Simulation variable pitch system-based data processing method, device, equipment and medium

Abstract

The invention discloses a data processing method, device and equipment based on a simulation variable pitch system and a medium, and relates to the field of wind power generation. The method comprises the following steps: obtaining a first electromagnetic torque of a variable-pitch motor by using an equivalent model of the variable-pitch motor under closed-loop control in a simulation variable-pitch system; performing mechanical model simulation according to the transmission design structure of the wind generating set to obtain the output torque of the simulation variable pitch system; according to the first electromagnetic torque and the output torque, the operation action of the variable-pitch motor is simulated; under the condition of simulating the operation action of the variable-pitch motor, simulation data generated by the simulation variable-pitch system are obtained, and the wind generating set is detected or controlled through the simulation data. According to the embodiment of the invention, the accuracy of detecting and controlling the wind generating set by utilizing the simulation data is improved.

Description

Technical Field

[0001] The present application relates to the field of wind power generation, and in particular to a data processing method, device, equipment and medium based on a simulation variable pitch system. Background Art

[0002] As society continues to develop, the demand for energy is gradually increasing. The storage capacity of non-renewable energy such as oil, coal, and natural gas is decreasing. In order to meet the demand for energy, renewable energy has become one of the key research directions. Due to the huge amount of wind energy, wind power generation technology has been vigorously promoted.

[0003] In the process of designing a wind turbine or in scenarios where the parameters generated by a wind turbine are needed to provide data support, the wind turbine can be simulated and the simulated wind turbine can be used to obtain relevant data. The pitch system is one of the important components of a wind turbine. The simulation of the pitch system will use a first-order filter or a second-order filter to filter the pitch command or process the input command by setting a curve, and use the simulation result as the feedback signal of the blade position. However, in the actual operation of a wind turbine, the blade position feedback of the pitch system is affected by many factors. At present, the simulation accuracy of the pitch system is low, and the actual pitch action of the pitch system cannot be reproduced, resulting in low accuracy of other functions provided by the simulated pitch system. Summary of the invention

[0004] The embodiments of the present application provide a data processing method, device, equipment and medium based on a simulated pitch system, which can improve the accuracy of simulation data generated by the simulated pitch system, thereby improving the accuracy of detection and control of wind turbines using the simulation data.

[0005] In a first aspect, an embodiment of the present application provides a data processing method based on a simulated pitch system, including: using an equivalent model of a pitch motor under closed-loop control in a simulated pitch system to obtain a first electromagnetic torque of the pitch motor; performing mechanical model simulation according to a transmission design structure of the wind turbine generator set to obtain an output torque of the simulated pitch system; simulating the operating action of the pitch motor according to the first electromagnetic torque and the output torque; while simulating the operating action of the pitch motor, obtaining simulation data generated by the simulated pitch system, and using the simulation data to detect or control the wind turbine generator set.

[0006] In the second aspect, an embodiment of the present application provides a data processing device based on a simulated pitch system, including: an electromagnetic torque determination module, which is used to use the equivalent model of the pitch motor under closed-loop control in the simulated pitch system to obtain the first electromagnetic torque of the pitch motor; an output torque determination module, which is used to perform mechanical model simulation according to the transmission design structure of the wind turbine generator set to obtain the output torque of the simulated pitch system; a reproduction module, which is used to simulate the operating action of the pitch motor according to the first electromagnetic torque and the output torque; and a function execution module, which is used to obtain simulation data generated by the simulated pitch system when simulating the operating action of the pitch motor, and use the simulation data to detect or control the wind turbine generator set.

[0007] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the data processing method based on the simulated variable pitch system of the first aspect is implemented.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the data processing method based on a simulated variable pitch system of the first aspect is implemented.

[0009] The embodiment of the present application provides a data processing method, device, equipment and medium based on a simulated pitch system, which can obtain the electromagnetic torque of the pitch motor by using the equivalent model of the pitch motor in the closed-loop control of the simulated pitch system before simulating the action of the pitch motor, and perform mechanical model simulation according to the transmission design structure of the wind turbine generator set, so as to obtain the output torque of the simulated pitch system. According to the obtained electromagnetic torque and output torque, the action of the pitch motor is simulated, and it is no longer dependent on the filtering of the pitch command by the first-order filter or the second-order filter or the method of setting a curve to simulate the action of the pitch motor. The operation of the pitch motor is closely related to the electromagnetic torque and the output torque. The operating action of the pitch motor simulated according to the electromagnetic torque and the output torque is very close to the actual operating action of the pitch motor, and can basically reproduce the actual operating action of the pitch motor, thereby improving the accuracy of the pitch motor simulation. Correspondingly, the simulation data generated by the simulated pitch system obtained when simulating the operating action of the pitch motor is also very close to the actual data generated by the actual pitch system, with high accuracy, thereby improving the accuracy of detection and control of the wind turbine generator set achieved using the simulation data. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] Figure 1 A flow chart of a data processing method based on a simulated pitch control system provided in one embodiment of the present application;

[0012] Figure 2 A schematic diagram of an example of an equivalent model provided in an embodiment of the present application;

[0013] Figure 3 A flowchart of a data processing method based on a simulated pitch system provided in another embodiment of the present application;

[0014] Figure 4 A schematic diagram of a portion of an equivalent circuit of an embedded permanent magnet synchronous motor provided in an embodiment of the present application;

[0015] Figure 5 A schematic diagram of another part of the equivalent circuit of the embedded permanent magnet synchronous motor provided in an embodiment of the present application;

[0016] Figure 6 A schematic diagram of an example of a motor model provided in an embodiment of the present application;

[0017] Figure 7 A schematic diagram of an example of an electromagnetic torque generation model provided in an embodiment of the present application;

[0018] Figure 8 A schematic diagram of an example of closed-loop control of a pitch system provided in an embodiment of the present application;

[0019] Fig. 9 A schematic diagram of an example of a closed-loop control modeling model provided in an embodiment of the present application;

[0020] Fig.10 A schematic diagram of an example of a surface-mounted permanent magnet synchronous motor provided in an embodiment of the present application;

[0021] Fig.11 A schematic diagram of an example of an embedded permanent magnet synchronous motor provided in an embodiment of the present application;

[0022] Fig.12 A flowchart of a data processing method based on a simulated pitch system provided in another embodiment of the present application;

[0023] Fig.13 A schematic diagram of an example of a model for at least partially simulating a pitch control system provided in an embodiment of the present application;

[0024] Fig.14 A schematic diagram of the structure of a data processing device based on a simulated pitch control system provided in one embodiment of the present application;

