Clearance comprehensive control method based on multi-device set

Abstract

The invention discloses a clearance comprehensive control method based on a multi-device set, and the method comprises the steps: enabling a plurality of pieces of clearance equipment to be connected to a main controller of a wind turbine generator, calculating and screening a clearance data trend based on the clearance data inputted by each piece of clearance equipment, and correspondingly setting four clearance control modes, in each clearance control mode, at least one piece of clearance equipment is selected to be started as clearance control equipment according to the clearance data trend of each piece of clearance equipment and the working condition of the wind turbine generator set, other clearance equipment is used as clearance reference equipment, then clearance control is conducted on the wind turbine generator set, and for invalid data, according to preset data characteristics, the clearance data of the wind turbine generator set is obtained. Enabling the wind turbine generator to enter a safe mode; multi-clearance equipment control is achieved, the accuracy and real-time performance of a clearance strategy can be further improved through multi-clearance equipment control, meanwhile, data reference is selected, the fault frequency can be reduced, the safety and reliability of the wind turbine generator system are improved, frequent shutdown is avoided, and the power generation efficiency of the wind turbine generator system is stably improved.

Description

Technical Field

[0001] The invention relates to the technical field of wind turbine clearance control, and in particular to a clearance comprehensive control method based on a multi-device collection. Background Art

[0002] The wind turbine clearance monitoring technology is based on the distance from the blade tip to the tower. The control system controls the size of different distances. When the blade clearance distance is small, the wind turbine is shut down or the blade angle is controlled to restore the blade state to normal; when an abnormal situation occurs, the wind turbine is controlled to enter a safe operation mode.

[0003] The prior art focuses on the control strategy of a single clearance distance measuring instrument.

[0004] In Chinese invention patent application CN202310870276.4, a blade clearance control method, system, medium and equipment based on millimeter wave radar are disclosed. It is simple and easy to use, but when the feedback data and actual clearance observation are obtained, it is impossible to determine whether the clearance entered is the real clearance. There is no data reference for subsequent data analysis. This is also the limitation of millimeter wave radar clearance technology.

[0005] In the Chinese invention patent application CN202320238669.9, a wind turbine tower clearance video monitoring device is disclosed. While illuminating the blades, the monitoring device can effectively reduce the light irradiated on the tower, improve the distinguishability of the blade tip and the tower under the illumination of the laser spotlight, and has a small monitoring error. It is suitable for video monitoring of tower clearance in conditions of poor visibility such as at night. However, there is a brief blur when the fill light is turned off in the morning and turned on at night. Secondly, the video clearance device is based on image processing technology, and the processing algorithm under different working conditions may have different algorithm errors. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and propose a comprehensive clearance control method based on a multi-device collection. By connecting multiple clearance devices, according to the actual working conditions and clearance data, some or all of the clearance devices are turned on to perform clearance control of the wind turbine set, and clearance data reference is provided through other clearance devices therein.

[0007] The purpose of the present invention is achieved through the following technical solutions: a comprehensive clearance control method based on a multi-device collection, the method is to connect multiple clearance devices to the main control of the wind turbine, calculate and screen the clearance data trend based on the clearance data input by each clearance device, and set four clearance control modes accordingly. In each clearance control mode, at least one clearance device will be selected to be turned on as a clearance control device according to the clearance data trend of each clearance device and the working condition of the wind turbine, and other clearance devices will be used as clearance reference devices, thereby performing clearance control on the wind turbine. For failed data, the wind turbine is put into a safe mode according to preset data characteristics.

[0008] Further, the method comprises:

[0009] Connect multiple clearance devices to the wind turbine master control, calculate the clearance data trend based on the clearance data input by each clearance device, and set four clearance control modes, namely mode 1, 2, 3 and 4, as follows:

[0010] Mode 1: Close all clearance control strategies of wind turbines, input only clearance data, observe the clearance data trend of each clearance device under the same working condition, select the clearance device with the smallest trend under this working condition as the clearance control device, and control each clearance device according to different working conditions;

[0011] Mode 2: Close all clearance control strategies of wind turbines, input only clearance data, observe the trend of clearance data under all working conditions, select the clearance device with the smallest trend under this working condition as the clearance control device, and then only open a single clearance device among multiple clearance devices, and control the other devices as clearance reference devices;

[0012] Mode 3: Close all clearance control strategies of wind turbines, input only clearance data, observe the trend of clearance data under the same working condition, select the clearance device with the largest trend under this working condition as the clearance reference device, and then only use a single clearance device as the clearance reference device, and turn on other clearance devices for control;

[0013] Mode 4: All clearance control strategies of wind turbines are turned on, and sudden abnormal clearance data are eliminated first in the clearance data. If the clearance value change between the previous task cycle and this task cycle is greater than the maximum error, the clearance value data of this task cycle will be eliminated, and then the clearance data input by all clearance control devices will be processed to the minimum value, thereby obtaining a clearance control line, that is, the minimum clearance value appears in each cycle, and then all clearance devices are turned on for comprehensive control under various working conditions.

