A method, device, electronic device and storage medium for detecting aerodynamic abnormality of blades

Abstract

Embodiments of the present invention provide a method, device, electronic device and storage medium for detecting aerodynamic anomalies of blades, and relate to the technical field of wind power equipment maintenance. A controller applied to a wind turbine, the wind turbine also includes a yaw device, and the controller is communicatively connected to the yaw device. The method includes: when the yaw device is in a hovering mode, calculating the total torque of the nacelle of the wind turbine acting on the yaw device based on the motor torque of the yaw motor of the yaw device. Within one rotation cycle of the impeller of the wind turbine, the torque state information of the total torque is monitored. Based on the torque state information, it is determined whether there is aerodynamic anomaly in the blades of the wind turbine. The present invention can accurately detect aerodynamic anomalies on blades without adding hardware devices, which is economical and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power equipment maintenance, and in particular to a blade aerodynamic anomaly detection method, device, electronic equipment and storage medium. Background Art

[0002] With the vigorous promotion of clean energy and the rapid development of wind power generation technology, the traditional impeller diameter can no longer meet the existing wind power generation needs. Wind turbines are developing in the direction of ultra-large impeller diameters. Blades with ultra-large impeller diameters are more likely to vibrate, which in turn affects the starting characteristics of the blades. Therefore, more accurate and reliable aerodynamic anomaly detection is required.

[0003] In the prior art, the detection of blade aerodynamic anomalies is generally achieved by installing load sensors and other sensing devices inside the blades, but this method increases the maintenance cost of the wind turbine. Summary of the invention

[0004] The objectives of the present invention include, for example, providing a blade aerodynamic anomaly detection method, device, electronic device and storage medium, which can at least partially solve the above-mentioned technical problems.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, an embodiment of the present invention provides a method for detecting aerodynamic anomalies of blades, which is applied to a controller of a wind turbine generator set, wherein the wind turbine generator set further includes a yaw device, and the controller is communicatively connected with the yaw device; the method includes:

[0007] When the yaw device is in a hovering mode, calculating a total torque of the nacelle of the wind turbine generator set acting on the yaw device based on the motor torque of the yaw motor of the yaw device;

[0008] Monitoring the torque state information of the total torque within a rotation cycle of the impeller of the wind turbine generator set;

[0009] Based on the torque state information, it is determined whether there is aerodynamic abnormality in the blades of the wind turbine generator set.

[0010] Optionally, there are multiple yaw motors; and the calculating of the total torque of the nacelle of the wind turbine generator set acting on the yaw device based on the motor torque of the yaw motor of the yaw device comprises:

[0011] Determining whether the number of the yaw motors is an odd number;

[0012] If so, determine one of the yaw motors as an idle motor, and divide the remaining yaw motors into a first yaw motor group and a second yaw motor group; control the first yaw motor group to be enabled in a first meshing direction, and control the second yaw motor group to be enabled in a second meshing direction opposite to the first meshing direction; obtain a first torque of the first yaw motor group and a second torque of the second yaw motor group respectively; determine the difference between the absolute value of the first torque and the absolute value of the second torque as the total torque;

[0013] If not, all the yaw motors are divided into a first yaw motor group and a second yaw motor group; the first yaw motor group is controlled to be enabled in a first meshing direction, and the second yaw motor group is controlled to be enabled in a second meshing direction opposite to the first meshing direction; the first torque of the first yaw motor group and the second torque of the second yaw motor group are respectively obtained; and the difference between the absolute value of the first torque and the absolute value of the second torque is determined as the total torque.

[0014] Optionally, the torque state information includes the total torque fluctuation times; and judging whether the blades of the wind turbine generator set have aerodynamic abnormalities based on the torque state information includes:

[0015] Determining whether the total torque fluctuation number is a positive integer multiple of a preset fluctuation number within the rotation period;

[0016] If so, it is determined that there is aerodynamic anomaly in the blades of the wind turbine generator set.

