Method for vibration suppression of a wind turbine and wind turbine

Abstract

The wind turbine vibration suppression method and the wind turbine provided by the present disclosure solve the problem that the suppression effect cannot be ensured without affecting the power generation amount, and can realize the suppression of the vibration of the wind turbine through the pitch control, effectively suppress the vibration of the wind turbine without affecting the power generation amount, and achieve a better suppression effect.

Description

Technical Field

[0001] This disclosure relates to the field of wind power generation, and more specifically, to a vibration suppression method for a wind turbine generator set and a wind turbine generator set. Background Technology

[0002] With the development of wind power generation technology, the requirements for the safety of wind turbine units are becoming increasingly stringent. Therefore, the vibration suppression effect of wind turbine units is an important factor affecting the safety of the units.

[0003] In relevant vibration suppression schemes, the vibration of wind turbine generators caused by the rotor modal characteristics can only be suppressed by torque resistance, adjusting the generator speed, limiting power, limiting the pitch angle, and shutting down the generator.

[0004] However, adjusting unit speed, limiting power, limiting pitch angle, and shutting down all result in varying degrees of power generation loss. While torque-assisted damping does not affect power generation, its vibration suppression effect is weak and its applicability is limited. Therefore, the vibration suppression effects of the aforementioned methods are not ideal. Summary of the Invention

[0005] In view of the problem that existing vibration suppression methods cannot ensure the suppression effect without affecting power generation, this disclosure provides a vibration suppression method for wind turbine generator sets and a wind turbine generator set.

[0006] The first aspect of this disclosure provides a vibration suppression method for a wind turbine generator set. The vibration suppression method includes: performing a frequency domain transformation on vibration data of the wind turbine generator set to obtain frequency domain data; determining a target amplitude for each of a plurality of candidate frequency bands based on the frequency domain data, wherein each candidate frequency band has a preset first threshold; in response to the existence of a target frequency band among the plurality of candidate frequency bands, determining an independent pitch control quantity for suppressing the vibration of the wind turbine generator set within the target frequency band, wherein the target frequency band is a candidate frequency band whose target amplitude and the first threshold satisfy a first preset condition; and performing pitch control on the wind turbine generator set based on the independent pitch control quantity corresponding to each target frequency band to suppress the vibration of the wind turbine generator set.

[0007] Optionally, the step of performing pitch control on the wind turbine generator set based on the independent pitch control quantity corresponding to each target frequency band includes: in response to the fact that there are multiple target frequency bands, determining the independent pitch control quantity corresponding to each target frequency band; determining the target pitch angle corresponding to each target frequency band based on the independent pitch control quantity; superimposing the target pitch angles of all target frequency bands to obtain an additional pitch angle; and performing pitch control on the wind turbine generator set based on the additional pitch angle.

[0008] Optionally, the vibration suppression method further includes: in response to the sum of the target pitch angles of all target frequency bands being greater than a pitch angle threshold, using the pitch angle threshold as the additional pitch angle.

[0009] Optionally, the vibration suppression method further includes: in response to a target frequency corresponding to the target amplitude of the target frequency band being within a preset interval of the target frequency band, performing the step of pitch control on the wind turbine generator based on an independent pitch control quantity corresponding to each target frequency band, wherein the preset interval includes the natural frequency of the wind turbine generator within the target frequency band.

[0010] Optionally, the first threshold for each candidate frequency band is determined based on the amplitude corresponding to the natural frequency of the wind turbine generator in the candidate frequency band, wherein the first threshold is less than the amplitude corresponding to the natural frequency in the corresponding candidate frequency band.

[0011] Optionally, the independent pitch control quantity is determined by: determining the independent pitch control quantity associated with the target frequency corresponding to each target amplitude based on the preset relationship between the natural frequency of the wind turbine generator in each target frequency band and the independent pitch control quantity.

[0012] Optionally, each candidate frequency band is preset with a corresponding second threshold. The vibration suppression method further includes: responding to the target amplitude in the target frequency band and the corresponding second threshold satisfying a second preset condition, performing pitch control on the wind turbine generator set based on a unified pitch angle for unified pitch control of the wind turbine generator set, wherein the second threshold is less than the first threshold.

[0013] Optionally, the step of determining the additional pitch angle for independent pitch control of the wind turbine generator set includes: obtaining the target rotor azimuth angle; and determining the additional pitch angle based on the target rotor azimuth angle and the independent pitch control amount.

[0014] Optionally, the plurality of candidate frequency bands include: the frequency band containing the first-order natural frequency in the rotor plane of the wind turbine generator set and the frequency band containing the second-order natural frequency in the rotor plane, wherein the target amplitude is the highest amplitude in the corresponding candidate frequency band, wherein the independent pitch control quantity includes the independent pitch control frequency and / or the independent pitch control amplitude, wherein the vibration data is determined based on at least one of the following: nacelle acceleration data, blade root load data, blade vibration data, pitch drive torque data of the electric pitch system, and cylinder pressure data of the hydraulic pitch system.

