A novel method and device for controlling the output power of a wind turbine generator.

Abstract

This application discloses a novel method and device for controlling the output power of a wind turbine. When wind speeds are too high, it combines pitch control and yaw control to adjust the pitch angle and yaw angle of the target wind turbine, thereby controlling the stable output power of the wind turbine. The method includes: acquiring the target wind speed and cut-out wind speed of the target wind turbine; when the target wind speed is greater than the cut-out wind speed, acquiring the pitch angle, and when the pitch angle is equal to a preset angle, adjusting the yaw control coefficient to be greater than a preset value and adjusting the pitch control coefficient to be equal to a preset value; determining the pitch angle and yaw angle; acquiring the feedback value of the wind turbine rotation speed, calculating the difference between the feedback value of the wind turbine rotation speed per unit time and the initial wind turbine rotation speed; if the comparison determines that the difference is greater than or equal to a critical rotation speed value, then increasing the yaw control coefficient, and using the adjusted yaw controller to perform yaw motion on the target wind turbine to adjust the yaw angle, thereby controlling the output power of the target wind turbine.

Description

Technical Field

[0001] This application relates to the field of wind turbine output power control, and in particular to a novel wind turbine output power control method and device. Background Technology

[0002] With the increase in my country's installed wind power capacity, higher demands are being placed on the output power of wind turbines. Not only is it necessary to increase the output power of wind turbines, but it is also necessary to maintain a stable output power. Because the environment for wind power generation is highly variable, a more intelligent control system is needed to cope with rapidly changing weather conditions and maximize power generation efficiency without damaging the machinery.

[0003] In related technologies, machine learning techniques are often used to optimize the output power of wind turbines. By analyzing historical data, the yaw parameters of wind turbines are automatically fine-tuned. Through yaw control, wind turbines can adjust their direction to ensure that they always maintain the best angle with the wind direction to capture more wind energy.

[0004] In the process of developing this application, the applicant discovered that the relevant technology has at least the following problems:

[0005] When the wind speed is too high, simply controlling the yaw of the wind turbine cannot achieve the maximum energy output, thus failing to optimize the output power of the wind turbine and control its stable output, resulting in the wind turbine providing electricity that is difficult to meet the electricity demand. Summary of the Invention

[0006] In view of this, this application provides a novel wind turbine output power control method and device, the main purpose of which is to solve the technical problem that when the wind speed is too high, simply controlling the yaw of the wind turbine cannot achieve the maximum energy output, thus failing to better optimize the output power of the wind turbine and control its stable output, resulting in the wind turbine providing power that is difficult to meet the electricity demand.

[0007] According to a first aspect of this application, a novel method for controlling the output power of a wind turbine generator is provided, the method comprising:

[0008] The target wind speed and cut-out wind speed of the target wind turbine are obtained, wherein the target wind speed is used to indicate the wind speed received by the wind turbine's sweeping surface;

[0009] When the target wind speed is greater than the cut-out wind speed, the pitch angle of the target wind turbine is obtained, and when the pitch angle is equal to a preset angle, the yaw control coefficient of the yaw controller is adjusted to be greater than the preset value, and the pitch control coefficient of the pitch controller is adjusted to be equal to the preset value.

[0010] The pitch controller is adjusted to perform pitch motion on the target wind turbine, and the yaw controller is adjusted to perform yaw motion on the target wind turbine, thereby determining the pitch angle and yaw angle of the target wind turbine.

[0011] Obtain the feedback value of the wind turbine rotation speed of the target wind turbine, calculate the difference between the feedback value of the wind turbine rotation speed per unit time and the initial wind turbine rotation speed, and compare the difference with the speed threshold value;

[0012] If the comparison determines that the difference is less than the speed threshold, the control process ends;

[0013] If the comparison determines that the difference is greater than or equal to the speed threshold, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed threshold, thereby completing the control of the output power of the target wind turbine.

[0014] Optionally, after obtaining the target wind speed and cut-out wind speed of the target wind turbine, the method further includes:

[0015] Obtain the cut-in wind speed of the target wind turbine;

[0016] When the target wind speed is greater than the cut-in wind speed and less than the cut-out wind speed, the wind acceleration acting on the wind turbine sweeping surface is obtained;

[0017] The wind acceleration is compared with the critical value of wind acceleration;

[0018] If the comparison determines that the wind acceleration is less than or equal to the critical value of wind acceleration, then the pitch control coefficient of the pitch controller is adjusted to be greater than the yaw control coefficient of the yaw controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset value.

[0019] Optionally, after comparing the wind acceleration with a critical value for wind acceleration, the method further includes:

[0020] If the comparison determines that the wind acceleration is greater than the critical value of wind acceleration, then the yaw control coefficient of the yaw controller is adjusted to be greater than the pitch control coefficient of the pitch controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset value.

[0021] Optionally, after adjusting the pitch control coefficient of the pitch controller to be greater than the yaw control coefficient of the yaw controller, and after both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset value, the method further includes:

[0022] The pitch controller is adjusted to perform pitch motion on the target wind turbine, and the yaw controller is adjusted to perform yaw motion on the target wind turbine, thereby determining the pitch angle and yaw angle of the target wind turbine.

[0023] Determine the output power feedback value and calculate the difference between the output power feedback value and the rated power of the target wind turbine per unit time.

[0024] The difference is compared with the power change threshold;

[0025] If the comparison determines that the difference is less than the power change threshold, the control process ends.

[0026] If the comparison determines that the difference is greater than or equal to the power change threshold, then the pitch control coefficient of the pitch controller is greater than the yaw control coefficient of the yaw controller. The adjusted pitch controller is used to perform pitch motion on the target wind turbine, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the pitch angle and the yaw angle until the difference between the output power feedback value and the rated power of the target wind turbine per unit time is less than the power change threshold, thus completing the control of the output power of the target wind turbine.

[0027] Optionally, determining the output power feedback value includes:

[0028] The rotational angular velocity, rotational speed, and radius of the target wind turbine are obtained. Based on the rotational angular velocity, rotational speed, and radius of the wind turbine, the tip speed ratio of the target wind turbine is calculated. The tip speed ratio is the ratio of the linear velocity of the blade tip to the target wind speed.

