A power optimization control method and system for suppressing vibration of wind turbine gearbox

Abstract

The invention discloses a power optimization control method and system for suppressing the vibration of a wind turbine gearbox, the method comprising the steps of: S1, establishing a simplified model of the wind turbine gearbox, establishing a vibration differential equation of the gearbox, and a mathematical model between the wind turbine pitch angle, generator speed, generator speed filter value, the change amount of active power reference value and the change amount of gearbox input torque; S2, obtaining the active power demand of the grid dispatch, the total active power output of the wind farm and the upper limit of the active power that can be generated by the wind turbine as constraints, and establishing an optimization problem with the minimum change amount of the vibration displacement of the gearbox as the objective function; S3, establishing a total state space equation based on the vibration differential equation and the mathematical model, and then solving the optimization problem through a model predictive control algorithm, and distributing power to reduce the vibration of the gearbox. The invention has the advantages of reducing the vibration of the gearbox and reducing its fatigue.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of wind turbine generator sets, and in particular to a power optimization control method and system for suppressing vibration of a gear box of a wind turbine generator set. Background Art

[0002] As the scale of wind farms continues to expand, the poor operating environment of wind turbines has led to a continuous increase in their failure rate, and wind farms are facing severe challenges of high operation and maintenance costs. According to statistics, abnormal vibration of wind turbine gearboxes is one of the main causes of wind turbine failures, so reducing the fatigue of gearboxes is of great significance to saving the operation and maintenance costs of wind farms. In previous studies, the operating status of wind turbine gearboxes was mainly monitored by real-time monitoring of sensor information in the system. However, traditional condition monitoring and fault diagnosis methods cannot reduce the fatigue of wind turbine gearboxes in the early stages, and lack effective means to evaluate their fatigue. Therefore, it is necessary to actively suppress the vibration of wind turbine gearboxes in advance and effectively evaluate their fatigue in order to reduce the failure rate of wind turbines and save the operation and maintenance costs of wind farms. Summary of the invention

[0003] In view of the technical problems existing in the prior art, the present invention provides a power optimization control method and system for suppressing the vibration of a wind turbine gearbox, which can reduce the vibration of the gearbox and lower its fatigue level.

[0004] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0005] A power optimization control method for suppressing vibration of a wind turbine gearbox comprises the following steps:

[0006] S1. A simplified model of the wind turbine gearbox is established based on the structure of the wind turbine gearbox in the wind farm, and a vibration differential equation of the gearbox is established, as well as a mathematical model between the change in the wind turbine pitch angle, the generator speed, the generator speed filter value, the active power reference value and the change in the gearbox input torque;

[0007] S2. Obtain the active power demand of the power grid dispatch, the total active power output of the wind farm and the upper limit of the active power that can be generated by the wind turbine as constraints, and establish an optimization problem with the minimum vibration displacement change of the planet carrier and each gear in the gearbox as the objective function;

[0008] S3. Establish the total state space equation based on the vibration differential equation and mathematical model of the gearbox, then solve the optimization problem through the model predictive control algorithm based on the total state space equation, and distribute the active power of the wind turbine according to the solution result to reduce the gearbox vibration.

[0009] Preferably, in step S1, the vibration differential equation of the gearbox is derived through the Lagrange equation based on the lumped parameter method, specifically:

[0010]

[0011] in, are the torsional vibration accelerations of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively; are the torsional vibration displacements of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively; are the masses of the planet carrier, planet gear, sun gear, first spur gear, second spur gear, third spur gear and fourth spur gear respectively; They are the torsional stiffness of the planet carrier, the average meshing stiffness between the inner ring gear and the planetary gear, the average meshing stiffness between the sun gear and the planetary gear, the torsional stiffness of the sun gear shaft, the average meshing stiffness between the first spur gear and the second spur gear, and the average meshing stiffness between the third spur gear and the fourth spur gear; is the engagement angle; are the base circle radii of the planet carrier, the sun gear, the first spur gear, the second spur gear, the third spur gear and the fourth spur gear respectively; is the input torque; is the transmission ratio.

