Resonance crossing control method and system based on wind turbine generator model

Abstract

The invention discloses a resonance ride-through control method and system based on a wind turbine generator model. The method comprises the following steps: performing wind speed estimation based on the wind turbine generator model; calculating a rotating speed set value, and dynamically adjusting resonance crossing conditions in real time; a torque set value of the wind turbine generator is calculated, and resonance ride-through control is carried out; judging whether the wind turbine generator has a stall risk during long-time operation under resonance crossing, and if so, entering the next step; if not, normal operation is carried out to complete resonance ride-through control of the wind turbine generator; enabling the wind turbine generator to enter blade stall prevention control; the problems of generating capacity loss, stall and the like easily caused by existing control technical means are solved, the wind wheel rotating speed crossing condition can be adjusted in real time according to external wind resource changes, it is guaranteed that the wind turbine generator runs in the optimal power generation state to the maximum extent, and the generating capacity of the wind turbine generator is effectively improved; meanwhile, stall control can be carried out, the variable pitch angle is dynamically adjusted, and stall is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of resonance ride-through control of wind turbine generator sets, and in particular to a resonance ride-through control method and system based on a wind turbine generator set model. Background Art

[0002] When the 1st or 3rd frequency of the wind turbine rotor speed is too close to the tower frequency, the resonance risk of the unit will increase, which seriously affects the overall safety of the wind turbine. In order to ensure the safety of the unit throughout its entire life cycle, a special resonance ride-through logic needs to be designed during normal power generation operation of the unit.

[0003] In the current existing technical solutions, the upper and lower speed setting values ​​of the resonance crossing are mainly set to avoid the unit running near the resonance speed for a long time.

[0004] When the wind speed increases from a small value, the target value of the wind rotor speed is set to the lower limit speed of the resonance zone to prevent the wind rotor speed from entering the resonance speed band. When the wind speed increases to a certain level, the target value of the wind rotor speed is set to the upper limit speed of the resonance zone to complete the rapid crossing of the wind rotor speed in the resonance interval.

[0005] When the wind speed decreases from a high level, the target value of the wind rotor speed is set to the upper limit speed of the resonance zone to prevent the wind rotor speed from entering the resonance speed band. When the wind speed decreases to a certain level, the target value of the wind rotor speed is set to the lower limit speed of the resonance zone to complete the rapid crossing of the wind rotor speed in the resonance interval.

[0006] The existing resonance ride-through control method has the following problems:

[0007] 1) The existing technical solution uses the generator torque as the judgment condition for up and down crossing, and its value is usually set to a fixed value, which cannot be dynamically adjusted according to the operating status of the unit. Improper parameter setting may also lead to problems such as power generation loss and stall;

[0008] 2) The upper / lower speed limit setting values ​​in the resonance zone of the existing technical solution will not be dynamically adjusted according to the operating status of the unit, which may further aggravate the risk of unit resonance. Summary of the invention

[0009] The purpose of the present invention is to overcome the shortcomings of the prior art and propose a resonance ride-through control method and system based on a wind turbine model. The present invention aims to improve the problems of power generation loss and stall caused by the existing control technology. The control parameters can be dynamically adjusted according to external wind resource conditions, thereby further reducing the risk of wind turbine resonance and extending the service life of the wind turbine.

[0010] The object of the present invention is achieved by the following technical solution: A resonance ride-through control method based on a wind turbine model comprises the following steps:

[0011] S1. Estimating the wind speed based on the wind turbine model, iteratively calculating the wind speed acting on the impeller surface, and obtaining the current estimated wind speed of the wind turbine;

[0012] S2, using the estimated wind speed obtained in step S1 or based on the measured wind speed as input, calculating the speed setting value, and dynamically adjusting the resonance ride-through condition in real time according to the external environment of the wind turbine generator set;

[0013] S3, calculating the speed set point deviation by combining the speed set value with the wind rotor speed, performing closed-loop feedback calculation on the calculated speed set point deviation to obtain the torque set value of the wind turbine, performing amplitude limiting processing on the calculated torque command, and performing resonance ride-through control;

[0014] S4, judging whether there is a stall risk when the wind turbine generator set runs for a long time under resonance ride-through, if yes, proceeding to step S5; if no, the resonance ride-through control of the wind turbine generator set is completed by normal operation;

[0015] S5. The wind turbine generator set enters blade stall prevention control, and dynamically adjusts the wind turbine generator set's pitch command or torque command according to the wind turbine generator set's current wind energy conversion status and generator power status, thereby completing the wind turbine generator set blade stall prevention control.

