A method for comprehensive control of headroom based on a multi-device set

Abstract

The application discloses a kind of based on multiple device set's clearance comprehensive control method, the method is to access multiple clearance devices in wind turbine main control, based on the clearance data input of each clearance device Calculation and screening clearance data trend, corresponding set four kinds of clearance control mode, each clearance control mode will be according to the clearance data trend of each clearance device and wind turbine operating condition, select to open at least one clearance device as clearance control device, and other clearance device as clearance reference device, then carry out clearance control to wind turbine, for invalid data, according to the data characteristics of pre-set, make wind turbine enter safety mode;The application realizes multiple clearance device control, multiple clearance device control can further improve the accuracy and real-time of clearance strategy, while realizing selecting data reference, can reduce the frequency of failure, improve the safety and reliability of wind turbine, while avoiding frequent shutdown, stably improve the power generation efficiency of wind turbine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine clearance control, and particularly to a clearance comprehensive control method based on a multi-device set. BACKGROUND

[0002] The wind turbine clearance monitoring technology is based on the distance from the blade tip to the tower drum, and the control system controls the size of different distances. When the blade clearance distance is small, the wind turbine is stopped 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] In the prior art, the control strategy of a single clearance distance measuring instrument is focused on.

[0004] In Chinese patent application CN202310870276.4, a blade clearance control method, system, medium and device based on a millimeter wave radar are disclosed, which are simple and easy to implement. However, when feedback data and actual clearance observation are performed, it is impossible to determine whether the entered clearance is a real clearance, and there is no data reference for data analysis afterwards, which is also a limitation of the millimeter wave radar clearance technology.

[0005] In Chinese patent application CN202320238669.9, a wind turbine tower clearance video monitoring device is disclosed. The monitoring device can effectively reduce the light irradiated onto the tower while illuminating the blades, improve the distinguishability of the blade tip and the tower under laser spotlight irradiation, has small monitoring error, and is suitable for video monitoring of the tower clearance in poor visibility conditions such as night. However, there is a short-term blurring when the supplementary light is turned off in the morning and turned on at night. In addition, the video clearance device is based on image processing technology, and the processing algorithm may have different algorithm errors under different working conditions. SUMMARY

[0006] The present application aims to overcome the shortcomings of the prior art and provides a clearance comprehensive control method based on a multi-device set. By connecting multiple clearance devices, the method controls the clearance of the wind turbine according to the actual working conditions and clearance data, and provides clearance data reference through other clearance devices.

[0007] The application is achieved by the following technical scheme: a clearance comprehensive control method based on a plurality of device sets, which is characterized in that a plurality of clearance devices are connected to a wind turbine main control, clearance data trends are calculated and filtered based on the clearance data input by the clearance devices, four clearance control modes are set, at least one clearance device is selected as a clearance control device according to the clearance data trends of the clearance devices and the working conditions of the wind turbine in each clearance control mode, and the other clearance devices are used as clearance reference devices, then the wind turbine is controlled, and the wind turbine enters a safety mode according to preset data characteristics when invalid data is detected.

[0008] Further, the method comprises:

[0009] The plurality of clearance devices are connected to the wind turbine main control, clearance data trends are calculated based on the clearance data input by the clearance devices, four clearance control modes are set, and the modes are mode 1, mode 2, mode 3 and mode 4, which are as follows:

[0010] Mode 1: all clearance control strategies of the wind turbine are closed, only clearance data is input, the clearance data trends of the clearance devices are observed under the same working condition, the clearance device with the smallest trend under the working condition is selected as a clearance control device, and the clearance devices are controlled according to different working conditions;

[0011] Mode 2: all clearance control strategies of the wind turbine are closed, only clearance data is input, the trends of the clearance data are observed under all working conditions, the clearance device with the smallest trend under the working condition is selected as a clearance control device, then only a single clearance device of the plurality of clearance devices is turned on, and the other devices are used as clearance reference devices for control;

[0012] Mode 3: all clearance control strategies of the wind turbine are closed, only clearance data is input, the trends of the clearance data are observed under the same working condition, the clearance device with the largest trend under the working condition is selected as a clearance reference device, then only a single clearance device is used as a clearance reference device, and the other plurality of clearance devices are turned on for control;

[0013] Mode 4: all clearance control strategies of the wind turbine are turned on, abnormal clearance data with sudden changes are removed from the clearance data, if the clearance value changes between the last task cycle and the current task cycle are greater than the maximum error, the clearance value data of the current task cycle is removed, then the minimum value of the clearance data input by all clearance control devices is processed, a clearance control line is obtained, that is, the minimum clearance value in each cycle period, and then all the clearance devices are turned on for comprehensive control under different working conditions.

