A resonance ride-through control method and system based on a wind turbine model

Abstract

The application discloses a resonance ride-through control method and system based on a wind turbine model, and the method comprises the following steps: wind speed estimation based on the wind turbine model; calculation of a rotating speed setting value, real-time dynamic adjustment of a resonance ride-through condition; calculation of a torque setting value of the wind turbine, and resonance ride-through control; judgment of whether there is a stall risk in long-time operation of the wind turbine under resonance ride-through, if there is, the next step is entered; if there is not, normal operation is carried out to complete the resonance ride-through control of the wind turbine; and the wind turbine is made to enter blade stall control; the application improves the problems of easy loss of power generation and stall caused by the existing control technology, can adjust the condition of the wind wheel rotating speed ride-through in real time according to the change of external wind resources, ensures that the wind turbine operates in the optimal state of power generation to the maximum extent, effectively improves the power generation of the wind turbine, and can also carry out stall control and dynamically adjust the pitch angle to prevent stall.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of resonance crossing control of wind turbine generators, and particularly to a resonance crossing control method and system based on a wind turbine generator model. BACKGROUND

[0002] When the 1x or 3x frequency of the wind turbine rotor speed is too close to the tower frequency, the resonance risk of the unit will be increased, which seriously affects the safety of the entire wind turbine. In order to ensure the safety of the entire life cycle of the unit, special resonance crossing logic needs to be designed during normal power generation of the unit.

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

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

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

[0006] The existing resonance crossing control method has the following problems:

[0007] 1) The existing technical solution takes the generator torque as the determination condition for up and down crossing, and the value is usually set to a fixed value, which cannot be dynamically adjusted according to the operating state of the unit. Improper parameter setting will also cause power loss and stall problems;

[0008] 2) The resonance zone upper / lower limit speed set value in the existing technical solution cannot be dynamically adjusted according to the operating state of the unit, which has the risk of further increasing the resonance of the unit. SUMMARY

[0009] The present application aims to overcome the shortcomings of the prior art and provides a resonance crossing control method and system based on a wind turbine generator model. The existing control technology is improved to avoid power loss and stall problems. The control parameters can be dynamically adjusted according to external wind resource conditions, further reducing the resonance risk of the wind turbine generator and prolonging the service life of the wind turbine generator.

[0010] The purpose of the present application is achieved by the following technical solution: a resonance crossing control method based on a wind turbine generator model, comprising the following steps:

[0011] S1, estimating wind speed based on a wind turbine model, iteratively calculating the wind speed acting on the surface of the impeller to obtain the current estimated wind speed of the wind turbine;

[0012] S2, taking the estimated wind speed obtained in step S1 or the measured wind speed as input, calculating the speed set value, and dynamically adjusting the resonance crossing condition in real time according to the external environment of the wind turbine;

[0013] S3, combining the speed set value with the wind wheel speed to calculate the speed set point deviation, 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 instruction, and performing resonance crossing control;

[0014] S4, judging whether there is a stall risk in the long-time operation of the wind turbine under resonance crossing, if there is, entering step S5; if not, normally operating to complete the resonance crossing control of the wind turbine;

[0015] S5, making the wind turbine enter the blade stall prevention control, dynamically adjusting the pitch instruction or torque instruction of the wind turbine according to the current wind energy conversion condition and generator power condition of the wind turbine, and completing the control to prevent the wind turbine blade from stalling.

[0016] Further, the step S1 comprises:

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

[0018] The wind turbine model is:

[0019]

[0020] In the formula, P aero is the aerodynamic power; P e is the electromagnetic power; P loss is the electromagnetic loss; J is the moment of inertia of the wind wheel; ω is the wind wheel speed; ρ is the air density; S is the swept area; v is the wind speed; wherein 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] In the formula, P e , β, ω and ρ are measured signals, which are directly measured by the measuring device; P loss , S are inherent parameters of the wind turbine; P eThe measured signals of β, ω, and ρ are filtered and calculated as follows:

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

[0023] In the formula, F(s) represents the low-pass and band-stop filters, and Signal Measured The sensor's measurement signal; Signal Filter This 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 calculated iteratively to obtain the current estimated wind speed of the wind turbine.