[0016] Further, the step S1 comprises:

[0017] According to the measuring equipment installed in the wind turbine, the real-time power, impeller speed, blade tip speed ratio, pitch angle and cabin vibration signal of the wind turbine are calculated; the wind speed acting on the impeller surface is calculated, that is, the wind turbine itself is used as an anemometer to realize the observation of wind speed;

[0018] The wind turbine model is:

[0019]

[0020] Where P aero P is the pneumatic power; e is the electromagnetic power; P loss is the electromagnetic loss; J is the moment of inertia of the wind wheel; ω is the speed of the wind wheel; ρ is the air density; S is the swept area; v is the wind speed; where S = πR 2 , R is the impeller radius; λ is the tip speed ratio; β is the pitch angle; C p is the wind energy conversion efficiency, which is a function of λ and β;

[0021] Where P e , β, ω and ρ are measurement signals, which are directly measured by the measuring equipment; P loss , S are inherent parameters of wind turbines; eThe measured signals of , β, ω and ρ are filtered and calculated as follows:

[0022] Signal Filter =F(s)·Signal Measured ;

[0023] Where F(s) is a low-pass and band-stop filter, Signal Measured Signal is the measurement signal of the sensor; Filter is the filtered signal;

[0024] The tip speed ratio is calculated as follows:

[0025]

[0026] The wind speed v acting on the impeller surface is iteratively calculated to obtain the current estimated wind speed of the wind turbine.

[0027] Furthermore, the measuring equipment includes a cabin vibration sensor, an air density sensor, an impeller encoder, an electric energy meter and a pitch encoder.

[0028] Further, the step S2 comprises:

[0029] Using the estimated wind speed obtained in step S1 or based on the measured wind speed as input, calculate the speed setting value ω set ;

[0030] Define the calculated value of wind rotor speed ω ref The calculation formula is as follows:

[0031]

[0032] In the formula, λ opt is the optimal tip speed ratio at the current pitch angle; v is the estimated wind speed obtained in step S1 or the measured wind speed obtained by direct measurement;

[0033] Definition ExcLow is the lower boundary speed set point for resonance crossing and ω ExcHigh is the upper boundary speed set point for resonance crossing, and defines ω Cutin is the grid-connected speed and ω Cutout is the rated speed, and the calculated wind wheel speed setting value ω set Restrictions include:

[0034] a) When ω ref Less than ω Cutin When the wind rotor speed target value is the grid-connected speed, that is, ω set =ω Cutin ;

[0035] b) When ω ref Greater than ωCutin and is less than ω ExcLow Or when ω ref Less than ω Cutout and greater than ω ExcHigh When the wind wheel speed setting value is the calculated value, that is, ω set =ω ref ;

[0036] c) When ω ref Greater than ω Cutout When the wind wheel speed is set to the rated speed, that is, ω set =ω Cutout ;

[0037] d) When ω ref Greater than ω ExcLow and is less than ω ExcHigh When the wind wheel speed setting value is the setting value at the previous moment, that is, ω set =ω set .

[0038] Further, the step S3 comprises:

[0039] The speed set point deviation e is the rotor speed RotorSpeed ​​and the speed set value ω set difference;

[0040] e=RotorSpeed-ω set ;

[0041] The calculated speed set point deviation e is subjected to closed-loop feedback calculation to obtain the torque set value TorqueDem of the wind turbine;

[0042] The feedback control calculation formula is as follows:

[0043]

[0044] In the above formula, k p is the proportionality coefficient, k I is the integration coefficient, k d is the differential coefficient, e(j) is the error at the current moment, e a (n) is the error change rate;

[0045] Finally, the calculated torque setting value TorqueDem is limited.