[0012] Preferably, in step S1, the mathematical model between the change in the wind turbine pitch angle, the generator speed, the generator speed filter value, the change in the active power reference value and the change in the gearbox input torque is:

[0013]

[0014] in, They are the changes of input torque, pitch angle, generator speed, generator speed filter value and active power reference value respectively; is the generator moment of inertia; All are coefficients; is the moment of inertia constant; is the moment of inertia of the wind wheel; is the value of active power at the current moment; is the generator efficiency; It is the filtered value of the generator speed at the current moment.

[0015] Preferably, in step S2, the constraint condition expression is:

[0016]

[0017]

[0018] in, is the number of wind turbines, For the The active power output of the typhoon generator set, is the active power demand of the power grid, For the Active power reference value of typhoon generator set, For the The upper limit of the active power that can be generated by typhoon turbines.

[0019] Preferably, in step S3, based on the mathematical model, a state space equation is established according to the relationship between the wind turbine pitch angle and its reference value, the generator speed, the generator speed filter value, the change in the active power reference value and the change in the gearbox input torque;

[0020] According to the vibration differential equation of the gearbox, the incremental form of the vibration differential equation is derived;

[0021] Then the state-space equation and the incremental form of the oscillator differential equation are combined to obtain the total state-space equation.

[0022] Preferably, the state space equation is:

[0023]

[0024]

[0025]

[0026] in, is the predicted amount; is the state quantity; is the input quantity; is the output; All are matrices; is the change of the pitch angle reference value; are the proportional and integral gains of the pitch controller respectively; is the filtering time constant; are all constants; is the time constant; is the rated speed of the generator; are respectively the pitch angle and its reference value at the current moment; are the values ​​of aerodynamic torque and generator torque at the current moment respectively.

[0027] Preferably, the incremental form of the vibration differential equation is:

[0028]

[0029]

[0030]

[0031] in, is the output; is the input quantity; All are matrices; are the torsional vibration displacement changes of the planet carrier, the planet gear, the sun gear, the first spur gear, the second spur gear and the fourth spur gear respectively; is the change of input torque; are all constants; They are the torsional vibration acceleration changes of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively.

[0032] Preferably, the overall state space equation is:

[0033]

[0034] in, is the predicted amount; is the state quantity; is the input quantity; is the output; All are matrices; ; ;

[0035] Among them, the change of the wind turbine pitch angle and its reference value, the change of the generator speed and its filtered value are state quantities; the change of the active power reference value of the wind turbine is the input quantity; the change of the torsional vibration displacement of the planetary carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear of the wind turbine gearbox is the output quantity.

[0036] Preferably, after step S3, a gearbox evaluation system is established to evaluate the fatigue degree of the gearbox;

[0037] The calculation formula of the gearbox evaluation system is:

[0038]

[0039] in, is the fatigue index of the gearbox; are all constants; are the weights of the torsional vibration displacements of the planet carrier, the planet gear, the sun gear, the first spur gear, the second spur gear and the fourth spur gear respectively; are the variances of the torsional vibration displacements of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively.

[0040] The present invention also discloses a power optimization control system for suppressing vibration of a wind turbine gearbox, comprising a memory and a processor connected to each other, wherein a computer program is stored on the memory, and when the computer program is run by the processor, the steps of the method described above are executed.

[0041] Compared with the prior art, the advantages of the present invention are:

[0042] The present invention establishes an optimization problem based on the relationship between the active power output of a wind turbine in a wind farm and the gearbox vibration, and according to the result of solving the model predictive control algorithm, the gearbox vibration is weakened by controlling the active power distribution of the wind turbine; through the above method, before the wind turbine gearbox fails, the gearbox vibration is actively suppressed in advance, the fatigue degree of the gearbox and the failure rate of the wind turbine are reduced at an early stage, and the operation and maintenance cost of the wind farm is saved; at the same time, the present invention effectively evaluates the fatigue degree of the wind turbine gearbox and can monitor its operating status in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A flow chart of an embodiment of the power optimization control method for gearbox vibration suppression of the present invention.

[0044] Figure 2 This is a simulation diagram of the torsional vibration displacement of the first spur gear in the gearbox under the proportional distribution control mode in an embodiment of the present invention.