[0025] Fig.15A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0027] With the continuous development of society, the demand for energy is gradually increasing. The storage capacity of non-renewable energy such as oil, coal, and natural gas is decreasing. In order to meet the demand for energy, renewable energy has become one of the key research directions. Due to the huge amount of wind energy, wind power generation technology has been vigorously promoted. In the process of designing a wind turbine or in a scenario where the parameters generated by a wind turbine are needed to provide data support, the wind turbine can be simulated and the relevant data can be obtained using the simulated wind turbine. The variable pitch system is one of the important components of a wind turbine. The simulation of the variable pitch system will use a first-order filter or a second-order filter to filter the variable pitch command or process the input command by setting a curve, and use the simulation result as the feedback signal of the blade position. However, in the actual operation of the wind turbine, the blade position feedback of the variable pitch system is affected by many factors. At present, the simulation accuracy of the variable pitch system is low, and the actual variable pitch action of the variable pitch system cannot be reproduced, resulting in the low accuracy of the simulation data generated by the simulated variable pitch system, which makes the accuracy of other functions that use simulation data as data support also low.

[0028] The embodiments of the present application provide a data processing method, device, equipment and medium based on a simulated pitch system, which can use an equivalent model of the pitch motor to simulate the electromagnetic torque of the pitch motor, and perform mechanical model simulation according to the transmission design structure of the wind turbine generator set to obtain the output torque of the pitch motor. According to the electromagnetic torque obtained by simulation and the output torque obtained by mechanical model simulation, the operation of the pitch motor can be simulated. The operation of the pitch motor, such as blade position feedback or pitch speed feedback, is jointly determined by the interaction between the electromagnetic torque and the output torque. Through the electromagnetic torque obtained by simulation and the output torque obtained by simulation, the simulation of the pitch motor can reproduce the actual action of the pitch motor, thereby making the simulation data generated by the simulated pitch system more accurate, and using the simulation data to detect or control the wind turbine generator set is also more accurate.

[0029] The data processing method, device, equipment and medium based on the simulated variable pitch system provided in this application are described below.

[0030] The first aspect of the present application provides a data processing method based on a simulated pitch system, which can be applied to a scenario in which a pitch system is simulated. The data processing method based on a simulated pitch system can be executed by a data processing device, electronic equipment, etc. of the simulated pitch system, and is not limited here. Figure 1 A flowchart of a data processing method based on a simulated pitch system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the data processing method based on the simulation pitch system may include steps S101 to S104.

[0031] In step S101, the first electromagnetic torque of the pitch motor is obtained by using an equivalent model of the pitch motor of the closed-loop control in the simulation pitch system.

[0032] The electromagnetic torque of the pitch motor is determined by the physical characteristics of the pitch motor, the control strategy of the servo starter or the inverter, and related parameters. An equivalent model of the pitch motor can be established in advance, and the equivalent model of the pitch motor can simulate a series of processes from three-phase voltage drive to the pitch motor generating electromagnetic torque. The equivalent model is a closed-loop control model, and the electromagnetic torque output by the equivalent model and the pitch speed and blade position corresponding to the pitch motor in the equivalent model under the electromagnetic torque can be used as feedback information to participate in the control of the pitch motor. The simulation pitch system includes the equivalent model.

[0033] Data related to the drive of the variable pitch motor can be obtained, and the equivalent model is used to convert, calculate, and process the data related to the drive of the variable pitch motor to obtain a first electromagnetic torque. The first electromagnetic torque is the electromagnetic torque of the variable pitch motor obtained using the equivalent model of the variable pitch motor. Since the equivalent model takes into account the physical characteristics and closed-loop control strategy of the variable pitch motor, the first electromagnetic torque obtained is relatively accurate and close to the electromagnetic torque of the variable pitch motor in actual conditions.

[0034] In step S102, a mechanical model simulation is performed according to the transmission design structure of the wind turbine generator set to obtain the output torque of the simulated variable pitch system.

[0035] The mechanical model of the transmission design structure of the wind turbine generator set is related to the load torque of the pitch system. The load torque of the pitch system is related to the generalized force of the blade root coordinate system, the friction torque of the pitch bearing, the equivalent dynamic rotational inertia of the blade, etc. The mechanical model can characterize the correlation between the output torque of the pitch system and the load torque of the pitch system. The simulation pitch system can include the mechanical model.

[0036] The transmission design structures of different wind turbines may be different, and the mechanical models of different transmission design structures are also different. For example, if the transmission design structure of the wind turbine includes a reduction box, the mechanical model needs to consider parameters such as the reduction ratio of the reduction box; if the transmission design structure of the wind turbine does not include a reduction box, the mechanical model does not need to consider parameters such as the reduction ratio of the reduction box.

[0037] According to the transmission design structure, a mechanical model can be set for simulation, and the output torque of the simulated variable pitch system can be obtained according to the simulation results of the mechanical model corresponding to the transmission design structure of the wind turbine generator set. The output torque of the simulated variable pitch system may include the output torque of the motor shaft of the variable pitch motor. The output torque of the simulated variable pitch system obtained by the mechanical model is very close to the output torque of the actual variable pitch system, and can basically reproduce the output torque of the actual variable pitch system.

[0038] In step S103, the operation of the pitch motor is simulated according to the first electromagnetic torque and the output torque.

[0039] Electromagnetic torque and output torque are two major factors that affect the operation of the pitch motor. According to the first electromagnetic torque and output torque obtained in the above steps, the operation of the pitch motor can be simulated. The above steps S101 and S102 can be implemented by a software program, that is, before simulating the operation of the pitch motor, load the software program that can implement steps S101 and S102 to obtain the first electromagnetic torque and output torque. The operation of the pitch motor is simulated according to the first electromagnetic torque and the output torque, and no longer relies on the filtering of the pitch command by the first-order filter or the second-order filter or the method of setting the curve to simulate the operation of the pitch motor. The operation of the pitch motor simulated according to the first electromagnetic torque obtained in the above step S101 and the output torque obtained in the above step S102 is more accurate than relying on the filtering of the pitch command by the first-order filter or the second-order filter or the simulation of the pitch motor by setting the curve, and can basically reproduce the actual operation of the pitch motor.

[0040] More accurate pitch simulation can provide a basis for design optimization and cost reduction of wind turbines, and can improve the actual efficiency of wind turbines. Simulation data can be used to better design, detect and control wind turbines, thereby reducing the cost of designing, detecting and controlling wind turbines.