[0046] Further, the step S4 comprises:

[0047] Based on the tip speed ratio λ calculated in real time in step S1 and the measured pitch angle β, the preset wind turbine power coefficient C pc (λ, β) calculates the wind energy conversion efficiency C of the wind turbine under the current operating state p, and set the tip speed ratio threshold λ min , Wind energy conversion efficiency threshold C pmin and the minimum power threshold P Stall ; Determine the speed setting value ω set Is it equal to the resonance crossing lower boundary speed setting point ω ExcLow And the real-time tip speed ratio λ is lower than the tip speed ratio threshold λ min If yes, proceed to step S5; if no, the resonance ride-through control of the wind turbine set is completed in normal operation.

[0048] Further, the step S5 comprises:

[0049] If the wind turbine power factor C pc (λ,β) is greater than the wind energy conversion efficiency threshold C pmin , the minimum pitch angle that meets the requirements is calculated and transmitted to the variable pitch actuator of the wind turbine; if the wind turbine power coefficient C pc (λ,β) is less than the wind energy conversion efficiency threshold C pmin And the current generator power is greater than the minimum crossing power threshold P Stall , the wind turbine enters the forced speed upward crossing logic and sets the speed setting value ω set Equal to the resonance crossing upper boundary speed setting point ω ExcHigh ; If the wind turbine power coefficient C pc (λ,β) is less than the wind energy conversion efficiency threshold C pmin And the current generator power is less than the minimum crossing power threshold P Stall , then execute the shutdown procedure.

[0050] A resonance ride-through control system based on a wind turbine model, used to implement the above-mentioned resonance ride-through control method based on a wind turbine model, comprising:

[0051] Pitch encoder module, used to measure the pitch angle;

[0052] Impeller encoder module, used to measure the impeller speed;

[0053] Air density sensor module, used to measure air density;

[0054] A cabin vibration sensor module, used to measure cabin vibration data;

[0055] Energy meter module, used to measure electromagnetic power;

[0056] A data acquisition module is used to collect measurement data from the cabin vibration sensor, air density sensor, impeller encoder, electric energy meter and pitch encoder, and transmit the data to the controller module through the data transmission module;

[0057] Data transmission module, used for data transmission between modules;

[0058] The controller module performs resonance ride-through calculation and blade stall prevention control calculation according to the input data, and transmits the calculated torque command or pitch change command to the actuator;

[0059] The actuator is used to receive instructions from the controller module and perform corresponding operations according to the instructions. The actuator includes a converter and a pitch drive.

[0060] A non-transitory computer-readable medium storing instructions, when the instructions are executed by a processor, performs the steps of the above-mentioned resonance ride-through control method based on a wind turbine model.

[0061] A computing device comprises a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the above-mentioned resonance ride-through control method based on a wind turbine model is implemented.

[0062] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0063] 1. The present invention can adjust the conditions for the wind rotor speed to pass through in real time according to the changes in external wind resources, ensuring that the wind turbine generator set operates in the optimal power generation state to the greatest extent, and effectively improves the power generation of the wind turbine generator set;

[0064] 2. The present invention can perform stall control according to the real-time tip speed ratio and wind energy conversion efficiency of the wind turbine, dynamically adjust the pitch angle, and increase the blade angle of attack to prevent the wind turbine from stalling when the wind turbine is running at high wind speed and low rotation speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 Schematic diagram for estimating wind speed calculation.

[0066] Figure 2 This is a comparison chart of estimated wind speed and actual wind speed.

[0067] Figure 3 This is the schematic diagram of resonance ride-through control.

[0068] Figure 4 This is the speed-torque curve of the wind turbine.

[0069] Figure 5 This is the logic block diagram of the blade stall prevention control. DETAILED DESCRIPTION

[0070] The present invention will be further described below in conjunction with specific embodiments.

[0071] Example 1

[0072] The resonance ride-through control method based on the wind turbine model provided in this embodiment includes the following steps:

[0073] S1. Estimating wind speed based on the wind turbine model, iteratively calculating the wind speed acting on the impeller surface, and obtaining the current estimated wind speed of the wind turbine, including:

[0074] The real-time power, impeller speed, blade tip speed ratio, pitch angle and cabin vibration signal of the wind turbine are calculated according to the measuring equipment installed in the wind turbine, wherein the measuring equipment includes a cabin vibration sensor, an air density sensor, an impeller encoder, an electric energy meter and a pitch encoder; the wind speed acting on the impeller surface is calculated, that is, the wind turbine itself is used as an anemometer to realize the observation of the wind speed;