[0045] Figure 3 This is a simulation diagram of the torsional vibration displacement of the first spur gear in the gearbox under the model predictive control method in an embodiment of the present invention.

[0046] Figure 4 It is a simulation diagram of the fatigue index of the gearbox under different scheduling modes in the embodiment of the present invention. DETAILED DESCRIPTION

[0047] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] like Figure 1 As shown, the power optimization control method for vibration suppression of a gearbox in a large-scale wind farm according to an embodiment of the present invention specifically comprises the following steps:

[0049] S1. A simplified model of the wind turbine gearbox is established based on the structure of the gearbox, a key component of the wind turbine in the wind farm. The vibration differential equation of the gearbox is also established, as well as a mathematical model between the change in the wind turbine pitch angle, generator speed, generator speed filter value, active power reference value and the change in gearbox input torque.

[0050] The wind turbine gearbox consists of a single-stage planetary gear train and a two-stage parallel shaft spur gear train. According to the similarity between the three planetary gears in the transmission system, it is represented by one degree of freedom, and the average meshing stiffness is used to replace the time-varying meshing stiffness and the damping is ignored. Since the gear meshing vibration is mainly circumferential torsional vibration, only torsional vibration is considered when establishing the simplified model of the gearbox.

[0051] The vibration differential equation of the gearbox is derived through the Lagrange equation based on the concentrated parameter method, which is:

[0052]

[0053] in, are the torsional vibration accelerations of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively; are the torsional vibration displacements of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively; are the masses of the planet carrier, planet gear, sun gear, first spur gear, second spur gear, third spur gear and fourth spur gear respectively; They are the torsional stiffness of the planet carrier, the average meshing stiffness between the inner ring gear and the planetary gear, the average meshing stiffness between the sun gear and the planetary gear, the torsional stiffness of the sun gear shaft, the average meshing stiffness between the first spur gear and the second spur gear, and the average meshing stiffness between the third spur gear and the fourth spur gear; is the engagement angle; are the base circle radii of the planet carrier, the sun gear, the first spur gear, the second spur gear, the third spur gear and the fourth spur gear respectively; is the input torque; is the transmission ratio;

[0054] The mathematical model between the change in wind turbine pitch angle, generator speed, generator speed filter value, active power reference value and the change in gearbox input torque is:

[0055]

[0056] in, They are the changes of input torque, pitch angle, generator speed and its filtered value and active power reference value respectively; is the generator moment of inertia; All are coefficients; is the moment of inertia constant; is the moment of inertia of the wind wheel; is the value of active power at the current moment; is the generator efficiency; is the filtered value of the generator speed at the current moment.

[0057] S2. Obtain the active power demand of the power grid dispatch, the total active power output of the wind farm and the upper limit of the active power that can be generated by the wind turbine as constraints, and establish an optimization problem with the minimum vibration displacement change of the planetary carrier and each gear in the gearbox as the objective function.

[0058] Among them, the total active power output of the wind farm should meet the active power demand of the power grid dispatch, and the active power output of each wind turbine should not exceed the upper limit of its active power.

[0059] According to the active power demand of the power grid, the total active power output of the wind farm and the upper limit of the active power that can be generated by the wind turbine, the constraint condition expression is established as follows:

[0060]

[0061]

[0062] in, is the number of wind turbines, For the The active power output of the typhoon generator set, is the active power demand of the power grid, For the Active power reference value of typhoon generator set, For the The upper limit of the active power that can be generated by typhoon turbines.

[0063] According to the changes of the pitch angle and its reference value and the changes of the generator speed and its filtered value, a correlation model between the changes of the active power reference value of the wind turbine and the changes of the torsional vibration displacement of the planet carrier and each gear in the gearbox is established.