[0017] Optionally, the torque state information further includes a duration of fluctuation; and judging whether the blades of the wind turbine generator set have aerodynamic abnormalities based on the torque state information further includes:

[0018] If the total torque fluctuation number is not a positive integer multiple of the preset fluctuation number, then obtaining the duration of the fluctuation each time the total torque fluctuates within the rotation period;

[0019] In chronological order, determining whether the difference between the durations of each two adjacent fluctuations is greater than a preset difference;

[0020] If so, it is determined that there is aerodynamic anomaly in the blades of the wind turbine generator set.

[0021] Optionally, the torque state information further includes a fluctuation peak value; and judging whether the blades of the wind turbine generator set have aerodynamic abnormalities based on the torque state information further includes:

[0022] If the difference between the durations of two adjacent fluctuations is less than or equal to the preset difference, obtaining the fluctuation peak value each time the total torque fluctuates within the rotation period;

[0023] In chronological order, determining whether the peak difference between each two adjacent fluctuation peaks is greater than a preset peak difference;

[0024] If so, it is determined that there is aerodynamic anomaly in the blades of the wind turbine generator set.

[0025] Optionally, the method further comprises:

[0026] If it is determined that the blades of the wind turbine generator set have aerodynamic anomalies, a corresponding aerodynamic anomaly report is generated and an aerodynamic anomaly alarm is issued.

[0027] Optionally, the method further comprises:

[0028] If there is no aerodynamic abnormality in the blades of the wind turbine generator set, the first torque and the second torque are re-acquired to obtain the total torque; and in a new rotation cycle, the torque state information of the total torque is monitored to determine whether there is aerodynamic abnormality in the blades of the wind turbine generator set.

[0029] In a second aspect, an embodiment of the present invention provides a blade aerodynamic anomaly detection device, which is applied to a controller of a wind turbine generator set, wherein the wind turbine generator set further includes a yaw device, and the controller is communicatively connected with the yaw device; the blade aerodynamic anomaly detection device includes:

[0030] a total torque calculation unit, configured to calculate a total torque of the nacelle of the wind turbine generator set acting on the yaw device based on the motor torque of the yaw motor of the yaw device when the yaw device is in a hovering mode;

[0031] A torque state information monitoring unit, used to monitor the torque state information of the total torque within one rotation cycle of the impeller of the wind turbine generator set;

[0032] The aerodynamic anomaly judgment unit is used to judge whether the blades of the wind turbine generator set have aerodynamic anomalies based on the torque state information.

[0033] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the program.

[0034] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of any one of the above methods.

[0035] The beneficial effects of the embodiments of the present invention include, for example:

[0036] By calculating the total torque of the wind turbine nacelle acting on the yaw device when the yaw device of the wind turbine is in hovering mode, the torque state information of the total torque within one rotation cycle of the impeller is used to determine whether the blades of the wind turbine have aerodynamic anomalies. Only the control software is upgraded on the hardware configuration of the original unit, and the software detection logic is added in the existing yaw control mode, which does not affect any control process of the unit and does not require the installation of other hardware equipment. Low-cost and reliable blade aerodynamic anomaly detection is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention;

[0039] Figure 2 A flowchart of a method for detecting aerodynamic anomalies of blades provided by an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the change in the angle value of the impeller provided in an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of yaw speed change corresponding to impeller angle value change provided by an embodiment of the present invention;

[0042] Figure 5 An architectural diagram of a blade aerodynamic anomaly detection device provided in an embodiment of the present invention.

[0043] Icons: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 300 - blade aerodynamic anomaly detection device; 301 - total torque calculation unit; 302 - torque state information monitoring unit; 303 - aerodynamic anomaly judgment unit. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0047] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0048] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0049] At present, wind turbines are developing towards super-large impeller diameters. As the impeller diameter increases and the blade length increases, the tower shadow effect and yaw motion may cause the long blades to vibrate. The vibration of a single blade will affect its aerodynamic characteristics, which may lead to impeller imbalance and other situations. In severe cases, it may even cause serious accidents such as tower sweeping.

[0050] In the prior art, the detection technology for aerodynamic imbalance of wind turbine blades mainly relies on installing load sensors and other sensor devices inside the blades. This method not only increases the maintenance cost of wind turbines, but also requires the development of supporting software programs due to the installation of hardware equipment.