[0075] The wind turbine model is:

[0076]

[0077] Where P aero P is the pneumatic power; e is the electromagnetic power; P loss is the electromagnetic loss; J is the moment of inertia of the wind wheel; ω is the speed of the wind wheel; ρ is the air density; S is the swept area; v is the wind speed; where S = πR 2 , R is the impeller radius; λ is the tip speed ratio; β is the pitch angle; C p is the wind energy conversion efficiency, which is a function of λ and β;

[0078] Where P e , β, ω and ρ are measurement signals, which are directly measured by the measuring equipment; P loss , S are inherent parameters of wind turbines; e The measured signals of , β, ω and ρ are filtered and calculated as follows:

[0079] Signal Filter =F(s)·Signal Measured ;

[0080] Where F(s) is a low-pass and band-stop filter, Signal Measured Signal is the measurement signal of the sensor; Filter is the filtered signal;

[0081] The tip speed ratio is calculated as follows:

[0082]

[0083] See also Figure 1 As shown in , the wind speed v acting on the impeller surface is iteratively calculated to obtain the current estimated wind speed of the wind turbine. The actual wind speed and estimated wind speed calculated based on the above algorithm are as follows Figure 2 As shown in the figure, WindEst is the estimated wind speed and Rotoraveragelongitudinalwindspeed is the actual average wind speed at the hub center.

[0084] S2, using the estimated wind speed obtained in step S1 or based on the measured wind speed as input, calculating the speed setting value, and dynamically adjusting the resonance ride-through condition in real time according to the external environment of the wind turbine generator set, including:

[0085] See also Figure 3 As shown, the estimated wind speed obtained in step S1 or based on the measured wind speed is used as input to calculate the speed setting value ω set ;

[0086] Define the calculated value of wind rotor speed ω ref The calculation formula is as follows:

[0087]

[0088] In the formula, λ opt is the optimal tip speed ratio at the current pitch angle; v is the estimated wind speed obtained in step S1 or the measured wind speed obtained by direct measurement;

[0089] Definition ExcLow is the lower boundary speed set point for resonance crossing and ω ExcHigh is the upper boundary speed set point for resonance crossing, and defines ω Cutin is the grid-connected speed and ω Cutout is the rated speed, and the calculated wind wheel speed setting value ω set Restrictions include:

[0090] a) When ω ref Less than ω Cutin When the wind rotor speed target value is the grid-connected speed, that is, ω set =ω Cutin ;

[0091] b) When ω ref Greater than ω Cutin and is less than ω ExcLow Or when ω ref Less than ω Cutout and greater than ω ExcHigh When the wind wheel speed setting value is the calculated value, that is, ω set =ω ref ;

[0092] c) When ω ref Greater than ω Cutout When the wind wheel speed is set to the rated speed, that is, ω set =ω Cutout ;

[0093] d) When ω ref Greater than ω ExcLow and is less than ω ExcHigh When the wind wheel speed is set to the previous value, that is, ω set =ω set ;

[0094] See also Figure 4 As shown, when the external wind speed is not enough to increase the wind turbine speed to the upper limit of the resonant speed ω ExcHigh When ω set =ω ExcLow When the wind wheel speed is kept at the lower limit of the resonance speed ω ExcLow , corresponding to Figure 4 In the CD section of the wind turbine speed-torque curve, as the external wind speed increases, when the calculated value of the wind rotor speed ω ref Greater than ω ExcHigh After a delay of the set time, the resonance speed upward crossing logic is triggered, and the speed setting point is switched to the resonance speed upper limit ω ExcHigh , the wind turbine torque decreases, and the rotor speed quickly passes through the resonance area;

[0095] On the contrary, when set =ω ExcHigh When the wind wheel speed is kept at the upper limit of the resonance speed ω ExcHigh , corresponding to Figure 4 In the EF section of the wind turbine speed-torque curve, as the external wind speed gradually decreases, when the calculated value of the wind rotor speed ω ref Less than ω ExcLow After a delay of the set time, the resonance speed downward crossing logic is triggered, and the speed setting point is switched to the resonance speed lower limit ω ExcLow , the wind turbine torque increases, and the rotor speed quickly passes through the resonance area.