[0029] Based on the tip speed ratio and the pitch angle, the wind energy utilization coefficient of the target wind turbine is determined, and the output power feedback value is calculated using the following expression based on the wind energy utilization coefficient, the rotor swept area, the air density, the target wind speed, and the yaw angle.

[0030]

[0031] Among them, C P Let C be the wind energy utilization coefficient. P= f(λ,β), where λ is the tip speed ratio, β is the blade pitch angle; ρ is the air density; A is the wind turbine swept area; V is the target wind speed; α is the yaw angle; and R is the wind turbine radius.

[0032] Optionally, the step of using an adjusted pitch controller to perform pitch control on the target wind turbine to determine the pitch angle of the target wind turbine includes:

[0033] A first spatial rectangular coordinate system is established for the blades of the target wind turbine. The first spatial rectangular coordinate system takes the center of the cross-section of the blade as the origin, the line parallel to the dashed hub axis as the X-axis, and the pitch shaft as the Z-axis.

[0034] The adjusted pitch controller controls the pitch motor to drive the blades to rotate in a specified direction, so that the first spatial rectangular coordinate system corresponding to the blades rotates synchronously in the specified direction.

[0035] Determine the angle between the Y-axis of the first spatial rectangular coordinate system before rotation and the Y-axis of the first spatial rectangular coordinate system after rotation, and use the angle as the pitch angle.

[0036] Optionally, the step of using an adjusted yaw controller to perform yaw motion on the target wind turbine and determining the yaw angle of the target wind turbine includes:

[0037] A second spatial rectangular coordinate system is established for the yaw motion plane of the target wind turbine. The second spatial rectangular coordinate system takes the center of the tower's cross-section as the origin, the line parallel to the dashed hub axis as the X-axis, and the tower axis as the Z-axis.

[0038] The adjusted yaw controller controls the yaw motor to drive the yaw motion mechanism to rotate in a specified direction, so that the second spatial rectangular coordinate system corresponding to the yaw motion plane rotates synchronously in the specified direction.

[0039] Determine the angle between the X-axis of the second spatial rectangular coordinate system before rotation and the X-axis of the second spatial rectangular coordinate system after rotation, and use the angle as the yaw angle.

[0040] Optionally, while obtaining the target wind speed of the target wind turbine, the method further includes: setting an initial rotor rotational angular velocity for the pitch controller and setting an initial rotor speed for the yaw controller.

[0041] According to a second aspect of this application, a novel wind turbine output power control device is provided, the device comprising:

[0042] The acquisition module is used to acquire the target wind speed and cut-out wind speed of the target wind turbine, wherein the target wind speed is used to indicate the wind speed received by the wind turbine's sweeping surface;

[0043] The adjustment module is used to obtain the pitch angle of the target wind turbine when the target wind speed is greater than the cut-out wind speed, and when the pitch angle is equal to a preset angle, adjust the yaw control coefficient of the yaw controller to be greater than the preset value and adjust the pitch control coefficient of the pitch controller to be equal to the preset value.

[0044] The determination module is used to perform pitch motion on the target wind turbine using an adjusted pitch controller and yaw motion on the target wind turbine using an adjusted yaw controller, and to determine the pitch angle and yaw angle of the target wind turbine.

[0045] The comparison module is used to obtain the feedback value of the wind turbine rotation speed of the target wind turbine, calculate the difference between the feedback value of the wind turbine rotation speed and the initial wind turbine rotation speed per unit time, and compare the difference with the speed threshold value.

[0046] The adjustment module is used to terminate the control process if the comparison determines that the difference is less than the speed critical value; if the comparison determines that the difference is greater than or equal to the speed critical value, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed critical value, thereby completing the control of the output power of the target wind turbine.

[0047] Optionally, the adjustment module is further configured to acquire the cut-in wind speed of the target wind turbine; when the target wind speed is greater than the cut-in wind speed and less than the cut-out wind speed, acquire the wind acceleration acting on the sweeping surface of the wind turbine; compare the wind acceleration with a critical value of wind acceleration; if the comparison determines that the wind acceleration is less than or equal to the critical value of wind acceleration, then adjust the pitch control coefficient of the pitch controller to be greater than the yaw control coefficient of the yaw controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset value.

[0048] Optionally, the adjustment module is further configured to, if the comparison determines that the wind acceleration is greater than the critical value of the wind acceleration, adjust the yaw control coefficient of the yaw controller to be greater than the pitch control coefficient of the pitch controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset value.

[0049] Optionally, the determining module is used to perform pitch motion on the target wind turbine using an adjusted pitch controller and yaw motion on the target wind turbine using an adjusted yaw controller, and to determine the pitch angle and yaw angle of the target wind turbine.

[0050] The comparison module is also used to determine the output power feedback value, calculate the difference between the output power feedback value and the rated power of the target wind turbine per unit time, and compare the difference with the power change threshold.

[0051] The adjustment module is further configured to: terminate the control process if the comparison determines that the difference is less than the power change threshold; and if the comparison determines that the difference is greater than or equal to the power change threshold, control the pitch control coefficient of the pitch controller to be greater than the yaw control coefficient of the yaw controller, and use the adjusted pitch controller to perform pitch motion on the target wind turbine, and use the adjusted yaw controller to perform yaw motion on the target wind turbine to adjust the pitch angle and the yaw angle until the difference between the output power feedback value and the rated power of the target wind turbine per unit time is less than the power change threshold, thereby completing the control of the output power of the target wind turbine.

[0052] Optionally, the comparison module is used to obtain the rotor rotational angular velocity, rotor speed and rotor radius of the current target wind turbine, and calculate the tip speed ratio of the target wind turbine based on the rotor rotational angular velocity, rotor speed and rotor radius, wherein the tip speed ratio is the ratio of the linear velocity of the blade tip to the target wind speed;

[0053] Based on the tip speed ratio and the pitch angle, the wind energy utilization coefficient of the target wind turbine is determined, and the output power feedback value is calculated using the following expression based on the wind energy utilization coefficient, the rotor swept area, the air density, the target wind speed, and the yaw angle.

[0054]

[0055] Among them, C P Let C be the wind energy utilization coefficient. P = f(λ,β), where λ is the tip speed ratio, β is the blade pitch angle; ρ is the air density; A is the wind turbine swept area; V is the target wind speed; α is the yaw angle; and R is the wind turbine radius.