[0015] Optionally, the step of performing pitch control on the wind turbine generator set based on the independent pitch control quantity corresponding to each target frequency band includes: determining the additional pitch angle for independent pitch control of the wind turbine generator set based on the independent pitch control quantity corresponding to each target frequency band; and performing pitch control on the wind turbine generator set.

[0016] A second aspect of this disclosure provides a computer device comprising: at least one processor; and at least one memory storing computer-executable instructions, wherein, when executed by the at least one processor, the computer-executable instructions cause the at least one processor to perform a vibration suppression method for a wind turbine generator according to an exemplary embodiment of this disclosure.

[0017] A third aspect of this disclosure provides a wind turbine generator set, the wind turbine generator set including the computer equipment described in exemplary embodiments of this disclosure.

[0018] A fourth aspect of this disclosure provides a computer-readable storage medium that, when instructions in the computer-readable storage medium are executed by at least one processor, causes the at least one processor to perform a vibration suppression method for a wind turbine generator according to an exemplary embodiment of this disclosure.

[0019] According to the vibration suppression method and wind turbine generator of this disclosure, frequency domain data can be obtained based on the vibration data of the wind turbine generator, and the target amplitude in each candidate frequency band can be determined. When there is a target frequency band where the target amplitude and the first threshold satisfy the preset conditions, pitch control can be performed on the wind turbine generator based on the independent pitch control quantity corresponding to each target frequency band. In this way, the vibration of the generator can be suppressed by pitch control. In this way, the vibration of the generator can be effectively suppressed with almost no impact on the power generation, achieving a good suppression effect. Attached Figure Description

[0020] Figure 1 This is a schematic flowchart illustrating a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure.

[0021] Figure 2 This is a schematic flowchart illustrating the steps of pitch control of a wind turbine generator set in a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure.

[0022] Figure 3 This is a schematic flowchart illustrating the step of determining an additional pitch angle in a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure.

[0023] Figure 4This is a schematic flowchart illustrating a vibration suppression algorithm in a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure.

[0024] Figure 5 This is a schematic flowchart illustrating an independent pitch control algorithm in a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure.

[0025] Figure 6 and Figure 7 This is a schematic diagram showing the result of vibration suppression using a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0026] The following detailed embodiments are provided to aid the reader in gaining a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but may be changed as will become clear upon understanding this disclosure, except for operations that must occur in a specific order. Furthermore, for clarity and conciseness, descriptions of features known in the art may be omitted.

[0027] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein are provided only to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein, which will become clear upon understanding the disclosure of this application.

[0028] As used herein, the term “and / or” includes any one of the associated listed items and any combination of any two or more.

[0029] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts should not be limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Thus, without departing from the teaching of the examples described herein, the first component, first assembly, first region, first layer, or first part referred to as the first component, first assembly, first region, first layer, or first part may also be referred to as the second component, second assembly, second region, second layer, or second part.

[0030] In the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to," or "bonded to" another element, the element may be directly "on" another element, directly "connected to," or "bonded to" the other element, or one or more other elements may be present in between. Conversely, when an element is described as being "directly on" another element, "directly connected to," or "directly bonded to" another element, no other elements may be present in between.

[0031] The terminology used herein is for the purpose of describing various examples only and is not intended to limit disclosure. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. The terms “comprising,” “including,” and “having” indicate the presence of the described features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0032] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains upon understanding this disclosure. Unless expressly defined herein, terms (such as those defined in a general dictionary) shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and in this disclosure, and shall not be interpreted in an idealized or overly formalistic manner.

[0033] Furthermore, in the description of the examples, detailed descriptions of well-known related structures or functions will be omitted when it is believed that such detailed descriptions would lead to a vague interpretation of this disclosure.

[0034] In view of the foregoing problems, exemplary embodiments of this disclosure provide a vibration suppression method for a wind turbine generator set, a wind turbine generator set, a computer device, and a computer-readable storage medium to solve or at least alleviate the problems existing in the related art.

[0035] According to a first aspect of an exemplary embodiment of the present disclosure, a vibration suppression method for a wind turbine generator set is provided. The vibration suppression method may include the following steps:

[0036] like Figure 1 As shown, in step S110, the vibration data of the wind turbine generator can be transformed in the frequency domain to obtain frequency domain data.

[0037] In this step, the vibration data can be determined based on at least one of the following: nacelle acceleration data, blade root load data, blade vibration data, pitch drive torque data of the electric pitch system, and cylinder pressure data of the hydraulic pitch system.

[0038] As an example, a nacelle acceleration sensor can be used to measure the vibration signal of the unit in the forward and / or left and right directions. The measured vibration signal can be intercepted to obtain vibration data, and it can be ensured that the amount of vibration data can meet the requirements of frequency domain transformation, such as meeting the minimum data amount requirement for frequency domain transformation.

[0039] Here, the frequency domain transformation can be, for example, a Fast Fourier Transform (FFT). For instance, FFT analysis can be performed on the truncated vibration data in the front-to-back direction and / or left-to-right direction, respectively. However, this disclosure is not limited to this; other frequency domain transformation methods such as Discrete Fourier Transform (DFT) and wavelet transform can also be used. In the example where the frequency domain transformation is a Fast Fourier Transform, the vibration data includes, for example, at least 1024 data points.

