A control method and system for increasing damping of a two-order mode of blade flutter of an IPC

Abstract

The application discloses a control method and system for increasing blade whirl second-order modal damping of an IPC, collects left and right direction accelerations of a machine cabin and filters, carries out integral operation after filtering, obtains left and right direction speed values of the machine cabin, and subtracts corresponding given values from the left and right direction speed values, the difference values are taken as inputs of d-axis or q-axis proportional integral controllers in a dq static coordinate system, and outputs are d-axis or q-axis variable pitch position given values, corresponding q-axis or d-axis variable pitch position given values are zero, the outputs and real-time impeller azimuth angles are calculated through inverse Park transformation from the dq static coordinate system to a rotating coordinate system, blade angle compensation values of IPC increasing blade whirl second-order modal damping functions of three blades are obtained, are superimposed on unified variable pitch position given values, and final variable pitch position given values of the three blades are obtained, and the IPC increasing blade whirl second-order modal damping control function is realized by respective variable pitch actuators.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fan control, and particularly to a control method and system for increasing blade oscillation second-order modal damping of an IPC, a storage medium and a computing device. BACKGROUND

[0002] The fan parity era is accompanied by the situation of continuously increasing blade length, gradually reducing weight, small stiffness and structural damping, etc. Moreover, the aerodynamic damping of the blade oscillation direction second-order mode is also relatively small in the grid-connected power generation mode.

[0003] Under some special operating conditions, there is a phenomenon of mutual coupling between the blade oscillation second-order mode and the 1-fold frequency of impeller rotation. At the same time, due to the small structural damping of the blade oscillation second-order mode, the mutual coupling vibration between the blade oscillation second-order mode and the 1-fold frequency of impeller rotation cannot be effectively suppressed and attenuated, thereby causing the left and right directions of the tower to produce instability vibration of the frequency superposition of the two, and the blade in the region close to the blade tip exhibits instability vibration in the oscillation direction second-order mode. SUMMARY

[0004] The first object of the present application is to overcome the shortcomings and deficiencies of the prior art, and to provide a reliable control method for increasing the blade oscillation second-order modal damping of an IPC, which suppresses the instability vibration of the left and right directions of the tower caused by the coupling between the blade oscillation second-order mode and the 1-fold frequency of impeller rotation, attenuates the second-order modal vibration, stress and bending moment of the blade in the region close to the blade tip, and improves the reliability of the fan.

[0005] The second object of the present application is to provide a control system for increasing the blade oscillation second-order modal damping of an IPC.

[0006] The third object of the present application is to provide a storage medium.

[0007] The fourth object of the present application is to provide a computing device.

[0008] The first object of the present application is achieved by the following technical solution: a control method for increasing the blade oscillation second-order modal damping of an IPC, which performs the following operations:

[0009] In the grid-connected power generation mode of the fan, the left and right direction accelerations of the nacelle are collected and filtered through a notch filter and a band-pass filter in turn;

[0010] The effective value of the filtered left and right direction accelerations of the nacelle is calculated, and if the effective value of the acceleration is greater than a specified threshold, the filtered left and right direction accelerations of the nacelle are integrated to obtain the left and right direction speed values of the nacelle, otherwise the IPC increases the blade oscillation second-order modal damping function, the left and right direction speed signals of the nacelle are set to zero, and the control is ended;

[0011] Subtract the nacelle lateral direction velocity value from its corresponding given value, and the difference value is taken as the input of the d-axis proportional integral controller in the dq stationary coordinate system. The output of the d-axis proportional integral controller is the d-axis variable pitch position given value, and the corresponding q-axis variable pitch position given value is zero.

[0012] Subtract the nacelle lateral direction velocity value from its corresponding given value, and the difference value is taken as the input of the d-axis proportional integral controller in the dq stationary coordinate system. The output of the d-axis proportional integral controller is the d-axis variable pitch position given value, and the corresponding q-axis variable pitch position given value is zero.

[0013] The d-axis variable pitch position given value and the q-axis variable pitch position given value of zero, or the q-axis variable pitch position given value and the d-axis variable pitch position given value of zero, and the measured real-time blade azimuth angle, are calculated through inverse Park transformation from the dq stationary coordinate system to the rotating coordinate system to obtain the respective blade angle compensation values of the three-blade IPC increasing blade whirl second-order modal damping function.