[0056] Optionally, the determining module is used to establish a first spatial rectangular coordinate system for the blades of the target wind turbine. The first spatial rectangular coordinate system has the center of the cross-section of the blade as the origin, the line parallel to the dashed hub axis as the X-axis, and the pitch shaft as the Z-axis. The adjusted pitch controller controls the pitch motor to drive the blades to rotate in a specified direction so that the first spatial rectangular coordinate system corresponding to the blades rotates synchronously in the specified direction. The module determines the angle between the Y-axis before the rotation of the first spatial rectangular coordinate system and the Y-axis after the rotation of the first spatial rectangular coordinate system, and uses the angle as the pitch angle.

[0057] Optionally, the determining module is used to establish a second spatial rectangular coordinate system for the yaw motion plane of the target wind turbine. The second spatial rectangular coordinate system has the center of the tower's cross-section as the origin, the line parallel to the dashed hub axis as the X-axis, and the tower axis as the Z-axis. The adjusted yaw controller controls the yaw motor to drive the yaw motion mechanism to rotate in a specified direction, so that the second spatial rectangular coordinate system corresponding to the yaw motion plane rotates synchronously in the specified direction. The module determines the angle between the X-axis of the second spatial rectangular coordinate system before rotation and the X-axis of the second spatial rectangular coordinate system after rotation, and uses the angle as the yaw angle.

[0058] Optionally, the device further includes:

[0059] The setting module is used to set the initial rotor rotational angular velocity for the pitch controller and the initial rotor speed for the yaw controller.

[0060] Using the above technical solution, this application provides a novel wind turbine output power control method and device. This application obtains the target wind speed and cut-out wind speed of the target wind turbine. When the target wind speed is greater than the cut-out wind speed, the pitch angle of the target wind turbine is obtained. When the pitch angle equals a preset angle, the yaw control coefficient of the yaw controller is adjusted to be greater than a preset value, and the pitch control coefficient of the pitch controller is adjusted to be equal to a preset value. Subsequently, the adjusted pitch controller is used to perform pitch motion on the target wind turbine, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine, determining the pitch angle and yaw angle of the target wind turbine. Further, the feedback value of the wind turbine's rotor speed is obtained, and the difference between the feedback value of the rotor speed per unit time and the initial rotor speed is calculated. The difference is compared with a speed critical value. If the comparison determines that the difference is less than the speed critical value, the control process ends. If the comparison determines that the difference is greater than or equal to the speed critical value, the yaw control coefficient of the yaw controller is increased. The adjusted yaw controller is then used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed critical value, thus completing the control of the output power of the target wind turbine. This embodiment uses an aerodynamic characteristic regulator to control the wind turbine, so as to accurately control the pitch controller and yaw controller when the wind speed is too high. The pitch control and yaw control strategies are combined to adjust the pitch angle and yaw angle of the wind turbine, so that the wind turbine can operate near its rated power and maintain operation within a wide wind speed regulation range. Furthermore, by monitoring wind speed and direction changes in real time, the aerodynamic characteristic regulator can quickly adjust the pitch angle and yaw angle, thereby maintaining a stable output power of the wind turbine during wind speed fluctuations.

[0061] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0062] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0063] Figure 1 A schematic flowchart of a novel wind turbine output power control method provided in an embodiment of this application is shown.

[0064] Figure 2 A schematic flowchart of a novel wind turbine output power control method provided in an embodiment of this application is shown.

[0065] Figure 3 A schematic diagram illustrating the control principle of a novel wind turbine output power control method provided in an embodiment of this application is shown.

[0066] Figure 4 The diagram illustrates the pitch control process of a novel wind turbine output power control method according to an embodiment of this application.

[0067] Figure 5 The diagram illustrates the yaw motion process of a novel wind turbine output power control method provided in an embodiment of this application.

[0068] Figure 6 A schematic diagram of the structure of a novel wind turbine output power control device provided in an embodiment of this application is shown. Detailed Implementation

[0069] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0070] This application provides a novel method for controlling the output power of a wind turbine generator, such as... Figure 1 As shown, the method includes:

[0071] 101. Obtain the target wind speed and cut-out wind speed of the target wind turbine. The target wind speed is used to indicate the wind speed received by the wind turbine's rotor sweep surface.

[0072] The aerodynamic characteristic regulator first obtains the target wind speed, i.e. the actual wind speed, acting on the wind turbine's rotor sweeping surface, and then determines the specified regulation rule that the target wind turbine's current operating environment falls into based on the target wind speed.

[0073] 102. When the target wind speed is greater than the cut-out wind speed, obtain the pitch angle of the target wind turbine, and when the pitch angle is equal to the preset angle, adjust the yaw control coefficient of the yaw controller to be greater than the preset value, and adjust the pitch control coefficient of the pitch controller to be equal to the preset value.

[0074] In this embodiment, after obtaining the target wind speed data, the aerodynamic characteristic regulator will determine the target wind speed. When the target wind speed is detected to be greater than the cut-out wind speed, the pitch angle of the target wind turbine is obtained. When the pitch angle is equal to a preset angle of 90 degrees, the yaw control coefficient of the yaw controller is adjusted to be greater than the preset value, and the pitch control coefficient of the pitch controller is adjusted to be equal to the preset value, so as to ensure that the pitch angle and yaw angle of the wind turbine can be optimally adjusted to a suitable angle according to the current wind speed, thereby meeting the requirements of reasonable energy capture and safe operation.

[0075] 103. Use the adjusted pitch controller to perform pitch motion on the target wind turbine, and use the adjusted yaw controller to perform yaw motion on the target wind turbine, and determine the pitch angle and yaw angle of the target wind turbine.

[0076] In this embodiment, the pitch controller executes pitch movements according to adjusted control coefficients. Similarly, the yaw controller executes yaw movements according to its adjusted control coefficients. During this process, the current pitch angle and yaw angle of the target wind turbine need to be continuously monitored and recorded.

[0077] 104. Obtain the feedback value of the rotor speed of the target wind turbine, calculate the difference between the feedback value of the rotor speed per unit time and the initial rotor speed, and compare the difference with the speed threshold value.