[0040] Step S120: Based on the frequency domain data, determine the target amplitude of each candidate frequency band among multiple candidate frequency bands, wherein each candidate frequency band has a preset first threshold.

[0041] In this step, the candidate frequency segment can be a frequency segment selected according to actual needs. It can be a part of the frequency range of the above frequency domain data, and multiple candidate frequency segments can be selected within this frequency range.

[0042] As an example, multiple candidate frequency bands may include, but are not limited to, the frequency band containing the first-order natural frequency and the frequency band containing the second-order natural frequency within the rotor surface of the wind turbine. In this case, the natural frequencies (also known as modal frequencies) of the wind turbine can be detected specifically. Furthermore, by suppressing rotor modal vibration through independent pitch control, turbine vibration can be effectively suppressed with almost no impact on power generation.

[0043] Furthermore, the target amplitude can be a statistical value of the amplitude at each sampling frequency within the candidate frequency band. For example, the target amplitude can be the highest amplitude in the corresponding candidate frequency band. For instance, the FFT analysis results in the forward / backward and / or left / right directions can be processed to calculate the target amplitude corresponding to each candidate frequency band.

[0044] The first threshold can be pre-defined for each candidate frequency band. The first threshold for different candidate frequency bands can be the same or different.

[0045] As an example, the first threshold for each candidate frequency band can be determined based on the amplitude corresponding to the natural frequency of the wind turbine generator in that candidate frequency band, wherein the first threshold can be less than the amplitude corresponding to the natural frequency in the corresponding candidate frequency band.

[0046] Specifically, when the vibration frequency is at or near the unit's natural frequency, it may produce a larger amplitude than at other frequencies. Therefore, within the candidate frequency range, the amplitude corresponding to the unit's natural frequency is often larger. In view of this, in the vibration suppression method of this embodiment, the first threshold can be set to be less than and close to the amplitude corresponding to the natural frequency within the corresponding candidate frequency range. Thus, if the target amplitude is greater than the first threshold, the current vibration frequency may be at or near the unit's natural frequency. In this case, a vibration suppression strategy can be implemented as quickly as possible, thereby rapidly responding to potential unit resonance and preventing damage to the unit due to vibration.

[0047] It should be noted that although the first threshold described above is determined based on the amplitude corresponding to the natural frequency of the wind turbine generator, it is not limited to this and can be set according to actual needs. For example, it can be set to be smaller to more accurately identify vibration risks and avoid missed detections.

[0048] Step S130: In response to the existence of a target frequency band among multiple candidate frequency bands, an independent pitch control quantity for suppressing the vibration of the wind turbine generator set in the target frequency band is determined, wherein the target frequency band is a candidate frequency band whose target amplitude and a first threshold satisfy a first preset condition.

[0049] In this step, it can be determined whether the relationship between the target amplitude and the first threshold in each candidate frequency band meets the first preset condition. Here, the first preset condition may be, for example, that the target amplitude is greater than the first threshold. However, it is not limited to this. Other preset conditions may be set according to the specific determination method of the target amplitude and the first threshold, such as that the ratio of the target amplitude to the first threshold is greater than a preset ratio.

[0050] Here, if the target amplitude of the candidate frequency band and the first threshold meet the first preset condition, it can be considered that the current vibration amplitude has reached a certain level, and the independent pitch control function associated with the candidate frequency band can be activated to determine the independent pitch control amount so as to suppress vibration through independent pitch control. The independent pitch control amount can be a control amount that can suppress the vibration of the wind turbine generator in the candidate frequency band.

[0051] Independent pitch control parameters can be used to determine the reference angle for independent pitch control of wind turbine blades (such as the additional pitch angle described below). For example, independent pitch control parameters may include independent pitch control frequency and / or independent pitch control amplitude.

[0052] As an example, the independent pitch control quantity can be determined as follows: based on the preset relationship between the natural frequency of the wind turbine generator in each target frequency band and the independent pitch control quantity, the independent pitch control quantity associated with the target frequency corresponding to each target amplitude is determined.

[0053] Here, the preset relationship can be determined based on the actual wind turbine and the actual application scenario. For example, a mapping table between the natural frequency and independent pitch control quantity of the wind turbine in each candidate frequency band can be preset. When the target frequency band is determined, the preset relationship between the natural frequency and independent pitch control quantity in the target frequency band can be found by querying the mapping table, thereby determining the currently required independent pitch control quantity.

[0054] As an example, the above mapping table can be obtained through field testing or simulation. For instance, by adjusting different independent pitch control values, the independent pitch control value with the best or relatively good vibration suppression effect on the natural frequency within each candidate frequency range can be determined, thereby constructing the mapping table. For example, the vibration suppression effect on the natural frequency within a certain candidate frequency range can be compared under different combinations of independent pitch control frequency and independent pitch control amplitude, thereby determining the combination of independent pitch control frequency and independent pitch control amplitude with better vibration suppression effect, which can be used as the independent pitch control value corresponding to the natural frequency within that candidate frequency range in the above preset relationship.