[0014] Furthermore, the mode 1 includes:

[0015] In the input clearance data, abnormal data with sudden changes are preferentially eliminated. If the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. The clearance data after elimination is read for a period of time under the working condition, and the standard deviation and average value of the clearance data are calculated. The clearance data trend value is calculated. The clearance data trend value = average value ± 3 * standard deviation. The upper and lower limits of the random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained through normal distribution. The clearance device with the smallest clearance data trend value is selected as the clearance control device under the working condition. Repeat the above process and select different clearance devices as clearance control devices according to different working conditions.

[0016] Furthermore, the mode 1 includes:

[0017] When the clearance value of the wind turbine set is less than the preset minimum clearance limit, the wind turbine set is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine set is controlled to perform blade retraction.

[0018] When any communication fails, the wind turbine will be shut down;

[0019] When any clearance data is abnormal, the wind turbine is controlled to enter safety mode.

[0020] Furthermore, the mode 2 includes:

[0021] In the input clearance data, abnormal data with sudden changes are preferentially eliminated. When the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. After reading the clearance data after elimination for a period of time, the standard deviation and average value of the clearance data are calculated, and the trend value of the clearance data is calculated. The trend value of the clearance data = average value ± 3 * standard deviation. The upper limit value and lower limit value of the random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained by the normal distribution method. Then, under all working conditions, a clearance device with the lowest clearance data of the lower limit value among the multiple clearance devices is used as the clearance control device, and other clearance devices are used as clearance reference devices. The clearance data used as the clearance reference device is averaged, thereby obtaining a clearance reference line.

[0022] Furthermore, the mode 2 includes:

[0023] When the clearance value of the wind turbine set is less than the preset minimum clearance limit, the wind turbine set is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine set is controlled to perform blade retraction.

[0024] If the absolute value of the difference between the data input by the clearance control device and the clearance reference line is greater than the preset safety deviation value, the clearance value at this time is considered invalid, and the system enters the safety mode and starts the large pitch angle strategy; otherwise, the clearance value is considered valid and the original clearance control is executed.

[0025] Furthermore, the mode 3 includes:

[0026] In the input clearance data, abnormal data with sudden changes are preferentially eliminated. When the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. The clearance data after elimination is read for a period of time, and the standard deviation and average value of the clearance data are calculated. The clearance data trend value is calculated, and the clearance data trend value = average value ± 3 * standard deviation. The upper limit and lower limit values ​​of random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained by the normal distribution method. Then, in all working conditions, a clearance device with the highest clearance data of the upper limit value among multiple clearance devices is used as the clearance reference device, and other clearance devices are collectively controlled as clearance control devices. The clearance data of all clearance control devices are averaged, thereby obtaining a clearance control line.

[0027] Furthermore, the mode 3 includes:

[0028] When the clearance value of the wind turbine set is less than the preset minimum clearance limit, the wind turbine set is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine set is controlled to perform blade retraction.

[0029] If the absolute value of the difference between the data input by the clearance control line and the clearance reference device is greater than the preset safety deviation value, the clearance value at this time is considered invalid, and the system enters the safety mode and the wind turbine starts the large pitch angle strategy; otherwise, the clearance value is considered valid and the original clearance control is executed.

[0030] Furthermore, the mode 4 includes:

[0031] When the clearance value of the wind turbine set is less than the preset minimum clearance limit, the wind turbine set is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine set is controlled to perform blade retraction.

[0032] When a communication failure occurs in any clearance device, only the communication fault code will be reported as an alarm and data collection will be stopped; when the data of all clearance devices remain unchanged or abnormal, the safe mode will be entered; when data abnormality occurs in any clearance device, only the data abnormality fault code will be reported as an alarm and data collection will be stopped.

