A novel attitude control system and method for a wind turbine

Abstract

The application discloses a novel attitude control system and method of a wind turbine, which comprises a data measurement part, a processor and an executing mechanism.The data measurement part is used to measure the attitude of the structure of the wind turbine based on sensors and input the attitude variables to the processor.The processor is used to correct and calculate the control variables based on the attitude variables input by the data measurement part and transmit the calculation results to the executing mechanism.The executing mechanism is used to execute corresponding actions according to the calculation results transmitted by the processor.The application can realize the yawing of the cabin and the variable pitch of the blades of the conventional wind turbine, and additionally realize the coordinated control of the inclination angle of the main shaft and the cone angle of the wind wheel, so that the novel wind turbine can more flexibly cope with various complex wind conditions, meanwhile, the novel wind turbine can keep higher power output efficiency, guarantee the best wind power capture and structural stability of the novel wind turbine under any wind speed section, and finally, the novel wind turbine can reflect obvious technical advantages and economic advantages compared with the conventional wind turbine.

Description

Technical Field

[0001] This invention relates to the technical field of wind turbine generator control systems, and in particular to a novel attitude control system and method for wind turbine generators. Background Technology

[0002] With the maturation of key technologies and gradual market acceptance, major turbine manufacturers are competing to launch wind turbines with larger rotor diameters and larger installed capacities. While the increase in the size of wind turbines brings numerous benefits in terms of overall cost reduction and efficiency, it also makes the issue of structural flexibility increasingly prominent. The large deformation of the tower and blade structures as their length increases, and the uneven wind speed within the swept area caused by the increased rotor diameter, present numerous technical challenges for the structural design and engineering application of large-megawatt turbines. With the gradual application of new technologies, such as carbon-coated blades and steel-concrete towers, large-megawatt turbines still demonstrate strong economic advantages, but new approaches need to be explored to further reduce the operation and maintenance costs of wind turbines.

[0003] like Figure 1 As shown, to further tap the economic potential of large-megawatt wind turbine units and improve their operating efficiency, a new type of wind turbine unit (hereinafter referred to as the new wind turbine unit) with adjustable main shaft tilt angle (also known as nacelle tilt angle) and rotor cone angle has emerged. This design further relaxes the restrictions on the degrees of freedom of the main shaft tilt angle and rotor cone angle based on the conventional unit structure, thereby improving the overall power generation and structural safety under extreme environmental conditions. Wind turbine units are complex technical equipment, and the development and application of new units involve solving a series of key problems and overcoming technical challenges. Since the structural design of the new wind turbine unit is not currently found in publicly available technical documents or materials from other manufacturers, further improvements to its supporting technologies are needed to further promote its commercial application.

[0004] In summary, based on the structural form of the novel wind turbine generator set, this paper proposes a control strategy suitable for the structural attitude motion of the novel wind turbine generator set, which serves as a supplement and improvement to the technical principle framework of the novel wind turbine generator set. Summary of the Invention

[0005] The primary objective of this invention is to overcome the shortcomings and deficiencies of the prior art and provide a practical and feasible new attitude control system for wind turbine generator sets, which effectively combines the unit structure and control strategy to maximize the unit's economic efficiency.

[0006] The second objective of this invention is to provide a novel attitude control method for wind turbine generator sets.

[0007] The first objective of this invention is achieved through the following technical solution: a novel attitude control system for a wind turbine generator set, wherein the novel wind turbine generator set is an adjustable wind turbine generator set with adjustable main shaft tilt angle and rotor cone angle, comprising:

[0008] In the data measurement section, the attitude measurement of the unit structure is realized based on sensors, and the attitude variables are input to the processor;

[0009] The processor performs correction calculations on the attitude variables input from the data measurement section, and transmits the calculation results to the actuator.

[0010] The actuator performs corresponding actions based on the calculation results transmitted by the processor.

[0011] Furthermore, the sensors include a main shaft attitude sensor, a blade attitude sensor, and wind speed and direction sensors, a main shaft power measurement sensor, a blade tip motion sensor, and a tower clearance distance measurement sensor for auxiliary angle correction.