[0055] Using the above method, independent pitch control quantities that can effectively suppress vibration at different vibration frequencies can be determined in advance, the relationship between vibration frequency and independent pitch control quantities can be established, and when a target frequency range is detected, independent pitch control quantities that can help suppress the current vibration can be quickly queried, thereby improving the vibration suppression effect.

[0056] Furthermore, according to exemplary embodiments of this disclosure, the step of determining an independent pitch control quantity for suppressing the vibration of the wind turbine generator set within the target frequency range can also be performed in response to the target frequency corresponding to the target amplitude of the target frequency range being within a preset interval of the target frequency range.

[0057] Here, the preset interval can include the natural frequency of the wind turbine generator within the target frequency range.

[0058] Specifically, as mentioned above, when the vibration frequency is the natural frequency of the turbine generator set or close to it, it may produce a larger amplitude than at other frequencies. Therefore, within the candidate frequency range, the amplitude corresponding to the natural frequency of the turbine generator set is often larger. Thus, the target frequency corresponding to the target amplitude of the target frequency range is generally the same as or close to the natural frequency of the wind turbine generator set within that frequency range.

[0059] If the target frequency deviates significantly from the natural frequency, for example, if the target frequency is outside the preset range, the unit may be operating under abnormal conditions, or the currently collected vibration data may contain errors. In this case, the step of determining the independent pitch control quantity can be omitted or temporarily suspended. For example, the target frequency can be re-determined after checking the unit's operating status or re-collecting or processing the vibration data.

[0060] In this way, by determining whether the target frequency is within the preset range, special operating conditions of the unit or errors in the collected data can be identified in a timely manner, which is conducive to accurately and effectively executing vibration suppression actions.

[0061] In step S140, pitch control can be performed on the wind turbine generator set based on the independent pitch control quantity corresponding to each target frequency band to suppress the vibration of the wind turbine generator set.

[0062] In this step, the additional pitch angle for independent pitch control can be determined based on the independent pitch control quantity, thereby enabling pitch control of the unit.

[0063] For example, pitch control of wind turbine generators can be performed in the following ways:

[0064] like Figure 2 As shown, in step S210, the additional pitch angle for independent pitch control of the wind turbine generator can be determined based on the independent pitch control quantity corresponding to each target frequency band.

[0065] Here, an additional pitch angle can be determined based on each independent pitch control variable. As an example, when the independent pitch control variables include the independent pitch control frequency and the independent pitch control amplitude, taking a three-bladed wind turbine as an example, the additional pitch angles of the three blades can be expressed by the following equations (1), (2), and (3):

[0066] B1_extra=a·sin(2πf) (1)

[0067]

[0068]

[0069] Where B1_extra, B2_extra and B3_extra represent the additional pitch angles of the three blades, a represents the independent pitch control amplitude, and f represents the independent pitch control frequency.

[0070] However, equations (1) to (3) above are only one example of calculating the additional pitch angle. In the case where the unit has fewer or more than three blades, and / or in the case where the unit adopts a specific pitch control strategy, the additional pitch angle can also be calculated in other ways, as long as the additional pitch angle can be determined based on the independent pitch control quantity.

[0071] In step S220, pitch control of the wind turbine generator can be performed based on the additional pitch angle and the unified pitch angle for unified pitch control of the wind turbine generator.

[0072] Individual pitch control (IPC) can be pitch control for a single blade, where an independent pitch control reference value (such as the additional pitch angle described here) can be determined for each blade of the turbine. Collective pitch control (CPC) can be pitch control for all blades, where a uniform pitch angle can be determined for all blades.

[0073] Given the additional pitch angles, the additional pitch angles (such as B1_extra, B2_extra, and B3_extra mentioned above) can be summed with the given value θ of the uniform pitch angle (also known as the concentrated pitch angle) to obtain the given value of the pitch position for each blade, so as to pitch the blade.

[0074] Combining equations (1) to (3) above, the pitch angle setpoint value for each blade is obtained as Bi = θ + Bi_extra, where i can represent the i-th blade, for example, it can be 1, 2, and 3, representing three blades. Taking the above three-bladed unit as an example, the pitch angle setpoint values ​​for the three blades are as follows: B1 = θ + B1_extra, B2 = θ + B2_extra, and B3 = θ + B3_extra.

[0075] In this way, the additional pitch angle of independent pitch control that can suppress unit vibration can be combined with the uniform pitch angle, so that the unit can suppress or at least partially suppress the vibration of the unit during pitch control.

[0076] Furthermore, according to an exemplary embodiment of this disclosure, there may be one or more target frequency bands. When there is only one target frequency band, the additional pitch angle corresponding to this target frequency band can be superimposed on a unified pitch angle for pitch control.

[0077] When there are multiple target frequency bands, pitch control of wind turbine generators can be performed in the following ways: such as Figure 3As shown, in step S310, in response to the presence of multiple target frequency bands, an independent pitch control quantity corresponding to each target frequency band can be determined; in step S320, a target pitch angle corresponding to each target frequency band can be determined based on the independent pitch control quantity; in step S330, the target pitch angles of all target frequency bands can be superimposed to obtain an additional pitch angle; in step S340, the wind turbine generator set can be pitch controlled based on the additional pitch angle.