[0014] Further, the mode 1 comprises:

[0015] Prior to removing the abnormal data of mutation in each input clearance data, if the clearance value of the last task period and the current task period changes more than the preset maximum error, the clearance value of the current task period is removed; the clearance data after removal is read for a period of time under the working condition, the standard deviation and average value of the clearance data are calculated, 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 the lower limit value of the random clearance data of multiple clearance devices falling in the probability of 99.73% interval are obtained through normal distribution, the clearance device with the smallest trend value of the clearance data is selected as the clearance control device under the working condition; the above process is repeated, and different clearance devices are selected as the clearance control device according to different working conditions.

[0016] Further, the mode 1 comprises:

[0017] When the clearance value of the wind turbine is less than the preset minimum clearance limit value, the wind turbine is controlled to stop, and when the minimum clearance limit value reaches the maximum clearance control value, the wind turbine is controlled to execute the pitch collection;

[0018] When any communication fault occurs, the wind turbine is controlled to stop;

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

[0020] Further, the mode 2 comprises:

[0021] Prior to removing the abnormal data of mutation in each input clearance data, if the clearance value of the last task period and the current task period changes more than the preset maximum error, the clearance value of the current task period is removed; the clearance data after removal is read for a period of time under the working condition, the standard deviation and average value of the clearance data are calculated, 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 the lower limit value of the random clearance data of multiple clearance devices falling in the probability of 99.73% interval are obtained through normal distribution, the clearance device with the smallest trend value of the clearance data is selected as the clearance control device under the working condition; the above process is repeated, and different clearance devices are selected as the clearance control device according to different working conditions.

[0022] Further, the mode 2 comprises:

[0023] When the clearance value of the wind turbine is less than the preset minimum clearance limit value, the wind turbine is controlled to stop, and when the minimum clearance limit value reaches the maximum clearance control value, the wind turbine is controlled to execute the pitch collection;

[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, it is considered that the clearance value at this time is invalid, the safety mode is entered, and the large pitch angle strategy of the wind turbine is started; otherwise, it is considered that the clearance value is valid, and the original clearance control is executed.

[0025] Further, the mode 3 includes:

[0026] In the input clearance data, the abnormal data with sudden change is preferentially removed. When the clearance value of the current task period is greater than the preset maximum error compared with the clearance value of the previous task period, the clearance value of the current task period is removed. The clearance data after removal is read for a period of time, the standard deviation and average value of the clearance data are calculated, 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 probability of 99.73% interval are obtained by the method of normal distribution, then the clearance device with the highest upper limit value among the multiple clearance devices in all working conditions is obtained as the clearance reference device, and the other clearance devices are used as the clearance control devices for collective control. The clearance data of all the clearance control devices is processed by the mean value, and thus a clearance control line is obtained.

[0027] Further, the mode 3 includes:

[0028] When the clearance value of the wind turbine is less than the preset minimum clearance limit value, the wind turbine is controlled to stop, and when the minimum clearance limit value reaches the maximum clearance control value, the wind turbine is controlled to execute the pitch.

[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, it is considered that the clearance value at this time is invalid, the safety mode is entered, and the large pitch angle strategy of the wind turbine is started; otherwise, it is considered that the clearance value is valid, and the original clearance control is executed.

[0030] Further, the mode 4 includes:

[0031] When the clearance value of the wind turbine is less than the preset minimum clearance limit value, the wind turbine is controlled to stop, and when the minimum clearance limit value reaches the maximum clearance control value, the wind turbine is controlled to execute the pitch.

[0032] When any clearance device has a communication fault, only the communication fault code is reported for alarm and data collection is stopped; when the data of all the clearance devices remain unchanged or are abnormal, the safety mode is entered; when any clearance device has data abnormality, only the data abnormality fault code is reported for alarm and data collection is stopped.

[0033] Further, the clearance device includes a cabin type millimeter wave radar, a tower wall type millimeter wave radar, a video clearance device and a laser radar.