[0051] Based on the above situation, an embodiment of the present invention provides a blade aerodynamic anomaly detection method, device, electronic device and storage medium, which can effectively alleviate the above technical problems.

[0052] Please refer to Figure 1 , is a block diagram of an electronic device 100 provided by the present application. The electronic device 100 may be a device capable of performing data processing, which is not limited in this embodiment. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120, and the communication module 130. Each component is electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0053] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0054] The processor 120 is used to read / write data or programs stored in the memory and execute corresponding functions.

[0055] The communication module 130 is used to establish a communication connection between the server and other communication terminals through the network, and to send and receive data through the network.

[0056] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 The components shown in the figure can be implemented by hardware, software or a combination thereof. The electronic device 100 can be arranged in other devices or as an independent device.

[0057] Correspondingly, an embodiment of the present invention provides a method for detecting blade aerodynamic anomalies, which is applied to a controller of a wind turbine generator set, wherein the wind turbine generator set further includes a yaw device, and the controller is in communication connection with the yaw device. The method includes: Figure 2 The following steps are shown:

[0058] Step S110: when the yaw device is in the hovering mode, calculating the total torque of the nacelle of the wind turbine generator system acting on the yaw device based on the motor torque of the yaw motor of the yaw device.

[0059] Step S120: monitoring the torque state information of the total torque within one rotation cycle of the impeller of the wind turbine generator set.

[0060] Step S130: Based on the torque state information, determine whether there is aerodynamic abnormality in the blades of the wind turbine generator set.

[0061] The yaw device of a wind turbine is also called a wind-facing device. Its function is to quickly and smoothly align the wind direction when the direction of the wind speed vector changes so that the wind rotor can obtain maximum wind energy.

[0062] Large and medium-sized wind turbines generally use electric yaw devices to adjust the wind rotor and align it with the wind direction. The yaw device generally includes a wind vane that senses wind direction, a yaw motor, a yaw planetary gear reducer, a yaw brake (yaw damper or yaw caliper), a large gear of the rotating body, etc. Its working principle is as follows: the wind vane, as a sensing element, transmits the change of wind direction to the processor of the control loop of the yaw motor with an electrical signal. After comparison, the processor sends a clockwise or counterclockwise yaw command to the yaw motor. In order to reduce the gyroscopic torque during yaw, the motor speed will be decelerated through a coaxially connected reducer, and the yaw torque will be applied to the large gear of the rotating body, driving the wind rotor to yaw against the wind. When the wind is aligned, the wind vane loses the electrical signal, the motor stops working, and the yaw process ends.

[0063] When the yaw stops, or the controller issues a hovering command to the yaw device, the wind turbine will enter the hovering mode. In step S110, when the yaw device is in the hovering mode, the total torque of the nacelle of the wind turbine acting on the yaw device is calculated based on the motor torque of the yaw motor of the yaw device.

[0064] When the yaw device is in the hovering mode, the controller can detect the speed and current of the yaw motor on the yaw device through the motor driver in the yaw device, and then calculate the motor torque of the yaw motor. Some motor drivers can directly output the torque of the yaw motor, so the controller can also directly obtain the motor torque of the yaw motor from the motor driver.

[0065] Since the yaw device is in hovering mode, the torque on the yaw device is in a balanced state, so the sum of the motor torques of the yaw motors can be considered as the total torque of the nacelle of the wind turbine on the yaw device. It should be noted that here the sum of the motor torques is the same as the total torque.

[0066] Optionally, there are multiple yaw motors; and the calculating of the total torque of the nacelle of the wind turbine generator set acting on the yaw device based on the motor torque of the yaw motor of the yaw device comprises:

[0067] Determine whether the number of the yaw motors is an odd number. If so, determine one of the yaw motors as an idle motor, and divide the remaining yaw motors into a first yaw motor group and a second yaw motor group. Control the first yaw motor group to be enabled in a first meshing direction, and control the second yaw motor group to be enabled in a second meshing direction opposite to the first meshing direction. Obtain the first torque of the first yaw motor group and the second torque of the second yaw motor group respectively. Determine the difference between the absolute value of the first torque and the absolute value of the second torque as the total torque.