[0014] The generator speed and the blade angle given value proportional integral or proportional integral derivative control logic are calculated to obtain the unified variable pitch position given value of the wind turbine.

[0015] The respective blade angle compensation values calculated by the three-blade IPC increasing blade whirl second-order modal damping function are superimposed on the unified variable pitch position given value of the wind turbine to obtain the respective real-time blade angle given values of the three blades, i.e. the final variable pitch position given values of the three blades.

[0016] The final variable pitch position given values of the three blades are respectively executed by the respective variable pitch actuators to realize the IPC increasing blade whirl second-order modal damping control function, so as to attenuate the vibration of the blade whirl second-order frequency and the rotor rotation frequency 1 times frequency combined signal in the tower lateral direction acceleration signal, as well as the blade whirl direction second-order modal frequency vibration and load in the blade near tip region.

[0017] Further, the nacelle lateral direction acceleration is collected by a vibration sensor installed inside the nacelle.

[0018] Further, the real-time blade azimuth angle is measured by an absolute value rotary encoder installed in the hub.

[0019] Further, the frequency in the nacelle lateral direction acceleration is the sum of the blade whirl second-order frequency and the rotor rotation frequency 1 times frequency.

[0020] Further, the nacelle lateral direction acceleration is filtered by a notch filter to attenuate the frequency components in the nacelle lateral direction acceleration signal, including the tower lateral direction first-order natural frequency, the rotor rotation frequency 3 times frequency, the rotor rotation frequency 6 times frequency and the transmission chain frequency.

[0021] Further, the transfer function of the notch filter is as follows:

[0022]

[0023] In the formula, s is a complex variable, ξ1 and ξ2 are damping ratios of the notch filter, and ω1 and ω2 are center frequencies of the notch filter.

[0024] Further, the band-pass filter obtains a superimposed signal component of a blade edgewise mode frequency and a 1P frequency of the impeller in the left-right direction acceleration of the nacelle, and simultaneously attenuates a low-frequency bias component in the left-right direction acceleration of the nacelle.

[0025] Further, the transfer function of the band-pass filter is as follows:

[0026]

[0027] In the formula, s is a complex variable, G is a gain of the band-pass filter, ξ3 is a damping ratio of the band-pass filter, ω3 is a center frequency of the band-pass filter, and τ is a time constant of the band-pass filter.

[0028] Further, the inverse Park transformation is in the form as follows:

[0029]

[0030] In the formula, β1, β2 and β3 are final pitch position given values of the blade 1, the blade 2 and the blade 3 respectively; is a real-time impeller azimuth angle in a grid-connected power generation mode of the wind turbine; d , and β q are d-axis and q-axis pitch position given values in a dq stationary coordinate system respectively; c is a unified pitch position given value of the wind turbine calculated by proportional integral or proportional integral derivative control of the generator speed and the blade angle given value.

[0031] The second object of the application is achieved by the following technical scheme: a control system for increasing blade edgewise mode damping of an IPC, used for implementing the control method for increasing blade edgewise mode damping of the IPC, and comprising:

[0032] A data acquisition module is configured to acquire nacelle left-right direction acceleration and a real-time impeller azimuth angle in a grid-connected power generation mode of the wind turbine.

[0033] A filtering module is configured to filter the acquired nacelle left-right direction acceleration through a notch filter and a band-pass filter in sequence.

[0034] The first calculation module is used for calculating an acceleration effective value of the filtered cabin left-right direction acceleration, and if the acceleration effective value is greater than a specified threshold value, the filtered cabin left-right direction acceleration is subjected to integral operation to obtain a cabin left-right direction speed value, otherwise, the IPC increases blade oscillation second-order modal damping function is closed, the cabin left-right direction speed signal is zeroed, and the control is ended.

[0035] The first data processing module is used for subtracting the cabin left-right direction speed value from a corresponding given value, and the difference is used as an input of a d-axis proportional integral controller in a dq stationary coordinate system, and an output of the d-axis proportional integral controller is a d-axis variable pitch position given value, and a corresponding q-axis variable pitch position given value is zero.

[0036] The second data processing module is used for subtracting the cabin left-right direction speed value from a corresponding given value, and the difference is used as an input of a q-axis proportional integral controller in the dq stationary coordinate system, and an output of the q-axis proportional integral controller is a q-axis variable pitch position given value, and a corresponding d-axis variable pitch position given value is zero.