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

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

[0036] 2、Single clearance device control often has no data for reference and comparison, which increases the uncertainty of data anomalies or false data. The data reference method of the present application can effectively reduce the fault frequency caused by such errors, improve the safety and reliability of the wind turbine, and avoid frequent shutdowns, thereby stably improving the power generation efficiency of the wind turbine.

[0037] 3、In the clearance control mode of the present application, mode 1 can select a certain clearance device for clearance control under the condition of a large number of installed clearance devices for specific working conditions, which is targeted; mode 2 can test whether a certain device is reliable and can test and control based on the reference of existing devices; mode 3 can select different clearance devices for clearance control under different climate environments of the wind turbine, and can use other clearance devices as a reference to reduce the error caused by the influence of environmental factors on the clearance device; mode 4 can be relatively safe and stable for clearance control under the condition of a small number of installed clearance devices. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The control flowchart of the present application using mode 1.

[0039] Figure 2 The control flowchart of the present application using mode 2.

[0040] Figure 3 The control flowchart of the present application using mode 3.

[0041] Figure 4 The control flowchart of the present application using mode 4.

[0042] Figure 5 The clearance control flowchart based on mode 1.

[0043] Figure 6 The clearance control flowchart based on mode 2.

[0044] Figure 7 The clearance control flowchart based on mode 3. DETAILED DESCRIPTION

[0045] The present application will be further described below in conjunction with specific examples.

[0046] Example 1

[0047] Referring to Figure 1 As shown in the drawings, the method provided by the embodiment is a comprehensive control method based on a plurality of device sets. The method is to connect a plurality of clearance devices to a wind turbine main control unit, calculate and filter clearance data trends based on the clearance data input by the clearance devices, set four clearance control modes, select at least one clearance device as a clearance control device in each clearance control mode according to the clearance data trends of the clearance devices and the working conditions of the wind turbine, and select other clearance devices as clearance reference devices, and then control the wind turbine based on the clearance control device, and when the data fails, the wind turbine enters a safety mode according to the preset data characteristics. The four clearance control modes are mode 1, mode 2, mode 3, and mode 4. The clearance devices include A clearance device, a cabin millimeter wave radar, B clearance device, a tower wall millimeter wave radar, C clearance device, a video clearance device, and D clearance device, a laser radar.

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

[0049] Mode 1: All clearance control strategies of the wind turbine are closed, and only clearance data is input. The clearance data trends of the clearance devices are observed under the same working condition, and the clearance device with the smallest trend under the working condition is selected as the clearance control device. The clearance devices are controlled according to different working conditions:

[0050] In the input clearance data, the abnormal data with sudden change is preferentially removed. If the clearance value of the current task period changes by more than the preset maximum error compared with the last task period, the clearance value of the current task period is removed. The clearance data after removal is read for a period of time under the working condition, the standard deviation and the 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 value and the lower limit value of the random clearance data of the plurality of clearance devices falling in the probability of 99.73% interval are obtained through normal distribution, and the clearance device with the smallest clearance data trend value is selected as the clearance control device under the working condition. The above process is repeated, and different clearance devices are selected as the clearance control device according to different working conditions. The cabin millimeter wave radar is used for clearance control in the grid-connected working condition, the tower wall millimeter wave radar is used for clearance control in the typhoon working condition, the video clearance device is used for clearance control in the high-low crossing working condition, and the laser radar is used for clearance control in the grid-connected to failure process working condition.

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

[0052] When the clearance value of the wind turbine is less than the preset minimum clearance limit value, the wind turbine is controlled to stop. When the minimum clearance limit value reaches the maximum clearance control value, the wind turbine is controlled to execute the pitch.

[0053] When any communication fault occurs, the wind turbine is controlled to stop.

[0054] Any time the clearance data is abnormal, the wind turbine is controlled to enter a safe mode.