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

[0028] Furthermore, step S2 includes:

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

[0030] Define the wind turbine rotation 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 blade pitch angle; v is the estimated wind speed obtained in step S1 or the measured wind speed obtained directly.

[0033] Define ω ExcLow The setpoint for the speed at which resonance crosses the lower boundary and ω ExcHigh Set the rotational speed point for resonance crossing the upper boundary and define ω. Cutin For grid-connected speed and ω Cutout For the rated speed, the calculated wind turbine speed setpoint ω set Restrictions include:

[0034] a) When ω ref Less than ω Cutin At that time, the target value of the wind turbine speed is the grid-connected speed, i.e., ω. set =ω Cutin ;

[0035] b) When ω ref Greater than ωCutin and less than ω ExcLow or when ω ref is less than ω Cutout and greater than ω ExcHigh , the wind wheel rotational speed setting value is the calculated value, i.e. ω set = ω ref ;

[0036] c) when ω ref is greater than ω Cutout , the wind wheel rotational speed setting value is the rated rotational speed, i.e. ω set = ω Cutout ;

[0037] d) when ω ref is greater than ω ExcLow and less than ω ExcHigh , the wind wheel rotational speed setting value is the setting value at the previous time, i.e. ω set = ω set .

[0038] Further, the step S3 comprises:

[0039] The rotational speed setting point deviation e is the difference between the wind wheel rotational speed RotorSpeed and the rotational speed setting value ω set ;

[0040] e = RotorSpeed - ω set ;

[0041] The calculated rotational speed setting point deviation e is fed back to calculate the torque setting 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 proportional coefficient, k I is the integral coefficient, k d is the differential coefficient, e(j) is the error at the current time, and e a (n) is the error change rate;

[0045] Finally, the calculated torque setting value TorqueDem is subjected to amplitude limiting processing.

[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 wind energy conversion efficiency C pc (λ, β) at the current operating state of the wind turbine is calculated based on the pre-set wind turbine power coefficient C pand a tip speed ratio threshold λ min , a wind energy conversion efficiency threshold C pmin and a minimum crossing power threshold P Stall ; judging whether the rotational speed setting value ω set is equal to the resonance crossing lower boundary rotational 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, entering step S5; if no, the resonance crossing control of the wind turbine is completed normally.

[0048] Further, the step S5 comprises:

[0049] If the wind turbine power coefficient C pc (λ, β) is greater than the wind energy conversion efficiency threshold C pmin , the minimum pitch angle satisfying the demand is calculated and transmitted to the 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 rotational speed upward crossing logic, and the rotational speed setting value ω set is set to be equal to the resonance crossing upper boundary rotational 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 , the shutdown program is executed.

[0050] A resonance crossing control system based on a wind turbine model, for implementing the resonance crossing control method based on the wind turbine model, comprising:

[0051] a pitch encoder module for measuring the pitch angle;

[0052] a rotor encoder module for measuring the rotor rotational speed;

[0053] an air density sensor module for measuring the air density;

[0054] a nacelle vibration sensor module for measuring the nacelle vibration data;

[0055] an electric energy meter module for measuring the electromagnetic power;

[0056] a data acquisition module for acquiring the measurement data of the nacelle vibration sensor, the air density sensor, the rotor encoder, the electric energy meter and the pitch encoder, and transmitting the measurement data to the controller module through a data transmission module;

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

[0058] Controller module, for resonance crossing calculation and anti-blade stall control calculation according to input data, and transmitting torque instruction or pitch instruction obtained by calculation to actuator;

[0059] Actuator, for receiving instruction of controller module and executing corresponding operation according to instruction, and the actuator comprises a converter and a pitch driver.

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

[0061] A computing device comprising a processor and a memory for storing processor executable programs, when the processor executes the programs stored in the memory, the wind turbine model based resonance crossing control method is realized.