[0078] In this embodiment, to ensure the stability of wind turbine rotational speed changes and thus improve the stability of wind turbine power output, a feedback adjustment mechanism is provided. This mechanism obtains the feedback value of the target wind turbine's rotor speed and calculates the difference between the feedback value and the initial rotor speed per unit time. The difference is then compared with a speed threshold to determine whether the feedback adjustment mechanism is triggered.

[0079] 105. If the comparison determines that the difference is less than the speed critical value, the control process ends. If the comparison determines that the difference is greater than or equal to the speed critical value, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed critical value, thus completing the control of the output power of the target wind turbine.

[0080] Furthermore, if the comparison determines that the difference is greater than or equal to the speed critical value, the yaw control coefficient of the yaw controller is increased. The adjusted yaw controller is then used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the turbine speed per unit time and the initial turbine speed is less than the speed critical value, thus completing the control of the output power of the target wind turbine. It should be noted that in the embodiments of this application, the varying pitch angle and yaw angle both vary within the range of 0° to 90°.

[0081] The method provided in this application first obtains the target wind speed and cut-out wind speed of the target wind turbine. When the target wind speed is greater than the cut-out wind speed, the pitch angle of the target wind turbine is obtained. When the pitch angle is equal to a preset angle, the yaw control coefficient of the yaw controller is adjusted to be greater than a preset value, and the pitch control coefficient of the pitch controller is adjusted to be equal to a preset value. Subsequently, the pitch controller is used to perform pitch motion on the target wind turbine, and the yaw controller is used to perform yaw motion on the target wind turbine to determine the pitch angle and yaw angle of the target wind turbine. Further, the feedback value of the rotor speed of the target wind turbine is obtained, the difference between the feedback value of the rotor speed per unit time and the initial rotor speed is calculated, and the difference is compared with the speed critical value. If the comparison determines that the difference is less than the speed critical value, the control process ends. If the comparison determines that the difference is greater than or equal to the speed critical value, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed critical value, thus completing the control of the output power of the target wind turbine. This embodiment uses an aerodynamic characteristic regulator to control the wind turbine, so as to accurately control the pitch controller and yaw controller when the wind speed is too high. The pitch control and yaw control strategies are combined to adjust the pitch angle and yaw angle of the wind turbine, so that the wind turbine can operate near its rated power and maintain operation within a wide wind speed adjustment range. Furthermore, by monitoring wind speed and direction changes in real time, the aerodynamic characteristic regulator can quickly adjust the pitch angle and yaw angle, thereby maintaining a stable output power of the wind turbine when the wind speed fluctuates.

[0082] This application provides a novel method for controlling the output power of a wind turbine generator, such as... Figure 2 As shown, the method includes:

[0083] 201. Set the initial rotor rotational angular velocity for the pitch controller and the initial rotor speed for the yaw controller.

[0084] In this embodiment of the application, the schematic diagram of the coordinated control relationship between pitch and yaw is as follows: Figure 3As shown, given the initial angular velocity ω of the wind turbine rotor, a pitch control closed loop is established between the optimization controller G0 and the pitch controller G1. Simultaneously, given the wind turbine rotor speed n, a yaw control closed loop is established between the optimization controller G0 and the yaw controller G2.

[0085] In the embodiments of this application, by establishing pitch control closed loop and yaw control closed loop, the target wind turbine can automatically adjust the pitch angle and yaw angle to adapt to changes in wind speed, thereby keeping the target wind turbine at the optimal operating point to maximize the wind energy conversion of the generator, improve energy conversion efficiency, and thus increase the power output of the generator.

[0086] 202. Obtain the target wind speed and cut-out wind speed of the target wind turbine, determine the specified adjustment rules based on the target wind speed, and adjust the pitch controller and yaw controller according to the specified adjustment rules.

[0087] In the embodiments of this application, based on the wind speed range and the comparison with a preset angle, different adjustment rules are adopted to optimize the power output, stability and efficiency of the wind turbine.

[0088] Specifically, first, the target wind speed V of the target wind turbine is obtained. Then, the cut-in wind speed V0 and cut-out wind speed V1 of the target wind turbine are obtained, and the target wind speed V of the target wind turbine is compared with the cut-in wind speed V0 and cut-out wind speed V1.

[0089] When the target wind speed V is greater than the cut-out wind speed V1, the pitch angle β of the target wind turbine is obtained. When the pitch angle β is equal to the preset angle of 90 degrees, the specified adjustment rule corresponding to the current target wind speed is determined as the first adjustment rule. At this time, the pitch control closed loop stops working, the yaw control closed loop continues to work, and the optimization controller G0 adjusts the pitch control coefficient J1 to the preset value of 0 and adjusts the yaw control coefficient J2 to be greater than the preset value of 0.

[0090] When the target wind speed is greater than the cut-in wind speed V0 and less than the cut-out wind speed V1, i.e., V∈(V0,V1), the wind acceleration a acting on the wind turbine sweeping surface is obtained. The wind acceleration a is compared with the wind acceleration critical value a0. If the comparison determines that the wind acceleration a is less than or equal to the wind acceleration critical value a0, then the specified adjustment rule corresponding to the current target wind speed is determined to be the second adjustment rule. At this time, the pitch control closed loop and the yaw control closed loop work simultaneously. The optimization controller G0 adjusts the pitch control coefficient J1 to be greater than the yaw control coefficient J2, and both the pitch control coefficient and the yaw control coefficient are greater than the preset value 0, i.e., J1>J2>0. If the comparison determines that the wind acceleration 'a' is greater than the critical wind acceleration value 'a0', then the specified adjustment rule corresponding to the current target wind speed is determined to be the third adjustment rule. At this time, the pitch control closed loop and the yaw control closed loop still operate simultaneously. The optimization controller G0 adjusts the yaw control coefficient J2 to be greater than the pitch control coefficient J1, and both the pitch control coefficient and the yaw control coefficient are greater than the preset value, i.e., 0. <J1<J2。

[0091] This application embodiment enables the target wind turbine to automatically adjust its pitch angle and yaw angle to adapt to wind speed changes through pitch control closed loop and yaw control closed loop, thereby improving the stability of the target wind turbine operation and reducing the impact of wind speed changes on the operation of the target wind turbine.

[0092] 203. The pitch controller is adjusted to perform pitch motion on the target wind turbine, and the yaw controller is adjusted to perform yaw motion on the target wind turbine, thereby determining the pitch angle and yaw angle of the target wind turbine.