[0041] In step S104, when simulating the operation of the pitch motor, simulation data generated by the simulated pitch system is obtained, and the wind turbine generator set is detected or controlled using the simulation data.

[0042] The simulation data generated by the simulated pitch system obtained when simulating the operation of the pitch motor is very similar to the data generated by the pitch system when the actual pitch motor is running, that is, the simulation data generated by the simulated pitch system is more accurate, and the simulation data can be used to provide data support for the detection or control of the wind turbine. In some examples, the detection or control of the wind turbine may include one or more of the following: detection of the lubrication condition of the pitch bearing, independent pitch control, detection of extreme working conditions of the wind turbine, detection of blade stall, etc., but it should be noted that the detection or control of the wind turbine here is not limited to the above types.

[0043] Since the accuracy of simulation data is high, the accuracy of detecting or controlling wind turbines using simulation data is also improved. Moreover, using simulation data to detect or control wind turbines can also reduce the difficulty and cost of obtaining the data required for detecting or controlling wind turbines. For example, some data required for detecting or controlling wind turbines need to be obtained by installing sensors. In the embodiment of the present application, there is no need to install sensors, and the data required for detecting or controlling wind turbines can be obtained from the simulation pitch control system, saving the cost of installing sensors and the technical difficulty of installing sensors.

[0044] In the embodiment of the present application, before simulating the action of the pitch motor, the equivalent model of the pitch motor of the closed-loop control in the simulated pitch system can be used to obtain the electromagnetic torque of the pitch motor, and the mechanical model simulation is performed according to the transmission design structure of the wind turbine generator set to obtain the output torque of the simulated pitch system. According to the obtained electromagnetic torque and output torque, the action of the pitch motor is simulated, and it no longer depends on the filtering of the pitch command by the first-order filter and the second-order filter or the method of setting the curve to simulate the action of the pitch motor. The operation of the pitch motor is closely related to the electromagnetic torque and the output torque. The operation of the pitch motor simulated according to the electromagnetic torque and the output torque is very close to the actual operation of the pitch motor, and the actual operation of the pitch motor can be basically reproduced, which improves the accuracy of the pitch motor simulation. Correspondingly, the simulation data generated by the simulated pitch system obtained under the condition of simulating the operation of the pitch motor is also very close to the actual data generated by the actual pitch system, and the accuracy is high, so that the accuracy of the detection and control of the wind turbine generator set realized by the simulation data is also improved.

[0045] In some embodiments, the equivalent model may include a power conversion model, a motor model, and an electromagnetic torque generation model. Figure 2 The equivalent model including the power conversion model 21, the motor model 22 and the electromagnetic torque generation model 23 in the embodiment of the present application is shown below. Figure 2 and Figure 3The use of the power conversion model 21 , the motor model 22 , and the electromagnetic torque generation model 23 will be described. Figure 3 This is a flow chart of a data processing method based on a simulated pitch system provided in another embodiment of the present application. Figure 3 and Figure 1 The difference is that Figure 1 Step S101 in the above example can be specifically broken down into the following steps: Figure 3 Steps S1011 to S1013 in .

[0046] In step S1011, a power conversion model is used to convert the first three-phase voltage driving the variable pitch motor and the acquired motor angle to obtain a first AC-DC axis voltage.

[0047] The first three-phase voltage may include a three-phase voltage for driving the pitch motor. The power conversion model 21 is used for converting the three-phase AC power supply and the AC-DC power supply, and can convert the three-phase AC voltage into the AC-DC voltage. a 、v b 、v c and motor angle β e Input power conversion model 21, the power conversion model can convert the first three-phase voltage v a 、v b 、v c The first AC-DC voltage may include a first d-axis voltage v d and the first q-axis voltage v q . Motor angle β e is the angle of the pitch motor, which can be a set value and is not limited here. In some examples, the power conversion model 21 can realize the first three-phase voltage v by the following formula (1): a 、v b 、v c and the first AC-DC voltage v d 、v q Conversion:

[0048]

[0049] In step S1012, the first AC- and DC-axis voltage and the acquired synchronous speed of the motor are processed using the motor model to obtain a first AC- and DC-axis current.

[0050] The first AC-axis voltage may include a first d-axis voltage v d and the first q-axis voltage v q , correspondingly, the first AC-axis current may include a first d-axis current i d and the first q-axis current i q .like Figure 2 As shown, the first AC-DC voltage v d 、vq Synchronous speed with motor ω e Input the motor model and use the motor model to calculate the first AC and DC axis voltage v d 、v q Synchronous speed with motor ω e After calculation, the first AC-DC axis current i can be obtained. d 、i q .

[0051] The motor model can be established according to the type of the variable pitch motor. For example, the variable pitch motor may include an embedded permanent magnet synchronous motor, that is, a salient pole permanent magnet synchronous motor, and the inductances of the AC and DC axes of the embedded permanent magnet synchronous motor are not equal. Figure 4 An equivalent circuit of an embedded permanent magnet synchronous motor related to a d-axis voltage and a d-axis current is shown, and the equivalent circuit includes an equivalent electromotive force 221 , a resistor 222 , an equivalent power source 223 , and a d-axis inductor 224 . Figure 5 The equivalent circuit of the embedded permanent magnet synchronous motor related to the q-axis voltage and the q-axis current is shown, and the equivalent circuit includes an equivalent electromotive force 225, an equivalent electromotive force 226, a resistance 227, an equivalent power source 228 and a q-axis inductance 229. Figure 4 and Figure 5 It can be obtained that the relationship between the d-axis voltage and the d-axis current in the motor model can be shown as follows:

[0052]

[0053]

[0054] Among them, u d is the first d-axis voltage; R s is the resistance value of the resistor 222 and the resistor 227; i d is the first d-axis current; L d is the inductance value of the d-axis inductor 224; ω e is the synchronous speed of the motor; L q is the inductance value of the q-axis inductor 229; i q is the first q-axis current; u q is the first q-axis voltage; ψ f is the motor flux of the variable pitch motor. The motor model that can represent the above equations (2) and (3) can be expressed as Figure 6 As shown, Figure 6 The K in represents a coefficient. The coefficients corresponding to K at different positions may be different. For details, please refer to the relevant contents of the above formula (2) and formula (3), which will not be described here one by one.

[0055] In step S1013, the first AC- and DC-axis currents and the acquired motor flux are processed using an electromagnetic torque generation model to obtain a first electromagnetic torque.