[0033] Furthermore, the clearance equipment includes a cabin-type millimeter-wave radar, a tower-wall-type millimeter-wave radar, a video clearance equipment and a laser radar.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] 1. The present invention combines data processing of multiple clearance devices to realize multi-clearance device control, which can further improve the accuracy and real-time performance of the clearance strategy.

[0036] 2. When a single clearance device is controlled, there is often no data for reference and comparison, which also increases the uncertainty of data anomalies or false data. The method of selecting data reference in the present invention can effectively reduce the frequency of failures caused by such errors, improve the safety and reliability of wind turbines, and at the same time avoid frequent shutdowns, thereby steadily improving the power generation efficiency of wind turbines.

[0037] 3. Among the clearance control modes proposed in the present invention, Mode 1 can select a certain clearance device for clearance control according to a specific working condition when there are a large number of clearance devices installed, which is targeted; Mode 2 can be used to test whether a certain device is reliable, and can realize test control based on the reference of existing equipment; Mode 3 can select different clearance devices for clearance control when the wind turbine is in different climatic environments, and can use other clearance devices as a reference to reduce the error caused by the influence of environmental factors on the clearance equipment; Mode 4 can perform clearance control more safely and stably when there are a small number of clearance devices installed. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a control flow chart of mode 1 adopted in the present invention.

[0039] Figure 2 This is a control flow chart of mode 2 adopted in the present invention.

[0040] Figure 3 This is a control flow chart of mode 3 adopted in the present invention.

[0041] Figure 4 This is a control flow chart of mode 4 adopted in the present invention.

[0042] Figure 5 This is the clearance control flow chart based on mode 1.

[0043] Figure 6 This is the clearance control flow chart based on mode 2.

[0044] Figure 7 This is the clearance control flow chart based on mode 3. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with specific embodiments.

[0046] Example 1

[0047] See also Figure 1 As shown, the embodiment provides a comprehensive clearance control method based on a multi-device set, which is to connect multiple clearance devices to the main control of the wind turbine generator set, calculate and filter the clearance data trend based on the clearance data input by each clearance device, and set four clearance control modes accordingly. In each clearance control mode, at least one clearance device is selected to be turned on as a clearance control device according to the clearance data trend of each clearance device and the working condition of the wind turbine generator set, and other clearance devices are used as clearance reference devices, so as to perform clearance control on the wind turbine generator set. For failed data, the wind turbine generator set is put into a safe mode according to preset data features, including: the four clearance control modes are respectively modes 1, 2, 3 and 4, and the clearance devices include A clearance device-nacelle millimeter wave radar, B clearance device-tower wall millimeter wave radar, C clearance device-video clearance device and D clearance device-lidar;

[0048] In this embodiment, mode 1 is specifically implemented as follows:

[0049] Mode 1: Close all clearance control strategies of wind turbines, input only clearance data, observe the clearance data trend of each clearance device under the same working condition, select the clearance device with the smallest trend under this working condition as the clearance control device, and control each clearance device according to different working conditions:

[0050] In each input clearance data, abnormal data with mutations are preferentially eliminated. If the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. The clearance data after elimination is read for a period of time under the working condition, and the standard deviation and average value of the clearance data are calculated. The clearance data trend value is calculated. The clearance data trend value = average value ± 3 * standard deviation. The upper and lower limits of the random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained through normal distribution. The clearance device with the smallest clearance data trend value is selected as the clearance control device under this working condition. Repeat the above process, select different clearance devices as clearance control devices according to different working conditions. For the grid-connected working condition, the nacelle millimeter-wave radar clearance control is used, for the typhoon working condition, the tower wall millimeter-wave radar clearance control is used, for the high and low penetration working condition, the video clearance device is used for clearance control, and for the grid-connected to fault process, the laser radar is used for clearance control.

[0051] The clearance control of Mode 1 is as follows:

[0052] When the clearance value of the wind turbine set is less than the preset minimum clearance limit, the wind turbine set is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine set is controlled to perform blade retraction.

[0053] When any communication fails, the wind turbine will be shut down;

[0054] When any clearance data is abnormal, the wind turbine is controlled to enter safety mode.