[0078] In steps S310 and S320, for example, the independent pitch control quantity corresponding to each target frequency band can be determined by referring to the above-described method, and the target pitch angle corresponding to each independent pitch control quantity can be determined. For example, the target pitch angle of each blade can be calculated by formulas (1) to (3) above. In step S330, for each blade, all target pitch angles can be added together to obtain the final additional pitch angle of the blade for pitch control.

[0079] For example, candidate frequency bands may include frequency band s1, frequency band s2, and frequency band s3. By comparing the target amplitude of each frequency band with its corresponding first threshold, it can be determined that frequency bands s1, s2, and s3 are all target frequency bands.

[0080] In this case, the independent pitch control quantity corresponding to each frequency band can be determined, such as independent pitch control quantity q1, independent pitch control quantity q2 and independent pitch control quantity q3, and the target pitch angle can be further calculated, such as target pitch angle Bi_extra_1, target pitch angle Bi_extra_2 and target pitch angle Bi_extra_3, where i can represent the i-th blade, for example, it can be 1, 2 and 3, representing three blades.

[0081] Thus, the additional pitch angle can be obtained by superimposing the three target pitch angles, i.e., Bi_extra = Bi_extra_1 + Bi_extra_2 + Bi_extra_3, thereby determining the pitch angle setpoint Bi = θ + Bi_extra for each blade.

[0082] By superimposing the target pitch angles of multiple target frequency bands to obtain the total additional pitch angle, independent pitch control can be performed while considering multiple frequency bands, making the pitch control more effective in suppressing vibration.

[0083] Furthermore, when there are multiple target frequency bands, as an example, the pitch angle threshold can be used as an additional pitch angle in response to the sum of the target pitch angles of all target frequency bands being greater than the pitch angle threshold.

[0084] Here, the pitch angle threshold can be set according to the actual situation of the unit; for example, it can be the maximum pitch angle that the unit can achieve. By setting this pitch angle threshold, a limit can be set for the sum of the target pitch angles, avoiding the final calculated additional pitch angle being too large, which would lead to incorrect unit control commands.

[0085] The vibration suppression method according to embodiments of the present disclosure has been described above. In this method, an independent pitch control function can be enabled by setting a first threshold and the independent pitch control amount can be determined. Furthermore, according to embodiments of the present disclosure, a second threshold can also be set to determine when to disable the independent pitch control function.

[0086] As an example, each candidate frequency band can be preset with a corresponding second threshold. The wind turbine can be pitch controlled based on a uniform pitch angle when the target amplitude in the target frequency band meets the corresponding second threshold and the second preset condition.

[0087] In this step, it can be determined whether the relationship between the target amplitude and the second threshold in each target frequency band meets the second preset condition. Here, the second preset condition can be, for example, that the target amplitude is less than the second threshold. However, it is not limited to this. Other preset conditions can also be set according to actual needs, such as the ratio of the target amplitude to the second threshold being less than a preset ratio.

[0088] Here, the second threshold can be less than the first threshold for the corresponding target frequency band. As an example, the second threshold can be pre-defined for each candidate frequency band, and the second threshold for different candidate frequency bands can be the same or different.

[0089] Specifically, with independent pitch control enabled, pitch control of the turbine can be performed based on a unified pitch angle and the aforementioned additional pitch angle. During this process, vibration data can continue to be collected, and the data can be truncated, analyzed using FFT, etc., to further determine the target amplitude of the target frequency band. Since the vibration condition of the turbine may change, for example, the vibration amplitude may decrease, causing the target amplitude of the target frequency band to change from satisfying a first preset condition with a first threshold to satisfying a second preset condition with a second threshold. For example, it may change from being greater than the first threshold to being less than the second threshold. If the second preset condition is met with the second threshold, vibration suppression can be discontinued. For example, the independent pitch control function can be turned off, and blade pitch can be controlled only based on the unified pitch angle.

[0090] Here, when the target amplitude in all target frequency bands meets the second preset condition with the second threshold, the independent pitch control function can be completely turned off, and the unit can resume unified pitch control.

[0091] By setting a second threshold, the independent pitch control function can remain enabled after the target amplitude meets the first preset condition from the first threshold, until the target amplitude further decreases to meet the second preset condition from the second threshold. Only then will the independent pitch control be disabled and unified pitch control be adopted. This avoids frequent switching of pitch control modes due to fluctuations in the target amplitude around the first threshold. However, this disclosure is not limited to this. Pitch control can also be applied to the wind turbine generator based on a unified pitch angle when the target amplitude within the target frequency range does not meet the first preset condition, such as being less than the corresponding first threshold.

[0092] Furthermore, in embodiments of this disclosure, independent pitch control may determine the additional pitch angle based solely on the independent pitch control quantity used to suppress wind turbine vibration, but it is not limited to this; it may also combine other pitch control requirements to determine the additional pitch angle.