[0012] Furthermore, the data measurement section includes an anemometer, a nacelle gyroscope, a spindle speed measuring instrument, a motor spindle speed measuring instrument, a blade tip accelerometer, and a tower clearance distance measuring instrument. The anemometer measures the wind speed and direction of the incoming airflow; the nacelle gyroscope records the nacelle azimuth and tilt angles; the spindle speed measuring instrument measures the real-time rotational speed of the spindle; the motor spindle speed measuring instrument measures the real-time rotational speed of the blade root bearing servo motor spindle; the blade tip accelerometer measures the acceleration of the blade tip when the blade deforms; and the tower clearance distance measuring instrument measures the horizontal distance between the blade tip and the tower when the blade is at a 180-degree azimuth angle.

[0013] Furthermore, the actuator includes a nacelle lifting drive for adjusting the main shaft tilt angle and a wind turbine cone angle rotation drive for adjusting the wind turbine cone angle, as well as a matching structural locking device; wherein, the nacelle lifting drive and the wind turbine cone angle rotation drive are hydraulically driven, servo motor driven or pneumatically driven, and the structural locking device adopts mechanical locking and electrical locking methods.

[0014] Furthermore, the nacelle lifting drive device is a hydraulic drive component for lifting the nacelle base height, the wind turbine cone angle rotation drive device is a servo motor component for controlling the angle of the blade root bearing base, and the structural locking device is an electromagnetic brake component for locking the base attitude.

[0015] Furthermore, the processor uses an industrial computer to input, process, and output data. When the data measurement section inputs measurement data to the processor, the processor determines the main shaft tilt angle based on the nacelle tilt angle, determines the azimuth angle of each blade through time integration based on the real-time rotation speed of the main shaft, determines the change in the wind turbine cone angle based on the rotation speed of the servo motor main shaft, calculates the blade tip deformation based on the blade tip acceleration, and corrects the blade tip deformation based on the tower clearance distance.

[0016] The second objective of this invention is achieved through the following technical solution: a novel attitude control method for wind turbine generator sets, based on the aforementioned attitude control system, employing different control methods according to different inflow wind speed conditions, including the following situations:

[0017] The first scenario is that when the inflow wind speed is less than the cut-in wind speed and the wind conditions are stable, the unit is in a shutdown state, the blade pitch angle is 90 degrees in a feathered state, the main shaft tilt angle and the rotor cone angle are both 0 degrees, and the unit attitude is not adjusted except for normal yaw against the wind.

[0018] The second scenario involves the unit operating normally when the inflow velocity is greater than the cut-in velocity and the start-up criteria are met. The blade pitch angle is adjusted to 0 degrees, and the main shaft tilt angle and rotor cone angle are both 0 degrees at the cut-in velocity. As the inflow velocity gradually increases, the processor analyzes and calculates the adjustment angles of the rotor cone angle and main shaft tilt angle based on the measurement results from the data measurement section. The actuator adjusts the unit's attitude based on the calculation results input by the processor. When the inflow velocity reaches the rated velocity, the main shaft tilt angle and rotor cone angle reach their maximum values, and the unit's power reaches the rated power.

[0019] The third scenario involves the turbine operating at full capacity when the inflow wind speed exceeds the rated wind speed but is less than the cut-out wind speed. The blade pitch angle is adjusted according to the magnitude of the inflow wind speed, and the angle is 90 degrees in a feathered state at the cut-out wind speed. At this wind speed, the turbine control strategy remains unchanged, and there is no need to adjust the main shaft tilt angle and the rotor cone angle. When there is a demand for over-generation or a need to further squeeze out net spare capacity, in addition to adjusting the blade pitch angle, the rotor cone angle and main shaft tilt angle can also be adjusted according to the real-time power demand.

[0020] The fourth type is when the inflow wind speed exceeds the cut-out wind speed, the unit enters the shutdown state, the blade pitch angle is 90 degrees, at this wind speed, the wind turbine load is small, the unit releases the wind turbine cone angle and main shaft tilt angle, and maintains the attitude of minimizing the overall wind load of the structure until the shutdown state ends.