[0055] Example 2

[0056] See also Figure 2 As shown, different from Example 1, this embodiment specifically implements Mode 2, which is as follows:

[0057] Mode 2: Close all clearance control strategies of wind turbines, input only clearance data, observe the trend of clearance data under all working conditions, select the clearance device with the smallest trend under this working condition as the clearance control device, and then open only a single clearance device among multiple clearance devices, and control other devices as clearance reference devices:

[0058] In the input clearance data, abnormal data with mutations are preferentially eliminated. When the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. After reading the clearance data after elimination for a period of time, the standard deviation and average value of the clearance data are calculated, and the trend value of the clearance data is calculated. The trend value of the clearance data = average value ± 3 * standard deviation. The upper limit and lower limit values ​​of the random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained by the normal distribution method. Then, under all working conditions, a clearance device with the lowest clearance data of the lower limit value among the multiple clearance devices is used as the clearance control device, and the other clearance devices are used as the clearance reference devices. The clearance data of the clearance reference device is averaged to obtain a clearance reference line; under mode 2, the cabin millimeter wave radar is used in all working conditions, and the other clearance devices are used as reference devices.

[0059] The clearance control of Mode 2 is as follows:

[0060] If the absolute value of the difference between the data input by the clearance control device and the clearance reference line is greater than the safety deviation value, the clearance value at this time is considered invalid, and the system enters the safety mode and starts the large pitch angle strategy; otherwise, the clearance value is considered valid and the original clearance control can be executed.

[0061] When the clearance value is less than the minimum clearance limit, the engine will shut down. When the minimum clearance limit reaches the maximum clearance control value, the propeller retraction control will be executed. If the clearance value fails during this period, the engine will enter the safety mode only after the current control is completed.

[0062] The clearance control device will shut down when a communication failure occurs, and enter the safety mode when the data remains unchanged or is abnormal; the device will shut down only when all clearance reference devices have a communication failure, and when one or several devices have a communication failure, the relevant devices can be turned off and enabled; the device will enter the safety mode only when the data of all clearance reference devices remains unchanged or is abnormal.

[0063] Example 3

[0064] See also Figure 3 As shown, different from Example 1, this embodiment specifically implements Mode 3, which is as follows:

[0065] Mode 3: Close all clearance control strategies of wind turbines, input only clearance data, observe the trend of clearance data under the same working condition, select the clearance device with the largest trend under this working condition as the clearance reference device, and then use only a single clearance device as the clearance reference device, and turn on other clearance devices for control:

[0066] In the input clearance data, abnormal data with mutations are preferentially eliminated. When the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. The clearance data after elimination is read for a period of time, and the standard deviation and average value of the clearance data are calculated. The clearance data trend value is calculated. The clearance data trend value = average value ± 3 * standard deviation. The upper limit and lower limit values ​​of the random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained by the normal distribution method. Then, in all working conditions, a clearance device with the highest clearance data of the upper limit value among multiple clearance devices is used as the clearance reference device, and other clearance devices are used as clearance control devices for collective control. The clearance data of all clearance control devices are averaged to obtain a clearance control line. In mode 3, all working conditions use cabin millimeter wave radar, tower wall millimeter wave radar and video clearance equipment for clearance control, and use laser radar as a reference device.

[0067] The clearance control of Mode 3 is as follows:

[0068] If the absolute value of the difference between the data input by the clearance control line and the clearance reference device is greater than the safety deviation value, the clearance value at this time is considered invalid, and the wind turbine enters the safety mode and starts the large pitch angle strategy; otherwise, the clearance value is considered valid and the original clearance control can be executed.

[0069] The engine will shut down when the clearance value is less than the minimum limit, and execute propeller retraction control when the clearance value reaches the maximum limit. If the clearance value fails during this period, the engine will enter the safety mode only after the current control is completed.

[0070] When any device in the clearance control device has a communication failure, it will shut down and enter the safety mode when the data remains unchanged or abnormal; when the clearance reference device has a communication failure or data abnormality, the device will be disabled and the reference device will be re-selected from the enabled devices.

[0071] Example 4

[0072] See also Figure 4As shown, different from Example 1, this embodiment specifically implements Mode 4, which is as follows:

[0073] Mode 4: Turn on all clearance control strategies for wind turbines, and give priority to eliminating sudden abnormal clearance data in the clearance data. If the clearance value change between the previous task cycle and this task cycle is greater than the maximum error, the clearance value data of this task cycle will be eliminated, and then the clearance data input by all clearance control devices will be processed to the minimum value, thereby obtaining a clearance control line, that is, the minimum clearance value appears in each cycle, and then all clearance devices are turned on to perform comprehensive control under various working conditions, that is, all enabled clearance devices are used for control under all working conditions.

[0074] The clearance control of Mode 4 is as follows:

[0075] The engine will shut down when the clearance value is less than the minimum limit, and execute propeller retraction control when the clearance value reaches the maximum limit. If the clearance value fails during this period, the engine will enter the safety mode only after the current control is completed.

