Wind turbine independent pitch control method and device based on main shaft and tower cylinder deformation

Abstract

The application provides a wind turbine independent variable pitch control method and device based on main shaft and tower cylinder deformation, and relates to the technical field of wind turbine variable pitch control. The method comprises the following steps: obtaining at least one displacement change amount of the main shaft flange of a target wind turbine in the main shaft line direction, a pitch angle and a wind wheel position angle; performing deformation load conversion on the at least one displacement change amount and the pitch angle to obtain the unbalanced load of the main shaft of the target wind turbine; determining the load difference value between the obtained unbalanced load and a preset target load, determining the pitch angle compensation value of the target wind turbine based on PI control on the load difference value; performing a preset transformation on the pitch angle compensation value of the target wind turbine based on the wind wheel position angle of the target wind turbine to obtain the pitch angle control value corresponding to each blade of the target wind turbine, and controlling the corresponding blade of the target wind turbine to perform variable pitch according to the obtained pitch angle control value. The application effectively reduces the unbalanced load of the wind turbine.

Description

Technical Field

[0001] The present application relates to the technical field of wind turbine pitch control, and specifically to a method for independent wind turbine pitch control based on main shaft and tower deformation, an independent wind turbine pitch control device based on main shaft and tower deformation, a computer-readable storage medium, and a terminal device. Background Art

[0002] At present, the rotor area of ​​wind turbines is getting larger and larger, and the loads borne by the blades in different positions vary greatly, resulting in a large degree of imbalance in the forces on the three blades. Existing large-MW wind turbines usually adopt a centralized variable pitch control method. However, during the operation of the wind turbine, the unbalanced load on the rotor rotation has a great impact on the blades, main shaft, yaw, tower and other components. To suppress the unbalanced load, the existing solution is to install a load sensor device at the root or middle of the blade to measure the real-time load at the root of the blade, calculate the additional pitch angle requirement based on the load situation, and superimpose it on the original control target. However, in the existing technology, the sensor equipment rotates with the wind rotor, resulting in poor equipment reliability and short life, which is not conducive to large-scale and long-term operation in the harsh environment of the wind farm. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method for independent pitch control of a wind turbine based on main shaft and tower deformation, an independent pitch control device for a wind turbine based on main shaft and tower deformation, a computer-readable storage medium and a terminal device to solve the above problems.

[0004] To achieve the above objectives, the present application provides, in a first aspect, a method for independent pitch control of a wind turbine generator system based on main shaft and tower deformation, comprising:

[0005] Acquire at least one displacement change of a main shaft flange of a target wind turbine generator set in a main axis direction, a pitch angle of a main shaft of the target wind turbine generator set, and a rotor position angle of the target wind turbine generator set;

[0006] Performing deformation load conversion on at least one of the displacement change and the pitch angle to obtain an unbalanced load on the main shaft of the target wind turbine;

[0007] Determining a load difference between an unbalanced load of a main shaft of the target wind turbine generator set and a preset target load, and determining a pitch angle compensation value of the target wind turbine generator set based on performing PI control on the load difference;

[0008] Based on the rotor position angle of the target wind turbine generator set, a preset transformation is performed on the pitch angle compensation value of the target wind turbine generator set to obtain the pitch angle control value corresponding to each blade of the target wind turbine generator set, and the corresponding blades of the target wind turbine generator set are controlled to change the pitch according to the obtained pitch angle control value.

[0009] Optionally, obtaining at least one displacement change of a main shaft flange of a target wind turbine generator set in a main axis direction includes:

[0010] Acquiring multiple displacement changes of a main shaft flange of the target wind turbine generator set in a main axis direction through multiple distance sensors disposed in a nacelle of the target wind turbine generator set;

[0011] Wherein, each distance sensor corresponds to a different monitoring point on the main shaft flange of the target wind turbine generator set, so that each distance sensor collects displacement changes at different positions on the main shaft flange of the target wind turbine generator set.

[0012] Optionally, obtaining the pitch angle of the target wind turbine main shaft includes:

[0013] The pitch angle of the main shaft of the target wind turbine generator set is obtained by a pitch angle sensor arranged on the top of the tower of the target wind turbine generator set.