[0021] Fifthly, when the wind condition changes from steady-state to transient under any of the above inflow wind speeds, and the blades experience large tip deformation or blade flutter due to the transient wind conditions, causing an alarm to be triggered by the tower clearance distance sensor or blade tip motion sensor, the processor receives the measured data from the data measurement section and calculates the attitude adjustment parameters of the computer nacelle and the wind turbine. Then, it issues execution parameters to the actuator, which adjusts the attitude according to the execution parameters until the target attitude is achieved or the alarm is cleared.

[0022] Furthermore, in the fifth case, there are the following two calculation processes:

[0023] The first step involves the processor calculating attitude adjustment parameters based on measured data from the data measurement section. Specifically, the angular acceleration, angular velocity, and angle values ​​of the main shaft tilt angle and the rotor cone angle are determined using measurement data from the nacelle gyroscope and the blade root bearing base gyroscope, respectively. However, to prevent missing or erroneous measurement data, a prediction-correction method combining numerical calculation and measurement data is selected. That is, the measured angular acceleration value is integrated over time to obtain the angular velocity, and the angular velocity measurement value is used for correction. The angle value is obtained by integrating the angular velocity and then corrected using the measured value.

[0024] The second process involves calculating the tower clearance data. Specifically, the wind turbine azimuth angle is determined based on the main shaft rotation angle and the nacelle gyroscope measurement, which in turn determines the azimuth angle of each blade. The blade deformation numerical method is used to calculate the blade deformation based on the measured blade tip acceleration value. It is also used to predict whether the blade tip displacement will cause tower damage when the blade reaches an azimuth angle of 180 degrees. Finally, the model is corrected using the tower clearance measurement data.

[0025] Combining the above two calculation processes, when the blade structure calculation results indicate that there is a risk of the blade hitting the tower, the processor calculates the changes in the main shaft tilt angle and the rotor cone angle, and the nacelle lifting drive and the rotor cone angle rotation drive adjust the angles. When the blade reaches a 180-degree azimuth angle, the tower clearance distance sensor measures the actual data of the blade tip displacement and feeds it back to the processor. The processor calculates and corrects the current main shaft tilt angle and rotor cone angle until the tower clearance distance is within a reasonable range.

[0026] Furthermore, in the fifth scenario, the transient wind includes sudden gusts and gales, and the alarm is an airspace warning value alarm or an excessive acceleration value alarm.

[0027] Furthermore, in the second case, the changes in the main shaft tilt angle and the rotor cone angle follow a linear relationship, that is, for every preset increase in the rotor cone angle, the main shaft tilt angle increases by a corresponding preset degree.

[0028] Furthermore, in the second case, the numerical methods for blade structure deformation include geometrically accurate beam theory, Timoshenko beam theory, and Euler-Bernoulli beam theory.

[0029] Furthermore, in the fourth scenario, the unit releases the rotor cone angle and main shaft tilt angle, adjusting the angle value to 0 degrees.

[0030] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0031] In addition to enabling conventional wind turbine generator sets to perform nacelle yaw and blade pitch functions, the main feature of this invention is its ability to additionally achieve coordinated control of the generator set's main shaft tilt angle and rotor cone angle. This allows the new wind turbine generator set to more flexibly cope with various complex wind conditions while maintaining higher power output efficiency. Consequently, it ensures the optimal wind capture power and structural stability of the new wind turbine generator set at any wind speed range, demonstrating significant technical and economic advantages compared to conventional generator sets. Attached Figure Description

[0032] Figure 1 This is a schematic diagram showing the attitude change of a new type of wind turbine generator from the off state (left) to the full-load state (right).

[0033] Figure 2 This is an architecture diagram of the system of the present invention.