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

[0063] 1、The present application can adjust the wind turbine speed crossing condition in real time according to the change of external wind resources, ensure the wind turbine to operate in the optimal state of power generation to the greatest extent, and effectively improve the power generation of the wind turbine;

[0064] 2、The present application 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, increase the blade angle of attack when operating at high wind speed and low speed, and prevent the wind turbine from stalling. BRIEF DESCRIPTION OF DRAWINGS

[0065] Figure 1 The estimation of wind speed calculation schematic diagram.

[0066] Figure 2 The estimation of wind speed and real wind speed comparison diagram.

[0067] Figure 3 The resonance crossing control schematic diagram.

[0068] Figure 4 The wind turbine speed-torque curve diagram.

[0069] Figure 5 The anti-blade stall control logic diagram. DETAILED DESCRIPTION

[0070] The present application will be further described below in combination with specific embodiments.

[0071] Embodiment 1

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

[0073] S1. Based on the wind turbine model, wind speed is estimated by iteratively calculating the wind speed acting on the rotor surface to obtain the current estimated wind speed of the wind turbine, including:

[0074] Based on the measuring equipment installed inside the wind turbine, the real-time power, rotor speed, tip speed ratio, pitch angle, and nacelle vibration signal of the wind turbine are calculated. The measuring equipment includes a nacelle vibration sensor, an air density sensor, a rotor encoder, an energy meter, and a pitch encoder. The wind speed acting on the rotor surface is calculated, that is, the wind turbine itself is used as an anemometer to achieve wind speed observation.

[0075] The wind turbine model is as follows:

[0076]

[0077] In the formula, P aero P is the aerodynamic power. e P is electromagnetic power; loss For electromagnetic losses; J is the moment of inertia of the wind turbine; ω is the rotational speed of the wind turbine; 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 blade pitch angle; C p Let be the wind energy conversion efficiency, which is a function of λ and β;

[0078] Where P e β, ω, and ρ are measurement signals, obtained directly through measuring equipment; P loss S represents the inherent parameters of the wind turbine generator; for P e The measured signals of β, ω, and ρ are filtered and calculated as follows:

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

[0080] In the formula, F(s) represents the low-pass and band-stop filters, and Signal Measured The sensor's measurement signal; Signal Filter This is the filtered signal;

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

[0082]

[0083] See Figure 1 As shown, the wind speed v acting on the impeller surface is iteratively calculated to obtain the 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 real hub center average wind speed.

[0084] S2, taking the estimated wind speed obtained in step S1 or the measured wind speed as input, calculating the rotation speed set value, and dynamically adjusting the resonance crossing condition in real time according to the external environment of the wind turbine, including:

[0085] Referring to Figure 3 As shown in the figure, taking the estimated wind speed obtained in step S1 or the measured wind speed as input, calculating the rotation speed set value ω set ;

[0086] The calculation formula of the wind wheel rotation speed calculation value ω ref is as follows:

[0087]

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

[0089] ω ExcLow is the resonance crossing lower boundary rotation speed set point, and ω ExcHigh is the resonance crossing upper boundary rotation speed set point, and ω Cutin is the grid-connected rotation speed, and ω Cutout is the rated rotation speed, and the wind wheel rotation speed set value ω set is limited, including:

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

[0091] b) When ω ref is greater than ω Cutin and less than ω ExcLow , or when ω ref is less than ω Cutout and greater than ω ExcHigh , the wind wheel rotation speed set value is the calculation value, that is, ω set = ω ref ;

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

[0093] d) When ω ref Greater than ω ExcLow And less than ω ExcHigh At that time, the wind turbine speed setpoint is the setpoint from the previous moment, i.e., ω. set =ω set ;