[0093] In this embodiment, through the coordinated action of the pitch controller and the yaw controller, the wind turbine can accurately adjust the pitch angle and yaw angle under different wind speed conditions, thereby improving the utilization efficiency of wind energy.

[0094] Specifically, if the specified adjustment rule corresponding to the target wind speed is the first adjustment rule, then the target wind turbine stops pitch control, and the pitch angle β = 90°. The target wind turbine continues the aforementioned yaw motion, changing the yaw angle α, where α ∈ (0°, 90°). ° ).

[0095] If the specified adjustment rule corresponding to the target wind speed is the second or third adjustment rule, then the coordinated action of the pitch controller and yaw controller is specifically achieved by the pitch controller G1 and yaw controller G2 controlling the pitch motor M1 and yaw motor M2 respectively. The wind turbine blades change direction under the drive of M1. Figure 4 The pitch angle β in the turbine is adjusted to improve the wind energy utilization rate of the turbine. The turbine changes its position under the drive of M2. Figure 5The yaw angle α in the wind turbine allows the rotor speed to reach the rated speed. Under this wind speed condition, the pitch control function model P1: f1(β, V, C) is given. p The two control function models, P1 and P2, are combined during the pitch and yaw coordinated control process to form a parallel coupled control function relationship f{P1(P2)}. Specifically, the pitch motion process of the wind turbine is as follows: Figure 4 As shown, a first spatial rectangular coordinate system is established for the blades of the target wind turbine. The origin of this first spatial rectangular coordinate system is the center of the blade's cross-section, the X-axis is the line parallel to the dashed hub axis, and the Z-axis is the pitch shaft. The pitch controller controls the pitch motor to drive the blades to rotate in a specified direction, so that the corresponding first spatial rectangular coordinate system rotates synchronously in the specified direction, resulting in the rotated X-axis. Figure 4 The X′ axis and the rotated Y axis (in the middle) Figure 4 The Y′ axis in the first spatial rectangular coordinate system is finally determined. Figure 4 The angle between the Y′ axis and the Y′ axis is taken as the pitch angle β, where β∈(0, 0). ° (90°). The process of a wind turbine yawing is as follows: Figure 5 As shown, a second spatial rectangular coordinate system is established for the yaw motion plane of the target wind turbine. The origin of this second spatial rectangular coordinate system is the center of the tower's cross-section, the X-axis is the line parallel to the dashed hub axis, and the Z-axis is the tower axis. The yaw controller controls the yaw motor to drive the yaw motion mechanism to rotate in a specified direction, so that the second spatial rectangular coordinate system corresponding to the yaw motion plane rotates synchronously in the specified direction, resulting in the rotated X-axis. Figure 5 The X′ axis and the rotated Y axis (in the middle) Figure 5 The Y′ axis in the second spatial rectangular coordinate system is then determined. Finally, the X-axis before and after rotation of the second spatial rectangular coordinate system is determined. Figure 5 The angle between the X′ axis and the yaw angle α is taken as the yaw angle α, where α∈(0°,90°).

[0096] In this embodiment, the pitch controller controls the pitch motor to drive the blades to rotate, adapting to the current wind speed conditions. Through the pitch control function model, the pitch angle can be precisely adjusted according to parameters such as wind speed, thereby optimizing the output power of the wind turbine. The pitch motion of the blades allows wind energy to be more fully converted into rotational kinetic energy, improving the wind energy utilization rate of the wind turbine. Simultaneously, the yaw controller controls the yaw motor to drive the yaw mechanism to perform yaw motion, bringing the rotor speed to the rated speed. Through the yaw control function model, the yaw angle can be adjusted according to parameters such as wind speed, further improving the performance of the wind turbine. The purpose of the yaw motion is to ensure the optimal angle between the rotor and the wind direction, enabling the wind turbine to capture wind energy to the maximum extent.

[0097] 204. Based on the target wind speed, stabilize the output power of the target wind turbine.

[0098] In this embodiment, if the target wind speed is greater than the cut-out wind speed and the pitch angle of the target wind turbine is equal to a preset angle of 90 degrees, the feedback value of the rotor speed of the target wind turbine is obtained. The difference Δn between the feedback value of the rotor speed per unit time and the initial rotor speed n0 is calculated. The difference Δn is compared with the speed threshold, i.e., the speed change threshold Δn0 per unit time. If the comparison determines that the difference Δn is less than the speed threshold Δn0, the control process ends. If the comparison determines that the difference Δn is greater than or equal to the speed threshold Δn0, the yaw control coefficient J2 of the yaw controller is increased. The adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle to ensure the stability of the rotor speed change, until the difference Δn between the feedback value of the rotor speed per unit time and the initial rotor speed is less than the speed threshold Δn0, thus completing the control of the output power of the target wind turbine and improving the stability of the wind turbine power output.

[0099] If the target wind speed is greater than the cut-in wind speed but less than the cut-out wind speed, and the wind acceleration is greater than the critical wind acceleration value a0, then the output power feedback value is determined. Specifically, the output power of the target wind turbine is determined based on the target wind speed, pitch angle, and yaw angle. In this embodiment, the rotor rotational angular velocity ω, rotor speed n, and rotor radius R of the current target wind turbine are obtained. Based on the rotor rotational angular velocity ω, rotor speed n, and rotor radius R, the tip speed ratio λ of the target wind turbine is calculated according to the following formula 1.

[0100]

[0101] Where V is the target wind speed, and the tip speed ratio is the ratio of the linear velocity at the blade tip to the target wind speed.

[0102] Furthermore, based on the tip speed ratio λ and the pitch angle β, the wind energy utilization coefficient C of the target wind turbine is determined. P The output power of the target wind turbine is calculated using the following formula 2, based on the wind energy utilization coefficient, the swept area of ​​the wind turbine, the air density, the target wind speed, and the yaw angle.

[0103] Formula 2:

[0104] Among them, C P C is the wind energy utilization coefficient. P =f(λ,β), where λ is the blade tip speed ratio, β is the blade pitch angle; ρ is the air density; A is the wind turbine swept area; V is the target wind speed; α is the yaw angle; and R is the wind turbine radius.