[0093] For example, the additional pitch angle for independent pitch control can also be calculated by combining the impeller azimuth control requirements. Specifically, the additional pitch angle can be determined as follows: obtain the target impeller azimuth; determine the additional pitch angle based on the target impeller azimuth and the independent pitch control quantity.

[0094] Here, the target impeller azimuth angle can be the position of the maximum pitch angle set according to actual needs. In this case, the additional pitch angle can be determined based on the target impeller azimuth angle and the independent pitch control quantity.

[0095] For example, taking the above equations (1), (2), and (3) as examples, when the target impeller azimuth angle is set, the additional pitch angle of the three blades can be expressed by the following equations (4), (5), and (6):

[0096]

[0097]

[0098]

[0099] Where B1_extra, B2_extra, and B3_extra represent the additional pitch angles of the three blades, 'a' represents the independent pitch control amplitude, and 'f' represents the independent pitch control frequency. Indicates the azimuth angle of the target impeller.

[0100] Based on the above method, independent pitch control for vibration suppression can be combined with other pitch controls so that existing or future pitch control functions are not affected when using the vibration suppression method of this disclosure.

[0101] The following will combine Figure 4 and Figure 5 An example of applying a vibration suppression method according to exemplary embodiments of the present disclosure is given in detail.

[0102] Figure 4 An example of a vibration suppression algorithm in a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown.

[0103] like Figure 4 As shown, in step S401, vibration data can be acquired, for example, vibration data of the unit over a period of time can be extracted.

[0104] In step S402, the vibration data can be transformed in the frequency domain to obtain frequency data.

[0105] In steps S403a, S403b and S403c, the target amplitude in each candidate frequency band can be calculated, for example, the target amplitude in candidate frequency band s1, candidate frequency band s2 and candidate frequency band s3 can be calculated.

[0106] In steps S404a, S404b and S404c, it can be determined whether the target amplitude and the corresponding first threshold satisfy the first preset condition. For example, whether the target amplitude in candidate frequency segment s1 and the first threshold t11 satisfy the first preset condition, whether the target amplitude in candidate frequency segment s2 and the first threshold t12 satisfy the first preset condition, and whether the target amplitude in candidate frequency segment s3 and the first threshold t13 satisfy the first preset condition.

[0107] If the target amplitude and the corresponding first threshold do not meet the first preset condition, the process can return to step S401 to continue acquiring vibration data.

[0108] In response to the target amplitude and the corresponding first threshold satisfying the first preset condition, in steps S405a, S405b, and S405c, it can be determined whether the target frequency corresponding to the target amplitude is within a preset interval, for example, whether the target frequency of each candidate frequency segment is within the corresponding preset interval r1, preset interval r2, and preset interval r3. If the target frequency corresponding to the target amplitude is not within the preset interval, the process can return to step S401 to continue acquiring vibration data.

[0109] In response to the target frequency corresponding to the target amplitude being within a preset range, independent pitch control can be activated in steps S406a, S406b, and S406c, and the independent pitch control amount can be determined. For example, if the target frequencies of candidate frequency segments s1, s2, and s3 are all within the corresponding preset range, independent pitch control 1, independent pitch control 2, and independent pitch control 3 can be activated respectively, and the independent pitch control amounts q1, q2, and q3 can be determined respectively.

[0110] When independent pitch control is enabled, in steps S407a, S407b, and S407c, it can be determined whether the target amplitude and the second threshold satisfy the second preset condition. For example, it can be determined whether the target amplitudes of candidate frequency bands s1, s2, and s3 satisfy the second preset condition with the corresponding second thresholds t21, t21, and t23, respectively. If the target amplitude and the second threshold do not satisfy the second preset condition, the process can return to step S401 to continue acquiring vibration data.

[0111] In response to the target amplitude and the second threshold satisfying the second preset condition, the independent pitch control can be turned off in steps S408a, S408b and S408c. For example, when the target amplitudes of candidate frequency bands s1, s2 and s3 all satisfy the second preset condition with the corresponding second threshold, the independent pitch control 1, 2 and 3 can be turned off.

[0112] Figure 5 An example of an independent pitch control algorithm in a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown.

[0113] like Figure 5 As shown, step S501 can correspond to Figure 4 In steps S406a, S406b and S406c, the independent pitch control quantities are determined, such as independent pitch control quantity q1, independent pitch control quantity q2 and independent pitch control quantity q3.

[0114] In steps S502a, S502b, and S502c, the additional pitch angles of each blade can be determined. Taking a three-bladed unit as an example, the additional pitch angles B1_extra, B2_extra, and B3_extra of blades 1, 2, and 3 can be determined.

[0115] In steps S503a, S503b, and S503c, the pitch angle setpoint for each blade can be determined to control the blade pitch. Taking a three-bladed unit as an example, the pitch angle setpoints B1, B2, and B3 for blades 1, 2, and 3 can be determined.

[0116] Step S504 can correspond to Figure 4 In steps S407a, S407b, and S407c, if the target amplitude and the second threshold satisfy the second preset condition, the independent pitch control can be turned off and the unified pitch control can be restored. That is, the additional pitch angles B1_extra, B2_extra, and B3_extra are all 0, and the pitch angle setpoints B1, B2, and B3 are all unified pitch angles θ.