[0034] Figure 3 This is a comparison of the power curves of the novel wind turbine generator set using the technology of this invention (i.e., ① in the figure) and a conventional novel wind turbine generator set with the same installed capacity (i.e., (② in the figure)). Detailed Implementation

[0035] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0036] Example 1

[0037] A new type of wind turbine generator (which can be called a novel wind turbine generator) with adjustable main shaft tilt angle and rotor cone angle has a rated power of 12MW and uses pre-bent blades for the rotor. When the unit is off, both the main shaft tilt angle and rotor cone angle are 0 degrees, and the tower clearance is 5 degrees. Under rated conditions, the main shaft tilt angle is 5 degrees, the rotor cone angle is 6 degrees, and the rotor diameter is 240 meters. The tower clearance distance when the unit is off is 12 meters, and the tower clearance warning value is 5 meters.

[0038] like Figure 2 As shown, this embodiment discloses a novel attitude control system for a wind turbine generator, including:

[0039] In the data measurement section, the attitude measurement of the unit structure is realized based on sensors, and the attitude variables are input to the processor;

[0040] The processor performs correction calculations on the attitude variables input from the data measurement section, and transmits the calculation results to the actuator.

[0041] The actuator performs corresponding actions based on the calculation results transmitted by the processor.

[0042] Specifically, the sensors include a main shaft attitude sensor, a blade attitude sensor, and wind speed and direction sensors, a main shaft power measurement sensor, a blade tip motion sensor, and a tower clearance distance measurement sensor for auxiliary angle correction; the data measurement section includes an anemometer, a nacelle gyroscope, a main shaft speed measuring instrument, a motor main shaft speed measuring instrument, a blade tip accelerometer, and a tower clearance distance measurement instrument. The anemometer measures the wind speed and direction of the incoming wind; the nacelle gyroscope records the nacelle azimuth and tilt angles; the main shaft speed measuring instrument measures the real-time rotational speed of the main shaft; the motor main shaft speed measuring instrument measures the real-time rotational speed of the blade root bearing servo motor main shaft; the blade tip accelerometer measures the acceleration of the blade tip when the blade deforms; and the tower clearance distance measurement instrument measures the horizontal distance between the blade tip and the tower when the blade is at a 180-degree azimuth angle.

[0043] Specifically, the actuator includes a nacelle lifting drive for adjusting the main shaft tilt angle and a wind turbine cone angle rotation drive for adjusting the wind turbine cone angle, as well as their matching structural locking devices; wherein, the nacelle lifting drive and the wind turbine cone angle rotation drive can be driven by hydraulic, servo motor or pneumatic, etc., and the structural locking device can be locked by mechanical or electrical means.

[0044] In this embodiment, the nacelle lifting drive device is specifically a hydraulic drive component for lifting the nacelle base height, the wind turbine cone angle rotation drive device is specifically a servo motor component for controlling the angle of the blade root bearing base, and the structural locking device is specifically an electromagnetic brake component for locking the base attitude.

[0045] Specifically, the processor uses an industrial computer to input, process, and output data. When the data measurement section inputs measurement data to the processor, the processor determines the main shaft tilt angle based on the nacelle tilt angle, determines the azimuth angle of each blade through time integration based on the real-time rotation speed of the main shaft, determines the change in the wind turbine cone angle based on the rotation speed of the servo motor main shaft, calculates the blade tip deformation based on the blade tip acceleration, and corrects the blade tip deformation based on the tower clearance distance.

[0046] Example 2

[0047] This embodiment discloses a novel attitude control method for wind turbine generators. Based on the attitude control system described in Embodiment 1, different control methods are adopted according to different inflow wind speed conditions, including the following situations:

[0048] The first scenario is that when the inflow wind speed is less than the cut-in wind speed and the wind conditions are stable, the unit is in a shutdown state, the blade pitch angle is 90 degrees in a feathered state, the main shaft tilt angle and the rotor cone angle are both 0 degrees, and the unit attitude is not adjusted except for normal yaw against the wind.

[0049] The second scenario involves the unit operating normally when the inflow velocity exceeds the cut-in velocity and meets the start-up criteria. The blade pitch angle is adjusted to 0 degrees, and the main shaft tilt angle and rotor cone angle are both 0 degrees at the cut-in velocity. As the inflow velocity gradually increases, the processor analyzes and calculates the adjustment angles of the rotor cone angle and main shaft tilt angle based on the measurement results from the data measurement section. The actuator adjusts the unit's attitude according to the calculation results input by the processor. The changes in the main shaft tilt angle and rotor cone angle follow a linear relationship, i.e., for every 1.2 degrees increase in the rotor cone angle, the main shaft tilt angle increases by 1 degree. When the inflow velocity reaches the rated velocity, the main shaft tilt angle and rotor cone angle reach their maximum values, and the unit's power reaches its rated power.