[0037] The second calculation module is used for calculating, through inverse Park transformation from the dq stationary coordinate system to a rotating coordinate system, a blade angle compensation value of each blade of the IPC increasing blade oscillation second-order modal damping function from the d-axis variable pitch position given value and the zero q-axis variable pitch position given value, or from the q-axis variable pitch position given value and the zero d-axis variable pitch position given value, and a measured real-time blade azimuth angle.

[0038] The third calculation module is used for calculating, through proportional integral or proportional integral differential control logic, a unified variable pitch position given value of the wind turbine from the generator speed and the blade angle given value.

[0039] The third data processing module is used for superimposing the blade angle compensation value of each blade of the IPC increasing blade oscillation second-order modal damping function on the unified variable pitch position given value of the wind turbine to obtain a real-time blade angle given value of each blade of the three blades, that is, a final variable pitch position given value of the three blades.

[0040] The execution module is used for executing the final variable pitch position given value of each blade by a corresponding variable pitch execution mechanism to realize the IPC increasing blade oscillation second-order modal damping control function, so as to attenuate the blade oscillation second-order frequency and the blade oscillation second-order frequency vibration of the wind turbine, and the blade oscillation second-order modal frequency vibration and load in the blade close-to-tips region.

[0041] The third object of the application is achieved by the following technical scheme: a storage medium storing a program, the program being executed by a processor to realize the IPC increasing blade oscillation second-order modal damping control method.

[0042] The fourth object of the application is achieved by the following technical solution: a computing device comprising a processor and a memory for storing a program executable by the processor, wherein the processor implements the control method for increasing the blade edgewise second-order modal damping of the IPC when executing the program stored in the memory.

[0043] Compared with the prior art, the application has the following advantages and beneficial effects:

[0044] For a large-power, long-blade fan with small edgewise second-order modal damping, the IPC control function is started under special operating conditions, and the following beneficial effects are achieved by increasing the edgewise second-order modal damping of the blade:

[0045] 1. Suppressing the left-right direction instability vibration of the tower caused by the coupling of the edgewise second-order modal of the blade and the 1x frequency of the impeller rotation.

[0046] 2. Attenuating the edgewise second-order modal vibration, stress and bending moment of the blade near the blade tip region, and improving the reliability of the fan.

[0047] 3. No need to additionally increase any hardware device, good economy. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 One of the IPC blade edgewise second-order modal damping control principle diagrams.

[0049] Figure 2 The second of the IPC blade edgewise second-order modal damping control principle diagrams.

[0050] Figure 3 The d-axis variable pitch position given value VS cabin left-right direction speed Bode diagram comparison schematic diagram when the IPC blade edgewise second-order modal damping function is opened and closed.

[0051] Figure 4 The cabin left-right direction acceleration Bladed software simulation time sequence comparison schematic diagram when the IPC blade edgewise second-order modal damping function is opened and closed.

[0052] Figure 5 The cabin left-right direction acceleration signal spectral density comparison schematic diagram when the IPC blade edgewise second-order modal damping function is opened and closed.

[0053] Figure 6 The blade edgewise bending moment signal Bladed software simulation time sequence comparison schematic diagram when the IPC blade edgewise second-order modal damping function is opened and closed.

[0054] Figure 7Schematic diagram comparing the spectral density of the blade swing bending moment signal at a section 70 meters from the blade root when the blade swing second-order modal damping function is turned on and off for IPC.

[0055] Figure 8 Schematic diagram of the Bladed software simulation timing comparison of the blade swing directional force Fy signal at a section 70 meters from the blade root when the blade swing second-order modal damping function is turned on and off for IPC.

[0056] Figure 9 Schematic diagram comparing the spectral density of the blade swing directional force Fy signal at a section 70 meters from the blade root when the blade swing second-order modal damping function is turned on and off for IPC.

[0057] Figure 10 Schematic diagram of the Bladed software simulation timing comparison of blade angle when the second-order modal damping function of blade swing vibration is turned on and off for IPC.