[0056] The electromagnetic torque generation model can characterize the correlation between the AC and DC axis currents and the electromagnetic torque. The motor flux can be a set value and is not limited here. Figure 2 As shown, the first AC and DC axis current and the motor flux can be input into the electromagnetic torque, and the first AC and DC axis current and the motor flux can be calculated and processed using the electromagnetic torque to obtain the corresponding first electromagnetic torque.

[0057] In some examples, the expression of the electromagnetic torque generation model can be shown as follows (4):

[0058]

[0059] Among them, T e is the first electromagnetic torque; p is the number of pole pairs of the variable pitch motor; ψ f is the motor flux; i q is the first q-axis current; i d is the first d-axis current; L d is the d-axis inductance; L q is the q-axis inductance. The electromagnetic torque generation model that can represent the above equation (4) can be expressed as Figure 7 As shown, Figure 7 K and C in the equation represent coefficients. The specific values ​​of K and C can be obtained by referring to the above equation (4), which will not be described in detail here.

[0060] In the process of pitch control, the target blade position and / or pitch speed will be set. In order to achieve controllability of the controlled object when the load of the pitch motor changes, the pitch position or pitch speed obtained by electromagnetic torque can be used as the target blade position and / or target pitch speed feedback as input to participate in the control. In some examples, the simulated pitch system adopts a cascade control strategy, and the target given value of the speed control loop is obtained based on the difference between the target blade position and the actual blade position in the position control loop, and the target given value of the current control loop, i.e., the torque control loop, is obtained based on the difference between the target pitch speed and the actual pitch speed. The current loop can achieve decoupling of the three-phase AC voltage, the AC-DC axis voltage and the excitation winding through the conversion and reverse conversion of the above-mentioned power conversion model, thereby achieving closed-loop control of the current of the pitch motor. The cascade control strategy requires that the response speed of the inner loop is higher than that of the outer loop, that is, the frequency of the position control loop is lower than that of the speed control loop, and the frequency of the speed control loop is lower than that of the current control loop. For example, the frequency of the position control loop is 1kHz (kilohertz), the frequency of the speed control loop is 4kHz, and the frequency of the current control loop is 16kHz.

[0061] After the above-mentioned step S1013, the closed-loop control can use a preset torque regulator to adjust the obtained given electromagnetic torque and the difference between the electromagnetic torque to obtain a second AC-DC axis current; control the variable pitch motor based on the second AC-DC axis current, and obtain a first position and a first speed of the variable pitch motor; use a preset position regulator to adjust the difference between the obtained given position and the first position to obtain a given speed; use a preset speed regulator to adjust the difference between the given speed and the first speed to obtain a second electromagnetic torque, and determine the second electromagnetic torque as the given electromagnetic torque.

[0062] Figure 8 A schematic diagram of an example of closed-loop control of a pitch system provided in an embodiment of the present application is shown as follows: Figure 8 As shown, the first electromagnetic torque T obtained by using the electromagnetic torque generation model e It can be used as the actual torque value of the current control loop, and the first electromagnetic torque T e The given electromagnetic torque of the current control loop The difference between the values ​​of the current and the d-axis current is input into the torque regulator, and the second AC- and DC-axis current is obtained through processing by the torque regulator. The second AC- and DC-axis current includes the second d-axis current and the second q-axis current Specifically, the torque regulator outputs the second q-axis current Second d-axis current Can be preset or based on the second q-axis current The second d-axis current is and the second q-axis current Through the conversion of AC-DC power supply and three-phase inverter power supply ( Figure 8 The first three-phase current is obtained and The first three-phase current and The actual three-phase current i output by the inverter a 、i b and i c The difference can be used as the input of the inverter to control the inverter, and the variable pitch motor can be controlled by controlling the inverter. Here, the actual three-phase current i output by the inverter is a 、i b and i c Through the reverse transformation of AC-DC power supply and three-phase inverter power supply ( Figure 8 The first direct- and quadrature-axis current i required for calculating the first electromagnetic torque in the above embodiment can be obtained. d 、i q In this process, the first AC-DC axis current i can be obtained without calling the motor model. d 、i q, the calculation is simpler and suitable for automatic code generation. When the variable pitch motor is controlled by controlling the inverter, the blade position of the variable pitch motor at this time, i.e., the first position θ, can be obtained. r And the pitch speed of the pitch motor at this time is the first speed ω r The first position θ can be r As the actual blade position, it participates in the control of the position control loop. Specifically, the given position and the first position θ r The difference is input into the position regulator for adjustment, and the given speed output by the position regulator is obtained. The first speed ω r As the actual pitch speed, it participates in the control of the speed control loop. Specifically, the given speed With the first speed ω r The difference is input into the speed regulator for adjustment processing to obtain the second electromagnetic torque output by the speed regulator The second electromagnetic torque It can be used as a given electromagnetic torque to participate in the next closed-loop control.

[0063] Figure 8 The closed-loop control shown can also be implemented through modeling. The current control loop can be implemented by PI (i.e. proportional integral) control, PID (i.e. proportional integral differential) control or phase-locked loop, the position control loop can be implemented by PI control or PID control, and the speed control loop can also be implemented by PI control or PID control. For example, Fig. 9 The figure shows the modeling model of the current control loop, speed control loop and position control loop all using PI control, where PI is the PI controller; limit is the limit processor; u 2 represents the square of the input; Indicates the square root of the input; u v represents the input to the power of v; u v The icon after the transmission indicates the switch. The output of the switch is connected to the i d The difference is used as the input of the PI controller and is transmitted to the next icon (i.e. Fig. 9 The icon with the arrow in the box indicates the first-order delay of the algebraic loop. The output of the icon enters the multiplier on the one hand and is input to u on the other hand. 2 ; C and K are coefficients and can be set according to requirements; the physical meanings of other parameters can be found above and will not be elaborated here.

[0064] In some examples, the pitch motor may include a surface-mounted permanent magnet synchronous motor (ie, a non-salient pole permanent magnet synchronous motor) or an embedded permanent magnet synchronous motor (ie, a salient pole permanent magnet synchronous motor). Fig.10A schematic diagram of an example of a surface-mounted permanent magnet synchronous motor provided in an embodiment of the present application, Fig.11 A schematic diagram of an example of an embedded permanent magnet synchronous motor provided in an embodiment of the present application is shown as follows: Fig.10 and Fig.11 As shown, the surface-mounted permanent magnet synchronous motor may include a rotating shaft 311, a rotor 312, a stator 313, a permanent magnet 314 and a stator winding 315, and the embedded permanent magnet synchronous motor may include a rotating shaft 321, a rotor 322, a stator 323, a permanent magnet 324 and a stator winding 325, wherein the permanent magnet 314 of the surface-mounted permanent magnet synchronous motor is arranged differently from the permanent magnet 324 of the embedded permanent magnet synchronous motor. The types of variable pitch motors are different, and the corresponding distribution of the first d-axis current and the first q-axis current is also different.