[0064] Specifically, according to the relationship between the wind turbine pitch angle and its reference value, the generator speed and its filtered value, the change in the active power reference value and the change in the gearbox input torque, the established state space equation is:

[0065]

[0066]

[0067]

[0068] in, is the predicted amount; is the state quantity; is the input quantity; is the output; All are matrices; is the change of the pitch angle reference value; are the proportional and integral gains of the pitch controller respectively; is the filtering time constant; are all constants; is the time constant; is the rated speed of the generator; are respectively the pitch angle and its reference value at the current moment; are the values ​​of pneumatic torque and generator torque at the current moment respectively;

[0069] Specifically, according to the vibration differential equation of the gearbox, the incremental form of the vibration differential equation is derived as follows:

[0070]

[0071]

[0072]

[0073] in, is the output; is the input quantity; All are matrices; are the torsional vibration displacement changes of the planet carrier, the planet gear, the sun gear, the first spur gear, the second spur gear and the fourth spur gear respectively; is the change of input torque; are all constants; They are the torsional vibration acceleration changes of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively.

[0074] S3. Based on the incremental form of the state space equation and the vibration differential equation, the total state space equation is established, and then the optimization problem is solved through the model predictive control algorithm based on the total state space equation, and the active power of the wind turbine is allocated according to the solution results to reduce the gearbox vibration. Among them, the model predictive control is to predict the behavior of the system in the future by establishing a mathematical model of the system, and optimize the control input according to these prediction results to achieve the optimization of a certain performance indicator.

[0075] Specifically, the state space equation is established with the change of the pitch angle of the wind turbine and its reference value, the change of the generator speed and its filter value as the state quantity, the change of the active power reference value of the wind turbine as the input quantity, and the change of the torsional vibration displacement of the planetary carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear of the wind turbine gearbox as the output quantity, and is solved by the model predictive control algorithm. Specifically, according to the incremental form of the state space equation and the vibration differential equation, the total state space equation established by combining them is:

[0076]

[0077] in, is the predicted amount; is the state quantity; is the input quantity; is the output; All are matrices; ; .

[0078] Furthermore, an evaluation system for the gearbox is established based on the torsional vibration displacement variance of the gearbox planet carrier, planetary gears, sun gear, first spur gear, second spur gear and fourth spur gear to evaluate the fatigue degree of the gearbox.

[0079] Specifically, according to the torsional vibration displacements of the gearbox planet carrier, the planetary gear, the sun gear, the first spur gear, the second spur gear and the fourth spur gear, their respective weights are calculated by the entropy weight method;

[0080] According to the weights and variances of the torsional vibration displacements of the planetary carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear of the gearbox, an evaluation system for the gearbox is established, and its calculation formula is:

[0081]

[0082] in, is the fatigue index of the gearbox; are all constants; are the weights of the torsional vibration displacements of the planet carrier, the planet gear, the sun gear, the first spur gear, the second spur gear and the fourth spur gear respectively; are the variances of the torsional vibration displacements of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively.

[0083] The present invention establishes an optimization problem based on the relationship between the active power output of a wind turbine in a wind farm and the gearbox vibration, and according to the result of solving the model predictive control algorithm, the gearbox vibration is weakened by controlling the active power distribution of the wind turbine; through the above method, before the wind turbine gearbox fails, the gearbox vibration is actively suppressed in advance, the fatigue degree of the gearbox and the failure rate of the wind turbine are reduced at an early stage, and the operation and maintenance cost of the wind farm is saved; at the same time, the present invention effectively evaluates the fatigue degree of the wind turbine gearbox and can monitor its operating status in real time.

[0084] like Figure 2 As shown, Figure 2 It describes the distribution of active power reference value of wind turbines by proportional distribution control under the premise of meeting the active power demand of power grid dispatching, and the simulation diagram of torsional vibration displacement of the first spur gear in the gearbox of wind turbine.

[0085] like Figure 3 As shown, Figure 3 It describes the allocation of active power reference value of wind turbines by model predictive control under the premise of meeting the active power demand of power grid dispatching, and the simulation diagram of torsional vibration displacement of the first spur gear in the gearbox of the wind turbine.

[0086] Depend on Figure 2 and Figure 3 It can be seen that the model predictive control method can suppress the gearbox vibration by optimizing the active power reference value allocation of the wind farm to the wind turbine, but the proportional allocation control method cannot achieve this goal due to the lack of optimization. Therefore, during the operation of the wind farm, the model predictive control method proposed in the present invention can reduce the vibration of the wind turbine gearbox.