[0050] The third type is when the inflow wind speed exceeds the rated wind speed but is less than the cut-out wind speed, the unit is in full-power mode, the blade pitch angle is adjusted according to the magnitude of the inflow wind speed, and the angle is 90 degrees in feathering mode at the cut-out wind speed. At this wind speed, the unit control strategy remains unchanged, and there is no need to adjust the main shaft tilt angle and the rotor cone angle. When there is a demand for over-generation or a demand to further squeeze the net spare capacity for power generation, in addition to adjusting the blade pitch angle, the rotor cone angle and main shaft tilt angle can also be adjusted according to the real-time power demand.

[0051] The fourth type is when the inflow wind speed exceeds the cut-out wind speed, the unit enters the shutdown state, the blade pitch angle is 90 degrees, the wind turbine load is very small at this wind speed, the unit releases the wind turbine cone angle and main shaft tilt angle, the angle value is adjusted to 0 degrees, and the unit maintains the attitude of minimum overall wind load until the shutdown state ends.

[0052] Fifthly, when the wind condition changes from steady-state wind to transient wind such as gusts or sudden gusts at any of the above inflow wind speeds, and the blades experience large tip deformation or blade flutter due to the transient wind conditions, causing the tower clearance distance sensor or blade tip motion sensor to issue a clearance warning value alarm or an excessive acceleration value alarm, the processor receives the measured data from the data measurement section and calculates the attitude adjustment parameters of the computer nacelle and the wind turbine. Then, it issues execution parameters to the actuator, which adjusts the attitude according to the execution parameters until the target attitude is achieved or the alarm is cleared.

[0053] Specifically, in the fifth case, there are the following two calculation processes:

[0054] The first step involves the processor calculating attitude adjustment parameters based on measured data from the data measurement section. Specifically, the angular acceleration, angular velocity, and angle values ​​of the main shaft tilt angle and the rotor cone angle are determined using measurement data from the nacelle gyroscope and the blade root bearing base gyroscope, respectively. However, to prevent missing or erroneous measurement data, a prediction-correction method combining numerical calculation and measurement data is selected. That is, the measured angular acceleration value is integrated over time to obtain the angular velocity, and the angular velocity measurement value is used for correction. The angle value is obtained by integrating the angular velocity and then corrected using the measured value.

[0055] The second step involves calculating the tower clearance data. Specifically, the wind turbine azimuth angle is determined based on the main shaft rotation angle and the nacelle gyroscope measurement, which in turn determines the azimuth angle of each blade. Numerical methods for blade structural deformation are used (such as geometrically precise beam theory, Timoshenko beam theory, Euler-Bernoulli beam theory, etc., with this embodiment using geometrically precise beam theory). The blade deformation is calculated based on the measured blade tip acceleration value, and it is predicted whether the blade tip displacement will cause tower damage when the blade reaches an azimuth angle of 180 degrees. Finally, the model is corrected using the tower clearance measurement data.

[0056] Combining the above two calculation processes, when the blade structure calculation results indicate that there is a risk of the blade hitting the tower, the processor calculates the changes in the main shaft tilt angle and the rotor cone angle, and the nacelle lifting drive and the rotor cone angle rotation drive adjust the angles. When the blade reaches a 180-degree azimuth angle, the tower clearance distance sensor measures the actual data of the blade tip displacement and feeds it back to the processor. The processor calculates and corrects the current main shaft tilt angle and rotor cone angle until the tower clearance distance is within a reasonable range.