[0014] Optionally, the unbalanced load of the main shaft of the target wind turbine generator set includes a pitch bending moment, a yaw bending moment, and a horizontal thrust of the main shaft of the target wind turbine generator set; and converting at least one of the displacement change and the pitch angle into a deformation load includes:

[0015] A preset deformation load conversion model is called, at least one of the displacement change and the pitch angle is used as input, and the pitch bending moment, yaw bending moment and horizontal thrust of the main shaft of the target wind turbine are output through the deformation load conversion model.

[0016] Optionally, the target load includes a target pitch bending moment, a target yaw bending moment, and a target horizontal thrust; and determining a load difference between the unbalanced load of the target wind turbine main shaft and a preset target load includes:

[0017] respectively calculating a pitching moment feedback difference between the target pitching moment of the main shaft of the wind turbine generator set and the target pitching moment, a yaw moment feedback difference between the target yaw moment of the main shaft of the wind turbine generator set and the target yaw moment, and a horizontal thrust feedback difference between the target horizontal thrust of the main shaft of the wind turbine generator set and the target horizontal thrust;

[0018] Determining the pitch angle compensation value of the target wind turbine generator set based on performing PI control on the load difference includes:

[0019] Based on performing PI control on the obtained pitching moment feedback difference, yaw moment feedback difference and horizontal thrust feedback difference, a pitch angle compensation value of the target wind turbine generator set is determined.

[0020] Optionally, PI control is performed on the obtained pitch bending moment feedback difference, yaw bending moment feedback difference, and horizontal thrust feedback difference, respectively, including:

[0021] The pitch moment feedback difference, yaw moment feedback difference, and horizontal thrust feedback difference are PI controlled using the following PI control model:

[0022]

[0023] Where β represents the pitch angle compensation value, Kp and Ki represent PI control parameters, and Me represents the load difference;

[0024] Wherein, when PI control is performed on the obtained pitch bending moment feedback difference, yaw bending moment feedback difference and horizontal thrust feedback difference respectively, the PI control parameters in the PI control model are different.

[0025] Optionally, performing a preset transformation on the pitch angle compensation value of the target wind turbine generator system includes:

[0026] The pitch angle compensation value of the target wind turbine is transformed by the following transformation model:

[0027]

[0028] Wherein, Az is the rotor position angle, β1, β2, and β3 respectively represent the pitch angle control values ​​of each blade of the target wind turbine set, βd, βq, and β0 respectively represent the pitch angle compensation values ​​obtained by performing PI control on the pitch moment feedback difference, yaw moment feedback difference, and horizontal thrust feedback difference of the target wind turbine set, and k1, k2, and k3 are conversion coefficients.

[0029] In a second aspect of the present application, a wind turbine independent pitch control device based on main shaft and tower deformation is provided, comprising:

[0030] a data acquisition module configured to acquire at least one displacement change of a main shaft flange of a target wind turbine generator set in a main axis direction, a pitch angle of a main shaft of the target wind turbine generator set, and a rotor position angle of the target wind turbine generator set;

[0031] a load conversion module configured to perform deformation load conversion on at least one of the displacement change and the pitch angle to obtain an unbalanced load of the main shaft of the target wind turbine;

[0032] a compensation calculation module configured to determine a load difference between an unbalanced load of a main shaft of the target wind turbine generator set and a preset target load, and determine a pitch angle compensation value of the target wind turbine generator set based on PI control of the load difference;

[0033] The pitch control module is configured to perform a preset transformation on the pitch angle compensation value of the target wind turbine group based on the rotor position angle of the target wind turbine group, obtain the pitch angle control value corresponding to each blade of the target wind turbine group, and control the corresponding blades of the target wind turbine group to perform pitch control according to the obtained pitch angle control value.

[0034] In a third aspect of the present application, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, causes the processor to execute the above-mentioned independent pitch control method for a wind turbine based on main shaft and tower deformation.

[0035] In a fourth aspect of the present application, a terminal device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned independent pitch control method for a wind turbine based on main shaft and tower deformation when executing the computer program.

[0036] The embodiments provided in this application have the following beneficial effects:

[0037] This application measures the micro-deformation of the wind turbine main shaft and the tower inclination, obtains an accurate unbalanced load signal through a conversion model, and performs multi-loop PI control on the load. Compared with the existing technology, this application can simultaneously decouple the three characteristic loads of pitch bending moment, yaw bending moment and horizontal thrust, has a better load reduction effect, effectively reduces the unbalanced load of the wind turbine, and improves the control accuracy of the independent variable pitch of the wind turbine.