[0065] In the case where the variable pitch motor includes a surface-mounted permanent magnet synchronous motor, since the equivalent quadrature-axis inductance (i.e., equivalent q-axis inductance) and equivalent direct-axis inductance (i.e., equivalent d-axis inductance) of the surface-mounted permanent magnet synchronous motor are equal, the surface-mounted permanent magnet synchronous motor does not need to consider the influence of the first d-axis current, and the first d-axis current can be zero.

[0066] In the case where the variable pitch motor includes an embedded permanent magnet synchronous motor, since the equivalent quadrature-axis inductance and the equivalent direct-axis inductance of the embedded permanent magnet synchronous motor are not equal, the embedded permanent magnet synchronous motor needs to consider the influence of the first d-axis current on the overall torque. The distribution of the first d-axis current and the first q-axis current can be controlled to satisfy the maximum torque current ratio (Maximum Torque Per Ampere, MTPA). The first d-axis current can be obtained based on the Lagrange extreme value rule of the first formula and the second formula, the first formula characterizes the relationship between the stator current, the first d-axis current and the first q-axis current, and the second formula characterizes the relationship between the first electromagnetic torque, the first d-axis current and the first q-axis current.

[0067] For example, the first formula can be shown as the following formula (5), and the second formula can be obtained as the above formula (4):

[0068]

[0069] Among them, i s is the stator current; i q is the first q-axis current; i d is the first d-axis current.

[0070] The Lagrangian extreme value functions of the above equations (4) and (5) can be solved to obtain the following equations (6) and (7):

[0071]

[0072]

[0073] The physical meanings of the parameters in the above equations (6) and (7) can be found above and will not be repeated here. The modeling of controlling the distribution of the first d-axis current and the first q-axis current to satisfy the maximum torque current ratio may include: Fig. 9 The part after entering the current loop will not be described here.

[0074] In some embodiments, the output torque of the simulated pitch system and the first relationship between the simulated pitch system can be obtained according to the mechanical model corresponding to the transmission design structure, and the output torque of the simulated pitch system can be determined according to the first relationship. Fig.12 A flowchart of a data processing method based on a simulated pitch system provided in another embodiment of the present application, Fig.12 and Figure 1 The difference is that Figure 1 The step S102 in the method can be specifically divided into step S1021 and step S1022.

[0075] In step S1021, a mechanical model simulation is performed on the transmission design structure of the wind turbine generator set to obtain a first relationship between the output torque of the simulated variable pitch system and the load torque of the simulated variable pitch system.

[0076] The mechanical force of the pitch system includes a transmission force part and a load force part. The transmission part may include a reducer, a toothed belt, a gear, etc., which is not limited here. A mechanical model can be established according to the transmission design structure of the wind turbine generator set to perform simulation, thereby obtaining a first relationship. The first relationship includes the relationship between the output torque of the simulated pitch system and the load torque of the simulated pitch system.

[0077] In some examples, the load torque may include the external torque of the blade root and the friction torque of the pitch bearing. The load torque may also include the preload torque of the pitch bearing, etc., which is not limited here. For example, taking the transmission design structure as a gear transmission structure as an example, the first relationship can be expressed by the following formula (8):

[0078]

[0079]

[0080] Among them, T motor is the output torque of the simulated pitch system; i gbx is the reduction ratio of the reduction gearbox; i gear M is the reduction ratio from the pinion to the ring gear; z is the external torque at the blade root; ω is the pitch angular velocity; M friction is the friction torque of the pitch bearing; M pre is the preload torque of the pitch bearing; I gbx I is the moment of inertia of the transmission mechanism equivalent to the motor shaft of the pitch motor;blade is the equivalent moment of inertia of the blade.

[0081] The external resultant torque of the blade root can be obtained by combining gravity, starting load, etc., and can be specifically obtained from the whole machine simulation model of the wind turbine generator set. The preload torque of the variable pitch bearing can be obtained based on the parameters of the variable pitch bearing. The equivalent moment of inertia of the blade can be obtained by combining the change in moment of inertia caused by blade deformation under different operating conditions. The simulated variable pitch system may include a friction model, which can be obtained by mechanical simulation of the friction torque of the variable pitch bearing based on the coordinate system defined by the wind power design software and the wind turbine model. For example, the expression of the friction model can be shown as follows (9):

[0082]

[0083] Among them, M friction is the friction torque of the pitch bearing; v is the friction coefficient; d m is the diameter of the pitch bearing; Fr is the radial force at the blade root; F a is the radial load on the blade root; M is the vector sum of the moment Mx in the x-direction defined by the blade root coordinate system and the moment My in the y-direction defined by the blade root coordinate system. The radial force Fr at the blade root can be the vector sum of the force Fx in the x-direction defined by the blade root coordinate system and the force Fy in the y-direction defined by the blade root coordinate system. a It can be the force Fz in the z direction defined by the blade root coordinate system. The force Fx in the x direction defined by the blade root coordinate system and the moment My in the y direction defined by the blade root coordinate system are mainly affected by the aerodynamic load, and the force Fy in the y direction defined by the blade root coordinate system, the force Fz in the z direction defined by the blade root coordinate system and the moment Mx in the x direction defined by the blade root coordinate system are affected by both gravity and aerodynamic load.

[0084] The simulated variable pitch system may include a pre-trained load model, and the above-mentioned root loads may be obtained through training of the load model. In the process of training the load model, different load data training sets may be input into the load model, and the load model may be trained until the difference between the blade root load output by the load model under the influence of the load influencing parameters and the actual blade root load is within an acceptable error range. For example, the parameters w and b may be made to make the output result f(x) of the load model as close as possible to the actual blade root load by online machine learning, thereby obtaining a trained load model. The calculation of the parameters w and b may be implemented according to the following equations (10) and (11):

[0085]

[0086]

[0087] Where m is the number of blade root loads; x i is the i-th blade root load output by the load model; is the average value of m blade root loads output by the load model; i is the ith actual blade root load corresponding to the ith blade root load output by the load model.

[0088] In step S1022, the load torque involved in the simulation is obtained, and the output torque of the simulated pitch system is determined according to the obtained load torque and the first relationship.