[0096] The above-mentioned resonance crossing algorithm logic can dynamically adjust the control parameters according to the external wind resource conditions based on the measured air density signal. Compared with the conventional fixed value parameters, it can effectively improve the power generation efficiency and control stability of the wind turbine.

[0097] S3, combining the speed setting value with the wind rotor speed to calculate the speed setting point deviation, performing closed-loop feedback calculation on the calculated speed setting point deviation to obtain the torque setting value of the wind turbine, performing amplitude limiting processing on the calculated torque command, and performing resonance ride-through control, including:

[0098] The speed set point deviation e is the rotor speed RotorSpeed ​​and the speed set value ω set difference;

[0099] e=RotorSpeed-ω set ;

[0100] The calculated speed set point deviation e is subjected to closed-loop feedback calculation to obtain the torque set value TorqueDem of the wind turbine;

[0101] The feedback control calculation formula is as follows:

[0102]

[0103] In the above formula, k p is the proportionality coefficient, k I is the integration coefficient, k d is the differential coefficient, e(j) is the error at the current moment, e a (n) is the error change rate;

[0104] Finally, the calculated torque setting value TorqueDem is limited.

[0105] S4, judging whether there is a stall risk when the wind turbine generator set runs for a long time under resonance ride-through, if yes, proceeding to step S5; if no, the resonance ride-through control of the wind turbine generator set is completed through normal operation, including:

[0106] Based on the tip speed ratio λ calculated in real time in step S1 and the measured pitch angle β, the preset wind turbine power coefficient C pc (λ, β) calculates the wind energy conversion efficiency C of the wind turbine under the current operating state p , and set the tip speed ratio threshold λ min , Wind energy conversion efficiency threshold C pmin and the minimum power threshold P Stall ; Determine the speed setting value ω set Is it equal to the resonance crossing lower boundary speed setting point ω ExcLow And the real-time tip speed ratio λ is lower than the tip speed ratio threshold λ min If yes, proceed to step S5; if no, the resonance ride-through control of the wind turbine set is completed in normal operation.

[0107] S5, making the wind turbine set enter blade stall prevention control, dynamically adjusting the wind turbine set's pitch command or torque command according to the wind turbine set's current wind energy conversion status and generator power status, and completing the control to prevent the wind turbine set's blades from stalling, including:

[0108] See also Figure 5 As shown, if the wind turbine power coefficient C pc (λ,β) is greater than the wind energy conversion efficiency threshold C pmin , then the wind energy conversion efficiency is calculated to be greater than C pmin The minimum pitch angle is transmitted to the variable pitch actuator of the wind turbine; if the wind turbine power coefficient C pc(λ,β) is less than the wind energy conversion efficiency threshold C pmin And the current generator power is greater than the minimum crossing power threshold P Stall , the wind turbine enters the forced speed upward crossing logic and sets the speed setting value ω set Equal to the resonance crossing upper boundary speed setting point ω ExcHigh ; If the wind turbine power coefficient C pc (λ,β) is less than the wind energy conversion efficiency threshold C pmin And the current generator power is less than the minimum crossing power threshold P Stall , then execute the shutdown procedure.

[0109] Example 2

[0110] The resonance ride-through control system based on the wind turbine model disclosed in this embodiment is used to implement the resonance ride-through control method based on the wind turbine model described in Example 1, including:

[0111] Pitch encoder module, used to measure the pitch angle;

[0112] Impeller encoder module, used to measure the impeller speed;

[0113] Air density sensor module, used to measure air density;

[0114] A cabin vibration sensor module, used to measure cabin vibration data;

[0115] Energy meter module, used to measure electromagnetic power;

[0116] A data acquisition module is used to collect measurement data from the cabin vibration sensor, air density sensor, impeller encoder, electric energy meter and pitch encoder, and transmit the data to the controller module through the data transmission module;

[0117] Data transmission module, used for data transmission between modules;

[0118] The controller module performs resonance ride-through calculation and blade stall prevention control calculation according to the input data, and transmits the calculated torque command or pitch change command to the actuator;

[0119] The actuator is used to receive instructions from the controller module and perform corresponding operations according to the instructions. The actuator includes a converter and a pitch drive.

