the turbine speed / 60 * n, where n = 1 is 1x rotational frequency. The turbine rotational frequency vibration mainly occurs at 1x, 3x, and 6x rotational frequencies, ranging from 0.08Hz to 1.2Hz.

[0113] In one possible implementation, the wind condition factor determination criterion includes the target wind turbine's dominant acceleration frequency in the dominant vibration direction being less than a frequency threshold. Before determining the factor, the processing equipment can first determine the dominant acceleration frequency in the dominant vibration direction of the target wind turbine. If the dominant acceleration frequency in the dominant vibration direction of the target wind turbine is less than the frequency threshold, the factor can be determined to be a wind condition factor; otherwise, it is a yaw brake disc system factor. The frequency threshold is a constant, and its value must be greater than the rotational frequency range.

[0114] It is understandable that, based on different control precision requirements, the above-mentioned multiple judgment conditions can be used individually or in combination. For example, in a practical application scenario, see... Figure 6The processing equipment can first determine whether the wind turbine's effective acceleration value is greater than the vibration over-limit threshold a, and whether the unit is in a yaw process. If so, the processing equipment can determine whether the wind turbine is in a yaw vibration over-limit state. Then, the processing equipment can determine whether the maximum absolute value of acceleration x or y, statistically recorded during the first preset time period Ta before the acceleration over-limit exceeds the instantaneous acceleration threshold b, whether the absolute value of the rate of change of acceleration in the dominant vibration direction, statistically recorded during the first preset time period Ta before the acceleration over-limit exceeds the first rate of change threshold c, or whether the average absolute value of the rate of change of acceleration in the dominant vibration direction, statistically recorded during the third preset time period Tb before the acceleration over-limit exceeds the second rate of change threshold. d, and whether the mean effective value of acceleration within Tb time before acceleration exceeds the limit is less than the mean effective value threshold e; whether the time from the last zero crossing of acceleration in the dominant vibration direction to the moment of vibration exceeding the limit is greater than the first duration threshold Tc; whether the dominant frequency of acceleration in the dominant vibration direction is less than the frequency threshold g. If all the above conditions are met, the determining factor is wind condition, and the treatment equipment can perform fault ride-through within a certain frequency range and limit power load control; if any of the above conditions are not met, the determining factor is wear or contamination of the yaw brake disc system, and the treatment equipment can perform fault protection shutdown for excessive acceleration in the nacelle during yaw.

[0115] Furthermore, in one possible implementation, the processing device can also provide early warnings before yaw exceeds the limit. The processing device can acquire the acceleration parameters of the target wind turbine in N preset yaw periods, and then, based on the acceleration parameters corresponding to the N preset yaw periods, determine the abnormal yaw periods among the N preset yaw periods. Abnormal yaw periods refer to yaw periods with abnormal acceleration parameters.

[0116] If the proportion of abnormal yaw periods among N preset yaw periods exceeds a certain threshold, it indicates that the target wind turbine has been in a state of abnormal acceleration parameters for an extended period. In this case, although the acceleration parameters do not meet the over-limit fault threshold, the processing equipment can still generate a yaw alarm message, which is used to identify a potential fault risk in the target wind turbine.

[0117] Specifically, in one possible implementation, the N preset yaw periods include a target preset yaw period. When analyzing whether a target preset yaw period is an abnormal yaw period, the processing device can determine whether the average absolute value of the acceleration corresponding to the target preset yaw period is greater than an absolute value threshold based on the acceleration parameters corresponding to the target preset yaw period. If the average absolute value of the acceleration corresponding to the target preset yaw period is greater than the absolute value threshold, the target preset yaw period is determined to be an abnormal yaw period. And / or, if the time interval between two adjacent zero-crossing points of acceleration in the forward / backward or left / right directions within the target preset yaw period is greater than a second duration threshold, the target preset yaw period is determined to be an abnormal yaw period. And / or, if the number of zero-crossing points of acceleration within the target preset period does not exceed one, the target preset yaw period is determined to be an abnormal yaw period.

[0118] See Figure 7 In response to the generator being in yaw mode and generating power, the processing equipment can determine whether the average absolute value of x or y during the preset yaw period Td is greater than the absolute value average threshold h. If it is greater, the preset yaw period is determined to be an abnormal yaw period. If not, it is determined whether the duration of two consecutive zero-crossings of acceleration x or y during the Td period is greater than the second duration threshold Tc, or whether only one zero-crossing is detected, or whether no zero-crossing is detected. If so, it is determined to be an abnormal yaw period. Each time an abnormal yaw period is determined, the processing equipment can increment the frequency of yaw brake system wear or contamination risk by 1. In response to the cumulative yaw duration being greater than Te, and the frequency of yaw brake system wear or contamination risk / (Te / Td) > i), it indicates that many preset yaw periods within the Te period have been abnormal. The processing equipment can output a high-risk warning for yaw brake system wear or contamination. After the warning is issued, the frequency of yaw brake system wear or contamination risk and the cumulative yaw duration are reset to zero.