[0105] Further, the difference Δp between the output power feedback value per unit time and the rated power p0 of the target wind turbine is calculated, and this difference Δp is compared with the power change critical value Δp0. If the comparison determines that the difference Δp is less than the power change critical value Δp0, the control process ends. If the comparison determines that the difference Δp is greater than or equal to the power change critical value Δp0, the pitch control coefficient of the pitch controller is greater than the yaw control coefficient of the yaw controller, i.e., J1>J2>0. The adjusted pitch controller is used to perform pitch motion on the target wind turbine, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the pitch angle and yaw angle until the difference between the output power feedback value per unit time and the rated power of the target wind turbine is less than the power change critical value, thus completing the control of the output power of the target wind turbine.

[0106] It should be noted that Δp0, Δn0, and a0 are all settable values, which can be set based on the actual operating conditions of the target wind turbine and its own parameters.

[0107] This invention employs a novel wind turbine output power control method to optimize the output power of wind turbines. The advantages of this control method lie in expanding the cut-out wind speed of the turbine, increasing the turbine's speed regulation range, and enabling the turbine to utilize wind energy resources more fully. Simultaneously, by establishing additional control relationships, it can also ensure the stable output power of the wind turbine.

[0108] The method provided in this application first obtains the target wind speed and cut-out wind speed of the target wind turbine. When the target wind speed is greater than the cut-out wind speed, the pitch angle of the target wind turbine is obtained. When the pitch angle is equal to a preset angle, the yaw control coefficient of the yaw controller is adjusted to be greater than a preset value, and the pitch control coefficient of the pitch controller is adjusted to be equal to a preset value. Subsequently, the pitch controller is used to perform pitch motion on the target wind turbine, and the yaw controller is used to perform yaw motion on the target wind turbine to determine the pitch angle and yaw angle of the target wind turbine. Further, the feedback value of the rotor speed of the target wind turbine is obtained, the difference between the feedback value of the rotor speed per unit time and the initial rotor speed is calculated, and the difference is compared with the speed critical value. If the comparison determines that the difference is less than the speed critical value, the control process ends. If the comparison determines that the difference is greater than or equal to the speed critical value, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed critical value, thus completing the control of the output power of the target wind turbine. This embodiment uses an aerodynamic characteristic regulator to control the wind turbine, so as to accurately control the pitch controller and yaw controller when the wind speed is too high. The pitch control and yaw control strategies are combined to adjust the pitch angle and yaw angle of the wind turbine, so that the wind turbine can operate near its rated power and maintain operation within a wide wind speed adjustment range. Furthermore, by monitoring wind speed and direction changes in real time, the aerodynamic characteristic regulator can quickly adjust the pitch angle and yaw angle, thereby maintaining a stable output power of the wind turbine when the wind speed fluctuates.

[0109] Furthermore, as Figure 1 To specifically implement the method, this application provides a novel wind turbine output power control device, such as... Figure 6 As shown, the device includes: an acquisition module 601, an adjustment module 602, a determination module 603, a comparison module 604, and an adjustment module 605.

[0110] The acquisition module 601 is used to acquire the target wind speed and cut-out wind speed of the target wind turbine, wherein the target wind speed is used to indicate the wind speed received by the wind turbine's sweeping surface.

[0111] The adjustment module 602 is used to obtain the pitch angle of the target wind turbine when the target wind speed is greater than the cut-out wind speed, and when the pitch angle is equal to a preset angle, adjust the yaw control coefficient of the yaw controller to be greater than the preset value and adjust the pitch control coefficient of the pitch controller to be equal to the preset value.

[0112] The determining module 603 is used to perform pitch motion on the target wind turbine using an adjusted pitch controller and to perform yaw motion on the target wind turbine using an adjusted yaw controller, thereby determining the pitch angle and yaw angle of the target wind turbine.

[0113] The comparison module 604 is used to obtain the feedback value of the wind turbine rotation speed of the target wind turbine, calculate the difference between the feedback value of the wind turbine rotation speed and the initial wind turbine rotation speed per unit time, and compare the difference with the speed threshold value.

[0114] The adjustment module 605 is used to terminate the control process if the comparison determines that the difference is less than the speed critical value; if the comparison determines that the difference is greater than or equal to the speed critical value, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed critical value, thereby completing the control of the output power of the target wind turbine.

[0115] In specific application scenarios, the adjustment module 602 is also used to obtain the cut-in wind speed of the target wind turbine; when the target wind speed is greater than the cut-in wind speed and less than the cut-out wind speed, the wind acceleration acting on the sweeping surface of the wind turbine is obtained; the wind acceleration is compared with a critical value of wind acceleration; if the comparison determines that the wind acceleration is less than or equal to the critical value of wind acceleration, the pitch control coefficient of the pitch controller is adjusted to be greater than the yaw control coefficient of the yaw controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset value.

[0116] In a specific application scenario, the adjustment module 602 is further configured to, if the comparison determines that the wind acceleration is greater than the critical value of the wind acceleration, adjust the yaw control coefficient of the yaw controller to be greater than the pitch control coefficient of the pitch controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset value.

[0117] In a specific application scenario, the determining module 603 is used to perform pitch motion on the target wind turbine using an adjusted pitch controller and to perform yaw motion on the target wind turbine using an adjusted yaw controller, thereby determining the pitch angle and yaw angle of the target wind turbine.

[0118] The comparison module 604 is also used to determine the output power feedback value, calculate the difference between the output power feedback value and the rated power of the target wind turbine generator per unit time, and compare the difference with the power change threshold value.

[0119] The adjustment module 605 is further configured to: terminate the control process if the comparison determines that the difference is less than the power change threshold; and if the comparison determines that the difference is greater than or equal to the power change threshold, control the pitch control coefficient of the pitch controller to be greater than the yaw control coefficient of the yaw controller, and use the adjusted pitch controller to perform pitch motion on the target wind turbine, and use the adjusted yaw controller to perform yaw motion on the target wind turbine to adjust the pitch angle and the yaw angle until the difference between the output power feedback value and the rated power of the target wind turbine per unit time is less than the power change threshold, thereby completing the control of the output power of the target wind turbine.