[0094] See Figure 4 As shown, when the external wind speed is insufficient to raise the wind turbine's rotational speed to the upper limit of the resonant rotational speed ω... ExcHigh When, that is, when ω set =ω ExcLow At this time, the wind turbine speed remains at the lower limit of the resonant speed ω. ExcLow , corresponding to Figure 4 In the wind turbine speed-torque curve, segment CD, as the external wind speed increases, the calculated value of the wind turbine speed ω... ref Greater than ω ExcHigh After a set delay, the resonance crossing speed upward crossing logic is triggered, at which point the speed setpoint switches to the upper limit of the resonance speed ω. ExcHigh The wind turbine torque decreases, and the wind turbine speed rapidly passes through the resonance region;

[0095] Conversely, when ω set =ω ExcHigh At this time, the wind turbine speed remains at the upper limit of the resonant speed ω. ExcHigh , corresponding to Figure 4 In the EF segment of the wind turbine speed-torque curve, as the outside wind speed gradually decreases, the calculated value of the wind turbine speed ω... ref Less than ω ExcLow After a set delay, the resonance crossing speed downward crossing logic is triggered, at which point the speed setpoint switches to the lower limit of the resonance speed ω. ExcLow As the wind turbine torque increases, the rotor speed rapidly crosses the resonance region.

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

[0097] S3. Calculate the speed setpoint deviation by combining the speed setpoint with the wind turbine speed. Perform closed-loop feedback calculation on the calculated speed setpoint deviation to obtain the torque setpoint of the wind turbine. Limit the calculated torque command and perform resonance ride-through control, including:

[0098] The speed setpoint deviation e is the difference between the rotor speed RotorSpeed ​​and the speed setpoint ω. set difference;

[0099] e = RotorSpeed ​​- ω set ;

[0100] The calculated speed setpoint deviation e is used for closed-loop feedback calculation to obtain the torque setpoint value TorqueDem of the wind turbine.

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

[0102]

[0103] In the above formula, k p k is the proportionality coefficient. I k is the integral coefficient. d Let e(j) be the differential coefficient, and e(j) be the error at the current time. a (n) represents the rate of change of error;

[0104] Finally, the calculated torque setpoint TorqueDem is subjected to amplitude limiting.

[0105] S4. Determine whether there is a risk of stall during prolonged operation of the wind turbine under resonance ride-through. If so, proceed to step S5; otherwise, complete the resonance ride-through control of the wind turbine under 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 is used. pc (λ,β) Calculate the wind energy conversion efficiency C of the wind turbine under the current operating condition. p And set the tip speed ratio threshold λ min Wind energy conversion efficiency threshold C pmin and minimum crossing power threshold P Stall Determine the speed setpoint ω set Is it equal to the resonance crossing the lower boundary speed setpoint ω? ExcLow Furthermore, the real-time tip speed ratio λ is lower than the tip speed ratio threshold λ. min If yes, proceed to step S5; otherwise, complete the resonance ride-through control of the wind turbine unit normally.

[0107] S5. Initiate anti-blade stall control for the wind turbine. Based on the current wind energy conversion status and generator power, dynamically adjust the pitch or torque commands of the wind turbine to prevent blade stall, including:

[0108] See Figure 5 As shown, if the power coefficient C of the wind turbine is... pc (λ,β) is greater than the wind energy conversion efficiency threshold C. pmin Then, by referring to the table, the wind energy conversion efficiency is calculated to be greater than C. pmin The minimum pitch angle is determined and transmitted to the pitch actuator of the wind turbine; if the power coefficient of the wind turbine is C pc(λ, β) is less than a wind energy conversion efficiency threshold C pmin and the current generator power is greater than a minimum ride-through power threshold P Stall then the wind turbine is made to enter a forced speed upward ride-through logic, and a speed set value ω is set set is equal to a resonance ride-through upper boundary speed set point ω ExcHigh ; if the wind turbine power coefficient C pc (λ, β) is less than a wind energy conversion efficiency threshold C pmin and the current generator power is less than a minimum ride-through power threshold P Stall then a shutdown procedure is executed.