[0119] At this time, maintenance personnel can wait for light winds (without losing power generation) to perform timely maintenance, avoiding direct shutdown due to severe wear and tear and loss of power; if the wear and tear is severe, a shutdown due to malfunction is the only option.

[0120] In addition, the wind turbine control method provided in this embodiment can self-diagnose the root causes of vibration during yaw. The processing equipment can provide early warnings based on the diagnosis results or perform adaptive control to reduce power generation loss, increase revenue, and improve operation and maintenance efficiency.

[0121] Based on the wind turbine control method provided in the above embodiments, this application also provides a wind turbine control device, see [link to relevant documentation]. Figure 8 , Figure 8This application provides a structural block diagram of a wind turbine control device 800, which includes a first acquisition unit 801, a first determination unit 802, a second determination unit 803, a third determination unit 804, and a control unit 805.

[0122] The first acquisition unit 801 is used to acquire the acceleration parameters corresponding to the target wind turbine in real time;

[0123] The first determining unit 802 is used to determine whether the target wind turbine meets the wind condition factor judgment conditions in response to the target wind turbine being in a yaw state and the effective value of acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold.

[0124] The second determining unit 803 is used to determine, if the target wind turbine meets the wind condition determination condition, that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to wind condition factors.

[0125] The third determining unit 804 is used to determine that if the target wind turbine does not meet the wind condition factor determination condition, the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to the yaw brake disc system factor.

[0126] The control unit 805 is used to control the operating state of the target wind turbine in response to the factor that causes the effective value of acceleration to exceed the vibration over-limit threshold being either a wind condition factor or a yaw brake disc system factor.

[0127] In one possible implementation, the wind condition determination criteria include the target wind turbine having an absolute acceleration value greater than an instantaneous acceleration threshold during a first preset time period prior to the target time. The device further includes a fourth determining unit.

[0128] The fourth determining unit is used to determine the maximum absolute value of acceleration corresponding to the first preset time period before the target time of the target generator, wherein the target time is the time when the effective value of acceleration exceeds the vibration over-limit threshold.

[0129] In one possible implementation, the wind condition determination criteria include the maximum absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine during a second preset time period before the target time being greater than a first rate of change threshold, or the average absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine during a third preset time period before the target time being greater than a second rate of change threshold, wherein the third preset time period is shorter than the second preset time period, and the device further includes a fifth determining unit:

[0130] The fifth determining unit is used to determine the absolute value of the rate of change of the vibration dominant direction acceleration of the target generator in the second preset period before the target time, and to determine the average absolute value of the rate of change of the vibration dominant direction acceleration of the target wind turbine in the third preset period before the target time, wherein the target time is the moment when the effective value of the acceleration exceeds the vibration over-limit threshold.

[0131] In one possible implementation, the wind condition determination criteria include the target wind turbine's average effective acceleration value being less than an effective value average threshold during a fourth preset time period prior to the target time. The device further includes a sixth determining unit.

[0132] The sixth determining unit is used to determine the average effective acceleration value of the target wind turbine in the fourth preset time period before the target time, wherein the target time is the time when the effective acceleration value exceeds the vibration over-limit threshold.

[0133] In one possible implementation, the wind condition determination criteria include the target duration corresponding to the target wind turbine being greater than a first duration threshold, and the device further includes a seventh determining unit:

[0134] The seventh determining unit is used to determine the target duration corresponding to the target wind turbine. The target duration is the time between the last zero-crossing point of the acceleration in the dominant vibration direction before the target time and the target time. The target time is the time when the effective value of the acceleration exceeds the vibration over-limit threshold. The first duration threshold is determined based on the first-order frequency and rotational frequency of the tower corresponding to the target wind turbine.

[0135] In one possible implementation, the wind condition determination criteria include the dominant frequency of the vibration-dominant direction acceleration corresponding to the target wind turbine being less than a frequency threshold, and the device further includes an eighth determining unit:

[0136] The eighth determining unit is used to determine the dominant acceleration frequency in the dominant vibration direction corresponding to the target wind turbine.

[0137] In one possible implementation, the control unit 805 is specifically used for:

[0138] In response to the target wind turbine's acceleration effective value exceeding the vibration over-limit threshold due to wind conditions, the number of wind condition anomalies corresponding to the target wind turbine is incremented by 1;

[0139] In response to the number of abnormal wind conditions corresponding to the target wind turbine reaching a preset threshold within a target time period, load reduction control is implemented for the target wind turbine.

