Method and device for controlling a wind turbine

Abstract

Provided are a control method and device for a wind turbine. The control method comprises: obtaining operation data of the wind turbine within a preset time length, wherein the operation data comprises at least one of the following: a rotating speed, a torque, and a pitch angle; determining, based on the operation data, a target control stage in which the wind turbine is located within the preset time length from among a plurality of preset control stages; determining, based on the operation data, whether an oscillation condition of the wind turbine reaches a preset oscillation condition corresponding to the target control stage; in response to the oscillation condition reaching the preset oscillation condition, adjusting parameters of a torque controller and / or parameters of a pitch controller of the wind turbine; and controlling operation of the wind turbine based on the adjusted parameters.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of wind power generation in general, and more particularly, to a control method and device of a wind turbine generator system. BACKGROUND

[0002] The core control of a wind turbine generator system (hereinafter, also referred to as a system) includes torque control and variable pitch control. The torque control generally adopts a PI controller, and the variable pitch control generally adopts a PID controller or a PI controller. The parameters of the controller are determined through pre-simulation design.

[0003] With the large-scale and intelligentization of the wind turbine generator system, the actual operation conditions of the wind turbine generator system are becoming more and more complex. Due to the deviation between the simulation design conditions and the actual operation conditions of the system, the system may have a problem of oscillation of the rotating speed, the pitch angle and the output control at a fixed frequency in some conditions during actual operation. This oscillation problem may increase the fatigue damage of the mechanical parts of the whole machine, increase the working strength of the electrical parts, and reduce the service life of the whole machine. Meanwhile, this oscillation problem may also increase the frequency of other fault protections, reduce the operation and maintenance efficiency, and cause loss of power generation.

[0004] If no other fault protection is triggered after the oscillation occurs, it is not easy to be discovered in the short term, and the system is in a sub-health state for a long time, which has a great impact on the whole machine. Even if other fault protections are triggered, and it is found that the problem is the oscillation after artificial investigation, the design and development personnel still need to re-adjust the parameters and test, which also needs a certain period of time to solve. SUMMARY

[0005] An example embodiment of the present disclosure provides a control method and device of a wind turbine generator system, which can automatically optimize and adjust the parameters of a torque controller and / or a variable pitch controller based on the oscillation degree of the system, so as to adapt to various actual operation conditions of the system and make the system run in an optimal control state throughout its life cycle.

[0006] According to a first aspect of an embodiment of the present disclosure, a control method of a wind turbine generator system is provided, the control method comprising: obtaining operation data of the wind turbine generator system within a preset time length, wherein the operation data comprises at least one of the following: rotating speed, torque, and pitch angle; determining a target control stage in which the wind turbine generator system is located within the preset time length from a plurality of preset control stages based on the operation data; determining whether an oscillation condition of the wind turbine generator system reaches a preset oscillation condition corresponding to the target control stage based on the operation data; in response to the oscillation condition reaching the preset oscillation condition, adjusting parameters of a torque controller and / or a variable pitch controller of the wind turbine generator system; and controlling the operation of the wind turbine generator system based on the adjusted parameters.

[0007] Optionally, the determining, based on the operation data, a target control stage in which the wind turbine is located in the preset time length from a plurality of preset control stages comprises: determining the target control stage from the plurality of control stages based on a mean value of the rotational speed and / or a mean value of the pitch angle in the preset time length; wherein the plurality of control stages are divided based on the rotational speed and / or the pitch angle, and different control stages correspond to different rotational speed ranges and / or different pitch angle ranges.

[0008] Optionally, the adjusting the parameters of the torque controller and / or the parameters of the pitch controller of the wind turbine in response to the oscillation condition reaching the preset oscillation condition comprises: adjusting the parameters of the torque controller in a case that the oscillation condition reaches the preset oscillation condition and an upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to a preset pitch angle threshold; and adjusting the parameters of the pitch controller in a case that the oscillation condition reaches the preset oscillation condition and a lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold.

[0009] Optionally, the adjusting the parameters of the pitch controller in the case that the oscillation condition reaches the preset oscillation condition and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold comprises: determining whether a rated power is not reached in the preset time length in the case that the oscillation condition reaches the preset oscillation condition and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold; adjusting the parameters of the torque controller and the parameters of the pitch controller in a case that the rated power is not reached in the preset time length; and adjusting the parameters of the pitch controller in a case that the rated power is reached in the preset time length.

[0010] Optionally, the step of determining, based on the operation data, whether the oscillation condition of the wind turbine reaches a preset oscillation condition corresponding to the target control stage comprises: in a case where the wind turbine is in a state of not reaching rated power within the preset time length, determining, based on the rotational speed within the preset time length, a duration of each complete fluctuation period of the rotational speed within the preset time length and a fluctuation amplitude of the rotational speed, and / or determining, based on the torque within the preset time length, a duration of each complete fluctuation period of the torque within the preset time length and a fluctuation amplitude of the torque; in a case where the determined duration of each complete fluctuation period of the rotational speed belongs to a first preset time length range corresponding to the target control stage, and a mean value of the determined fluctuation amplitude of each complete fluctuation period of the rotational speed is greater than a first preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition; in a case where the determined duration of each complete fluctuation period of the torque belongs to a second preset time length range corresponding to the target control stage, and a mean value of the determined fluctuation amplitude of each complete fluctuation period of the torque is greater than a second preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition.

[0011] Optionally, the step of determining, based on the operation data, whether the oscillation condition of the wind turbine reaches a preset oscillation condition corresponding to the target control stage comprises: in a case where the wind turbine is in a state of not reaching rated power within the preset time length, determining, based on the rotational speed within the preset time length, a duration of each complete fluctuation period of the rotational speed within the preset time length and a fluctuation amplitude of the rotational speed, and / or determining, based on the torque within the preset time length, a duration of each complete fluctuation period of the torque within the preset time length and a fluctuation amplitude of the torque; in a case where the determined duration of each complete fluctuation period of the rotational speed belongs to a first preset time length range corresponding to the target control stage, and a mean value of the determined fluctuation amplitude of each complete fluctuation period of the rotational speed is greater than a first preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition; in a case where the determined duration of each complete fluctuation period of the torque belongs to a second preset time length range corresponding to the target control stage, and a mean value of the determined fluctuation amplitude of each complete fluctuation period of the torque is greater than a second preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition; in a case where the determined duration of each complete fluctuation period of the rotational speed belongs to a first preset time length range corresponding to the target control stage, and a mean value of the determined fluctuation amplitude of each complete fluctuation period of the rotational speed is greater than a first preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition; in a case where the determined duration of each complete fluctuation period of the rotational speed belongs to a first preset time length range corresponding to the target control stage, and a mean value of the determined fluctuation amplitude of each complete fluctuation period of the rotational speed is greater than a first preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition; in a case where the determined duration of each complete fluctuation period of the rotational speed belongs to a first preset time length range corresponding to the target control stage, and a mean value of the determined fluctuation amplitude of each complete fluctuation period of the rotational speed is greater than a first preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition.