[0038] Other features and advantages of the embodiments or implementations of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0040] Figure 1 A flowchart of a method for independent pitch control of a wind turbine generator system based on main shaft and tower deformation according to an embodiment of the present application is schematically shown;

[0041] Figure 2 Schematically shows a schematic diagram of monitoring the displacement change of the spindle flange in an embodiment of the present application;

[0042] Figure 3 Schematically shows a schematic diagram of the installation of a pitch angle sensor according to an embodiment of the present application;

[0043] Figure 4 Schematically shows a schematic diagram of a deformation load reference coordinate system according to an embodiment of the present application;

[0044] Figure 5 The following schematically shows the logic diagram of independent pitch control according to the embodiment of the present application;

[0045] Figure 6 Schematically shows a schematic block diagram of an independent pitch control device for a wind turbine generator system based on main shaft and tower deformation according to an embodiment of the present application;

[0046] Figure 7 A schematic diagram of the structure of a terminal device in an embodiment of the present application is shown schematically.

[0047] Description of Reference Numerals

[0048] 10-terminal device, 100-processor, 101-memory, 102-computer program. DETAILED DESCRIPTION

[0049] The following describes the specific implementation of the embodiment of the present application in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present application and is not intended to limit the embodiment of the present application.

[0050] In order to solve the above problems, Figure 1 As shown, the first aspect of the present application provides a method for independent pitch control of a wind turbine generator system based on main shaft and tower deformation, comprising:

[0051] S100, obtaining at least one displacement change of a main shaft flange of a target wind turbine generator set in a main axis direction, a pitch angle of a main shaft of the target wind turbine generator set, and a rotor position angle of the target wind turbine generator set;

[0052] S200, performing deformation load conversion on at least one displacement change and pitch angle to obtain an unbalanced load on the main shaft of the target wind turbine generator set;

[0053] S300, determining a load difference between an unbalanced load of a main shaft of a target wind turbine generator set and a preset target load, and determining a pitch angle compensation value of the target wind turbine generator set based on PI control of the load difference;

[0054] S400, performing a preset transformation on the pitch angle compensation value of the target wind turbine generator set based on the rotor position angle of the target wind turbine generator set, obtaining a pitch angle control value corresponding to each blade of the target wind turbine generator set, and controlling the corresponding blades of the target wind turbine generator set to perform pitch control according to the obtained pitch angle control value.

[0055] In this way, the present application measures the micro-deformation of the main shaft of the wind turbine and the inclination of the tower, obtains an accurate unbalanced load signal through a conversion model, and performs multi-loop PI control on the load. Compared with the existing technology, the present application can simultaneously decouple the three characteristic loads of pitch bending moment, yaw bending moment and horizontal thrust, has a better load reduction effect, and effectively improves the control accuracy of the independent pitch of the wind turbine.

[0056] In step S100, the present application obtains multiple displacement changes of the main shaft flange of the target wind turbine group in the main axis direction through multiple distance sensors set in the nacelle of the target wind turbine group; wherein, each distance sensor corresponds to a different monitoring point on the main shaft flange of the target wind turbine group, so that each distance sensor collects the displacement changes at different positions on the main shaft flange of the target wind turbine group.

[0057] Specifically, such as Figure 2 As shown, the present application has four distance sensors fixedly installed in the nacelle of the target wind turbine to be monitored, and the four distance sensors are arranged at positions in the nacelle corresponding to the main shaft flange, so that the four distance sensors can monitor the distance from different monitoring points on the main shaft flange in real time, thereby being able to monitor the displacement changes at different positions on the main shaft flange in real time during the operation of the wind turbine. It can be understood that since the main shaft flange is directly connected to the wind turbine rotor, the unbalanced load on the wind turbine rotor is transmitted through the main shaft flange during the operation of the wind turbine. Therefore, the present application monitors the unbalanced load generated by the wind turbine rotor by monitoring the force on the main shaft flange. In the present application, the distance sensor is a micro distance measurement sensor, including but not limited to a laser distance measurement sensor or an infrared distance measurement sensor. The distance sensors are mounted securely on the nacelle mainframe using fixed brackets. Four distance sensors are installed on the same mounting plane, with the angle between any adjacent distance sensors and the center of the mounting plane forming a 90° angle. This allows for deformation measurement at four perpendicular monitoring points on the spindle flange. The four distance sensors can be individually connected to a processing unit, such as a PLC, via communication cables, transmitting measurement signals to the PLC in real time.