[0140] In response to the target wind turbine's acceleration exceeding the vibration over-limit threshold due to factors related to the yaw brake disc system, the target wind turbine is shut down.

[0141] In one possible implementation, the apparatus further includes a second acquisition unit, an eighth determination unit, and a generation unit:

[0142] The second acquisition unit is used to acquire the acceleration parameters of the target wind turbine in N preset yaw periods, with each preset yaw period as a unit;

[0143] The eighth determining unit is used to determine the abnormal yaw period among the N preset yaw periods based on the acceleration parameters corresponding to the N preset yaw periods respectively;

[0144] The generation unit is used to generate yaw alarm information in response to the fact that the proportion of abnormal yaw periods in the N preset yaw periods is greater than the proportion threshold. The yaw alarm information is used to identify that the target wind turbine has a fault risk.

[0145] In one possible implementation, the N preset yaw time periods include a target preset yaw time period, and the eighth determining unit is specifically used for:

[0146] In response to the fact that the mean absolute value of acceleration corresponding to the target preset yaw period is greater than the absolute value mean threshold, the target preset yaw period is determined to be an abnormal yaw period;

[0147] And / or, in response to the fact that the time interval between two adjacent zero crossings of acceleration in the forward or backward or left or right directions within the target preset yaw period is greater than a second duration threshold, the target preset yaw period is determined to be an abnormal yaw period;

[0148] And / or, in response to the fact that the number of times the acceleration passes zero point within the target preset time period does not exceed 1 time, the target preset yaw time period is determined to be an abnormal yaw time period.

[0149] This application embodiment also provides a processing device, wherein the processor included in the processing device further has the following functions:

[0150] Real-time acquisition of acceleration parameters corresponding to the target wind turbine;

[0151] In response to the target wind turbine being in a yaw state and the effective value of acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold, it is determined whether the target wind turbine meets the wind condition factor judgment condition;

[0152] If the target wind turbine meets the wind condition factor determination condition, it is determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to wind condition factors.

[0153] If the target wind turbine does not meet the wind condition factor determination conditions, it is determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to the yaw brake disc system factor.

[0154] In response to the factor that causes the effective value of acceleration to exceed the vibration over-limit threshold being either a wind condition factor or a yaw brake disc system factor, the operating state of the target wind turbine is controlled.

[0155] The processing device also includes a memory for storing program code and transmitting the program code to a processor, which executes the wind turbine control method described in any of the above embodiments according to the instructions in the program code.

[0156] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0157] In addition, this application embodiment also provides a storage medium for storing a computer program for executing the wind turbine control method provided in the above embodiment.

[0158] This application also provides a computer program product including instructions that, when run on a processing device, cause the processing device to execute the wind turbine control method provided in the above embodiments.

[0159] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium can be at least one of the following media: read-only memory (ROM), RAM, magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0160] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and 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 modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0161] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a wind turbine generator, characterized in that, The method includes: Real-time acquisition of acceleration parameters corresponding to the target wind turbine; In response to the target wind turbine being in a yaw state and the effective value of acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold, it is determined whether the target wind turbine meets the wind condition factor judgment condition; If the target wind turbine meets the wind condition factor determination condition, it is determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to wind condition factors. If the target wind turbine does not meet the wind condition factor determination conditions, it is determined that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to the yaw brake disc system factor. In response to the factor that causes the effective value of acceleration to exceed the vibration over-limit threshold being either a wind condition factor or a yaw brake disc system factor, the operating state of the target wind turbine is controlled.

2. The method according to claim 1, characterized in that, The wind condition factor determination criteria include the fact that the maximum absolute value of the acceleration of the target wind turbine during a first preset time period before the target time is greater than an instantaneous acceleration threshold. The method further includes: Determine the maximum absolute value of acceleration corresponding to the first preset time period before the target time of the target wind turbine, wherein the target time is the time when the effective value of acceleration exceeds the vibration over-limit threshold.

3. The method according to claim 1, characterized in that, The wind condition factor determination criteria include the maximum absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine during a second preset time period before the target time being greater than a first rate of change threshold, or the average absolute value of the rate of change of vibration dominance direction acceleration of the target wind turbine during a third preset time period before the target time being greater than a second rate of change threshold, wherein the third preset time period is shorter than the second preset time period. The method further includes: The absolute value of the rate of change of the vibration dominant direction acceleration of the target wind turbine is determined during the second preset period before the target time, and the average absolute value of the rate of change of the vibration dominant direction acceleration of the target wind turbine is determined during the third preset period before the target time. The target time is the moment when the effective value of the acceleration exceeds the vibration over-limit threshold.