[0012] Optionally, the step of adjusting the parameter of the torque controller in the case that the oscillation condition is reached and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to the preset pitch angle threshold value comprises: determining whether the number of times of adjusting the parameter of the torque controller for the target control stage has reached a preset number of times in the case that the oscillation condition is reached and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to the preset pitch angle threshold value; determining the parameter adjustment direction of the torque controller to be an increasing parameter direction or a decreasing parameter direction based on the operation data of the torque controller within the preset time length in the case that it is determined that the preset number of times is not reached; and adjusting the parameter of the torque controller to the determined parameter adjustment direction within the adjustable range of the torque controller parameter corresponding to the target control stage.

[0013] Optionally, the step of adjusting the parameter of the torque controller in the case that the oscillation condition is reached and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to the preset pitch angle threshold value comprises: determining whether the number of times of adjusting the parameter of the torque controller for the target control stage has reached a preset number of times in the case that the oscillation condition is reached and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to the preset pitch angle threshold value; determining the parameter adjustment direction of the torque controller to be an increasing parameter direction or a decreasing parameter direction based on the operation data of the torque controller within the preset time length in the case that it is determined that the preset number of times is not reached; and adjusting the parameter of the torque controller to the determined parameter adjustment direction within the adjustable range of the torque controller parameter corresponding to the target control stage.

[0014] Optionally, the control method further comprises: in the case that it is determined that the number of times of adjusting the parameter of the torque controller for the target control stage has reached the preset number of times, setting the parameter of the torque controller to the parameter at which the oscillation degree is the smallest in the target control stage, and issuing an oscillation warning information.

[0015] Optionally, the control method further comprises: in the case that it is determined that the number of times of adjusting the parameter of the torque controller for the target control stage has reached the preset number of times, setting the parameter of the torque controller to the parameter at which the oscillation degree is the smallest in the target control stage, and issuing an oscillation warning information.

[0016] Optionally, the parameters of the torque controller include at least one of a proportional coefficient, an integral coefficient, and a differential coefficient of the torque controller; and the parameters of the pitch controller include at least one of a proportional coefficient, an integral coefficient, and a differential coefficient of the pitch controller.

[0017] Optionally, the oscillation condition includes at least one of a rotational speed oscillation condition, a torque oscillation condition, and a pitch angle oscillation condition.

[0018] According to a second aspect of the embodiments of the present disclosure, a control device of a wind turbine generator is provided, which includes: an operation data acquisition unit configured to acquire operation data of the wind turbine generator within a preset time length, wherein the operation data includes at least one of a rotational speed, a torque, and a pitch angle; a control stage determination unit configured to determine, based on the operation data, a target control stage of the wind turbine generator within the preset time length from a plurality of preset control stages; a determination unit configured to determine, based on the operation data, whether an oscillation condition of the wind turbine generator reaches a preset oscillation condition corresponding to the target control stage; a parameter adjustment unit configured to adjust parameters of a torque controller and / or parameters of a pitch controller of the wind turbine generator in response to the oscillation condition reaching the preset oscillation condition; and a control unit configured to control operation of the wind turbine generator based on the adjusted parameters.

[0019] Optionally, the control stage determination unit is configured to determine the target control stage from the plurality of control stages based on a mean value of the rotational speed and / or a mean value of the pitch angle within the preset time length; wherein the plurality of control stages are divided based on the rotational speed and / or the pitch angle, and rotational speed ranges and / or pitch angle ranges corresponding to different control stages are different.

[0020] Optionally, the parameter adjustment unit is configured to adjust the parameters of the torque controller in a case where the oscillation condition reaches the preset oscillation condition and an upper boundary value of a pitch angle range corresponding to the target control stage is less than or equal to a preset pitch angle threshold value; and adjust the parameters of the pitch controller in a case where the oscillation condition reaches the preset oscillation condition and a lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold value.

[0021] Optionally, the parameter adjusting unit is configured to: determine whether the rated power is not reached within the preset time period in a case that the oscillation condition is reached and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold; adjust the parameters of the torque controller and the parameters of the pitch controller in a case that the rated power is not reached within the preset time period; and adjust the parameters of the pitch controller in a case that the rated power is reached within the preset time period.

[0022] Optionally, the determining unit is configured to: determine the duration of each complete fluctuation period of the rotating speed and the rotating speed fluctuation amplitude within the preset time period based on the rotating speed within the preset time period, and / or determine the duration of each complete fluctuation period of the torque and the torque fluctuation amplitude within the preset time period based on the torque within the preset time period in a case that the rated power is not reached within the preset time period; determine that the oscillation condition is reached in a case that the duration of each complete fluctuation period of the rotating speed belongs to a first preset time range corresponding to the target control stage and the mean value of the rotating speed fluctuation amplitude of each complete fluctuation period of the rotating speed is greater than a first preset amplitude corresponding to the target control stage; and determine that the oscillation condition is reached in a case that the duration of each complete fluctuation period of the torque belongs to a second preset time range corresponding to the target control stage and the mean value of the torque fluctuation amplitude of each complete fluctuation period of the torque is greater than a second preset amplitude corresponding to the target control stage.

[0023] Optionally, the determining unit is configured to: in a case where the rated power state is reached within the preset time length, determine, based on the rotation speed within the preset time length, a duration of each complete fluctuation period of the rotation speed and a rotation speed fluctuation amplitude within the preset time length, and / or determine, based on the torque within the preset time length, a duration of each complete fluctuation period of the torque and a torque fluctuation amplitude within the preset time length, and / or determine, based on the pitch angle within the preset time length, a duration of each complete fluctuation period of the pitch angle and a pitch angle fluctuation amplitude within the preset time length; in a case where the determined duration of each complete fluctuation period of the rotation speed belongs to a first preset time length range corresponding to the target control stage, and a mean value of the rotation speed fluctuation amplitude of each complete fluctuation period of the rotation speed is greater than a first preset amplitude corresponding to the target control stage, determine that the oscillation condition reaches the preset oscillation condition; in a case where the determined duration of each complete fluctuation period of the torque belongs to a second preset time length range corresponding to the target control stage, and a mean value of the torque fluctuation amplitude of each complete fluctuation period of the torque is greater than a second preset amplitude corresponding to the target control stage, determine that the oscillation condition reaches the preset oscillation condition; in a case where the determined duration of each complete fluctuation period of the pitch angle belongs to a third preset time length range corresponding to the target control stage, and a mean value of the pitch angle fluctuation amplitude of each complete fluctuation period of the pitch angle is greater than a third preset amplitude corresponding to the target control stage, determine that the oscillation condition reaches the preset oscillation condition.

[0024] Optionally, the parameter adjusting unit is configured to: in a case where the oscillation condition reaches the preset oscillation condition, and an upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to a preset pitch angle threshold, determine whether a preset number of times of adjusting the parameter of the torque controller for the target control stage has been reached; in a case where it is determined that the preset number of times has not been reached, determine, based on the operation data of the torque controller within the preset time length, a parameter adjustment direction of the torque controller as an increasing parameter direction or a decreasing parameter direction; and adjust the parameter of the torque controller in the determined parameter adjustment direction within a torque controller parameter adjustable range corresponding to the target control stage.