[0057] like Figure 3 As shown in the figure, the power curves of the novel wind turbine generator set using the technology of this invention are compared with those of a conventional novel wind turbine generator set with the same installed capacity. As can be seen from the figure, the novel wind turbine generator set using the technology of this invention can maintain higher power output efficiency, thereby ensuring the optimal wind capture power and structural stability of the novel wind turbine generator set under any wind speed range. The performance comparison with the conventional novel wind turbine generator set shows obvious technical and economic advantages, which are worth promoting.

[0058] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A novel attitude control system for a wind turbine generator set, wherein the novel wind turbine generator set is an adjustable wind turbine generator set with adjustable main shaft tilt angle and rotor cone angle, and the attitude control system comprises: In the data measurement section, the attitude measurement of the unit structure is realized based on sensors, and the attitude variables are input to the processor; The processor performs correction calculations on the attitude variables input from the data measurement section, and transmits the calculation results to the actuator. The actuator performs corresponding actions based on the calculation results transmitted by the processor; Its characteristic is that the attitude control system adopts different control methods according to different inflow wind speed conditions, including the following cases: The first scenario is that when the inflow wind speed is less than the cut-in wind speed and the wind conditions are stable, the unit is in a shutdown state, the blade pitch angle is 90 degrees in a feathered state, the main shaft tilt angle and the rotor cone angle are both 0 degrees, and the unit attitude is not adjusted except for normal yaw against the wind. The second scenario involves the unit operating normally when the inflow velocity is greater than the cut-in velocity and the start-up criteria are met. The blade pitch angle is adjusted to 0 degrees, and the main shaft tilt angle and rotor cone angle are both 0 degrees at the cut-in velocity. As the inflow velocity gradually increases, the processor analyzes and calculates the adjustment angles of the rotor cone angle and main shaft tilt angle based on the measurement results from the data measurement section. The actuator adjusts the unit's attitude based on the calculation results input by the processor. When the inflow velocity reaches the rated velocity, the main shaft tilt angle and rotor cone angle reach their maximum values, and the unit's power reaches the rated power. The third scenario involves the turbine operating at full capacity when the inflow wind speed exceeds the rated wind speed but is less than the cut-out wind speed. The blade pitch angle is adjusted according to the magnitude of the inflow wind speed, and the angle is 90 degrees in a feathered state at the cut-out wind speed. At this wind speed, the turbine control strategy remains unchanged, and there is no need to adjust the main shaft tilt angle and the rotor cone angle. When there is a demand for over-generation or a need to further squeeze out net spare capacity, in addition to adjusting the blade pitch angle, the rotor cone angle and main shaft tilt angle can also be adjusted according to the real-time power demand. The fourth type is when the inflow wind speed exceeds the cut-out wind speed, the unit enters the shutdown state, the blade pitch angle is 90 degrees, at this wind speed, the wind turbine load is small, the unit releases the wind turbine cone angle and main shaft tilt angle, and maintains the attitude of minimizing the overall wind load of the structure until the shutdown state ends. Fifth, when the wind condition changes from steady-state to transient under any of the above inflow wind speeds, and the blades experience large tip deformation or blade flutter due to the transient wind conditions, causing the tower clearance distance sensor or blade tip motion sensor to alarm, the processor receives the measured data from the data measurement section and calculates the attitude adjustment parameters of the computer nacelle and wind turbine. Then, it sends the execution parameters to the actuator, and the actuator adjusts the attitude according to the execution parameters until the target attitude is reached or the alarm is cleared. In the fifth case, there are the following two calculation processes: The first step involves the processor calculating attitude adjustment parameters based on the measured data from the data measurement section. Specifically, the angular acceleration, angular velocity, and angle values ​​of the main shaft tilt angle and the wind turbine cone angle are determined by the measurement data from the nacelle gyroscope and the blade root bearing base gyroscope, respectively. However, to prevent missing or erroneous measurement data, a prediction-correction method combining numerical calculation and measurement data is selected. That is, the measured value of angular acceleration is integrated over time to obtain the angular velocity, and the angular velocity measurement value is used for correction. The angle value is obtained by integrating the angular velocity and then corrected using the measured value. The second process for calculating tower clearance data is as follows: the wind turbine azimuth angle is determined based on the main shaft rotation angle and the nacelle gyroscope measurement value, and then the azimuth angle of each blade is determined. The blade deformation numerical method is used to calculate the blade deformation based on the measured blade tip acceleration value, and to predict whether the blade tip displacement will cause tower damage when the blade reaches an azimuth angle of 180 degrees. Finally, the model is corrected using tower clearance measurement data. Combining the above two calculation processes, when the blade structure calculation results indicate that there is a risk of the blade hitting the tower, the processor calculates the changes in the main shaft tilt angle and the rotor cone angle, and the nacelle lifting drive and the rotor cone angle rotation drive adjust the angles. When the blade reaches a 180-degree azimuth angle, the tower clearance distance sensor measures the actual data of the blade tip displacement and feeds it back to the processor. The processor calculates and corrects the current main shaft tilt angle and rotor cone angle until the tower clearance distance is within a reasonable range.