[0076] When a communication failure occurs in any device, only the communication fault code will be reported as an alarm and data collection will be stopped; the safe mode will be entered only when the data of all devices remain unchanged or abnormal. When a data abnormality occurs in any device, only the data abnormality fault code will be reported as an alarm and data collection will be stopped.

[0077] Example 5

[0078] See also Figure 5 As shown, different from Example 1, the clearance control is specifically as follows:

[0079] After correctly collecting data, you need to add clearance control enable to control each type of clearance. If it is known that the existing equipment is faulty or missing parts, this option should be excluded when selecting the clearance reference device.

[0080] If an abnormality occurs under unknown circumstances, an error will occur when taking the average value of the abnormal device as the clearance reference device, so it is necessary to determine whether the communication is abnormal before taking the average value.

[0081] Example 6

[0082] See also Figure 6 As shown, different from embodiments 1 and 2, this embodiment specifically implements mode 2, and the clearance control is as follows:

[0083] In rainy days, the program actively turns off the tower wall type millimeter wave clearance radar control enable;

[0084] In snowy weather, the program automatically turns off the video clearance device control enable;

[0085] When the control enable is turned off, the corresponding device will no longer be placed in the control device or reference device options.

[0086] Example 7

[0087] See also Figure 7 As shown, different from embodiments 1 and 3, this embodiment specifically implements mode 3, and the clearance control is as follows:

[0088] Depending on the usage scenario, the strategy for selecting clearance equipment is also different, using the normal distribution method.

[0089] From a safety perspective, the clearance equipment with the minimum value among all (mean value - 3*standard deviation) should be selected as the control data;

[0090] From the perspective of power generation efficiency, the clearance equipment with the maximum value among all (mean value - 3*standard deviation) should be selected as the control data;

[0091] From the perspective of headroom value stability, the headroom device with the minimum value among all standard deviations should be selected as the control data.

[0092] Example 8

[0093] This embodiment discloses a non-transitory computer-readable medium storing instructions. When the instructions are executed by a processor, the steps of the self-learning anti-disturbance control method according to Embodiment 1 are executed.

[0094] 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.

[0095] Example 9

[0096] 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 self-learning anti-disturbance control method described in Embodiment 1 is implemented.

[0097] 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.

[0098] 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 comprehensive clearance control method based on a multi-device collection, Features: The method is to connect multiple clearance devices to the main control of the wind turbine generator set, calculate and screen the clearance data trend based on the clearance data input by each clearance device, and set four clearance control modes accordingly. In each clearance control mode, at least one clearance device is selected to be turned on as a clearance control device according to the clearance data trend of each clearance device and the working condition of the wind turbine generator set, and other clearance devices are used as clearance reference devices, thereby performing clearance control on the wind turbine generator set. For failed data, the wind turbine generator set is put into a safe mode according to preset data characteristics.

2. According to claim 1, a clearance integrated control method based on a multi-device collection, It is characterized in that include: Connect multiple clearance devices to the wind turbine master control, calculate the clearance data trend based on the clearance data input by each clearance device, and set four clearance control modes, namely mode 1, 2, 3 and 4, as follows: Mode 1: Close all clearance control strategies of wind turbines, input only clearance data, observe the clearance data trend of each clearance device under the same working condition, select the clearance device with the smallest trend under this working condition as the clearance control device, and control each clearance device according to different working conditions; Mode 2: Close all clearance control strategies of wind turbines, input only clearance data, observe the trend of clearance data under all working conditions, select the clearance device with the smallest trend under this working condition as the clearance control device, and then only open a single clearance device among multiple clearance devices, and control the other devices as clearance reference devices; Mode 3: Close all clearance control strategies of wind turbines, input only clearance data, observe the trend of clearance data under the same working condition, select the clearance device with the largest trend under this working condition as the clearance reference device, and then only use a single clearance device as the clearance reference device, and turn on other clearance devices for control; Mode 4: All clearance control strategies of wind turbines are turned on, and sudden abnormal clearance data are eliminated first in the clearance data. If the clearance value change between the previous task cycle and this task cycle is greater than the maximum error, the clearance value data of this task cycle will be eliminated, and then the clearance data input by all clearance control devices will be processed to the minimum value, thereby obtaining a clearance control line, that is, the minimum clearance value appears in each cycle, and then all clearance devices are turned on for comprehensive control under various working conditions.