[0055] Embodiment 2

[0056] Referring to Figure 2 As shown, unlike Embodiment 1, this embodiment specifically implements Mode 2, as follows:

[0057] Mode 2: All clearance control strategies of the wind turbine are turned off, only the clearance data is input, the trend of the clearance data is observed under all working conditions, the clearance device with the smallest trend under the working condition is selected as the clearance control device, and then only a single clearance device of the multiple clearance devices is turned on, and the other devices are used as the clearance reference devices for control:

[0058] In the input clearance data, the abnormal data with sudden changes is preferentially removed, when the clearance value of the current task period changes more than the preset maximum error compared with the clearance value of the previous task period, the clearance value of the current task period is removed, after the clearance data after removal is read for a period of time, the standard deviation and average value of the clearance data are calculated, 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 the lower limit value of the random clearance data of the multiple clearance devices falling in the probability of 99.73% interval are obtained by the method of normal distribution, then under all working conditions, the 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 devices is processed by the average value, and thus a clearance reference line is obtained; under Mode 2, the nacelle millimeter wave radar is used under all working conditions, and the other clearance devices are used as the 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 safe deviation value, it is considered that the clearance value at this time is invalid, the wind turbine enters the safe mode, and the large pitch angle strategy is turned on; otherwise, it is considered that the clearance value is valid, and the original clearance control can be executed.

[0061] The wind turbine is stopped when the clearance value is less than the minimum clearance limit value, and the feathering control is executed when the minimum clearance limit value is to the maximum clearance control value; if the clearance value is invalid during this period, the current control is executed and then the safe mode is entered.

[0062] The wind turbine is stopped when the communication fault of the clearance control device occurs, and the safe mode is entered when the data is unchanged or abnormal; the wind turbine is stopped only when all the clearance reference devices have communication faults, and the related devices are disabled when one or several devices have communication faults; the safe mode is entered only when all the clearance reference devices have data that is unchanged or abnormal.

[0063] Example 3

[0064] Referring to Figure 3 As shown, unlike Example 1, this embodiment specifically implements Mode 3, as follows:

[0065] Mode 3: All the clearance control strategies of the wind turbine are closed, only the clearance data is input, the trend of the clearance data is observed under the same working condition, the clearance device with the largest trend under this working condition is selected as the clearance reference device, and then only a single clearance device is used as the clearance reference device, and the other multiple clearance devices are controlled:

[0066] The abnormal data with mutations is preferentially removed from the input clearance data. When the clearance value of the current task period is greater than the preset maximum error compared with the clearance value of the previous task period, the clearance value data of the current task period is removed. The clearance data after removal is read for a period of time, the standard deviation and the average value of the clearance data are calculated, 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 the lower limit value of the random clearance data of multiple clearance devices falling in the probability of 99.73% interval are obtained by the method of normal distribution, then the clearance device with the highest upper limit value among the multiple clearance devices used in all working conditions is obtained as the clearance reference device, and the other clearance devices are used as the clearance control devices for collective control. The clearance data of all the clearance control devices is processed by the average value, and thus a clearance control line is obtained. In Mode 3, the nacelle millimeter wave radar, the tower wall millimeter wave radar and the video clearance device are used for clearance control, and the laser radar is used as the 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, it is considered that the clearance value at this time is invalid, and the wind turbine opens the large pitch angle strategy in the safety mode; otherwise, it is considered that the clearance value is valid, and the original clearance control can be executed.

[0069] The wind turbine is stopped when the clearance value is less than the minimum clearance limit value, and the pitch control is executed when the clearance value is from the minimum clearance limit value to the maximum clearance control value. If the clearance value fails, the current control is executed and then the safety mode is entered.

[0070] The wind turbine is stopped when any of the clearance control devices has a communication failure, and the safety mode is entered when the data is unchanged or abnormal. When the clearance reference device has a communication failure or abnormal data, the device is disabled and a new reference device is selected from the enabled devices.

[0071] Example 4

[0072] Referring to Figure 4As shown, unlike embodiment 1, this embodiment specifically executes mode 4, as follows:

[0073] Mode 4: all clearance control strategies of the wind turbine are started, and the abnormal clearance data with sudden change is removed from the clearance data, if the clearance value of the current task cycle changes more than the maximum error compared with the last task cycle, the clearance value of the current task cycle is removed, then the minimum value of the clearance data inputted by all clearance control devices is processed, thus a clearance control line is obtained, that is, the minimum clearance value in each cycle is obtained, and then all clearance devices are started to perform comprehensive control under various working conditions, that is, all clearance devices are used to perform control under all working conditions.

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

[0075] When the clearance value is less than the minimum clearance limit value, the wind turbine is stopped, and when the clearance value is from the minimum clearance limit value to the maximum clearance control value, the pitch control is performed; if the clearance value fails, the current control is completed and then the safety mode is entered.