[0089] The acquisition of the load moment involved in the simulation can refer to the relevant description in step S1021, which will not be repeated here. The load moment can be substituted into the first relationship to obtain the output moment of the simulated pitch system.

[0090] By simulating the mechanical model of the transmission design structure, a first relationship that can characterize the relationship between the load torque and the output torque is obtained, so that a relatively more accurate output torque can be obtained according to the load torque involved in the simulation, so that the simulated variable pitch motor can subsequently reproduce the actual operating action of the variable pitch motor.

[0091] By combining the equivalent model of the electromagnetic torque and the mechanical model of the output torque of the simulated pitch system, a model of at least a part of the simulated pitch system can be obtained. Fig.13 A schematic diagram of an example of a model for at least partially simulating a pitch control system provided in an embodiment of the present application, Fig.13 M pre is the preload torque of the pitch bearing, M friction is the friction torque of the pitch bearing, p is the number of pole pairs of the pitch motor, n px and n gr are the reduction ratio of the reducer and the reduction ratio of the ring gear, J pe is the moment of inertia, B pe is the system pitch damping, K pe is the stiffness of the variable pitch system, β is the pitch angle, is the first derivative of the pitch angle, is the second-order derivative of the pitch angle, Fig.13 The same structures and parameters as above can be found in the relevant descriptions in the above embodiments and will not be repeated here.

[0092] In some examples, when the simulated variable pitch system includes a friction model, the simulation data may include the friction of the variable pitch bearing, and the friction of the variable pitch bearing may be obtained through the friction model. Based on the friction of the variable pitch bearing, the friction coefficient of the variable pitch bearing is obtained, and the lubrication condition of the variable pitch bearing is determined according to the friction coefficient of the variable pitch bearing. According to the lubrication condition of the variable pitch bearing, the variable pitch bearing can be maintained and the failure of the variable pitch bearing can be prevented. Compared with the solution of installing a measuring device and determining the lubrication condition of the variable pitch bearing based on actual measurement data, the embodiment of the present application can obtain the accurate lubrication condition of the variable pitch bearing through simulation, which can save the technical difficulty and cost brought by installing a measuring device.

[0093] In some examples, when the simulated pitch system includes a pre-trained load model, the simulation data may include blade root loads, and the load model may be used as an observer to generate the blade root loads, and the wind turbine generator set may be independently pitch controlled (IPC) according to the blade root loads. Using the load model as an observer may generate at least part of the blade root loads required for independent pitch control, and there is no need to set a load sensor for each blade root load, which may save the installation difficulty and cost caused by at least part of the load sensors.

[0094] In some examples, when the simulation variable pitch system includes a load model, the simulation data includes a blade root load. When the simulation variable pitch system includes a load model, the blade root load can be generated by the load model, and the impeller load and / or the cabin load can be determined based on the blade root load. According to the blade root load, the impeller load and / or the cabin load can be determined through coordinate transformation, thereby determining the load condition of the impeller and / or the load condition of the cabin. The load condition of the impeller and / or the load condition of the cabin can be used to assist in judging extreme conditions such as wind shear of the impeller and extreme wind direction changes, so as to facilitate timely taking of corresponding measures to protect the safety of the wind turbine generator set. Moreover, by judging the blade root load obtained by simulation, there is no need to install a sensor specifically for measuring the blade root load, which can save the installation difficulty and cost brought by the sensor.

[0095] In some examples, when the simulated pitch system includes a load model, the simulation data includes a blade root load, and the blade root load can be generated by the load model. According to the change cycle of the blade root load, the impeller speed and / or azimuth angle can be determined, and the wind turbine generator set can be independently pitch controlled according to the impeller speed and / or azimuth angle. The simulated pitch system can simulate an impeller speed and / or azimuth angle that is very close to the actual impeller speed and / or the actual azimuth angle. The simulated impeller speed and / or azimuth angle can replace the actual impeller speed and / or the actual azimuth angle required for independent pitch control. There is no need to install a special measuring device for measuring the azimuth angle or a sensor for measuring the blade root load, which can save the installation difficulty and cost caused by the measuring device and the sensor.

[0096] In some examples, the simulation data may include current data. The current data of the pitch motor can be obtained by simulating the pitch system, and the blade lift can be calculated based on the current data. Based on the blade lift, it is determined whether the wind turbine has experienced blade stall. The blade force can be calculated based on the current data, and the blade lift is a part of the blade force. If the blade lift is seriously smaller than the lift coefficient curve, it can be determined that the wind turbine has experienced blade stall, so that corresponding measures can be taken in time to protect the safety of the wind turbine.

[0097] In the embodiment of the present application, since the simulation data provided by the simulation pitch system is highly accurate, the simulation data is used as data support for fault crossing or preventive maintenance, which expands the scope of use of the simulation pitch system and eliminates the installation of some physical measuring devices, thereby reducing the difficulty and cost of wind turbine maintenance.

[0098] In the embodiments of the present application, the pitch type of the simulated pitch system is not limited. If the pitch type of the simulated pitch system is valve-controlled hydraulic pitch, the process of valve-controlled hydraulic pitch can be reproduced by first obtaining the driving force, simulating its mechanical model, and substituting the driving force into the mechanical model, which will not be described in detail here.

[0099] A second aspect of the present application provides a data processing device based on a simulated pitch system. Fig.14 A structural diagram of a data processing device based on a simulated pitch system provided in an embodiment of the present application is shown in FIG. Fig.14 As shown, the data processing device 400 based on the simulated pitch system may include an electromagnetic torque determination module 401 , an output torque determination module 402 , a reproduction module 403 and a function execution module 404 .

[0100] The electromagnetic torque determination module 401 may be used to obtain the first electromagnetic torque of the pitch motor by using an equivalent model of the pitch motor under closed-loop control in the simulated pitch system.

[0101] The output torque determination module 402 may be used to perform mechanical model simulation according to the transmission design structure of the wind turbine generator set to obtain the output torque of the simulated variable pitch system.

[0102] The reproduction module 403 may be used to simulate the operation of the pitch motor according to the first electromagnetic torque and the output torque.

[0103] The function execution module 404 can be used to obtain simulation data generated by the simulation pitch control system when simulating the operation of the pitch control motor, and use the simulation data to detect or control the wind turbine generator set.