[0117] The above describes a vibration suppression method for wind turbine generators according to the present disclosure. This method can determine the target amplitude in each candidate frequency band, and when there is a target frequency band where the target amplitude and a first threshold satisfy a first preset condition, it can perform pitch control on the wind turbine generator based on the independent pitch control quantity corresponding to each target frequency band to suppress the vibration of the wind turbine generator. Compared with vibration suppression schemes in related technologies, the method of the present disclosure, by considering the independent pitch control quantity used to suppress vibration, can effectively suppress generator vibration with almost no impact on power generation, achieving a better suppression effect.

[0118] Furthermore, the vibration suppression method for wind turbine generators disclosed herein can take into account the amplitude of multiple candidate frequency bands and respond to target frequency bands with vibration risks among these candidate frequency bands. Compared with considering the vibration risk of the entire frequency band as a whole, the method disclosed herein can assess vibration risk more specifically and accurately, thereby improving the vibration suppression effect.

[0119] Figure 6 and Figure 7 A schematic diagram showing the result of vibration suppression using a vibration suppression method for a wind turbine generator set according to an exemplary embodiment of the present disclosure is provided.

[0120] Taking a three-bladed wind turbine as an example, such as Figure 6 As shown, before 175 seconds, the wind turbine's independent pitch function was not activated, the nacelle's lateral acceleration gradually increased, showing a divergent trend, and the vibration frequency was high. At 175 seconds, the nacelle's lateral acceleration reached the threshold, and the wind turbine activated its independent pitch function (e.g., Figure 7 (As shown). Here, the unit of lateral acceleration of the cabin is g, g = 9.87 m / s². 2 .

[0121] After enabling the independent pitch function, such as Figure 6 As shown, the lateral acceleration of the nacelle gradually decreases and converges significantly. In the time interval of 500 to 600 seconds, the high-frequency component of the lateral acceleration of the nacelle is very insignificant, and the signal exhibits low-frequency vibration characteristics. This low-frequency vibration, such as the first-order frequency of the tower, is a normal vibration phenomenon.

[0122] Depend on Figure 6 and Figure 7 It is evident that the vibration suppression method for wind turbine generator sets according to exemplary embodiments of the present disclosure, after introducing independent pitch control, can effectively suppress the vibration of the generator set and improve its safety.

[0123] According to a second aspect of this disclosure, a computer device is provided, the computer device comprising: at least one processor; at least one memory storing computer-executable instructions, wherein the computer-executable instructions, when executed by the at least one processor, cause the at least one processor to perform a vibration suppression method for a wind turbine generator according to an exemplary embodiment of this disclosure.

[0124] As an example, a computer device can be a PC, tablet, personal digital assistant, smartphone, or other device capable of executing the aforementioned set of instructions. Here, a computer device is not necessarily a single electronic device, but can be any collection of devices or circuits capable of executing the aforementioned instructions (or instruction sets) individually or in combination. A computer device can also be part of an integrated control system or system manager, or can be configured to interface with a portable electronic device locally or remotely (e.g., via wireless transmission).

[0125] In computer devices, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a programmable logic device, a dedicated processor system, a microcontroller, or a microprocessor. By way of example and not limitation, a processor may also include an analog processor, a digital processor, a microprocessor, a multi-core processor, a processor array, a network processor, etc.

[0126] The processor can execute instructions or code stored in memory, which can also store data. Instructions and data can also be sent and received over a network via a network interface device, which can employ any known transport protocol.

[0127] Memory can be integrated with the processor; for example, RAM or flash memory can be housed within an integrated circuit microprocessor. Alternatively, memory can comprise a separate device, such as an external disk drive, storage array, or other storage device that can be used by any database system. Memory and processor can be operatively coupled, or can communicate with each other, for example, via I / O ports, network connections, etc., enabling the processor to read files stored in the memory.

[0128] In addition, computer equipment may include video displays (such as liquid crystal displays) and user interaction interfaces (such as keyboards, mice, touch input devices, etc.). All components of a computer device may be interconnected via buses and / or networks.

[0129] According to a third aspect of this disclosure, a wind turbine generator set is provided, which may include the computer equipment described in the exemplary embodiments of this disclosure.

[0130] For example, the computer device can be installed in the control system of a wind turbine generator set to control the pitch of the generator set.

[0131] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided that, when instructions in the computer-readable storage medium are executed by at least one processor, causes the at least one processor to perform a vibration suppression method for a wind turbine generator according to an exemplary embodiment of this disclosure.

[0132] The vibration suppression method for wind turbine generator sets according to embodiments of this disclosure can be programmed into a computer program and stored on a computer-readable storage medium. Examples of computer-readable storage media include: read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disc storage, hard disk drive (HDD), solid-state drive (SSD), card storage (such as multimedia cards, secure digital (SD) cards, or ultra-fast digital (XD) cards), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, and any other device configured to store a computer program and any associated data, data files, and data structures in a non-transitory manner and to provide the computer program and any associated data, data files, and data structures to a processor or computer so that the processor or computer can execute the computer program. In one example, the computer program and any associated data, data files, and data structures are distributed across a networked computer system, such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed manner through one or more processors or computers.