[0076] When any device has communication failure, only the communication failure code is reported and the data acquisition is stopped; when the data of all devices are kept unchanged or abnormal, the safety mode is entered; when any device has data abnormality, only the data abnormality code is reported and the data acquisition is stopped.

[0077] Embodiment 5

[0078] Referring to Figure 5 As shown, unlike embodiment 1, the clearance control is as follows:

[0079] After the data is correctly collected, the clearance control is needed to control each kind of clearance, if the existing device has fault or lacks parts, the clearance reference device should be excluded.

[0080] If the abnormality occurs in the unknown condition, the error will occur when the abnormal device is taken as the clearance reference device to take the average value, thus it is needed to judge whether the communication is abnormal before the average value is taken.

[0081] Embodiment 6

[0082] Referring to Figure 6 As shown, unlike embodiments 1 and 2, this embodiment specifically executes mode 2, and the clearance control is as follows:

[0083] The program actively closes the tower wall type millimeter wave clearance radar control enable in rainy days;

[0084] The program actively closes the video clearance device control enable in snowy days;

[0085] When the control is enabled to be turned off, the corresponding device will no longer be put into the control device or the reference device option.

[0086] Embodiment 7

[0087] Referring to Figure 7 As shown, unlike Embodiments 1 and 3, this embodiment specifically implements Mode 3, and the headroom control is specifically as follows:

[0088] According to different use scenarios, the strategy for selecting the headroom device is also different, and a normal distribution method is used.

[0089] From the perspective of safety, the headroom device with the minimum value of (average value-3*standard deviation) should be selected as the control data;

[0090] From the perspective of power generation efficiency, the headroom device with the maximum value of (average value-3*standard deviation) should be selected as the control data;

[0091] From the perspective of stable headroom value, the headroom device with the minimum standard deviation should be selected as the control data.

[0092] Embodiment 8

[0093] The 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-interference control method according to Embodiment 1 are executed.

[0094] 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.

[0095] Embodiment 9

[0096] The embodiment discloses a computing device, comprising 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-interference control method according to Embodiment 1 is realized.

[0097] 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.

[0098] The above-described embodiments are only preferred embodiments of the present application, and are not intended to limit the scope of the present application. Any changes made in the shape, principle, and the like of the present application should be included in the scope of the present application.

Claims

1. A method for comprehensive control of headroom based on a set of multiple devices, characterized in that: The method is that multiple clearance devices are connected to the main control of the wind turbine, the clearance data trend is calculated and screened based on the input clearance data of each clearance device, four clearance control modes are set correspondingly, at least one clearance device is selected to be turned on as a clearance control device and the other clearance devices are selected as clearance reference devices in each clearance control mode according to the clearance data trend of each clearance device and the working condition of the wind turbine, and then the wind turbine is controlled, for the invalid data, the wind turbine is put into a safe mode according to the preset data characteristics, including: The method is that multiple clearance devices are connected to the main control of the wind turbine, the clearance data trend is calculated and screened based on the input clearance data of each clearance device, four clearance control modes are set correspondingly, at least one clearance device is selected to be turned on as a clearance control device and the other clearance devices are selected as clearance reference devices in each clearance control mode according to the clearance data trend of each clearance device and the working condition of the wind turbine, and then the wind turbine is controlled, for the invalid data, the wind turbine is put into a safe mode according to the preset data characteristics, including: Mode 1: all clearance control strategies of the wind turbine are closed, only input the clearance data, the clearance data trend of each clearance device is observed under the same working condition, the clearance device with the smallest trend under the working condition is selected as the clearance control device, and each clearance device is controlled according to different working conditions; Mode 2: all clearance control strategies of the wind turbine are closed, only input the clearance data, the trend of the clearance data is observed under all working conditions, the clearance device with the smallest trend under the working condition is selected as the clearance control device, and only a single clearance device in the multiple clearance devices is turned on to control the other devices as the clearance reference devices; Mode 3: all clearance control strategies of the wind turbine are closed, only input the clearance data, the trend of the clearance data is observed under the same working condition, the clearance device with the largest trend under the working condition is selected as the clearance reference device, and only a single clearance device is used as the clearance reference device, and the other multiple clearance devices are turned on for control; Mode 4: all clearance control strategies of the wind turbine are turned on, the abnormal clearance data with sudden change is preferentially removed from the clearance data, if the change of the clearance value between the last task period and the current task period is greater than the maximum error, the clearance value data of the current task period is removed, then the minimum value of the clearance data input by all clearance control devices is processed, and thus a clearance control line is obtained, that is, the minimum clearance value appears in each cycle period, and then all the clearance devices are turned on for comprehensive control under different working conditions.