4. The method according to claim 1, characterized in that, The wind condition factor determination criteria include the fact that the average effective value of the acceleration of the target wind turbine is less than a threshold value during the fourth preset time period before the target time. The method further includes: The average effective acceleration value of the target wind turbine is determined in the fourth preset time period before the target time, where the target time is the moment when the effective acceleration value exceeds the vibration over-limit threshold.

5. The method according to claim 1, characterized in that, The wind condition factor determination criteria include the target duration corresponding to the target wind turbine being greater than a first duration threshold, and the method further includes: The target duration corresponding to the target wind turbine is determined. The target duration is the time between the last zero-crossing point of the acceleration in the dominant vibration direction before the target time and the target time. The target time is the time when the effective value of the acceleration exceeds the vibration over-limit threshold. The first duration threshold is determined based on the first-order frequency and rotational frequency of the tower corresponding to the target wind turbine.

6. The method according to claim 1, characterized in that, The wind condition factor determination criteria include the dominant frequency of the acceleration in the dominant vibration direction corresponding to the target wind turbine being less than a frequency threshold, and the method further includes: Determine the dominant acceleration frequency in the dominant vibration direction corresponding to the target wind turbine.

7. The method according to claim 1, characterized in that, The factor that responds to the effective value of acceleration exceeding the vibration over-limit threshold is a wind condition factor or a yaw brake disc system factor, and controlling the operating state of the target wind turbine includes: In response to the target wind turbine's acceleration effective value exceeding the vibration over-limit threshold due to wind conditions, the number of wind condition anomalies corresponding to the target wind turbine is incremented by 1; In response to the number of abnormal wind conditions corresponding to the target wind turbine reaching a preset threshold within a target time period, load reduction control is implemented for the target wind turbine. In response to the target wind turbine's acceleration exceeding the vibration over-limit threshold due to factors related to the yaw brake disc system, the target wind turbine is shut down.

8. The method according to claim 1, characterized in that, The method further includes: Using a preset yaw time period as a unit, obtain the acceleration parameters of the target wind turbine in N preset yaw time periods, where N is a positive integer; Based on the acceleration parameters corresponding to the N preset yaw periods, the abnormal yaw periods among the N preset yaw periods are determined; In response to the fact that the proportion of abnormal yaw periods in the N preset yaw periods is greater than the proportion threshold, a yaw alarm is generated, which is used to identify that the target wind turbine has a fault risk.

9. The method according to claim 8, characterized in that, The N preset yaw time periods include a target preset yaw time period. Determining the abnormal yaw time periods among the N preset yaw time periods based on the acceleration parameters corresponding to each of the N preset yaw time periods includes: In response to the fact that the mean absolute value of acceleration corresponding to the target preset yaw period is greater than the absolute value mean threshold, the target preset yaw period is determined to be an abnormal yaw period; And / or, in response to the fact that the time interval between two adjacent zero crossings of acceleration in the forward or backward or left or right directions within the target preset yaw period is greater than a second duration threshold, the target preset yaw period is determined to be an abnormal yaw period; And / or, in response to the fact that the number of times the acceleration passes zero point within the target preset yaw period does not exceed 1 time, the target preset yaw period is determined to be an abnormal yaw period.

10. A control device for a wind turbine generator, characterized in that, The device includes a first acquisition unit, a first determination unit, a second determination unit, a third determination unit, and a control unit: The first acquisition unit is used to acquire the acceleration parameters corresponding to the target wind turbine in real time; The first determining unit is used to determine whether the target wind turbine meets the wind condition factor judgment conditions in response to the target wind turbine being in a yaw state and the effective value of acceleration corresponding to the acceleration parameter exceeding the vibration over-limit threshold. The second determining unit is used to determine, if the target wind turbine meets the wind condition factor determination condition, that the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to wind condition factors. The third determining unit is used to determine that if the target wind turbine does not meet the wind condition factor determination condition, the effective value of the acceleration of the target wind turbine exceeds the vibration over-limit threshold due to the yaw brake disc system factor. The control unit is used to control the operating status of the target wind turbine in response to the factor that causes the effective value of acceleration to exceed the vibration over-limit threshold being either a wind condition factor or a yaw brake disc system factor.

11. A processing apparatus, characterized in that, The processing device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the control method of the wind turbine generator according to any one of claims 1-9 according to the instructions in the program code.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program for executing the control method of the wind turbine generator according to any one of claims 1-9.

13. A computer program product comprising instructions, which, when run on a processing device, causes the processing device to perform the control method for a wind turbine generator according to any one of claims 1-9.

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