[0133] The specific embodiments of this disclosure have been described in detail above. Although some embodiments have been shown and described, those skilled in the art should understand that modifications and variations can be made to these embodiments without departing from the principles and spirit of this disclosure, which are defined by the claims and their equivalents. Such modifications and variations should also be within the protection scope of the claims of this disclosure.

Claims

1. A method of vibration suppression of a wind turbine, characterized in that, The vibration suppression method comprises: performing frequency domain transformation on vibration data of the wind turbine generator set to obtain frequency domain data; determining a target amplitude of each candidate frequency segment in a plurality of candidate frequency segments according to the frequency domain data, wherein each candidate frequency segment is pre-provided with a first threshold value corresponding thereto; in response to the presence of a target frequency segment in the plurality of candidate frequency segments, determining an independent pitch control amount for suppressing vibration of the wind turbine generator set within the target frequency segment, wherein the target frequency segment is a candidate frequency segment whose target amplitude and first threshold value satisfy a first preset condition; based on the independent pitch control amount corresponding to each target frequency segment, performing pitch control on the wind turbine generator set to suppress vibration of the wind turbine generator set, wherein the step of performing pitch control on the wind turbine generator set based on the independent pitch control amount corresponding to each target frequency segment comprises: in response to the target frequency segment being multiple, determining an independent pitch control amount corresponding to each target frequency segment; based on the independent pitch control amount, determining a target pitch angle corresponding to each target frequency segment; superimposing the target pitch angles of all target frequency segments to obtain an additional pitch angle; based on the additional pitch angle, performing pitch control on the wind turbine generator set, wherein, in response to the sum of the superimposition of the target pitch angles of all target frequency segments being greater than a pitch angle threshold value, the pitch angle threshold value is taken as the additional pitch angle.

2. The vibration suppression method according to claim 1, characterized by, The vibration suppression method further comprises: in response to a target frequency corresponding to the target amplitude of the target frequency segment being within a preset interval in the target frequency segment, performing the step of performing pitch control on the wind turbine generator set based on the independent pitch control amount corresponding to each target frequency segment, wherein the preset interval contains the natural frequency of the wind turbine generator set within the target frequency segment.

3. The vibration suppression method according to claim 1, characterized by, The first threshold value of each candidate frequency segment is determined based on the amplitude corresponding to the natural frequency of the wind turbine generator set within the candidate frequency segment, wherein the first threshold value is less than the amplitude corresponding to the natural frequency within the corresponding candidate frequency segment.

4. The vibration suppression method according to claim 1, characterized by, The independent pitch control amount is determined in the following manner: determining the independent pitch control amount associated with the target frequency corresponding to each target amplitude according to a preset relationship between the natural frequency of the wind turbine generator set within each target frequency segment and the independent pitch control amount.

5. The vibration suppression method according to claim 1, characterized by, Each candidate frequency segment is pre-provided with a corresponding second threshold value, wherein the vibration suppression method further comprises: in response to the target amplitude within the target frequency segment and the corresponding second threshold value satisfying a second preset condition, performing pitch control on the wind turbine generator set based on a unified pitch angle of unified pitch control on the wind turbine generator set, wherein the second threshold value is less than the first threshold value.

6. The vibration suppression method according to claim 1, characterized by, The target pitch angle is determined in the following manner: obtaining a target blade azimuth angle; based on the target blade azimuth angle and the independent pitch control amount, determining the target pitch angle.

7. The vibration suppression method according to any one of claims 1 to 6, characterized by, The plurality of candidate frequency segments comprises a frequency segment of a first-order natural frequency within a blade face of the wind turbine generator set and a frequency segment of a second-order natural frequency within the blade face, The target amplitude is a highest amplitude in the corresponding candidate frequency band. The independent pitch control quantity comprises an independent pitch control frequency and / or an independent pitch control amplitude. The vibration data is determined based on at least one of nacelle acceleration data, blade root load data, blade vibration data, pitch drive torque data of an electric pitch system, and oil cylinder pressure data of a hydraulic pitch system of the wind turbine generator.

8. The vibration suppression method according to any one of claims 1 to 6, characterized by, The step of performing the pitch control on the wind turbine generator based on the additional pitch angle comprises: performing the pitch control on the wind turbine generator based on the additional pitch angle and a unified pitch angle of performing the unified pitch control on the wind turbine generator.

9. A computer device, comprising: comprise: at least one processor; at least one memory storing computer executable instructions, wherein the computer executable instructions, when executed by the at least one processor, cause the at least one processor to perform the wind turbine generator vibration suppression method according to any one of claims 1-8.

10. A wind power unit, characterized in that The wind turbine generator comprises the computer device according to claim 9.

11. A computer readable storage medium, characterized in that, The computer readable storage medium, when executed by the at least one processor, causes the at least one processor to perform the wind turbine generator vibration suppression method according to any one of claims 1-8.

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