[0087] like Figure 4 As shown, Figure 4 The article describes the change trend of the fatigue index over time based on the vibration condition of the wind turbine gearbox under two different scheduling modes (proportional allocation control mode and model predictive control mode) and the evaluation system for the wind turbine gearbox proposed in the present invention.

[0088] Depend on Figure 4 It can be seen that compared with the proportional distribution control method, the fatigue index of the wind turbine gearbox is lower under the model predictive control method proposed in the present invention. During the operation of the wind farm, the model predictive control method proposed in the present invention can reduce the fatigue level of the gearbox.

[0089] Based on the mathematical model between the active power output of the wind turbine and the vibration of the gearbox, the present invention establishes a total state space equation with the change of the active power reference value of the wind turbine as input and the vibration condition of the wind turbine gearbox as output, solves the equation through a model predictive control algorithm, and finally establishes an evaluation system for the gearbox to evaluate the fatigue degree of the gearbox; under the premise of ensuring that the total active power output of the wind farm meets the active power demand of the power grid dispatching, the present invention reduces the vibration displacement change of the planetary carrier and each gear in the gearbox by controlling the active power distribution of the wind turbine, thereby reducing the fatigue degree of the gearbox.

[0090] The present invention also discloses a power optimization control system for suppressing the vibration of a wind turbine gearbox, comprising a memory and a processor connected to each other, wherein a computer program is stored on the memory, and when the computer program is executed by the processor, the steps of the above method are executed. The control system of the present invention corresponds to the above control method and also has the advantages described in the above control method.

[0091] The present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by hardware related to computer program instructions. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable storage media include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. The memory is used to store computer programs and / or modules. The processor implements various functions by running or executing computer programs and / or modules stored in the memory, and calling data stored in the memory. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0092] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A power optimization control method for suppressing the vibration of a wind turbine gearbox, characterized in that: Includes steps: S1. A simplified model of the wind turbine gearbox is established based on the structure of the wind turbine gearbox in the wind farm, and a vibration differential equation of the gearbox is established, as well as a mathematical model between the change in the wind turbine pitch angle, the generator speed, the generator speed filter value, the active power reference value and the change in the gearbox input torque; S2. Obtain the active power demand of the power grid dispatch, the total active power output of the wind farm and the upper limit of the active power that can be generated by the wind turbine as constraints, and establish an optimization problem with the minimum vibration displacement change of the planet carrier and each gear in the gearbox as the objective function; S3. Establishing a total state space equation based on the vibration differential equation and mathematical model of the gearbox, solving the optimization problem through a model predictive control algorithm based on the total state space equation, and distributing the active power of the wind turbine according to the solution result to reduce the gearbox vibration; In step S1, the mathematical model between the change in the wind turbine pitch angle, the generator speed, the generator speed filter value, the change in the active power reference value and the change in the gearbox input torque is: in, are the changes of input torque, pitch angle, generator speed, generator speed filter value and active power reference value respectively; J g is the generator moment of inertia; K βT ,K ωT All are coefficients; J t is the moment of inertia constant; J r is the moment of inertia of the wind wheel; P W,0 is the value of active power at the current moment; μ g is the generator efficiency; ω f,0 is the filtered value of the generator speed at the current moment; η g is the transmission ratio; In step S3, based on the mathematical model, a state space equation is established according to the relationship between the wind turbine pitch angle and its reference value, the generator speed, the generator speed filter value, the change in the active power reference value and the change in the gearbox input torque; According to the vibration differential equation of the gearbox, the incremental form of the vibration differential equation is derived; Then the state-space equation and the incremental form of the oscillator differential equation are combined to obtain the total state-space equation.