[0120] Example 3

[0121] This embodiment discloses a non-transitory computer-readable medium storing instructions. When the instructions are executed by a processor, the steps of the resonance ride-through control method based on a wind turbine model according to Embodiment 1 are performed.

[0122] The non-temporary computer-readable medium in this embodiment may be a disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), a USB flash drive, a mobile hard disk, or other media.

[0123] Example 4

[0124] This embodiment discloses a computing device, including a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the resonance ride-through control method based on the wind turbine model described in Example 1 is implemented.

[0125] The computing device described in this embodiment may be a desktop computer, a laptop computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC), or other terminal devices with a processor function.

[0126] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, all changes made according to the shape and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A resonance ride-through control method based on a wind turbine model, characterized in that: The following steps are involved: S1. Estimating the wind speed based on the wind turbine model, iteratively calculating the wind speed acting on the impeller surface, and obtaining the current estimated wind speed of the wind turbine; S2, using the estimated wind speed obtained in step S1 or based on the measured wind speed as input, calculating the speed setting value, and dynamically adjusting the resonance ride-through condition in real time according to the external environment of the wind turbine generator set; S3, calculating the speed set point deviation by combining the speed set value with the wind rotor speed, performing closed-loop feedback calculation on the calculated speed set point deviation to obtain the torque set value of the wind turbine, performing amplitude limiting processing on the calculated torque command, and performing resonance ride-through control; S4, judging whether there is a stall risk when the wind turbine generator set runs for a long time under resonance ride-through, if yes, proceeding to step S5; if no, the resonance ride-through control of the wind turbine generator set is completed by normal operation; S5. The wind turbine generator set enters blade stall prevention control, and dynamically adjusts the wind turbine generator set's pitch command or torque command according to the wind turbine generator set's current wind energy conversion status and generator power status, thereby completing the wind turbine generator set blade stall prevention control.

2. A resonance ride-through control method based on a wind turbine model according to claim 1, characterized in that: The step S1 comprises: According to the measuring equipment installed in the wind turbine, the real-time power, impeller speed, blade tip speed ratio, pitch angle and cabin vibration signal of the wind turbine are calculated; the wind speed acting on the impeller surface is calculated, that is, the wind turbine itself is used as an anemometer to realize the observation of wind speed; The wind turbine model is: Where P aero P is the pneumatic power; e is the electromagnetic power; P loss is the electromagnetic loss; J is the moment of inertia of the wind wheel; ω is the speed of the wind wheel; ρ is the air density; S is the swept area; v is the wind speed; where S = πR 2 , R is the impeller radius; λ is the tip speed ratio; β is the pitch angle; C p is the wind energy conversion efficiency, which is a function of λ and β; Where P e , β, ω and ρ are measurement signals, which are directly measured by the measuring equipment; P loss , S are inherent parameters of wind turbines; e The measured signals of , β, ω and ρ are filtered and calculated as follows: Signal Filter =F(s)·Signal Measured ; Where F(s) is a low-pass and band-stop filter, Signal Measured Signal is the measurement signal of the sensor; Filter is the filtered signal; The tip speed ratio is calculated as follows: The wind speed v acting on the impeller surface is iteratively calculated to obtain the current estimated wind speed of the wind turbine.

3. The resonance ride-through control method based on a wind turbine model according to claim 2 is characterized in that: The measuring equipment includes a cabin vibration sensor, an air density sensor, an impeller encoder, an electric energy meter and a pitch encoder.

4. The resonance ride-through control method based on a wind turbine model according to claim 1 is characterized in that: The step S2 comprises: Using the estimated wind speed obtained in step S1 or based on the measured wind speed as input, calculate the speed setting value ω set ; Define the calculated value of wind rotor speed ω ref The calculation formula is as follows: In the formula, λ opt is the optimal tip speed ratio at the current pitch angle; v is the estimated wind speed obtained in step S1 or the measured wind speed obtained by direct measurement; Definition ExcLow is the lower boundary speed set point for resonance crossing and ω ExcHigh is the upper boundary speed set point for resonance crossing, and defines ω Cutin is the grid-connected speed and ω Cutout is the rated speed, and the calculated wind wheel speed setting value ω set Restrictions include: a) When ω ref Less than ω Cutin When the wind rotor speed target value is the grid-connected speed, that is, ω set =ω Cutin ; b) When ω ref Greater than ω Cutin and is less than ω ExcLow Or when ω ref Less than ω Cutout and greater than ω ExcHigh When the wind wheel speed setting value is the calculated value, that is, ω set =ω ref ; c) When ω ref Greater than ω Cutout When the wind wheel speed is set to the rated speed, that is, ω set =ω Cutout ; d) When ω ref Greater than ω ExcLow and is less than ω ExcHigh When the wind wheel speed setting value is the setting value at the previous moment, that is, ω set =ω set .