[0025] Optionally, the parameter adjustment unit is configured to: in a case where the oscillation condition is reached and a lower boundary value of a pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold value, determine whether a preset number of times of adjusting the parameter of the variable pitch controller for the target control stage has been reached; in a case where it is determined that the preset number of times has not been reached, determine a parameter adjustment direction of the variable pitch controller as an increasing parameter direction or a decreasing parameter direction based on the operation data of the variable pitch controller in the preset time length; and adjust the parameter of the variable pitch controller in a variable pitch controller parameter adjustable range corresponding to the target control stage to the determined parameter adjustment direction.

[0026] Optionally, the parameter adjustment unit is further configured to: in a case where it is determined that the preset number of times of adjusting the parameter of the torque controller for the target control stage has been reached, set the parameter of the torque controller to a parameter at which the oscillation degree is the smallest in the target control stage, and issue an oscillation warning information.

[0027] Optionally, the parameter adjustment unit is further configured to: in a case where it is determined that the preset number of times of adjusting the parameter of the variable pitch controller for the target control stage has been reached, set the parameter of the variable pitch controller to a parameter at which the oscillation degree is the smallest in the target control stage, and issue an oscillation warning information.

[0028] Optionally, the parameter of the torque controller includes at least one of a proportional coefficient, an integral coefficient, and a differential coefficient of the torque controller; and the parameter of the variable pitch controller includes at least one of a proportional coefficient, an integral coefficient, and a differential coefficient of the variable pitch controller.

[0029] Optionally, the oscillation condition includes at least one of a rotational speed oscillation condition, a torque oscillation condition, and a pitch angle oscillation condition.

[0030] According to a third aspect of the embodiments of the present disclosure, a computer readable storage medium storing a computer program is provided, when the computer program is executed by a processor, the processor is caused to execute the control method of the wind turbine generator set as described above.

[0031] According to a fourth aspect of the embodiments of the present disclosure, an electronic device is provided, the electronic device includes: a processor; a memory storing a computer program, when the computer program is executed by the processor, the processor is caused to execute the control method of the wind turbine generator set as described above.

[0032] The control method and device of the wind turbine generator set according to the exemplary embodiments of the present disclosure can automatically identify the oscillation degree of the generator set based on the operation data of the generator set, find the oscillation problem of the generator set in time, and automatically optimize and adjust the parameters of the torque controller and / or the parameters of the pitch controller based on the oscillation degree of the generator set, so as to adapt to various actual operation conditions of the generator set and make the generator set run in the best control state in the whole life cycle.

[0033] Additional aspects and / or advantages of the overall concept of the present disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or can be learned by practice of the overall concept of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0034] The above and other objects and features of the exemplary embodiments of the present disclosure will become more apparent from the following description of the exemplary embodiments of the present disclosure given for the purpose of illustrations only, of which a preferred embodiment will be described in detail by referring to the accompanying drawings, in which:

[0035] Figure 1 A flowchart showing a control method of a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown;

[0036] Figure 2 A flowchart showing a method of determining whether the oscillation condition reaches a preset oscillation condition corresponding to a target control stage according to an exemplary embodiment of the present disclosure is shown;

[0037] Figure 3 A flowchart showing a method of determining whether the oscillation condition reaches a preset oscillation condition corresponding to a target control stage according to another exemplary embodiment of the present disclosure is shown;

[0038] Figure 4 A flowchart showing a method of adjusting the parameters of a torque controller according to an exemplary embodiment of the present disclosure is shown;

[0039] Figure 5 A flowchart showing a method of adjusting the parameters of a pitch angle controller according to an exemplary embodiment of the present disclosure is shown;

[0040] Figure 6 A calculation schematic diagram of the fluctuation amplitude and the fluctuation period according to an exemplary embodiment of the present disclosure is shown;

[0041] Figure 7 A flowchart showing a control method of a wind turbine generator set according to another exemplary embodiment of the present disclosure is shown;

[0042] Figure 8 A structure block diagram of a control device of a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0043] Reference will now be made in detail embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout. The embodiments will be explained by referring to the drawings in detail, in order to explain the present disclosure.

[0044] It should be noted that the terms "first", "second", and the like in the description and claims of the present disclosure and above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged, where appropriate, so that the embodiments of the present disclosure described herein can be carried out in other sequences than those illustrated or described herein. The implementations described in the following example embodiments are not meant to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0045] It should be noted that "at least one of a plurality of items" appearing in the present disclosure means that the three cases of "any one of the plurality of items", "a combination of any two or more of the plurality of items", and "all of the plurality of items" are included. For example, "including at least one of A and B" includes the following three cases: (1) including A; (2) including B; and (3) including both A and B. Also, for example, "performing at least one of step one and step two" means the following three cases: (1) performing step one; (2) performing step two; and (3) performing both step one and step two.

[0046] Figure 1 A flowchart of a control method of a wind turbine generator system according to an example embodiment of the present disclosure is shown.

[0047] As an example, the control method of a wind turbine generator system according to an example embodiment of the present disclosure can be performed by a controller of a wind turbine generator system or a wind farm controller. In addition, it can also be performed by an electronic device with data processing capability, for example, the electronic device can be a terminal (such as a personal notebook, a desktop computer, etc.), or a server (such as a standalone server, a server cluster, a cloud platform, etc.).

[0048] Referring to Figure 1 In step S101, operation data of the wind turbine generator system within a preset time length is acquired.

[0049] The operation data includes at least one of the following: rotational speed, torque, pitch angle.

[0050] As an example, the rotational speed can be the impeller rotational speed or the generator rotational speed.

[0051] It should be understood that the operation data can be acquired in various appropriate manners. As an example, the operation data can be acquired from a SCADA and / or a unit itself PLC or sensor. For example, the rotation speed data can be acquired from a sensor for measuring the rotation speed.

[0052] It should be understood that the preset time length can be set according to actual conditions and specific requirements, for example, the preset time length can be between 120s and 180s.

[0053] As an example, the control method of the wind turbine generator set according to the example embodiment of the present disclosure can further include: low-pass filtering the acquired operation data to eliminate signal high-frequency burrs and prevent noise influence. Accordingly, the operation data appearing in the subsequent steps can refer to the filtered operation data.

[0054] In step S102, based on the acquired operation data within the preset time length, a target control stage in which the wind turbine generator set is located within the preset time length is determined from a plurality of preset control stages.

[0055] As an example, the plurality of control stages can be divided based on the rotation speed and / or the pitch angle, and the rotation speed range and / or the pitch angle range corresponding to different control stages are different.

[0056] As an example, the plurality of control stages can include eight control stages (first control stage to eighth control stage), specifically, the first control stage corresponds to a rotation speed range less than a and a pitch angle range less than b; the second control stage corresponds to a rotation speed range greater than or equal to a and a pitch angle range less than b; the third control stage corresponds to a pitch angle range [b, c); the fourth control stage corresponds to a pitch angle range [c, d); the fifth control stage corresponds to a pitch angle range [d, e); the sixth control stage corresponds to a pitch angle range [e, f); the seventh control stage corresponds to a pitch angle range [f, g); and the eighth control stage corresponds to a pitch angle range greater than or equal to g.