[0058] like Figure 3 As shown, the present application also obtains the pitch angle of the target wind turbine's main shaft via a pitch angle sensor located at the top of the target wind turbine's tower. The pitch angle sensor is mounted at the center of the top of the target wind turbine's tower and is connected to a processing unit, such as a PLC, via a communication cable to transmit measurement signals to the PLC in real time. It is understood that the processing unit, control unit, etc. can be located in the wind turbine nacelle, and their configuration is conventional and not limited to this herein.

[0059] In the present application, the unbalanced load of the main shaft of the target wind turbine generator set includes the pitch bending moment, yaw bending moment and horizontal thrust of the main shaft of the target wind turbine generator set; converting at least one displacement change and pitch angle into a deformation load includes: calling a preset deformation load conversion model, taking at least one displacement change and pitch angle as input, and outputting the pitch bending moment, yaw bending moment and horizontal thrust of the main shaft of the target wind turbine generator set through the deformation load conversion model.

[0060] In this application, the input of the deformation load conversion model Gtrans is the four displacement changes collected by the four distance sensors, namely (X11, X12, X21, X22) and one pitch angle θ. It can be understood that before the load conversion is performed on the acquired displacement changes and pitch angle data, the collected original measurement values ​​are first subjected to preprocessing operations such as filtering, validity identification and rationality judgment, and then the preprocessed data is input into the deformation load conversion model Gtrans. The deformation load conversion model Gtrans converts the input four displacement changes and one pitch angle into the pitch bending moment My, yaw bending moment Mz and horizontal thrust Fx of the main shaft of the target wind turbine. The conversion process can be expressed as the following formula:

[0061]

[0062] In this application, the deformation load conversion model Gtrans is a 3×5 coefficient matrix obtained by pre-fitting a large amount of simulation calculation data and actual test data. For example, multiple sets of measurement data including the displacement change and pitch angle of the spindle flange, such as (X11, X12, X21, X22, θ), and the output data corresponding to each set of measurement data, such as (My, Mz, Fx), can be obtained in advance through simulation or actual measurement data. The matrix composed of the input data and output data can be expressed as:

[0063] ,

[0064] Where Y=GtransX.

[0065] Then, the least square method can be used to find a Gtrans that minimizes the sum of squares of the residuals between the predicted value and the actual value, that is, , then, we can further solve Gtrans by taking the derivative and setting it to 0, that is, solving the following formula:

[0066]

[0067] Available ,in, is the transposed matrix of X, yes Through the above steps, the coefficient matrix of the deformation load conversion model Gtrans can be obtained, which can be expressed as:

[0068]

[0069] Wherein, gij represents the coefficient of the i-th row and j-th column. It is understandable that the coefficient matrix fitting process can also be implemented using other existing methods, for example, it can also be implemented using existing mathematical software such as MATLAB or existing Python tools, which is not limited here.

[0070] Among them, the pitch bending moment My, yaw bending moment Mz and horizontal thrust Fx of the main shaft of the target wind turbine are as follows: Figure 4 As shown, in the present application, the X-axis of the nacelle coordinate system of the wind turbine generator set points from the nose to the tail, the Y-axis is horizontal and perpendicular to the X-axis, the Z-axis is vertically upward, the coordinate origin is on the axis of the main shaft of the wind turbine generator set, the pitch bending moment My refers to the moment acting on the top of the wind turbine generator set tower around the Y-axis, the yaw bending moment Mz refers to the moment acting on the top of the wind turbine generator set tower around the Z-axis, and the horizontal thrust Fx refers to the force acting on the top of the wind turbine generator set tower along the X-axis direction.