[0058] Figure 11 This is an architectural diagram of the system of the present invention. DETAILED DESCRIPTION

[0059] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0060] Example 1

[0061] like Figure 1 As shown, this embodiment discloses a control method for increasing the second-order modal damping of blade swing vibration using IPC, which performs the following operations:

[0062] When the wind turbine is operating in grid-connected power generation mode, the vibration sensor installed inside the nacelle collects the left and right acceleration of the nacelle, and the absolute value rotary encoder installed in the hub measures the real-time impeller azimuth angle;

[0063] Figure 1 、 Figure 2 The left-right acceleration of the nacelle is filtered through a notch filter to attenuate frequency components such as the first-order natural frequency of the tower in the left-right direction, the third harmonic frequency of the impeller rotation frequency, the sixth harmonic frequency of the impeller rotation frequency, and the transmission chain frequency in the left-right acceleration signal of the nacelle. The bandpass filter mainly obtains the superimposed signal component of the second-order modal frequency of the blade swing and the 1 harmonic frequency of the impeller rotation frequency in the left-right acceleration of the nacelle, and attenuates the low-frequency offset component in the left-right acceleration signal of the nacelle. The middle frequency of the left-right acceleration of the nacelle is the sum of the second-order frequency of the blade swing and the 1 harmonic frequency of the impeller rotation frequency.

[0064] The notch filter transfer function is:

[0065]

[0066] In the formula, s is a complex variable, ξ1, ξ2 are notch filter damping ratio, ω1, ω2 are notch filter center frequency;

[0067] The transfer function of the band-pass filter is:

[0068]

[0069] In the formula, s is a complex variable, G is the gain of the band-pass filter, ξ3 is the damping ratio of the band-pass filter, ω3 is the center frequency of the band-pass filter, and τ is the time constant of the band-pass filter;

[0070] The acceleration effective value is calculated for the filtered cabin left-right direction acceleration. If the acceleration effective value is greater than the specified threshold, the filtered acceleration is integrated to obtain the cabin left-right direction speed value, otherwise the IPC increases the blade oscillation second-order modal damping function to be closed, the cabin left-right direction speed signal is zeroed, and the control is ended;

[0071] Figure 1 The first principle diagram for the IPC to increase the blade oscillation second-order modal damping is shown. The cabin left-right direction speed value is subtracted from the corresponding given value, and the difference is used as the input of the d-axis proportional integral controller in the dq stationary coordinate system. The output of the d-axis proportional integral controller is the d-axis variable pitch position given value, and the corresponding q-axis variable pitch position given value is zero.

[0072] Figure 2 The second principle diagram for the IPC to increase the blade oscillation second-order modal damping is shown. The cabin left-right direction speed value is subtracted from the corresponding given value, and the difference is used as the input of the q-axis proportional integral controller in the dq stationary coordinate system. The output of the q-axis proportional integral controller is the q-axis variable pitch position given value, and the corresponding d-axis variable pitch position given value is zero.

[0073] Figure 1 、 Figure 2 The d-axis variable pitch position given value, the q-axis variable pitch position given value, and the real-time blade azimuth angle measured by the absolute value rotary encoder inside the hub are calculated through the inverse Park transformation from the dq stationary coordinate system to the rotating coordinate system to obtain the respective blade angle compensation values of the three blades with the IPC increasing the blade oscillation second-order modal damping function.

[0074] The generator speed and blade angle given value proportional integral or proportional integral derivative control logic is calculated to obtain the unified variable pitch position given value of the wind turbine;

[0075] The respective blade angle compensation values calculated by the three blades with the IPC increasing the blade oscillation second-order modal damping function are superimposed on the unified variable pitch position given value of the wind turbine to obtain the respective real-time blade angle given value of the three blades, i.e. the final variable pitch position given value of the three blades;

[0076] The inverse Park transformation is as follows:

[0077]

[0078] In the formula, β1, β2, β3 are final pitch position given values of blade 1, blade 2, blade 3 respectively; is the real-time blade azimuth angle of the wind turbine in the grid-connected power generation mode; β d , β q are d-axis and q-axis pitch position given values in the dq stationary coordinate system respectively; β c is the unified pitch position given value of the wind turbine calculated by the proportional integral or proportional integral derivative control of the generator speed and the blade angle given value;

[0079] The final pitch position given values β1, β2, β3 of the three blades are respectively executed by the respective pitch actuators to realize the IPC increasing blade edgewise second-order modal damping control function, so as to attenuate the vibration of the superimposed signal of the blade edgewise second-order frequency and the 1P frequency of the rotor rotation frequency in the tower left-right direction acceleration signal, and the vibration of the blade edgewise second-order modal frequency in the blade tip region.