[0120] In a specific application scenario, the comparison module 604 is used to obtain the rotor rotational angular velocity, rotor speed and rotor radius of the target wind turbine, and calculate the tip speed ratio of the target wind turbine based on the rotor rotational angular velocity, rotor speed and rotor radius. The tip speed ratio is the ratio of the linear velocity of the blade tip to the target wind speed.

[0121] Based on the tip speed ratio and the pitch angle, the wind energy utilization coefficient of the target wind turbine is determined, and the output power feedback value is calculated using the following expression based on the wind energy utilization coefficient, the rotor swept area, the air density, the target wind speed, and the yaw angle.

[0122]

[0123] Among them, C P Let C be the wind energy utilization coefficient. P = f(λ,β), where λ is the tip speed ratio, β is the blade pitch angle; ρ is the air density; A is the wind turbine swept area; V is the target wind speed; α is the yaw angle; and R is the wind turbine radius.

[0124] In a specific application scenario, the determining module 603 is used to establish a first spatial rectangular coordinate system for the blades of the target wind turbine. The first spatial rectangular coordinate system takes the center of the cross-section of the blade as the origin, the line parallel to the dashed hub axis as the X-axis, and the pitch shaft as the Z-axis. The adjusted pitch controller controls the pitch motor to drive the blades to rotate in a specified direction so that the first spatial rectangular coordinate system corresponding to the blades rotates synchronously in the specified direction. The angle between the Y-axis before the rotation of the first spatial rectangular coordinate system and the Y-axis after the rotation of the first spatial rectangular coordinate system is determined, and the angle is taken as the pitch angle.

[0125] In a specific application scenario, the determining module 603 is used to establish a second spatial rectangular coordinate system for the yaw motion plane of the target wind turbine. The second spatial rectangular coordinate system takes the center of the tower's cross-section as the origin, the line parallel to the dashed hub axis as the X-axis, and the tower axis as the Z-axis. The adjusted yaw controller controls the yaw motor to drive the yaw motion mechanism to rotate in a specified direction, so that the second spatial rectangular coordinate system corresponding to the yaw motion plane rotates synchronously in the specified direction. The angle between the X-axis of the second spatial rectangular coordinate system before rotation and the X-axis of the second spatial rectangular coordinate system after rotation is determined, and the angle is taken as the yaw angle.

[0126] In specific application scenarios, the device further includes: a setting module 606.

[0127] The setting module 606 is used to set the initial rotor rotational angular velocity for the pitch controller and the initial rotor speed for the yaw controller.

[0128] The apparatus provided in this application first acquires the target wind speed and cut-out wind speed of the target wind turbine. When the target wind speed is greater than the cut-out wind speed, the pitch angle of the target wind turbine is acquired. When the pitch angle is equal to a preset angle, the yaw control coefficient of the yaw controller is adjusted to be greater than a preset value, and the pitch control coefficient of the pitch controller is adjusted to be equal to a preset value. Subsequently, the pitch controller is used to perform pitch motion on the target wind turbine, and the yaw controller is used to perform yaw motion on the target wind turbine, thereby determining the pitch angle and yaw angle of the target wind turbine. Further, the feedback value of the rotor speed of the target wind turbine is acquired, the difference between the feedback value of the rotor speed per unit time and the initial rotor speed is calculated, and the difference is compared with a speed threshold value. If the comparison determines that the difference is less than the speed critical value, the control process ends. If the comparison determines that the difference is greater than or equal to the speed critical value, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed critical value, thus completing the control of the output power of the target wind turbine. This embodiment uses an aerodynamic characteristic regulator to control the wind turbine, so as to accurately control the pitch controller and yaw controller when the wind speed is too high. The pitch control and yaw control strategies are combined to adjust the pitch angle and yaw angle of the wind turbine, so that the wind turbine can operate near its rated power and maintain operation within a wide wind speed adjustment range. Furthermore, by monitoring wind speed and direction changes in real time, the aerodynamic characteristic regulator can quickly adjust the pitch angle and yaw angle, thereby maintaining a stable output power of the wind turbine when the wind speed fluctuates.

[0129] It should be noted that other corresponding descriptions of the functional units involved in the novel wind turbine output power control device provided in this application embodiment can be found in the following references. Figure 1 and Figures 2 to 5 The corresponding description in [the document] will not be repeated here.

[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented in hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0131] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0132] Those skilled in the art will understand that the modules in the apparatus of the implementation scenario can be distributed within the apparatus of the implementation scenario as described, or they can be located in one or more apparatuses different from this implementation scenario, with corresponding changes. The modules of the above-described implementation scenario can be combined into one module, or they can be further divided into multiple sub-modules.

[0133] The serial numbers in this application are for descriptive purposes only and do not represent the merits or demerits of the implementation scenario.

[0134] The above disclosures are only a few specific implementation scenarios of this application. However, this application is not limited to these. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A novel method for controlling the output power of a wind turbine generator, characterized in that, The method is applicable to pneumatic characteristic regulators, including: The target wind speed and cut-out wind speed of the target wind turbine are obtained, wherein the target wind speed is used to indicate the wind speed received by the wind turbine's sweeping surface; Obtain the cut-in wind speed of the target wind turbine; When the target wind speed is greater than the cut-in wind speed and less than the cut-out wind speed, the wind acceleration acting on the wind turbine sweeping surface is obtained; The wind acceleration is compared with a critical wind acceleration value. If the comparison determines that the wind acceleration is less than or equal to the critical wind acceleration value, the pitch control coefficient of the pitch controller is adjusted to be greater than the yaw control coefficient of the yaw controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than preset values. If the comparison determines that the wind acceleration is greater than the critical wind acceleration value, the yaw control coefficient of the yaw controller is adjusted to be greater than the pitch control coefficient of the pitch controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset values. When the target wind speed is greater than the cut-out wind speed, the pitch angle of the target wind turbine is obtained, and when the pitch angle is equal to a preset angle, the yaw control coefficient of the yaw controller is adjusted to be greater than the preset value, and the pitch control coefficient of the pitch controller is adjusted to be equal to the preset value. The pitch controller is adjusted to perform pitch motion on the target wind turbine, and the yaw controller is adjusted to perform yaw motion on the target wind turbine, thereby determining the pitch angle and yaw angle of the target wind turbine. Obtain the feedback value of the wind turbine rotation speed of the target wind turbine, calculate the difference between the feedback value of the wind turbine rotation speed per unit time and the initial wind turbine rotation speed, and compare the difference with the speed threshold value; If the comparison determines that the difference is less than the speed threshold, the control process ends; If the comparison determines that the difference is greater than or equal to the speed threshold, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed threshold, thereby completing the control of the output power of the target wind turbine.