[0057] As an example, the specific values of a-g can be set according to actual conditions (for example, blade design performance setting parameters) and specific requirements, for example, a = 0.95 times rated rotation speed, unit Rpm; b = design minimum operating pitch angle + 0.5 degrees, unit deg; c = b value + 3; d = c value + 3; e = d value + 3; f = e value + 3; g = f value + 3.

[0058] As an example, the target control stage can be determined from the above plurality of control stages based on the average of the rotational speed and / or the average of the pitch angle within the preset time length. In other words, the control stage corresponding to the range of the rotational speed and / or the range of the pitch angle in which the average of the rotational speed and / or the average of the pitch angle within the preset time length falls is determined as the target control stage. For example, if the average of the rotational speed within the preset time length is less than a and the average of the pitch angle is less than b, the first control stage can be determined as the target control stage.

[0059] The present disclosure divides the various control stages according to the characteristics of different operating stages of the wind turbine generator set. For example, the first control stage and the second control stage can be understood as corresponding to a low wind speed operating stage, in which the set is in a stage that does not reach the set demand power (for example, rated power), at which time the set is not variable pitch (the set is near the designed minimum operating pitch angle) and only the torque controller plays a control role. The third control stage to the eighth control stage can be understood as corresponding to a high wind speed operating stage, in which the set is in a stage that can reach the demand power, and must be unloaded by variable pitch (specifically, back to collect pitch) to ensure that the power is not over-released, at which time the rotational speed fluctuates above and below the rated rotational speed, and therefore only the pitch angle position needs to be determined.

[0060] It should be understood that the present disclosure is not limited to the above-mentioned division criteria (pitch angle and rotational speed) and specific division methods, and other division criteria and specific division methods of the various control stages can also be set according to actual conditions and specific needs. As an example, power or wind speed can be used as the division criteria, for example, a plurality of control stages can be divided based on power, and the power ranges corresponding to different control stages are different; a plurality of control stages can be divided based on wind speed, and the wind speed ranges corresponding to different control stages are different.

[0061] In step S103, based on the operating data, it is determined whether the oscillation condition of the wind turbine generator set reaches a preset oscillation condition corresponding to the target control stage.

[0062] The oscillation condition can include, but is not limited to, at least one of the following: rotational speed oscillation condition, torque oscillation condition, pitch angle oscillation condition.

[0063] As an example, the oscillation condition can specifically include an oscillation period (i.e., a signal fluctuation period) and an oscillation amplitude (i.e., a signal fluctuation amplitude). For example, as shown in FIG. 1, a complete fluctuation period can be the time difference between two adjacent wave peaks, and the difference between the average of the wave peaks of the two wave peak points and the trough value of the trough point in a complete fluctuation period is the fluctuation amplitude of the fluctuation period. Figure 6

[0064] ​In fact, the oscillation condition can be used to measure the stability of the unit. The present disclosure identifies the oscillation characteristics (e.g., which can include an oscillation period and an oscillation amplitude) of the unit speed signal, or the torque signal, or the pitch angle signal, judges whether the oscillation degree of the unit control reaches a preset oscillation condition using the identified oscillation characteristics, and if so, indicates that the oscillation problem is serious, thereby triggering the execution of step S104. According to the exemplary embodiments of the present disclosure, the control oscillation problem can be automatically, timely and accurately found.

[0065] It should be understood that, considering that the sensitivities of different control stages to the parameters of the controllers are different or similar, the preset oscillation conditions corresponding to different control stages can be the same or different. As an example, the first control stage and the second control stage in the above embodiments can correspond to a first preset oscillation condition; the third control stage to the eighth control stage in the above embodiments can correspond to a second preset oscillation condition.

[0066] Considering that before the unit reaches the rated power, the pitch angle of the unit will remain the minimum operating pitch angle, at this time the speed signal or the torque signal can be used for oscillation identification, because the speed oscillation is necessarily accompanied by torque oscillation. As an example, in the case of being in a state of not reaching the rated power within a preset time period, based on the speed or torque within the preset time period, it is determined whether the oscillation condition of the wind turbine reaches the preset oscillation condition corresponding to the target control stage. Exemplary embodiments of this example will be described below in conjunction with Figure 2 , which will not be expanded here for the time being.

[0067] Considering that after the unit reaches the rated power, the unit will continue to pitch, at this time the speed signal, the torque signal or the pitch angle signal can be used for oscillation diagnosis. As an example, in the case of being in a state of having reached the rated power within a preset time period, based on the speed or torque or pitch angle within the preset time period, it is determined whether the oscillation condition of the wind turbine reaches the preset oscillation condition corresponding to the target control stage. Exemplary embodiments of this example will be described below in conjunction with Figure 3 , which will not be expanded here for the time being.

[0068] In step S104, in response to the oscillation condition reaching the preset oscillation condition, the parameters of the torque controller and / or the parameters of the pitch controller of the wind turbine are adjusted. That is, in response to the oscillation condition reaching the preset oscillation condition, the parameters of the torque controller and / or the parameters of the pitch controller are optimized for the current wind turbine.

[0069] The parameters of the torque controller can include, but are not limited to, at least one of the following: a proportional coefficient of the torque controller, an integral coefficient (e.g., an integral time constant), a differential coefficient (e.g., a differential time constant). For example, when the torque controller is a PID controller, the parameters of the torque controller can include: a proportional coefficient of the torque controller, an integral coefficient, a differential coefficient.

[0070] The parameters of the pitch controller can include, but are not limited to, at least one of a proportional coefficient, an integral coefficient, and a differential coefficient of the pitch controller. For example, when the pitch controller is a PID controller, the parameters of the pitch controller include a proportional coefficient, an integral coefficient, and a differential coefficient of the pitch controller. For example, when the pitch controller is a PI controller, the parameters of the pitch controller include a proportional coefficient and an integral coefficient of the pitch controller.

[0071] The exemplary embodiments of the present disclosure can determine the stage (i.e., the control stage) in which the unit operates by using the average speed and the average pitch angle, and the controller that plays a leading role can be different in different control stages, in other words, the control stage in which the torque controller plays a leading role is different from the stage in which the pitch controller plays a leading role. Therefore, the parameters of the torque controller need to be optimized in the stage in which the torque controller plays a leading role, and the parameters of the pitch controller need to be optimized in the stage in which the pitch controller plays a leading role.

[0072] In one embodiment, the parameters of the torque controller are adjusted when the oscillation condition reaches the preset oscillation condition and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to the preset pitch angle threshold.

[0073] For example, the preset pitch angle threshold is obtained based on the design minimum operating pitch angle, for example, the design minimum operating pitch angle + 0.5 degrees (i.e., the value of b in the above embodiment). For example, since the upper boundary values of the pitch angle ranges corresponding to the first control stage and the second control stage are less than or equal to the preset pitch angle threshold, the parameters of the torque controller can be adjusted when the target control stage is the first control stage or the second control stage.

[0074] The specific exemplary embodiments of this embodiment will be described below in conjunction with Figure 4 which will not be expanded here.