[0080] Figure 3 When the IPC increasing blade edgewise second-order modal damping function is turned on and off, the d-axis pitch position given value Vsd is compared with the left-right direction velocity frequency domain bode graph of the cabin, and when the IPC increasing blade edgewise second-order modal damping function is turned on, the energy of the superimposed component of the blade edgewise second-order frequency and the 1P frequency of the rotor rotation frequency in the left-right direction velocity signal of the tower has a large amplitude attenuation.

[0081] Figure 4 、 Figure 5 When the IPC increasing blade edgewise second-order modal damping function is turned on and off, the left-right direction acceleration Bladed simulation time sequence and the corresponding spectral density of the cabin are compared respectively; when the IPC increasing blade edgewise second-order modal damping function is turned on, the vibration amplitude of the superimposed signal of the blade edgewise second-order frequency and the 1P frequency of the rotor rotation frequency in the left-right direction acceleration signal of the tower has a large attenuation.

[0082] Figure 6 、 Figure 7 When the IPC increasing blade edgewise second-order modal damping function is turned on and off, the edgewise direction bending moment Bladed simulation time sequence and the corresponding spectral density of the blade at a 70-meter section from the blade root are compared respectively; when the IPC increasing blade edgewise second-order modal damping function is turned on, the edgewise direction bending moment signal has a significant attenuation of the edgewise second-order modal frequency component.

[0083] Figure 8 、 Figure 9The Bladed simulation time sequence of the blade pitch in the blade root 70 meter section in the sway direction when the IPC increases the blade sway second order modal damping function is opened and closed respectively, and the corresponding spectral density is compared; when the IPC increases the blade sway second order modal damping function, the blade sway second order modal frequency component in the sway direction force Fy signal has obvious attenuation.

[0084] Figure 10 The Bladed simulation time sequence of the blade angle when the IPC increases the blade sway second order modal damping function is opened and closed respectively; when the IPC increases the blade sway second order modal damping function, the peak-to-peak value of the blade angle fluctuation generated by the independent pitch control is controlled at about 1 deg, so as to realize the purpose of attenuating the vibration of the blade sway second order frequency and the blade wheel rotation frequency 1 times frequency synthesis signal in the tower left and right direction acceleration signal, and the blade sway second order modal frequency vibration and load in the blade tip region.

[0085] Embodiment 2

[0086] The embodiment discloses a control system for increasing the blade sway second order modal damping of an IPC, which is used for realizing the control method for increasing the blade sway second order modal damping of the IPC as described in Embodiment 1, as shown in the figure, the system comprises the following functional modules: Figure 11

[0087] A data acquisition module is configured to acquire the cabin left and right direction acceleration and the real-time blade azimuth angle in the wind turbine grid-connected power generation mode;

[0088] A filtering module is configured to filter the acquired cabin left and right direction acceleration through a notch filter and a band-pass filter in sequence;

[0089] A first calculation module is configured to calculate the acceleration effective value of the filtered cabin left and right direction acceleration, and if the acceleration effective value is greater than a specified threshold value, the filtered cabin left and right direction acceleration is subjected to an integral operation to obtain the cabin left and right direction speed value, otherwise the IPC increases the blade sway second order modal damping function, the cabin left and right direction speed signal is set to zero, and the control is ended;

[0090] A first data processing module is configured to subtract the cabin left and right direction speed value from the corresponding given value, and the difference is taken as the input of the d-axis proportional integral controller in the dq stationary coordinate system, and the output of the d-axis proportional integral controller is the d-axis pitch position given value, and the corresponding q-axis pitch position given value is zero;

[0091] A second data processing module is configured to subtract the cabin left and right direction speed value from the corresponding given value, and the difference is taken as the input of the q-axis proportional integral controller in the dq stationary coordinate system, and the output of the q-axis proportional integral controller is the q-axis pitch position given value, and the corresponding d-axis pitch position given value is zero; ​

[0092] The second calculation module is configured to calculate, through inverse Park transformation from the dq stationary coordinate system to the rotating coordinate system, a respective blade angle compensation value of the three blades for the IPC increasing blade edgewise second mode damping function, based on the d-axis variable pitch position given value and the q-axis variable pitch position given value of zero, or the q-axis variable pitch position given value and the d-axis variable pitch position given value of zero, and the measured real-time rotor azimuth angle.

[0093] The third calculation module is configured to calculate the unified variable pitch position given value of the wind turbine through proportional integral or proportional integral derivative control logic of the generator speed and the blade angle given value.