2. The power optimization control method for suppressing the vibration of the wind turbine gearbox according to claim 1, characterized in that: In step S1, the vibration differential equation of the gearbox is derived through the Lagrange equation based on the lumped parameter method, which is specifically: in, are the torsional vibration accelerations of the planet carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively; u c ,u p ,u s , u1, u2, u4 are the torsional vibration displacements of the planet carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively; m c ,m p ,m s , m1, m2, m3, m4 are the masses of the planet carrier, planetary gear, sun gear, first spur gear, second spur gear, third spur gear and fourth spur gear respectively; k c ,k mrp ,k msp ,k s1 ,k m12 ,k m34 They are the torsional stiffness of the planet carrier, the average meshing stiffness between the inner gear ring and the planetary gear, the average meshing stiffness between the sun gear and the planetary gear, the torsional stiffness of the sun gear shaft, the average meshing stiffness between the first spur gear and the second spur gear, and the average meshing stiffness between the third spur gear and the fourth spur gear; α1 is the meshing angle; r bc ,r bs ,r b1 ,r b2 ,r b3 ,r b4 are the base circle radii of the planet carrier, sun gear, first spur gear, second spur gear, third spur gear and fourth spur gear respectively; T s is the input torque; η g is the transmission ratio.

3. The power optimization control method for suppressing the vibration of the wind turbine gearbox according to claim 2, characterized in that: In step S2, the constraint condition expression is: Among them, N W is the number of wind turbines, P W,i is the active power output of the i-th wind turbine, is the active power demand of the power grid, is the active power reference value of the i-th wind turbine, is the upper limit of the active power that can be generated by the i-th wind turbine.

4. The power optimization control method for suppressing the vibration of the wind turbine gearbox according to claim 3 is characterized in that: The state space equation is: Δx=[Δβ ref ,Dv,Dw g ,I see f ] T , Δy=ΔT s in, is the predicted quantity; Δx is the state quantity; Δu is the input quantity; Δy is the output quantity; A, B, C, D, E are all matrices; Δβ ref is the change of the pitch angle reference value; K p ,K i are the proportional and integral gains of the pitch controller respectively; T f is the filtering time constant; are all constants; T θ is the time constant; is the rated speed of the generator; are the pitch angle and its reference value at the current moment respectively; T a,0 ,T g,0 are the values ​​of aerodynamic torque and generator torque at the current moment respectively.

5. The power optimization control method for suppressing the vibration of the wind turbine gearbox according to claim 4, characterized in that: The incremental form of the vibration differential equation is: Δz=FΔy+G Δz=[Δu c ,D p ,D s ,Δu1,Δu2,Δu4] T ,Δy=ΔT s Among them, Δz is the output; Δy is the input; F and G are matrices; Δu c ,Δu p ,Δu s , Δu1, Δu2, Δu4 are the torsional vibration displacement changes of the planet carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively; ΔT s is the change in input torque; F c ,F p ,F s , F1, F2, F4 are all constants; ΔG c ,ΔG p ,ΔG s , ΔG1, ΔG2, ΔG4 are the torsional vibration acceleration changes of the planet carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively.

6. The power optimization control method for suppressing the vibration of the gearbox of a wind turbine according to claim 5, characterized in that: The overall state space equation is: in, is the predicted quantity; Δx is the state quantity; Δu is the input quantity; Δz is the output quantity; A, B, E, G, H, L are all matrices; H = F*C; L = F*D; Among them, the change of the wind turbine pitch angle and its reference value, the change of the generator speed and its filtered value are state quantities; the change of the active power reference value of the wind turbine is the input quantity; the change of the torsional vibration displacement of the planetary carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear of the wind turbine gearbox is the output quantity.

7. The power optimization control method for suppressing the vibration of a wind turbine gearbox according to any one of claims 1 to 6, characterized in that: After step S3, a gearbox evaluation system is established to evaluate the fatigue degree of the gearbox; The calculation formula of the gearbox evaluation system is: Where, I is the fatigue index of the gearbox; K c ,K p ,K s , K1, K2, K4 are all constants; ω c ,ω p ,ω s ,ω1,ω2,ω4 are the weights of the torsional vibration displacements of the planet carrier, planetary gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively; are the variances of the torsional vibration displacements of the planet carrier, planet gear, sun gear, first spur gear, second spur gear and fourth spur gear respectively.

8. A power optimization control system for suppressing vibration of a wind turbine gearbox, comprising a memory and a processor connected to each other, wherein a computer program is stored in the memory, characterized in that: When the computer program is executed by a processor, the computer program performs the steps of the method according to any one of claims 1 to 7.

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