2. The attitude control system of a novel wind turbine generator set according to claim 1, characterized in that, The sensors include a spindle attitude sensor, a blade attitude sensor, and a wind speed and direction sensor, a spindle power measurement sensor, a blade tip motion sensor, and a tower clearance distance measurement sensor for auxiliary angle correction.

3. The attitude control system of a novel wind turbine generator set according to claim 1, characterized in that, The data measurement section includes an anemometer, a nacelle gyroscope, a spindle speed measuring instrument, a motor spindle speed measuring instrument, a blade tip accelerometer, and a tower clearance distance measuring instrument. The anemometer measures the wind speed and direction of the incoming airflow. The nacelle gyroscope records the nacelle azimuth and tilt angles. The spindle speed measuring instrument measures the real-time rotational speed of the spindle. The motor spindle speed measuring instrument measures the real-time rotational speed of the blade root bearing servo motor spindle. The blade tip accelerometer measures the acceleration of the blade tip when the blade deforms. The tower clearance distance measuring instrument measures the horizontal distance between the blade tip and the tower when the blade is at a 180-degree azimuth angle.

4. The attitude control system of a novel wind turbine generator set according to claim 1, characterized in that, The actuator includes a nacelle lifting drive for adjusting the main shaft tilt angle and a wind turbine cone angle rotation drive for adjusting the wind turbine cone angle, as well as a matching structural locking device; wherein, the nacelle lifting drive and the wind turbine cone angle rotation drive are hydraulically driven, servo motor driven or pneumatically driven, and the structural locking device adopts mechanical locking and electrical locking methods.

5. The attitude control system of a novel wind turbine generator set according to claim 4, characterized in that, The nacelle lifting drive device is a hydraulic drive component for lifting the nacelle base height; the wind turbine cone angle rotation drive device is a servo motor component for controlling the angle of the blade root bearing base; and the structural locking device is an electromagnetic brake component for locking the base attitude.

6. The attitude control system of a novel wind turbine generator set according to claim 1, characterized in that, The processor uses an industrial computer to input, process, and output data. When the data measurement section inputs measurement data to the processor, the processor determines the main shaft tilt angle based on the nacelle tilt angle, determines the azimuth angle of each blade based on the real-time rotation speed of the main shaft through time integration, determines the change in the wind turbine cone angle based on the rotation speed of the servo motor main shaft, calculates the blade tip deformation based on the blade tip acceleration, and corrects the blade tip deformation based on the tower clearance distance.

7. The attitude control system of a novel wind turbine generator set according to claim 1, characterized in that, In the fifth scenario, the transient wind includes sudden gusts and gales, and the alarm is an airspace warning value alarm or an excessive acceleration value alarm.

8. The attitude control system of a novel wind turbine generator set according to claim 1, characterized in that, In the second case, the changes in the main shaft tilt angle and the rotor cone angle follow a linear relationship. That is, for every preset increase in the rotor cone angle, the main shaft tilt angle increases by a corresponding preset degree. The numerical methods for blade structure deformation include geometrically precise beam theory, Timoshenko beam theory, and Euler-Bernoulli beam theory. In the fourth case, the unit releases the rotor cone angle and the main shaft tilt angle, and the angle value is adjusted to 0 degrees.

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