[0094] The third data processing module is configured to superimpose the respective blade angle compensation value of the three blades for the IPC increasing blade edgewise second mode damping function on the unified variable pitch position given value of the wind turbine to obtain a respective real-time blade angle given value of the three blades, i.e., the final variable pitch position given value of the three blades.

[0095] The execution module is configured to execute the final variable pitch position given value of the three blades by the respective variable pitch execution mechanism to realize the IPC increasing blade edgewise second mode damping control function, so as to attenuate the vibration of the blade edgewise second frequency and the rotor rotation frequency 1 times frequency combined signal in the left-right direction acceleration signal of the tower, and the vibration of the blade edgewise second mode frequency and the load in the blade tip region.

[0096] Embodiment 3

[0097] The embodiment discloses a storage medium, which stores a program. When the program is executed by a processor, the control method for increasing blade edgewise second mode damping of IPC in the embodiment 1 is realized.

[0098] The storage medium in the embodiment can be a disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), a U disk, a mobile hard disk, and the like.

[0099] Embodiment 4

[0100] The embodiment discloses a computing device, which comprises a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the control method for increasing blade edgewise second mode damping of IPC in the embodiment 1 is realized.

[0101] The computing device described in the embodiments can be a desktop computer, a notebook computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC), or other terminal device with processor function.

[0102] The above embodiments are the preferred embodiments of the present application, but the embodiments of the present application are not limited to the above embodiments, and any changes, modifications, substitutions, combinations, simplifications, etc. made without departing from the spirit and principles of the present application shall be equivalent replacement manners and shall be included in the protection scope of the present application.

Claims

1. A control method for increasing the second-order modal damping of blade swing vibration by IPC, characterized in that: Do the following: In the wind turbine grid-connected power generation mode, the left and right accelerations of the nacelle are collected and filtered in sequence by a notch filter and a bandpass filter; The effective value of the filtered left and right acceleration of the nacelle is calculated. If the effective value of the acceleration is greater than the specified threshold, the filtered left and right acceleration of the nacelle is integrated to obtain the left and right velocity value of the nacelle. Otherwise, the IPC function of increasing the second-order modal damping of blade swing vibration is turned off, the left and right velocity signal of the nacelle is reset to zero, and the control ends. Subtract the left and right speed values ​​of the nacelle from their corresponding given values, and use the difference as the input of the d-axis proportional-integral controller in the dq stationary coordinate system. The output of the d-axis proportional-integral controller is the d-axis pitch position given value, and the corresponding q-axis pitch position given value is zero; Subtract the left and right speed values ​​of the cabin from their corresponding given values, and use the difference as the input of the q-axis proportional-integral controller in the dq stationary coordinate system. The output of the q-axis proportional-integral controller is the q-axis pitch position given value, and the corresponding d-axis pitch position given value is zero; The d-axis pitch position given value and the q-axis pitch position given value of zero, or the q-axis pitch position given value and the d-axis pitch position given value of zero, and the measured real-time impeller azimuth are calculated by inverse Park transformation from the dq stationary coordinate system to the rotating coordinate system to obtain the blade angle compensation value of each of the three blades to increase the blade swing second-order modal damping function of the IPC; The generator speed and the blade angle given value are proportionally integrated or proportional-integral-differential control logic is used to calculate the uniform pitch position given value of the wind turbine; The blade angle compensation values ​​calculated by adding the blade swing second-order modal damping function to the three blades' IPC are superimposed on the unified variable pitch position set value of the wind turbine to obtain the real-time blade angle set values ​​of the three blades, that is, the final variable pitch position set values ​​of the three blades; The final pitch position setting values ​​of the three blades are respectively executed by their respective pitch actuators to realize the IPC to increase the blade swing second-order modal damping control function, which is used to attenuate the vibration of the composite signal of the blade swing second-order frequency and the impeller rotation frequency 1 times in the left and right acceleration signals of the tower, as well as the vibration and load of the second-order modal frequency in the swing direction of the blade near the blade tip; The frequency of the left-right acceleration of the nacelle is the sum of the second-order frequency of the blade swing and the frequency of the impeller rotation frequency. The nacelle left-right acceleration is filtered by a notch filter to attenuate the frequency components in the nacelle left-right acceleration signal, including the first-order natural frequency of the tower left-right direction, the 3rd frequency of the impeller rotation frequency, the 6th frequency of the impeller rotation frequency and the transmission chain frequency; The bandpass filter obtains the superposition signal component of the second-order modal frequency of the blade swing in the left-right direction acceleration of the nacelle and the 1st harmonic frequency of the impeller rotation frequency, and attenuates the low-frequency offset component in the left-right direction acceleration of the nacelle.