[0104] In the embodiment of the present application, before simulating the action of the pitch motor, the equivalent model of the pitch motor of the closed-loop control in the simulated pitch system can be used to obtain the electromagnetic torque of the pitch motor, and the mechanical model simulation is performed according to the transmission design structure of the wind turbine generator set to obtain the output torque of the simulated pitch system. According to the obtained electromagnetic torque and output torque, the action of the pitch motor is simulated, and it no longer depends on the filtering of the pitch command by the first-order filter and the second-order filter or the method of setting the curve to simulate the action of the pitch motor. The operation of the pitch motor is closely related to the electromagnetic torque and the output torque. The operation of the pitch motor simulated according to the electromagnetic torque and the output torque is very close to the actual operation of the pitch motor, and the actual operation of the pitch motor can be basically reproduced, which improves the accuracy of the pitch motor simulation. Correspondingly, the simulation data generated by the simulated pitch system obtained under the condition of simulating the operation of the pitch motor is also very close to the actual data generated by the actual pitch system, and the accuracy is high, so that the accuracy of the detection and control of the wind turbine generator set realized by the simulation data is also improved.

[0105] In some embodiments, the equivalent model includes a power conversion model, a motor model, and an electromagnetic torque generation model. The electromagnetic torque determination module 401 can be specifically used to: use the power conversion model to convert the first three-phase voltage of the drive variable pitch motor and the obtained motor angle to obtain the first AC-DC axis voltage; use the motor model to process the first AC-DC axis voltage and the obtained motor synchronous speed to obtain the first AC-DC axis current; use the electromagnetic torque generation model to process the first AC-DC axis current and the obtained motor flux to obtain the first electromagnetic torque.

[0106] In some examples, the above-mentioned data processing device 400 based on the simulation pitch system may also include a control module, which can be used to: use a preset torque regulator to adjust the obtained given electromagnetic torque and the difference between the electromagnetic torque to obtain a second AC and DC axis current; control the pitch motor based on the second AC and DC axis current, and obtain the first position and the first speed of the pitch motor; use a preset position regulator to adjust the difference between the obtained given position and the first position to obtain a given speed; use a preset speed regulator to adjust the difference between the given speed and the first speed to obtain a second electromagnetic torque, and determine the second electromagnetic torque as the given electromagnetic torque.

[0107] In some examples, the first AC-axis current includes a first d-axis current and a first q-axis current.

[0108] In the case where the pitch motor includes a surface-mounted permanent magnet synchronous motor, the first d-axis current is zero.

[0109] In the case where the variable pitch motor includes an embedded permanent magnet synchronous motor, the first d-axis current is obtained based on the Lagrange extreme value rule of the first formula and the second formula, the first formula characterizes the relationship between the stator current, the first d-axis current and the first q-axis current, and the second formula characterizes the relationship between the first electromagnetic torque, the first d-axis current and the first q-axis current.

[0110] In some embodiments, the output torque determination module 402 can be specifically used to: perform a mechanical model simulation on the transmission design structure of the wind turbine generator set to obtain a first relationship between the output torque of the simulated pitch system and the load torque of the simulated pitch system; obtain the load torque involved in the simulation, and determine the output torque of the simulated pitch system based on the obtained load torque and the first relationship.

[0111] In some examples, the load torque includes a blade root external resultant torque and a pitch bearing friction torque. The blade root external resultant torque is obtained by a whole machine simulation model of the wind turbine. The simulated pitch system includes a friction model and a pre-trained load model. The friction model includes a correlation between the pitch bearing friction torque and the blade root load. The pitch bearing friction torque is obtained through the friction model, and the blade root load is obtained through the load model.

[0112] In some embodiments, the function execution module 404 may be configured to perform one or more of the following:

[0113] In the case where the simulated variable pitch system includes a friction model, the friction of the variable pitch bearing is obtained through the friction model, the friction coefficient of the variable pitch bearing is obtained based on the friction of the variable pitch bearing, and the lubrication condition of the variable pitch bearing is determined according to the friction coefficient of the variable pitch bearing, and the simulation data includes the friction of the variable pitch bearing;

[0114] In the case where the simulated pitch system includes a pre-trained load model, the load model is used as an observer to generate a blade root load, and the wind turbine generator set is independently pitch controlled according to the blade root load, and the simulation data includes the blade root load;

[0115] In the case where the simulation of the variable pitch system includes a load model, a blade root load is generated through the load model, an impeller load and / or a nacelle load is determined based on the blade root load, an extreme operating condition is identified based on the impeller load and / or the nacelle load, and the simulation data includes the blade root load;

[0116] In the case where the simulated pitch system includes a load model, a blade root load is generated by the load model, an impeller speed and / or an azimuth angle are determined according to a variation cycle of the blade root load, and independent pitch control is performed on the wind turbine generator set according to the impeller speed and / or the azimuth angle, and the simulation data includes the blade root load;

[0117] The current data of the pitch motor is obtained by simulating the pitch system, and the blade lift is calculated based on the current data. Based on the blade lift, it is determined whether the wind turbine generator set has blade stall. The simulation data includes current data.

[0118] A third aspect of the present application provides an electronic device. Fig.15 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Fig.15 As shown, the electronic device 500 includes a memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0119] In some examples, the processor 502 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0120] The memory 501 may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the data processing method based on the simulation pitch system in the embodiment of the present application.

[0121] The processor 502 runs a computer program corresponding to the executable program code by reading the executable program code stored in the memory 501, so as to implement the data processing method based on the simulated pitch control system in the above embodiment.

[0122] In some examples, the electronic device 500 may further include a communication interface 503 and a bus 504. Fig.15 As shown, the memory 501, the processor 502, and the communication interface 503 are connected via a bus 504 and communicate with each other.

[0123] The communication interface 503 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiment of the present application. The communication interface 503 can also be used to access input devices and / or output devices.

[0124] The bus 504 includes hardware, software, or both, coupling the components of the electronic device 500 to each other. By way of example and not limitation, the bus 504 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a Memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-E) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 504 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0125] The fourth aspect of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by the processor, the data processing method based on the simulated variable pitch system in the above-mentioned embodiment can be implemented, and the same technical effect can be achieved. In order to avoid repetition, it will not be repeated here. Among them, the above-mentioned computer-readable storage medium may include a non-transitory computer-readable storage medium, such as a read-only memory (Read-Only Memory, referred to as ROM), a random access memory (Random Access Memory, referred to as RAM), a disk or an optical disk, etc., which is not limited here.

[0126] An embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the data processing method based on the simulation variable pitch system in the above embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0127] It should be clear that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For device embodiments, equipment embodiments, computer-readable storage medium embodiments, and computer program product embodiments, the relevant parts can refer to the description part of the method embodiment. The present application is not limited to the specific steps and structures described above and shown in the figures. Those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application. In addition, for the sake of brevity, a detailed description of known method technologies is omitted here.