[0075] In another embodiment, the parameters of the pitch controller are adjusted when the oscillation condition reaches the preset oscillation condition and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold.

[0076] For example, since the lower boundary values of the pitch angle ranges corresponding to the third control stage to the eighth control stage are greater than or equal to the preset pitch angle threshold, the parameters of the pitch controller can be adjusted when the target control stage is one of the third control stage to the eighth control stage.

[0077] The specific exemplary embodiments of this embodiment will be described below in conjunction with Figure 5 which will not be expanded here.

[0078] The above embodiments select different control stages to optimize parameters of the torque controller or the pitch controller. In fact, according to the operating principle of the wind turbine generator, in one control stage, only one of the controllers can be optimized for parameters; or both controllers can be optimized for parameters in the same control stage.

[0079] As an example, in a case where the oscillation condition reaches the preset oscillation condition, and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold, it is determined whether the wind turbine generator is in the non-rated power state within the preset time period; in a case where the wind turbine generator is in the non-rated power state within the preset time period, the parameters of the torque controller and the parameters of the pitch controller are adjusted; otherwise, only the parameters of the pitch controller are adjusted. Specifically, in a case where the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold, the pitch controller plays a leading role; and if the wind turbine generator is in the non-rated power state (i.e., not yet full-load) within the preset time period, the torque controller also plays a leading role, so in this case, the parameters of both controllers can be optimized.

[0080] It should be understood that when the parameters of the two controllers are adjusted, the parameters of the two controllers can be adjusted in the order shown in Figure 4 and Figure 5 .

[0081] In step S105, the operation of the wind turbine generator is controlled based on the adjusted parameters.

[0082] It should be understood that the control method of the wind turbine generator according to the exemplary embodiments of the present disclosure can be repeatedly (e.g., periodically) performed to continuously adjust the pitch controller parameters and / or the torque controller parameters until the oscillation condition of the wind turbine generator is within an acceptable range (i.e., does not reach the preset oscillation condition) in each control stage.

[0083] According to the exemplary embodiments of the present disclosure, the torque controller parameters and the pitch controller parameters can be automatically optimized and adjusted based on the oscillation degree of the wind turbine generator to adapt to various actual operating conditions of the wind farm, so that the wind turbine generator operates in an optimal control state throughout its life cycle.

[0084] Figure 2 A flowchart of a method for determining whether the oscillation condition of the wind turbine generator reaches the preset oscillation condition corresponding to the target control stage according to the exemplary embodiments of the present disclosure is shown.

[0085] Referring to Figure 2In step S201, in a case where the wind turbine generator is in the state of not reaching the rated power within the preset time length, the duration of each complete fluctuation period of the rotational speed and the fluctuation amplitude of the rotational speed within the preset time length are determined based on the rotational speed within the preset time length, and / or the duration of each complete fluctuation period of the torque and the fluctuation amplitude of the torque within the preset time length are determined based on the torque within the preset time length.

[0086] In step S202, in a case where the duration of each complete fluctuation period of the rotational speed determined belongs to a first preset time length range corresponding to the target control stage, and the average of the fluctuation amplitude of the rotational speed of each complete fluctuation period of the rotational speed determined is greater than a first preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition.

[0087] For example, the first preset time length range can be (1-h)*t1~(1+h)*t1. For example, the value range of t1 can be 3s~20s; the value of h can be 5%.

[0088] For example, when the target control stage is the first control stage or the second control stage, the value of the first preset amplitude corresponding to the target control stage can be within the range of 2%~3% of the rated rotational speed. When the target control stage is one of the third control stage to the eighth control stage, the value of the first preset amplitude corresponding to the target control stage can be within the range of 4%~6% of the rated rotational speed.

[0089] In step S203, in a case where the duration of each complete fluctuation period of the torque determined belongs to a second preset time length range corresponding to the target control stage, and the average of the fluctuation amplitude of the torque of each complete fluctuation period of the torque determined is greater than a second preset amplitude corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition.

[0090] According to the example embodiments of the present disclosure, it is convenient and effective to determine whether the wind turbine generator has an oscillation problem.

[0091] Figure 3 A flow chart of a method for determining whether the oscillation condition of a wind turbine generator reaches a preset oscillation condition corresponding to a target control stage is shown according to another example embodiment of the present disclosure.

[0092] Reference Figure 3 In step S301, in a case where the wind turbine generator is in the state of reaching the rated power within the preset time length, the duration of each complete fluctuation period of the rotational speed and the fluctuation amplitude of the rotational speed within the preset time length are determined based on the rotational speed within the preset time length, and / or the duration of each complete fluctuation period of the torque and the fluctuation amplitude of the torque within the preset time length are determined based on the torque within the preset time length, and / or the duration of each complete fluctuation period of the pitch angle and the fluctuation amplitude of the pitch angle within the preset time length are determined based on the pitch angle within the preset time length.

[0093] In step S302, in a case where the duration of each complete fluctuation period of the determined rotational speed belongs to a first preset time length range corresponding to the target control stage, and the mean value of the rotational speed fluctuation amplitude of each complete fluctuation period of the determined rotational speed is greater than a first preset amplitude value corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition.

[0094] In step S303, in a case where the duration of each complete fluctuation period of the determined torque belongs to a second preset time length range corresponding to the target control stage, and the mean value of the torque fluctuation amplitude of each complete fluctuation period of the determined torque is greater than a second preset amplitude value corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition.

[0095] In step S304, in a case where the duration of each complete fluctuation period of the determined pitch angle belongs to a third preset time length range corresponding to the target control stage, and the mean value of the pitch angle fluctuation amplitude of each complete fluctuation period of the determined pitch angle is greater than a third preset amplitude value corresponding to the target control stage, it is determined that the oscillation condition reaches the preset oscillation condition.

[0096] It should be understood that the specific values of the above-mentioned preset time length range and preset amplitude value can be set according to actual conditions (for example, the operating characteristics of different stages of the unit combined with the simulation performance in the early stage) and specific needs.

[0097] According to the example embodiments of the present disclosure, it is convenient and effective to determine whether the unit has an oscillation problem.

[0098] Figure 4 A flowchart of a method of adjusting the parameters of the torque controller according to the example embodiments of the present disclosure is shown.

[0099] Referring to Figure 4 In step S401, in a case where the oscillation condition reaches the preset oscillation condition, and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to a preset pitch angle threshold value, it is determined whether the number of times of adjusting the parameters of the torque controller for the target control stage has reached a preset number of times.

[0100] In a case where it is determined in step S401 that the preset number of times has not been reached, step S402 is performed, and based on the operating data of the torque controller within a preset time length, it is determined that the parameter adjustment direction of the torque controller is a parameter increase direction or a parameter decrease direction. In other words, it is determined whether the parameter should be increased or decreased.

[0101] In step S403, within the torque controller parameter adjustable range corresponding to the target control stage, the parameters of the torque controller are adjusted to the determined parameter adjustment direction.

[0102] The adjustable range of the torque controller parameter can be understood as the adjusted value cannot exceed the range. When the torque controller parameter is multiple, the corresponding adjustable range can be set for each parameter respectively.