3. A clearance integrated control method based on a multi-device collection according to claim 2, It is characterized in that Mode 1 includes: In the input clearance data, abnormal data with sudden changes are preferentially eliminated. If the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. The clearance data after elimination is read for a period of time under the working condition, and the standard deviation and average value of the clearance data are calculated. The clearance data trend value is calculated. The clearance data trend value = average value ± 3 * standard deviation. The upper and lower limits of the random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained through normal distribution. The clearance device with the smallest clearance data trend value is selected as the clearance control device under the working condition. Repeat the above process and select different clearance devices as clearance control devices according to different working conditions.

4. A clearance integrated control method based on a multi-device set according to claim 3, It is characterized in that Mode 1 includes: When the clearance value of the wind turbine is less than the preset minimum clearance limit, the wind turbine is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine is controlled to retract the blades. When any communication fails, the wind turbine will be shut down; When any clearance data is abnormal, the wind turbine is controlled to enter safety mode.

5. A clearance integrated control method based on a multi-device collection according to claim 2, It is characterized in that Mode 2 includes: In the input clearance data, abnormal data with sudden changes are preferentially eliminated. When the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. After reading the clearance data after elimination for a period of time, the standard deviation and average value of the clearance data are calculated, and the trend value of the clearance data is calculated. The trend value of the clearance data = average value ± 3 * standard deviation. The upper limit value and lower limit value of the random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained by the normal distribution method. Then, under all working conditions, a clearance device with the lowest clearance data of the lower limit value among the multiple clearance devices is used as the clearance control device, and other clearance devices are used as clearance reference devices. The clearance data used as the clearance reference device is averaged, thereby obtaining a clearance reference line.

6. A clearance integrated control method based on a multi-device collection according to claim 5, It is characterized in that Mode 2 includes: When the clearance value of the wind turbine set is less than the preset minimum clearance limit, the wind turbine set is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine set is controlled to perform blade retraction. If the absolute value of the difference between the data input by the clearance control device and the clearance reference line is greater than the preset safety deviation value, the clearance value at this time is considered invalid, and the system enters the safety mode and starts the large pitch angle strategy; otherwise, the clearance value is considered valid and the original clearance control is executed.

7. A clearance integrated control method based on a multi-device collection according to claim 2, It is characterized in that Mode 3 includes: In the input clearance data, abnormal data with sudden changes are preferentially eliminated. When the clearance value change between the previous task cycle and this task cycle is greater than the preset maximum error, the clearance value data of this task cycle is eliminated. The clearance data after elimination is read for a period of time, and the standard deviation and average value of the clearance data are calculated. The clearance data trend value is calculated, and the clearance data trend value = average value ± 3 * standard deviation. The upper limit and lower limit values ​​of random clearance data of multiple clearance devices falling in the interval with a probability of 99.73% are obtained by the normal distribution method. Then, in all working conditions, a clearance device with the highest clearance data of the upper limit value among multiple clearance devices is used as the clearance reference device, and other clearance devices are collectively controlled as clearance control devices. The clearance data of all clearance control devices are averaged, thereby obtaining a clearance control line.

8. A clearance integrated control method based on a multi-device collection according to claim 7, It is characterized in that Mode 3 includes: When the clearance value of the wind turbine set is less than the preset minimum clearance limit, the wind turbine set is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine set is controlled to perform blade retraction. If the absolute value of the difference between the data input by the clearance control line and the clearance reference device is greater than the preset safety deviation value, the clearance value at this time is considered invalid, and the system enters the safety mode and the wind turbine starts the large pitch angle strategy; otherwise, the clearance value is considered valid and the original clearance control is executed.

9. A clearance integrated control method based on a multi-device collection according to claim 2, It is characterized in that Mode 4 includes: When the clearance value of the wind turbine set is less than the preset minimum clearance limit, the wind turbine set is controlled to shut down. When the minimum clearance limit reaches the maximum clearance control value, the wind turbine set is controlled to perform blade retraction. When a communication failure occurs in any clearance device, only the communication fault code will be reported as an alarm and data collection will be stopped; when the data of all clearance devices remain unchanged or abnormal, the safe mode will be entered; when data abnormality occurs in any clearance device, only the data abnormality fault code will be reported as an alarm and data collection will be stopped.

10. A clearance integrated control method based on a multi-device collection according to claim 1, It is characterized in that The clearance equipment includes cabin-type millimeter-wave radar, tower-wall-type millimeter-wave radar, video clearance equipment and laser radar.

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