2. The method according to claim 1, characterized in that, After adjusting the pitch control coefficient of the pitch controller to be greater than the yaw control coefficient of the yaw controller, and after both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset value, the method further includes: The pitch controller is adjusted to perform pitch motion on the target wind turbine, and the yaw controller is adjusted to perform yaw motion on the target wind turbine, thereby determining the pitch angle and yaw angle of the target wind turbine. Determine the output power feedback value and calculate the difference between the output power feedback value and the rated power of the target wind turbine per unit time. The difference is compared with the power change threshold; If the comparison determines that the difference is less than the power change threshold, the control process ends. If the comparison determines that the difference is greater than or equal to the power change threshold, then the pitch control coefficient of the pitch controller is greater than the yaw control coefficient of the yaw controller. The adjusted pitch controller is used to perform pitch motion on the target wind turbine, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the pitch angle and the yaw angle until the difference between the output power feedback value and the rated power of the target wind turbine per unit time is less than the power change threshold, thus completing the control of the output power of the target wind turbine.

3. The method according to claim 2, characterized in that, The determination of the output power feedback value includes: The rotational angular velocity, rotational speed, and radius of the target wind turbine are obtained. Based on the rotational angular velocity, rotational speed, and radius of the wind turbine, the tip speed ratio of the target wind turbine is calculated. The tip speed ratio is the ratio of the linear velocity of the blade tip to the target wind speed. Based on the tip speed ratio and the pitch angle, the wind energy utilization coefficient of the target wind turbine is determined, and the output power feedback value is calculated using the following expression based on the wind energy utilization coefficient, the rotor swept area, the air density, the target wind speed, and the yaw angle. ； in, The wind energy utilization coefficient is mentioned above. ,in The blade tip speed ratio is mentioned. The pitch angle is the aforementioned angle. The air density is mentioned. The swept area of ​​the wind turbine; The target wind speed; The yaw angle is mentioned. Wind turbine radius.

4. The method according to claim 1, characterized in that, The step of using an adjusted pitch controller to perform pitch control on the target wind turbine and determining the pitch angle of the target wind turbine includes: A first spatial rectangular coordinate system is established for the blades of the target wind turbine. The first spatial rectangular coordinate system takes the center of the cross-section of the blade as the origin, the line parallel to the dashed hub axis as the X-axis, and the pitch shaft as the Z-axis. The adjusted pitch controller controls the pitch motor to drive the blades to rotate in a specified direction, so that the first spatial rectangular coordinate system corresponding to the blades rotates synchronously in the specified direction. Determine the angle between the Y-axis of the first spatial rectangular coordinate system before rotation and the Y-axis of the first spatial rectangular coordinate system after rotation, and use the angle as the pitch angle.

5. The method according to claim 1, characterized in that, The step of using an adjusted yaw controller to perform yaw motion on the target wind turbine and determining the yaw angle of the target wind turbine includes: A second spatial rectangular coordinate system is established for the yaw motion plane of the target wind turbine. The second spatial rectangular coordinate system takes the center of the tower's cross-section as the origin, the line parallel to the dashed hub axis as the X-axis, and the tower axis as the Z-axis. The adjusted yaw controller controls the yaw motor to drive the yaw motion mechanism to rotate in a specified direction, so that the second spatial rectangular coordinate system corresponding to the yaw motion plane rotates synchronously in the specified direction. Determine the angle between the X-axis of the second spatial rectangular coordinate system before rotation and the X-axis of the second spatial rectangular coordinate system after rotation, and use the angle as the yaw angle.

6. The method according to claim 1, characterized in that, While obtaining the target wind speed of the target wind turbine, the method further includes: setting an initial rotor rotational angular velocity for the pitch controller and setting an initial rotor speed for the yaw controller.

7. A novel wind turbine output power control device, applied to the novel wind turbine output power control method described in claim 1, characterized in that, include: The acquisition module is used to acquire the target wind speed and cut-out wind speed of the target wind turbine, wherein the target wind speed is used to indicate the wind speed received by the wind turbine's sweeping surface; The adjustment module is also used to acquire the cut-in wind speed of the target wind turbine; when the target wind speed is greater than the cut-in wind speed and less than the cut-out wind speed, acquire the wind acceleration acting on the sweeping surface of the wind turbine; compare the wind acceleration with a critical wind acceleration value; if the comparison determines that the wind acceleration is less than or equal to the critical wind acceleration value, then adjust the pitch control coefficient of the pitch controller to be greater than the yaw control coefficient of the yaw controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than preset values; if the comparison determines that the wind acceleration is greater than the critical wind acceleration value, then adjust the yaw control coefficient of the yaw controller to be greater than the pitch control coefficient of the pitch controller, and both the adjusted pitch control coefficient and the adjusted yaw control coefficient are greater than the preset values. The adjustment module is used to obtain the pitch angle of the target wind turbine when the target wind speed is greater than the cut-out wind speed, and when the pitch angle is equal to a preset angle, adjust the yaw control coefficient of the yaw controller to be greater than the preset value and adjust the pitch control coefficient of the pitch controller to be equal to the preset value. The determination module is used to perform pitch motion on the target wind turbine using an adjusted pitch controller and yaw motion on the target wind turbine using an adjusted yaw controller, and to determine the pitch angle and yaw angle of the target wind turbine. The comparison module is used to obtain the feedback value of the wind turbine rotation speed of the target wind turbine, calculate the difference between the feedback value of the wind turbine rotation speed and the initial wind turbine rotation speed per unit time, and compare the difference with the speed threshold value. An adjustment module is used to terminate the control process if the comparison determines that the difference is less than the speed threshold. If the comparison determines that the difference is greater than or equal to the speed threshold, the yaw control coefficient of the yaw controller is increased, and the adjusted yaw controller is used to perform yaw motion on the target wind turbine to adjust the yaw angle until the difference between the feedback value of the wind turbine speed per unit time and the initial wind turbine speed is less than the speed threshold, thereby completing the control of the output power of the target wind turbine.

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