[0071] In the present application, the target load includes a target pitching moment, a target yaw moment, and a target horizontal thrust; determining the load difference between the unbalanced load of the target wind turbine main shaft and a preset target load includes: respectively calculating the pitch moment feedback difference between the pitch moment of the target wind turbine main shaft and the target pitch moment, the yaw moment feedback difference between the target yaw moment of the target wind turbine main shaft and the target yaw moment, and the horizontal thrust feedback difference between the horizontal thrust of the target wind turbine main shaft and the target horizontal thrust. Determining the pitch angle compensation value of the target wind turbine based on performing PI control on the load difference includes: determining the pitch angle compensation value of the target wind turbine based on performing PI control on the obtained pitch moment feedback difference, yaw moment feedback difference, and horizontal thrust feedback difference. It is understood that the preset target pitch moment, target yaw moment, and target horizontal thrust are control values ​​of the target wind turbine under normal operating conditions, and such values ​​can be predetermined through simulation or actual measurement.

[0072] like Figure 5 As shown, the present application compares the difference between the real-time load and the preset load target value, and obtains the additional superimposed pitch angles in the three directions based on the three-loop PI decoupling control for the pitching moment, yaw moment and horizontal thrust. The feedback difference between the measured value and the target value can be expressed as:

[0073]

[0074] Among them, M e is the load difference, M targM is a preset target value, such as a target pitch moment, a target yaw moment, or a target horizontal thrust in filter represents a filter processing on the input signal.

[0075] The obtained pitch moment feedback difference, the yaw moment feedback difference, and the horizontal thrust feedback difference are respectively subjected to PI control, including: the obtained pitch moment feedback difference, the yaw moment feedback difference, and the horizontal thrust feedback difference are respectively subjected to PI control through the following PI control model:

[0076]

[0077] Wherein, β represents the pitch angle compensation value, Kp and Ki represent the PI control parameters, and Me represents the load difference.

[0078] The application can perform the above steps through the PI decoupling control of the pitch moment, the yaw moment, and the horizontal thrust. However, the filter and the PI control parameters Kp and Ki used in different control loops are different because the control objects of the three control loops are different. That is, the PI control parameters in the PI control model are different when the obtained pitch moment feedback difference, the yaw moment feedback difference, and the horizontal thrust feedback difference are respectively subjected to PI control. The filter and the PI control parameters can be determined according to actual conditions, which are not limited here. p i

[0079] After obtaining the three pitch angle compensation values through the above PI decoupling control steps, a preset transformation is performed on the pitch angle compensation values of the target wind turbine, including: the pitch angle compensation values of the target wind turbine are transformed through the following transformation model:

[0080]

[0081] Wherein, Az is the wind wheel position angle, i.e. the wind wheel azimuth angle, β1, β2, and β3 represent the pitch angle control values of each blade of the target wind turbine, such as blade 1, blade 2, and blade 3, βd, βq, and β0 represent the pitch angle compensation values obtained by PI control on the pitch moment feedback difference, the yaw moment feedback difference, and the horizontal thrust feedback difference of the target wind turbine, and k1, k2, and k3 are conversion coefficients.

[0082] ​​The present application performs a Park inverse transform on the pitch angle demand, i.e., the pitch angle compensation value of each blade, thereby converting the control quantity of the dq fixed coordinate system into an additional pitch angle demand value, i.e., the pitch angle control value, of the abc rotating coordinate system. The coordinate transformation process of abc / dq0 is a prior art and is not limited here.

[0083] The pitch angle control value of each blade is obtained through the above transformation model, and the obtained pitch angle control value is superimposed on the original same pitch control instruction of the wind turbine. In this way, the pitch angles of the three blades of the wind turbine are not always consistent at each moment, thereby realizing independent pitch control of the wind turbine.

[0084] like Figure 6 As shown, in a second aspect of the present application, there is provided an independent pitch control device for a wind turbine generator system based on the deformation of a main shaft and a tower, comprising:

[0085] a data acquisition module configured to acquire at least one displacement change of a main shaft flange of a target wind turbine generator set in a main axis direction, a pitch angle of a main shaft of the target wind turbine generator set, and a rotor position angle of the target wind turbine generator set;

[0086] A load conversion module is configured to convert at least one displacement change and a pitch angle into a deformation load to obtain an unbalanced load of a main shaft of a target wind turbine;

[0087] a compensation calculation module configured to determine a load difference between an unbalanced load of a main shaft of a target wind turbine and a preset target load, and determine a pitch angle compensation value of the target wind turbine based on PI control of the load difference;

[0088] The pitch control module is configured to perform a preset transformation on the pitch angle compensation value of the target wind turbine group based on the rotor position angle of the target wind turbine group, obtain the pitch angle control value corresponding to each blade of the target wind turbine group, and control the corresponding blades of the target wind turbine group to perform pitch control according to the obtained pitch angle control value.