[0109] Embodiment 2

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

[0111] a pitch encoder module for measuring a pitch angle;

[0112] a hub encoder module for measuring a hub speed;

[0113] an air density sensor module for measuring an air density;

[0114] a nacelle vibration sensor module for measuring nacelle vibration data;

[0115] a power meter module for measuring an electromagnetic power;

[0116] a data acquisition module for acquiring measurement data of the nacelle vibration sensor, the air density sensor, the hub encoder, the power meter and the pitch encoder, and transmitting the measurement data to the controller module through a data transmission module;

[0117] a data transmission module for data transmission between modules;

[0118] a controller module for resonance ride-through calculation and anti-blade stall control calculation according to input data, and transmitting a calculated torque instruction or pitch instruction to an actuator;

[0119] an actuator for receiving an instruction from the controller module and performing a corresponding operation according to the instruction, wherein the actuator comprises a converter and a pitch driver.

[0120] Embodiment 3

[0121] The 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 executed.

[0122] The non-transitory computer readable medium in the embodiment can be a disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), a U disk, a mobile hard disk, and the like.

[0123] Embodiment 4

[0124] The embodiment discloses a computing device, comprising a processor and a memory for storing a processor-executable program, and the processor implements the resonance ride-through control method based on a wind turbine model when executing the program stored in the memory.

[0125] The computing device in the embodiment can be a desktop computer, a notebook computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC), or other terminal devices with processor functions.

[0126] The above-mentioned embodiments are only the preferred embodiments of the present application, and are not intended to limit the scope of the present application. Any changes made according to the shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A method of resonance ride-through control based on a wind turbine model, characterized by, The method comprises the following steps: S1, wind speed estimation based on a wind turbine model, iterative calculation of the wind speed acting on the impeller surface to obtain the current estimated wind speed of the wind turbine; According to the measurement equipment installed in the wind turbine, the real-time power, impeller speed, tip speed ratio, pitch angle and nacelle 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 regarded as an anemometer to realize the observation of the wind speed; The wind turbine model is as follows: where P aero is the aerodynamic power; P e is the electromagnetic power; P loss is the electromagnetic losses; J is the wind rotor moment of inertia; ω is the wind rotor rotational speed; p 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 p are measured signals, directly measured by measuring devices; P loss , S is a wind turbine inherent parameter; the measured signals of P e , β, ω and p are filtered and calculated as follows: Signal Filter = F(s) · Signal Measured ; In the formula, F(s) is a low-pass and band-stop filter, Signal Measured is a measurement signal of the sensor; Signal Filter is a 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; S2, using the estimated wind speed obtained in step S1 or the measured wind speed as input, calculating the speed set value, and dynamically adjusting the resonance crossing condition according to the real-time environment of the wind turbine; S3, combining the speed set value with the wind wheel speed to calculate the speed set point deviation, 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 instruction, and performing resonance crossing control; S4, judging whether there is a stall risk in the long-time operation of the wind turbine under resonance crossing, if there is, entering step S5; if not, normally operating to complete the resonance crossing control of the wind turbine; S5, making the wind turbine enter the anti-blade stall control, dynamically adjusting the pitch instruction or torque instruction of the wind turbine according to the current wind energy conversion condition and generator power condition of the wind turbine, and completing the control of preventing the wind turbine blade from stalling.

2. The resonance ride-through control method based on wind turbine model according to claim 1, characterized in that: The measurement equipment includes a nacelle vibration sensor, an air density sensor, an impeller encoder, an electric energy meter and a pitch encoder.