[0128] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0129] Those skilled in the art should understand that the above embodiments are exemplary rather than restrictive. Different technical features appearing in different embodiments can be combined to achieve beneficial effects. Based on the study of the drawings, the specification and the claims, those skilled in the art should be able to understand and implement other variations of the disclosed embodiments. In the claims, the term "comprising" does not exclude other devices or steps; the quantifier "one" does not exclude multiple; the terms "first" and "second" are used to indicate names rather than to indicate any specific order. Any figure marks in the claims should not be understood as limiting the scope of protection. The functions of multiple parts appearing in the claims can be implemented by a single hardware or software module. The appearance of certain technical features in different dependent claims does not mean that these technical features cannot be combined to achieve beneficial effects.

Claims

1. A data processing method based on a simulated pitch control system, characterized in that: include: Using an equivalent model of a pitch motor in a closed-loop controlled pitch system in a simulation, a first electromagnetic torque of the pitch motor is obtained; Performing mechanical model simulation according to the transmission design structure of the wind turbine generator set to obtain the output torque of the simulated variable pitch system; Simulating an operation of the pitch motor according to the first electromagnetic torque and the output torque; When simulating the operation of the pitch motor, the simulation data generated by the simulated pitch system is obtained, and the wind turbine generator set is detected or controlled using the simulation data.

2. The method according to claim 1, characterized in that The equivalent model includes a power conversion model, a motor model and an electromagnetic torque generation model; The method of using an equivalent model of a pitch motor controlled in a closed loop in a simulated pitch system to obtain a first electromagnetic torque of the pitch motor includes: The power conversion model is used to convert the first three-phase voltage driving the variable pitch motor and the acquired motor angle to obtain a first AC-DC axis voltage; Processing the first AC-DC axis voltage and the acquired synchronous speed of the motor using the motor model to obtain a first AC-DC axis current; The first AC and DC axis currents and the acquired motor flux are processed using the electromagnetic torque generation model to obtain the first electromagnetic torque.

3. The method according to claim 2, characterized in that After the first AC and DC axis currents and the acquired motor flux are processed by using the electromagnetic torque generation model to obtain the first electromagnetic torque, the method further includes: Using a preset torque regulator, adjusting the difference between the acquired given electromagnetic torque and the electromagnetic torque to obtain a second quadrature and direct axis current; Controlling the pitch motor based on the second AC-DC axis current, and acquiring a first position and a first speed of the pitch motor; Using a preset position regulator, adjusting the difference between the acquired given position and the first position to obtain a given speed; The difference between the given speed and the first speed is adjusted by using a preset speed regulator to obtain a second electromagnetic torque, and the second electromagnetic torque is determined as the given electromagnetic torque.

4. The method according to claim 2, characterized in that: The first AC-DC axis current includes a first d-axis current and a first q-axis current; In the case where the pitch motor comprises a surface-mounted permanent magnet synchronous motor, the first d-axis current is zero; In the case where the variable pitch motor includes an embedded permanent magnet synchronous motor, the first d-axis current is obtained based on the Lagrange extreme value rule of the first formula and the second formula, the first formula characterizes the relationship between the stator current, the first d-axis current and the first q-axis current, and the second formula characterizes the relationship between the first electromagnetic torque, the first d-axis current and the first q-axis current.

5. The method according to claim 1, characterized in that The mechanical model simulation is performed according to the transmission design structure of the wind turbine generator set to obtain the output torque of the simulated variable pitch system, including: Performing mechanical model simulation on the transmission design structure of the wind turbine generator set to obtain a first relationship between the output torque of the simulated variable pitch system and the load torque of the simulated variable pitch system; The load torque involved in the simulation is obtained, and the output torque of the simulated pitch system is determined according to the obtained load torque and the first relationship.

6. The method according to claim 1, characterized in that The load moment includes the blade root external resultant moment and the pitch bearing friction moment; The blade root external resultant moment is obtained by a whole machine simulation model of the wind turbine generator set; The simulated variable pitch system includes a friction model and a pre-trained load model. The friction model includes a correlation between the friction torque of the variable pitch bearing and the blade root load. The friction torque of the variable pitch bearing is obtained through the friction model, and the blade root load is obtained through the load model.

7. The method according to claim 1, characterized in that The acquiring of simulation data generated by the simulation pitch control system and using the simulation data to detect or control the wind turbine generator set includes one or more of the following: In the case where the simulated pitch system includes a friction model, the friction of the pitch bearing is obtained through the friction model, the friction coefficient of the pitch bearing is obtained based on the friction of the pitch bearing, the lubrication condition of the pitch bearing is determined according to the friction coefficient of the pitch bearing, and the simulation data includes the friction of the pitch bearing; In the case where the simulated pitch control system includes a pre-trained load model, the load model is used as an observer to generate a blade root load, and the wind turbine generator set is independently pitch controlled according to the blade root load, and the simulation data includes the blade root load; In the case where the simulated pitch system includes the load model, a blade root load is generated by the load model, an impeller load and / or a nacelle load is determined according to the blade root load, an extreme operating condition is identified according to the impeller load and / or the nacelle load, and the simulation data includes the blade root load; In the case where the simulated pitch system includes the load model, a blade root load is generated by the load model, an impeller speed and / or an azimuth angle are determined according to a variation cycle of the blade root load, and independent pitch control is performed on the wind turbine generator set according to the impeller speed and / or the azimuth angle, and the simulation data includes the blade root load; The current data of the pitch motor is obtained through the simulated pitch system, the blade lift is calculated based on the current data, and whether the wind turbine generator set has blade stall is determined based on the blade lift. The simulation data includes the current data.

8. A data processing device based on a simulated pitch control system, characterized in that: include: An electromagnetic torque determination module is used to obtain a first electromagnetic torque of the pitch motor by using an equivalent model of the pitch motor of the closed-loop control in the simulation pitch system; An output torque determination module is used to perform mechanical model simulation according to the transmission design structure of the wind turbine generator set to obtain the output torque of the simulated variable pitch system; A reproduction module, used for simulating the operation of the pitch motor according to the first electromagnetic torque and the output torque; The function execution module is used to obtain the simulation data generated by the simulation pitch control system when simulating the operation of the pitch control motor, and use the simulation data to detect or control the wind turbine generator set.

9. An electronic device, characterized in that: include: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the data processing method based on the simulated pitch system according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the data processing method based on a simulated pitch system according to any one of claims 1 to 7 is implemented.

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