5. The resonance ride-through control method based on a wind turbine model according to claim 1, characterized in that: The step S3 comprises: The speed set point deviation e is the rotor speed RotorSpeed ​​and the speed set value ω set difference; e=RotorSpeed-ω set ; The calculated speed set point deviation e is subjected to closed-loop feedback calculation to obtain the torque set value TorqueDem of the wind turbine; The feedback control calculation formula is as follows: In the above formula, k p is the proportionality coefficient, k I is the integration coefficient, k d is the differential coefficient, e(j) is the error at the current moment, e a (n) is the error change rate; Finally, the calculated torque setting value TorqueDem is limited.

6. The resonance ride-through control method based on a wind turbine model according to claim 1, characterized in that: The step S4 comprises: Based on the tip speed ratio λ calculated in real time in step S1 and the measured pitch angle β, the preset wind turbine power coefficient C pc (λ, β) calculates the wind energy conversion efficiency C of the wind turbine under the current operating state p , and set the tip speed ratio threshold λ min , Wind energy conversion efficiency threshold C pmin and the minimum power threshold P Stall ; Determine the speed setting value ω set Is it equal to the resonance crossing lower boundary speed setting point ω ExcLow And the real-time tip speed ratio λ is lower than the tip speed ratio threshold λ min If yes, proceed to step S5; if no, the resonance ride-through control of the wind turbine set is completed in normal operation.

7. The resonance ride-through control method based on a wind turbine model according to claim 1, characterized in that: The step S5 comprises: If the wind turbine power factor C pc (λ,β) is greater than the wind energy conversion efficiency threshold C pmin , the minimum pitch angle that meets the requirements is calculated and transmitted to the variable pitch actuator of the wind turbine; if the wind turbine power coefficient C pc (λ,β) is less than the wind energy conversion efficiency threshold C pmin And the current generator power is greater than the minimum crossing power threshold P Stall , the wind turbine enters the forced speed upward crossing logic and sets the speed setting value ω set Equal to the resonance crossing upper boundary speed setting point ω ExcHigh ; If the wind turbine power coefficient C pc (λ,β) is less than the wind energy conversion efficiency threshold C pmin And the current generator power is less than the minimum crossing power threshold P Stall , then execute the shutdown procedure.

8. A resonance ride-through control system based on a wind turbine model, characterized in that: A resonance ride-through control method based on a wind turbine model for implementing any one of claims 1 to 7, comprising: Pitch encoder module, used to measure the pitch angle; Impeller encoder module, used to measure the impeller speed; Air density sensor module, used to measure air density; A cabin vibration sensor module, used to measure cabin vibration data; Energy meter module, used to measure electromagnetic power; A data acquisition module is used to collect measurement data from the cabin vibration sensor, air density sensor, impeller encoder, electric energy meter and pitch encoder, and transmit the data to the controller module through the data transmission module; Data transmission module, used for data transmission between modules; The controller module performs resonance ride-through calculation and blade stall prevention control calculation according to the input data, and transmits the calculated torque command or pitch change command to the actuator; The actuator is used to receive instructions from the controller module and perform corresponding operations according to the instructions. The actuator includes a converter and a pitch drive.

9. A non-transitory computer-readable medium storing instructions, characterized in that: When the instruction is executed by the processor, the steps of the resonance ride-through control method based on the wind turbine model according to any one of claims 1 to 7 are performed.

10. A computing device comprising a processor and a memory for storing a program executable by the processor, characterized in that: When the processor executes the program stored in the memory, the resonance ride-through control method based on the wind turbine model described in any one of claims 1 to 7 is implemented.

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