2. The method of claim 1, wherein, The mode 1 includes: The abnormal data with sudden change is preferentially removed from the input clearance data, if the change of the clearance value between the last task period and the current task period is greater than the preset maximum error, the clearance value data of the current task period is removed, the clearance data after removal is read for a period of time under the working condition, the standard deviation and the 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 value and the lower limit value of the random clearance data of the multiple clearance devices falling in the probability of 99.73% interval 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; the above process is repeated, and different clearance devices are selected as the clearance control devices according to different working conditions.

3. The method of claim 2, wherein, The mode 1 includes: When the wind turbine clearance value is less than the preset minimum clearance limit value, the wind turbine is controlled to stop, and when the minimum clearance limit value reaches the maximum clearance control value, the wind turbine is controlled to execute the pitch collection; When any communication fault occurs, the wind turbine is controlled to stop; When any clearance data is abnormal, the wind turbine is controlled to enter the safety mode.

4. The method of claim 1, wherein, The mode 2 comprises: In the input of each clearance data, the abnormal data of mutation is preferentially removed, when the clearance value of the previous task cycle and the task cycle changes greater than the preset maximum error, the clearance value data of the task cycle is removed, after the clearance data after the removal is read for a period of time, the standard deviation and the average value of the clearance data are calculated, 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 the lower limit value of the random clearance data of multiple clearance devices falling in the probability of 99.73% interval are obtained by the method of normal distribution, then under all working conditions, the clearance device with the lowest lower limit value among the multiple clearance devices is used as the clearance control device, the other clearance devices are used as the clearance reference device, the clearance data of the clearance reference device is processed by the average value, and thus a clearance reference line is obtained.

5. The method of claim 4, wherein, The mode 2 comprises: When the wind turbine clearance value is less than the preset minimum clearance limit value, the wind turbine is controlled to stop, and when the minimum clearance limit value reaches the maximum clearance control value, the wind turbine is controlled to execute the pitch collection; 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, it is considered that the clearance value at this time is invalid, the safety mode is entered, and the wind turbine opens the large pitch angle strategy; otherwise, it is considered that the clearance value is valid, and the original clearance control is executed.

6. The method of claim 1, wherein, The mode 3 comprises: In the input of each clearance data, the abnormal data of mutation is preferentially removed, when the clearance value of the previous task cycle and the task cycle changes greater than the preset maximum error, the clearance value data of the task cycle is removed, after the clearance data after the removal is read for a period of time, the standard deviation and the average value of the clearance data are calculated, 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 the lower limit value of the random clearance data of multiple clearance devices falling in the probability of 99.73% interval are obtained by the method of normal distribution, then under all working conditions, the clearance device with the lowest lower limit value among the multiple clearance devices is used as the clearance control device, the other clearance devices are used as the clearance reference device, the clearance data of the clearance reference device is processed by the average value, and thus a clearance reference line is obtained.

7. The method of claim 6, wherein, The mode 3 comprises: When the wind turbine clearance value is less than the preset minimum clearance limit value, the wind turbine is controlled to stop, and when the minimum clearance limit value reaches the maximum clearance control value, the wind turbine is controlled to execute the pitch collection; 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, it is considered that the clearance value at this time is invalid, the safety mode is entered, and the wind turbine opens the large pitch angle strategy; otherwise, it is considered that the clearance value is valid, and the original clearance control is executed.

8. The method of claim 1, wherein, The mode 4 comprises: When the wind turbine clearance value is less than a preset minimum clearance limit value, the wind turbine is controlled to stop, and when the minimum clearance limit value reaches a maximum clearance control value, the wind turbine is controlled to perform a pitch collection; When any of the clearance devices has a communication failure, only a communication failure code is reported to give an alarm and stop data collection; when the data of all the clearance devices remain unchanged or are abnormal, a safety mode is entered; when any of the clearance devices has a data abnormality, only a data abnormality failure code is reported to give an alarm and stop data collection.

9. The method of claim 1, wherein, The clearance devices include a cabin type millimeter wave radar, a tower wall type millimeter wave radar, a video clearance device and a laser radar.

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