2. The IPC control method for increasing blade swing second-order modal damping according to claim 1, characterized in that: The left-right acceleration of the cabin is collected by a vibration sensor installed inside the cabin.

3. The IPC control method for increasing blade swing second-order modal damping according to claim 1, characterized in that: The real-time impeller azimuth angle is measured by an absolute rotary encoder installed in the hub.

4. The IPC control method for increasing blade swing second-order modal damping according to claim 1, characterized in that: The transfer function of the notch filter is as follows: ； Where, is a complex variable, is the notch filter damping ratio, is the center frequency of the notch filter.

5. The IPC control method for increasing blade shimmy second-order modal damping according to claim 1, characterized in that: The transfer function of the bandpass filter is as follows: ； Where, is a complex variable, is the bandpass filter gain, is the bandpass filter damping ratio, is the center frequency of the bandpass filter, is the bandpass filter time constant.

6. The IPC control method for increasing blade shimmy second-order modal damping according to claim 1, characterized in that: The inverse Park transform is of the following form: ； Where, 、 、 are the final pitch position given values ​​of blade 1, blade 2, and blade 3 respectively; The real-time impeller azimuth angle in the wind turbine grid-connected power generation mode; 、 are the given values ​​of the d-axis and q-axis pitch positions in the dq stationary coordinate system respectively; It is the unified variable pitch position given value of the wind turbine obtained by proportional integral or proportional integral differential control calculation of the generator speed and the blade angle given value.

7. An IPC control system for increasing the second-order modal damping of blade swing vibration, characterized in that: A control method for realizing an IPC according to any one of claims 1 to 6 to increase the second-order modal damping of blade swing vibration, comprising: The data acquisition module is used to collect the left and right acceleration of the nacelle and the real-time impeller azimuth angle in the wind turbine grid-connected power generation mode; A filtering module is used to filter the collected left and right accelerations of the cabin through a notch filter and a bandpass filter in sequence; A first calculation module is configured to calculate an effective value of the filtered left-right acceleration of the nacelle. If the effective value of the acceleration is greater than a specified threshold, the filtered left-right acceleration of the nacelle is integrated to obtain a left-right velocity value of the nacelle. Otherwise, the IPC function of increasing blade shimmy second-order modal damping is disabled, the left-right velocity signal of the nacelle is reset to zero, and control is terminated. The first data processing module is used to subtract the left and right speed values ​​of the nacelle from their corresponding given values, and the difference is used as the input of the d-axis proportional-integral controller in the dq stationary coordinate system. The output of the d-axis proportional-integral controller is the d-axis pitch position given value, and the corresponding q-axis pitch position given value is zero; The second data processing module is used to subtract the left and right speed values ​​of the cabin from their corresponding given values, and the difference is used as the input of the q-axis proportional-integral controller in the dq stationary coordinate system. The output of the q-axis proportional-integral controller is the q-axis pitch position given value, and the corresponding d-axis pitch position given value is zero; The second calculation module is used to calculate the d-axis pitch position given value and the q-axis pitch position given value of zero, or the q-axis pitch position given value and the d-axis pitch position given value of zero, and the measured real-time impeller azimuth angle, through inverse Park transformation from the dq stationary coordinate system to the rotating coordinate system, to obtain the blade angle compensation value of each of the three blades IPC to increase the blade swing second-order modal damping function; The third calculation module is used to calculate the unified pitch position given value of the wind turbine by proportionally integrating the generator speed and the blade angle given value or proportional-integral-differential control logic; The third data processing module adds the blade angle compensation values ​​calculated by adding the blade swing second-order modal damping function to the three blades' IPC and superimposes them on the unified variable pitch position set value of the wind turbine to obtain the real-time blade angle set values ​​of the three blades, that is, the final variable pitch position set values ​​of the three blades; The execution module is used to execute the final pitch position given values ​​of the three blades by their respective pitch actuators, realizing the IPC to increase the blade swing second-order modal damping control function, which is used to attenuate the vibration of the synthetic signal of the blade swing second-order frequency and the impeller rotation frequency 1 times in the left and right acceleration signals of the tower, as well as the vibration and load of the second-order modal frequency in the swing direction of the blade near the tip area.

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