3. The resonance ride-through control method based on wind turbine model according to claim 1, characterized in that, The step S2 comprises: With the estimated wind speed obtained in step S1 or the measured wind speed as input, the rotational speed set value ω is calculated set ; Definition of the wind wheel rotational speed calculation value ω ref The calculation formula is as follows: In the formula, λ opt is the optimal tip speed ratio at the current blade pitch angle; v is the estimated wind speed obtained in step S1 or the measured wind speed obtained directly. Define ω ExcLow Set point for resonance crossing lower boundary rotational speed and ω ExcHigh Set point for resonance crossing upper boundary rotational speed and define ω Cutin Set point for grid connected rotational speed and ω Cutout Set value ω for calculated rotor rotational speed for rated rotational speed set Perform limit, including: a) when ω ref < ω Cutin , the wind wheel rotation speed target value is grid-connected rotation speed, i.e. ω set = ω Cutin ; b) when ω ref > ω Cutin and < ω ExcLow or when ω ref < ω Cutout and > ω ExcHigh , the wind wheel rotational speed set value is the calculated value, i.e. ω set = ω ref ; c) when ω ref > ω Cutout , the wind wheel rotational speed setting value is the rated rotational speed, i.e. ω set = ω Cutout ; d) when ω ref > ω ExcLow and ω ExcHigh < ω set = ω set .

4. The resonance ride-through control method based on wind turbine model according to claim 1, characterized in that, The step S3 comprises: The rotational speed setpoint deviation e is the difference between the wind rotor rotational speed RotorSpeed and the rotational speed set value ω set . e = Rotor Speed - 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: k is a proportional coefficient, k p k is a proportional coefficient, k I k is an integral coefficient, k d k is a differential coefficient, e(j) is an error at a current time, e a (n) is an error change rate; Finally, the calculated torque set value TorqueDem is subjected to amplitude limiting processing.

5. The resonance ride-through control method based on wind turbine model according to claim 1, wherein, The step S4 comprises: Based on the tip speed ratio λ and the measured pitch angle β calculated in real time in step S1, the preset wind turbine group power coefficient C pc (λ, β) is used to calculate the wind energy conversion efficiency C of the current operating state of the wind turbine p , and the tip speed ratio threshold λ min , the wind energy conversion efficiency threshold C pmin , and the minimum crossing power threshold P Stall are set; whether the speed set value ω set is equal to the resonance crossing lower boundary speed set point ω ExcLow and the real-time tip speed ratio λ is lower than the tip speed ratio threshold λ min , if yes, go to step S5; if not, the resonance crossing control of the wind turbine is completed normally.

6. The resonance ride-through control method based on wind turbine model according to claim 1, wherein, The step S5 comprises: If the wind turbine power coefficient C pc (λ,β) is greater than the wind energy conversion efficiency threshold C pmin , then the minimum pitch angle that meets the demand is calculated and passed 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 ride-through power threshold P Stall , then the wind turbine enters the forced speed upward ride-through logic, and the speed set value ω set is set to the resonance ride-through upper boundary speed set 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 ride-through power threshold P Stall , then the shutdown program is executed.

7. A resonance ride-through control system based on a wind turbine model, characterized by, The method for implementing the resonance crossing control method based on the wind turbine model according to any one of claims 1-6 comprises: a pitch encoder module for measuring the pitch angle; an impeller encoder module for measuring the impeller speed; an air density sensor module for measuring the air density; a nacelle vibration sensor module for measuring the nacelle vibration data; an electric energy meter module for measuring the electromagnetic power; a data acquisition module for acquiring the measurement data of the nacelle vibration sensor, the air density sensor, the impeller encoder, the electric energy meter and the pitch encoder, and transmitting the data to the controller module through a data transmission module; a data transmission module for data transmission between modules; a controller module for resonance crossing calculation and anti-blade stall control calculation according to the input data, and transmitting the calculated torque instruction or pitch instruction to an actuator; an actuator for receiving the instruction of the controller module and executing the corresponding operation according to the instruction, wherein the actuator comprises a converter and a pitch driver.

8. A non-transitory computer-readable medium storing instructions, the method comprising: When the instructions are executed by the processor, the steps of the resonance ride-through control method based on a wind turbine model according to any one of claims 1-6 are performed.

9. A computing device comprising a processor and a memory for storing processor-executable programs, characterized in that, The processor executes the program stored in the memory, and the resonance ride-through control method based on a wind turbine model according to any one of claims 1-6 is implemented.

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