[0103] The adjustable range of the torque controller parameter in different control stages can be the same, different, or partially overlapped. The adjustable range of the torque controller parameter in different control stages can be set according to expert experience, actual situation (for example, original controller design boundary), specific requirements, etc.

[0104] As an example, the parameters of the torque controller can be adjusted using trial and error method. When the torque controller parameter is multiple, the parameters can be adjusted in a certain order. As an example, the controller parameters can be adjusted one by one in the order of proportional coefficient first, integral coefficient second, and differential coefficient last (the parameters must be adjusted within the preset adjustable range), until the oscillation condition is within an acceptable range.

[0105] As an example, according to the PID and PI control principle, the parameter optimization direction (i.e. adjustment direction) can be determined based on the running data of the controller. For example, when it is determined based on the running data of the torque controller that the system response is slowing down, the proportional coefficient should be adjusted to be larger, rather than smaller. Therefore, the adjustment direction is to increase the proportional coefficient.

[0106] In addition, in the case where it is determined in step S401 that the number of times of adjusting the parameters of the torque controller for the target control stage has reached the preset number of times, the parameters of the torque controller are set to the parameters at which the oscillation degree is the smallest in the target control stage, and an oscillation warning information is issued. In other words, if the oscillation problem cannot be overcome after multiple automatic adjustments, a warning information needs to be issued for manual adjustment.

[0107] The parameters of the torque controller at which the oscillation degree is the smallest in the target control stage refer to the torque controller parameters at which the average of the fluctuation amplitude of the rotational speed or the average of the fluctuation amplitude of the torque or the average of the fluctuation amplitude of the pitch angle is the smallest in the target control stage.

[0108] Figure 5 A flow chart of a method of adjusting the parameters of a pitch angle controller according to an example embodiment of the present disclosure is shown.

[0109] Referring to Figure 5 In step S501, it is determined whether the number of times of adjusting the parameters of the pitch controller for the target control stage has reached the preset number of times, in the case where the oscillation condition reaches the preset oscillation condition, and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold value.

[0110] If it is determined in step S501 that the preset number of times has not been reached, step S502 is performed to determine, based on the operation data of the pitch controller in the preset time period, whether the parameter adjustment direction of the pitch controller is an increase direction or a decrease direction. In other words, it is determined whether the parameter should be increased or decreased.

[0111] In step S503, the parameter of the pitch controller is adjusted in the determined adjustment direction within the adjustable range of the pitch controller parameter corresponding to the target control stage.

[0112] The adjustable range of the pitch controller parameter can be understood as the adjusted value cannot exceed the range, and when the pitch controller parameter is multiple, a corresponding adjustable range can be set for each parameter.

[0113] The adjustable ranges of the pitch controller parameters in different control stages can be the same, different, or partially overlapped. The adjustable ranges of the pitch controller parameters in different control stages can be pre-set according to expert experience, actual situation (for example, original controller design boundary), specific requirements, etc.

[0114] As an example, the parameters of the pitch controller can be adjusted using trial and error. When the pitch controller parameter is multiple, the parameters can be adjusted in a certain order. As an example, the controller parameters can be repeatedly adjusted one by one in the order of proportional coefficient first, integral coefficient second, and differential coefficient last (the adjustment must be within the preset adjustable range), until the oscillation condition is within an acceptable range.

[0115] As an example, according to the PID and PI control principle, the parameter optimization direction (i.e., the adjustment direction) can be determined based on the operation data of the controller. For example, when it is determined based on the operation data of the torque controller that the system response speed is slow, the proportional coefficient should be increased rather than decreased, and therefore the adjustment direction is to increase the proportional coefficient.

[0116] In addition, if it is determined in step S501 that the number of times of adjusting the parameters of the pitch controller for the target control stage has reached the preset number of times, the parameters of the pitch controller are set to the parameters at which the oscillation degree of the pitch controller in the target control stage is the smallest, and an oscillation warning information is issued. In other words, if the oscillation problem cannot be overcome after multiple automatic adjustments, a warning information needs to be issued for manual adjustment.

[0117] The parameters of the pitch controller at which the oscillation degree of the pitch controller in the target control stage is the smallest refer to the pitch controller parameters at which the average of the speed fluctuation amplitude or the average of the torque fluctuation amplitude or the average of the pitch angle fluctuation amplitude in the target control stage is the smallest.

[0118] Figure 7A flow chart of a control method of a wind turbine generator set according to another example embodiment of the present disclosure is shown. In this example embodiment, the eight control stages described above are included, and whether the oscillation condition reaches a preset oscillation condition is determined based on the rotation speed data.

[0119] The present disclosure takes into account that there is a deviation between design simulation and actual operation conditions of a unit in the field, which results in that preset control parameters cannot always adapt to all actual operation conditions of the unit. Therefore, the present disclosure proposes, based on the overall control principle of a wind turbine generator set, to identify the oscillation state of a control system according to actual control results of a torque controller and a variable pitch controller; if the control results do not meet the oscillation requirement of the control system, the controller control parameters are automatically adjusted according to preset optimization rules so that the unit always operates in an optimal control state in the whole life cycle.

[0120] The example embodiment of the present disclosure can diagnose the control system oscillation problem as early as possible and perform automatic optimization control, so that the unit reduces fatigue damage as early as possible, ensures the service life of the unit, and avoids the loss of power generation caused by shortened life or damaged components in the whole life cycle of the unit; since the unit has an automatic optimization function, the overall operation and maintenance cost is saved; if the unit still cannot reach the preset state after multiple optimizations, the unit can be controlled based on the current optimal value and a warning is issued for detailed analysis and continuous optimization of the optimization rules by R&D technical personnel.

[0121] Figure 8 A structural block diagram of a control device of a wind turbine generator set according to an example embodiment of the present disclosure is shown.

[0122] As shown in Figure 8 A control device of a wind turbine generator set according to an example embodiment of the present disclosure includes an operation data acquisition unit 101, a control stage determination unit 102, a determination unit 103, a parameter adjustment unit 104, and a control unit 105.

[0123] Specifically, the operation data acquisition unit 101 is configured to acquire operation data of the wind turbine generator set within a preset time length, wherein the operation data includes at least one of the following: rotation speed, torque, and pitch angle.

[0124] The control stage determination unit 102 is configured to determine, based on the operation data, a target control stage of the wind turbine generator set within the preset time length from a plurality of preset control stages.

[0125] The determination unit 103 is configured to determine, based on the operation data, whether an oscillation condition of the wind turbine generator set reaches a preset oscillation condition corresponding to the target control stage.

[0126] The parameter adjusting unit 104 is configured to adjust parameters of a torque controller and / or parameters of a pitch controller of the wind turbine generator set in response to the oscillation condition reaching the preset oscillation condition.

[0127] The control unit 105 is configured to control operation of the wind turbine generator set based on the adjusted parameters.

[0128] The oscillation condition includes at least one of a rotational speed oscillation condition, a torque oscillation condition, and a pitch angle oscillation condition.

[0129] As an example, the control phase determining unit 102 can be configured to determine the target control phase from the plurality of control phases based on a rotational speed average and / or a pitch angle average within the preset time length, wherein the plurality of control phases are divided based on rotational speed and / or pitch angle, and different control phases correspond to different rotational speed ranges and / or different pitch angle ranges.