[0089] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0090] In a third aspect of the present application, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, causes the processor to execute the above-mentioned independent pitch control method for a wind turbine based on main shaft and tower deformation.

[0091] In a fourth aspect of the present application, a terminal device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned independent pitch control method for a wind turbine based on main shaft and tower deformation when executing the computer program.

[0092] like Figure 7 The figure shows a schematic diagram of a terminal device provided by an embodiment of the present application. Figure 7 As shown, the terminal device 10 of this embodiment includes: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100. When the processor 100 executes the computer program 102, the steps of the above-described method embodiment are implemented. Alternatively, when the processor 100 executes the computer program 102, the functions of the modules / units in the above-described apparatus embodiments are implemented.

[0093] Exemplarily, the computer program 102 may be divided into one or more modules / units, one or more of which are stored in the memory 101 and executed by the processor 100 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 102 in the terminal device 10.

[0094] The terminal device 10 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device 10 may include, but is not limited to, a processor 100 and a memory 101. Those skilled in the art will understand that Figure 7 It is only an example of the terminal device 10 and does not constitute a limitation of the terminal device 10. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0095] The processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0096] The memory 101 can be an internal storage unit of the terminal device 10, such as the terminal device 10's hard drive or memory. Alternatively, the memory 101 can be an external storage device of the terminal device 10, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Furthermore, the memory 101 can include both the terminal device 10's internal storage unit and an external storage device. The memory 101 is used to store computer programs and other programs and data required by the terminal device 10. The memory 101 can also be used to temporarily store data that has been output or is about to be output.

[0097] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] In summary, the application monitors the displacement variation of different positions on the main shaft flange of the wind turbine through the distance sensor installed in the cabin, calculates the pitch angle control value of the wind turbine blade based on the monitoring result, and realizes the independent pitch control of the wind turbine blade. Compared with the prior art, the sensor cost is low, the equipment reliability is high, the system maintenance cost can be effectively reduced, the component load of the wind turbine can be reduced, and the service life of the unit can be prolonged.

[0099] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0100] The above is only an embodiment of the application and is not intended to limit the application. Those skilled in the art can make various changes and modifications to the application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the application shall be included in the scope of the claims of the application.

Claims

1. A wind turbine independent pitch control method based on main shaft and tower deformation, characterized in that: include: Acquire at least one displacement change of a main shaft flange of a target wind turbine generator set in a main axis direction, a pitch angle of a main shaft of the target wind turbine generator set, and a rotor position angle of the target wind turbine generator set; Performing deformation load conversion on at least one of the displacement change and the pitch angle to obtain an unbalanced load on the main shaft of the target wind turbine; Determining a load difference between an unbalanced load of a main shaft of the target wind turbine generator set and a preset target load, and determining a pitch angle compensation value of the target wind turbine generator set based on performing PI control on the load difference; performing a preset transformation on the pitch angle compensation value of the target wind turbine generator set based on the rotor position angle of the target wind turbine generator set, obtaining a pitch angle control value corresponding to each blade of the target wind turbine generator set, and controlling the corresponding blades of the target wind turbine generator set to perform pitch control according to the obtained pitch angle control value; The unbalanced load of the main shaft of the target wind turbine generator set includes the pitch bending moment, yaw bending moment and horizontal thrust of the main shaft of the target wind turbine generator set; Converting at least one of the displacement change and the pitch angle into a deformation load includes: A preset deformation load conversion model is called, at least one of the displacement change and the pitch angle is used as input, and the pitch bending moment, yaw bending moment and horizontal thrust of the main shaft of the target wind turbine are output through the deformation load conversion model.

2. The independent pitch control method for a wind turbine generator system based on main shaft and tower deformation according to claim 1, characterized in that: Obtaining at least one displacement change of the main shaft flange of the target wind turbine generator set in the main axis direction includes: Acquiring multiple displacement changes of a main shaft flange of the target wind turbine generator set in a main axis direction through multiple distance sensors disposed in a nacelle of the target wind turbine generator set; Wherein, each distance sensor corresponds to a different monitoring point on the main shaft flange of the target wind turbine generator set, so that each distance sensor collects displacement changes at different positions on the main shaft flange of the target wind turbine generator set.

3. The independent pitch control method for a wind turbine generator system based on main shaft and tower deformation according to claim 1, characterized in that: Obtaining the pitch angle of the main shaft of the target wind turbine generator system includes: The pitch angle of the main shaft of the target wind turbine generator set is obtained by a pitch angle sensor arranged on the top of the tower of the target wind turbine generator set.

4. The independent pitch control method for a wind turbine generator system based on main shaft and tower deformation according to claim 1, characterized in that: The target load includes a target pitch bending moment, a target yaw bending moment, and a target horizontal thrust; determining the load difference between the unbalanced load of the target wind turbine main shaft and a preset target load includes: respectively calculating a pitching moment feedback difference between the target pitching moment of the main shaft of the wind turbine generator set and the target pitching moment, a yaw moment feedback difference between the target yaw moment of the main shaft of the wind turbine generator set and the target yaw moment, and a horizontal thrust feedback difference between the target horizontal thrust of the main shaft of the wind turbine generator set and the target horizontal thrust; Determining the pitch angle compensation value of the target wind turbine generator set based on performing PI control on the load difference includes: Based on performing PI control on the obtained pitching moment feedback difference, yaw moment feedback difference and horizontal thrust feedback difference, a pitch angle compensation value of the target wind turbine generator set is determined.

5. The independent pitch control method for a wind turbine generator system based on main shaft and tower deformation according to claim 4, characterized in that: The obtained pitch bending moment feedback difference, yaw bending moment feedback difference and horizontal thrust feedback difference are respectively subjected to PI control, including: The pitch moment feedback difference, yaw moment feedback difference, and horizontal thrust feedback difference are PI controlled using the following PI control model: Where β represents the pitch angle compensation value, K p and K i Represents PI control parameters, M e Indicates the load difference; Wherein, when PI control is performed on the obtained pitch bending moment feedback difference, yaw bending moment feedback difference and horizontal thrust feedback difference respectively, the PI control parameters in the PI control model are different.

6. The independent pitch control method for a wind turbine generator system based on main shaft and tower deformation according to claim 1, characterized in that: Performing a preset transformation on the pitch angle compensation value of the target wind turbine generator system includes: The pitch angle compensation value of the target wind turbine is transformed by the following transformation model: Among them, A z is the rotor position angle, β1, β2, and β3 respectively represent the pitch angle control values ​​of each blade of the target wind turbine, and β d , β q , β0 respectively represent the pitch angle compensation values ​​obtained by performing PI control on the pitch moment feedback difference, yaw moment feedback difference and horizontal thrust feedback difference of the target wind turbine set, and k1, k2 and k3 are conversion coefficients.

7. A wind turbine independent pitch control device based on main shaft and tower deformation, applying the wind turbine independent pitch control method based on main shaft and tower deformation according to any one of claims 1 to 6, characterized in that: The device comprises: a data acquisition module configured to acquire at least one displacement change of a main shaft flange of a target wind turbine generator set in a main axis direction, a pitch angle of a main shaft of the target wind turbine generator set, and a rotor position angle of the target wind turbine generator set; a load conversion module configured to perform deformation load conversion on at least one of the displacement change and the pitch angle to obtain an unbalanced load of the main shaft of the target wind turbine; a compensation calculation module configured to determine a load difference between an unbalanced load of a main shaft of the target wind turbine generator set and a preset target load, and determine a pitch angle compensation value of the target wind turbine generator set based on PI control of the load difference; The pitch control module is configured to perform a preset transformation on the pitch angle compensation value of the target wind turbine group based on the rotor position angle of the target wind turbine group, obtain the pitch angle control value corresponding to each blade of the target wind turbine group, and control the corresponding blades of the target wind turbine group to perform pitch control according to the obtained pitch angle control value.

8. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the independent pitch control method for a wind turbine generator system based on main shaft and tower deformation according to any one of claims 1 to 6.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for independent pitch control of a wind turbine generator system based on main shaft and tower deformation according to any one of claims 1 to 6 is implemented.

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