[0130] As an example, the parameter adjusting unit 104 can be configured to adjust the parameters of the torque controller in a case where the oscillation condition reaches the preset oscillation condition and an upper boundary value of the pitch angle range corresponding to the target control phase is less than or equal to a preset pitch angle threshold, and adjust the parameters of the pitch controller in a case where the oscillation condition reaches the preset oscillation condition and a lower boundary value of the pitch angle range corresponding to the target control phase is greater than or equal to the preset pitch angle threshold.

[0131] As an example, the parameter adjusting unit 104 can be configured to determine whether a rated power is not reached within the preset time length in a case where the oscillation condition reaches the preset oscillation condition and the lower boundary value of the pitch angle range corresponding to the target control phase is greater than or equal to the preset pitch angle threshold, adjust the parameters of the torque controller and the parameters of the pitch controller in a case where the rated power is not reached within the preset time length, and adjust the parameters of the pitch controller in a case where the rated power is reached within the preset time length.

[0132] As an example, the determining unit 103 can be configured to, in the case that the engine is in the state of not reaching rated power within the preset time length, determine, based on the rotation speed within the preset time length, the duration of each complete fluctuation period of the rotation speed and the fluctuation amplitude of the rotation speed within the preset time length, and / or determine, based on the torque within the preset time length, the duration of each complete fluctuation period of the torque and the fluctuation amplitude of the torque within the preset time length; in the case that the determined duration of each complete fluctuation period of the rotation speed belongs to a first preset time length range corresponding to the target control stage, and the mean value of the determined fluctuation amplitude of the rotation speed of each complete fluctuation period of the rotation speed is greater than a first preset amplitude corresponding to the target control stage, determine that the oscillation condition reaches the preset oscillation condition; in the case that the determined duration of each complete fluctuation period of the torque belongs to a second preset time length range corresponding to the target control stage, and the mean value of the determined fluctuation amplitude of the torque of each complete fluctuation period of the torque is greater than a second preset amplitude corresponding to the target control stage, determine that the oscillation condition reaches the preset oscillation condition.

[0133] As an example, the determining unit 103 can be configured to, in the case that the engine is in the state of reaching rated power within the preset time length, determine, based on the rotation speed within the preset time length, the duration of each complete fluctuation period of the rotation speed and the fluctuation amplitude of the rotation speed within the preset time length, and / or determine, based on the torque within the preset time length, the duration of each complete fluctuation period of the torque and the fluctuation amplitude of the torque within the preset time length, and / or determine, based on the pitch angle within the preset time length, the duration of each complete fluctuation period of the pitch angle and the fluctuation amplitude of the pitch angle within the preset time length; in the case that the determined duration of each complete fluctuation period of the rotation speed belongs to a first preset time length range corresponding to the target control stage, and the mean value of the determined fluctuation amplitude of the rotation speed of each complete fluctuation period of the rotation speed is greater than a first preset amplitude corresponding to the target control stage, determine that the oscillation condition reaches the preset oscillation condition; in the case that the determined duration of each complete fluctuation period of the torque belongs to a second preset time length range corresponding to the target control stage, and the mean value of the determined fluctuation amplitude of the torque of each complete fluctuation period of the torque is greater than a second preset amplitude corresponding to the target control stage, determine that the oscillation condition reaches the preset oscillation condition; in the case that the determined duration of each complete fluctuation period of the pitch angle belongs to a third preset time length range corresponding to the target control stage, and the mean value of the determined fluctuation amplitude of the pitch angle of each complete fluctuation period of the pitch angle is greater than a third preset amplitude corresponding to the target control stage, determine that the oscillation condition reaches the preset oscillation condition.

[0134] As an example, the parameter adjustment unit 104 can be configured to, in a case where the oscillation condition is reached and an upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to a preset pitch angle threshold value, determine whether a preset number of times of adjusting the parameter of the torque controller for the target control stage has been reached; in a case where it is determined that the preset number of times has not been reached, determine a parameter adjustment direction of the torque controller to be an increase parameter direction or a decrease parameter direction based on the operation data of the torque controller in the preset time length; and adjust the parameter of the torque controller in the determined parameter adjustment direction within a torque controller parameter adjustable range corresponding to the target control stage.

[0135] As an example, the parameter adjustment unit 104 can be configured to, in a case where the oscillation condition is reached and a lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold value, determine whether a preset number of times of adjusting the parameter of the pitch controller for the target control stage has been reached; in a case where it is determined that the preset number of times has not been reached, determine a parameter adjustment direction of the pitch controller to be an increase parameter direction or a decrease parameter direction based on the operation data of the pitch controller in the preset time length; and adjust the parameter of the pitch controller in the determined parameter adjustment direction within a pitch controller parameter adjustable range corresponding to the target control stage.

[0136] As an example, the parameter adjustment unit 104 can be further configured to, in a case where it is determined that the preset number of times of adjusting the parameter of the torque controller for the target control stage has been reached, set the parameter of the torque controller to the parameter at which the oscillation degree is the smallest in the target control stage, and issue an oscillation warning information.

[0137] As an example, the parameter adjustment unit 104 can be further configured to, in a case where it is determined that the preset number of times of adjusting the parameter of the pitch controller for the target control stage has been reached, set the parameter of the pitch controller to the parameter at which the oscillation degree is the smallest in the target control stage, and issue an oscillation warning information.

[0138] As an example, the parameter of the torque controller can include at least one of a proportional coefficient, an integral coefficient, and a differential coefficient of the torque controller; and the parameter of the pitch controller can include at least one of a proportional coefficient, an integral coefficient, and a differential coefficient of the pitch controller.

[0139] It should be understood that the specific processes performed by the control device of the wind turbine generator system according to the exemplary embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, and related details will not be repeated here. Figures 1 to 7 It should be understood that the specific processes performed by the control device of the wind turbine generator system according to the exemplary embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, and related details will not be repeated here.

[0140] It should be understood that each unit in the control device of the wind turbine generator according to the exemplary embodiments of the present disclosure can be implemented by hardware components and / or software components. Each unit can be implemented, for example, using a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC) by a person skilled in the art according to the processing performed by each unit.

[0141] The exemplary embodiments of the present disclosure provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the control method of the wind turbine generator according to the exemplary embodiments described above. The computer-readable storage medium is any data storage device that can store data readable by a computer system. Examples of the computer-readable storage medium include a read-only memory, a random access memory, a read-only optical disc, a magnetic tape, a floppy disc, an optical data storage device, and a carrier wave such as data transmission through an internet via a wired or wireless transmission path.

[0142] An electronic device according to the exemplary embodiments of the present disclosure includes a processor (not shown) and a memory (not shown), wherein the memory stores a computer program, which, when executed by the processor, causes the processor to perform the control method of the wind turbine generator according to the exemplary embodiments described above.

[0143] As an example, the electronic device can be a wind turbine generator (for example, a central controller of the wind turbine generator), a wind farm controller. In addition, it can also be a terminal (such as a personal notebook, a desktop computer, etc.), and can also be a server (such as a stand-alone server, a server cluster, a cloud platform, etc.).

[0144] Although some exemplary embodiments of the present disclosure have been illustrated and described, it should be understood by those skilled in the art that modifications can be made to the embodiments without departing from the principles and spirit of the present disclosure, which are defined by the following claims and their equivalents.

Claims

1. A control method for a wind turbine generator set, characterized in that, The control method includes: The operation data of the wind turbine generator set is acquired within a preset time period, wherein the operation data includes at least one of the following: speed, torque, and pitch angle; Based on the operational data, the target control stage of the wind turbine generator set within the preset time period is determined from multiple preset control stages. Based on the specified operating data within the preset time period, the duration and amplitude of each complete fluctuation cycle of the specified operating data within the preset time period are determined. The specified operating data corresponding to the condition of not reaching the rated power within the preset time period includes at least one of speed and torque, and / or the specified operating data corresponding to the condition of reaching the rated power within the preset time period includes at least one of speed, torque and pitch angle. If the duration of each complete fluctuation cycle of the specified operating data falls within the preset duration range corresponding to the target control stage and the specified operating data, and the average value of the fluctuation amplitude of each complete fluctuation cycle of the specified operating data is greater than the preset amplitude corresponding to the target control stage and the specified operating data, then the oscillation of the wind turbine generator set is determined to have reached the preset oscillation condition corresponding to the target control stage. In response to the oscillation condition reaching the preset oscillation condition, the parameters of the torque controller and / or the pitch controller of the wind turbine generator set are adjusted; The operation of the wind turbine generator set is controlled based on the adjusted parameters.

2. The control method according to claim 1, characterized in that, The step of determining the target control stage of the wind turbine generator within the preset time period from multiple preset control stages based on the operational data includes: The target control stage is determined from the plurality of control stages based on the average rotational speed and / or average pitch angle within the preset time period; The multiple control stages are divided based on the rotational speed and / or pitch angle, and the rotational speed range and / or pitch angle range corresponding to different control stages are different.

3. The control method according to claim 1, characterized in that, The step of adjusting the parameters of the torque controller and / or pitch controller of the wind turbine generator set in response to the oscillation condition reaching the preset oscillation condition includes: When the oscillation condition reaches the preset oscillation condition, and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to the preset pitch angle threshold, the parameters of the torque controller are adjusted. When the oscillation condition reaches the preset oscillation condition, and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold, the parameters of the pitch controller are adjusted.

4. The control method according to claim 3, characterized in that, The step of adjusting the parameters of the pitch controller when the oscillation condition reaches the preset oscillation condition and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold includes: If the oscillation condition reaches the preset oscillation condition and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold, it is determined whether the rated power is not reached within the preset time period. If the rated power is not reached within the preset time period, the parameters of the torque controller and the pitch controller are adjusted. If the rated power has been reached within the preset time period, the parameters of the pitch controller are adjusted.

5. The control method according to claim 3, characterized in that, The step of adjusting the parameters of the torque controller when the oscillation condition reaches the preset oscillation condition and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to the preset pitch angle threshold includes: If the oscillation condition reaches the preset oscillation condition, and the upper boundary value of the pitch angle range corresponding to the target control stage is less than or equal to the preset pitch angle threshold, determine whether the number of times the parameters of the torque controller have been adjusted for the target control stage has reached the preset number. If the preset number of times is not reached, based on the operating data of the torque controller within the preset time period, the parameter adjustment direction of the torque controller is determined to be either increasing the parameter or decreasing the parameter. Within the adjustable range of the torque controller parameters corresponding to the target control stage, the parameters of the torque controller are adjusted in the determined parameter adjustment direction.

6. The control method according to claim 3, characterized in that, The step of adjusting the parameters of the pitch controller when the oscillation condition reaches the preset oscillation condition and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold includes: If the oscillation condition reaches the preset oscillation condition, and the lower boundary value of the pitch angle range corresponding to the target control stage is greater than or equal to the preset pitch angle threshold, determine whether the number of times the parameters of the pitch controller have been adjusted for the target control stage has reached the preset number. If the preset number of times is not reached, based on the operating data of the pitch controller within the preset time period, the parameter adjustment direction of the pitch controller is determined to be either increasing the parameter or decreasing the parameter. Within the adjustable range of the pitch controller parameters corresponding to the target control phase, the parameters of the pitch controller are adjusted in the determined parameter adjustment direction.

7. The control method according to claim 5, characterized in that, The control method further includes: If it is determined that the number of times the parameters of the torque controller have been adjusted for the target control phase has reached the preset number, the parameters of the torque controller are set to the parameters at which the oscillation degree is minimized in the target control phase, and an oscillation warning message is issued.

8. The control method according to claim 6, characterized in that, The control method further includes: If it is determined that the number of times the parameters of the pitch controller have been adjusted for the target control phase has reached the preset number, the parameters of the pitch controller are set to the parameters at which the oscillation level is minimized during the target control phase, and an oscillation warning message is issued.

9. The control method according to claim 1, characterized in that, The parameters of the torque controller include at least one of the following: the proportional coefficient, integral coefficient, and derivative coefficient of the torque controller; The parameters of the pitch controller include at least one of the following: the proportional coefficient, integral coefficient, and derivative coefficient of the pitch controller.

10. The control method according to claim 1, characterized in that, The oscillation conditions include at least one of the following: speed oscillation, torque oscillation, and pitch angle oscillation.

11. A control device for a wind turbine generator set, characterized in that, The control device includes: The operation data acquisition unit is configured to acquire the operation data of the wind turbine generator set within a preset time period, wherein the operation data includes at least one of the following: speed, torque, and pitch angle; The control phase determination unit is configured to determine, based on the operating data, the target control phase in which the wind turbine generator is located within the preset time period from a plurality of preset control phases. The determining unit is configured to determine the duration and amplitude of each complete fluctuation cycle of the specified operating data within the preset time period based on the specified operating data within the preset time period. The specified operating data corresponding to the condition where the rated power is not reached within the preset time period includes at least one of speed and torque, and / or the specified operating data corresponding to the condition where the rated power is reached within the preset time period includes at least one of speed, torque, and pitch angle. If the duration of each complete fluctuation cycle of the determined specified operating data falls within a preset time range corresponding to the target control phase and the specified operating data, and the average amplitude of each complete fluctuation cycle of the determined specified operating data is greater than a preset amplitude corresponding to the target control phase and the specified operating data, then the oscillation condition of the wind turbine generator set is determined to have reached a preset oscillation condition corresponding to the target control phase. The parameter adjustment unit is configured to adjust the parameters of the torque controller and / or the pitch controller of the wind turbine generator set in response to the oscillation condition reaching the preset oscillation condition. The control unit is configured to control the operation of the wind turbine generator set based on adjusted parameters.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it causes the processor to perform the control method for the wind turbine generator as described in any one of claims 1 to 10.

13. An electronic device, characterized in that, The electronic device includes: processor; A memory storing a computer program that, when executed by a processor, causes the processor to perform the control method for a wind turbine generator as described in any one of claims 1 to 10.

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