[0068] If not, all the yaw motors are divided into a first yaw motor group and a second yaw motor group; the first yaw motor group is controlled to be enabled in a first meshing direction, and the second yaw motor group is controlled to be enabled in a second meshing direction opposite to the first meshing direction; the first torque of the first yaw motor group and the second torque of the second yaw motor group are respectively obtained; and the difference between the absolute value of the first torque and the absolute value of the second torque is determined as the total torque.

[0069] As an optional implementation, it can be confirmed whether the number of yaw motors is an odd number. If so, one of the yaw motors is determined to be an idle motor, and the idle motor is not enabled. Then the remaining yaw motors are evenly divided into a first yaw motor group and a second yaw motor group. The first yaw motor group is controlled to be enabled in a first meshing direction (such as a clockwise direction), and the second yaw motor group is controlled to be enabled in a second meshing direction (such as a counterclockwise direction), so as to obtain the first torque of the first yaw motor group and the second torque of the second yaw motor group. And the difference between the absolute value of the first torque and the absolute value of the second torque is determined as the total torque. For example, if the first torque of the first yaw motor group is ∑1 and the second torque of the second yaw motor group is ∑2, then the total torque (∑ 总 ) is ∑ 总 =|∑1|-|∑2|.

[0070] If the number of yaw motors is an even number, all yaw motors can be directly divided into a first yaw motor group and a second yaw motor group, and the first yaw motor group is controlled to be enabled in the first meshing direction and the second yaw motor group is controlled to be enabled in the second meshing direction, thereby obtaining a first torque of the first yaw motor group and a second torque of the second yaw motor group. The difference between the absolute value of the first torque and the absolute value of the second torque is determined as the total torque, and there is no need to determine the disabled idle motors from the yaw motors.

[0071] In step S120, the torque state information of the total torque is monitored within one rotation cycle of the impeller of the wind turbine generator set.

[0072] The time it takes for the impeller of a wind turbine to rotate from 0° to 360° is a rotation cycle; the torque state information may be the change of the total torque in each rotation cycle, such as the change of the total torque magnitude, etc. After the total torque is calculated, the torque state information of the total torque may be monitored in each rotation cycle of the impeller of the wind turbine, so as to judge the aerodynamic abnormality of the blades through the torque state information.

[0073] Step S130 is executed to determine whether there is aerodynamic abnormality in the blades of the wind turbine generator system based on the torque state information.

[0074] After each rotation cycle, the monitored torque state information can be summarized to determine the aerodynamic abnormality of the blade. If it is determined that there is no aerodynamic abnormality, the next rotation cycle is determined. Alternatively, after determining that there is no aerodynamic abnormality in a blade aerodynamic abnormality, the total torque is recalculated, and the torque state information is monitored in a new rotation cycle to determine the aerodynamic abnormality of the blade.

[0075] Optionally, the torque state information includes the total torque fluctuation times. The step of judging whether the blades of the wind turbine generator set have aerodynamic anomalies based on the torque state information includes:

[0076] It is determined whether the total torque fluctuation number is a positive integer multiple of a preset fluctuation number during the rotation period. If so, it is determined that the blades of the wind turbine generator set have aerodynamic anomalies.

[0077] like Figure 3 as well as Figure 4 The figure shows the change of the impeller angle and the corresponding yaw speed. Figure 4 It can be seen that when the impeller is aerodynamically unbalanced and the motor is not braked after the yaw stops (i.e., hovering mode), the speed of the yaw motor will be dragged back and fluctuated three times in the period of one revolution of the impeller, and the absolute values ​​and time of these three fluctuations will have large differences. If the blades are aerodynamically balanced, there will be no large difference in these three fluctuations.

[0078] Therefore, it is possible to determine whether the blades of the wind turbine have aerodynamic anomalies by monitoring the number of fluctuations of the total torque during the rotation cycle. When the preset number of fluctuations is 3, it is possible to determine whether the number of fluctuations of the total torque is a positive integer multiple of 3. If so, it indicates that the blades of the wind turbine are aerodynamically unbalanced.

[0079] Optionally, the torque state information also includes a duration of fluctuation. The step of judging whether the blades of the wind turbine generator set have aerodynamic anomalies based on the torque state information further includes:

[0080] If the total torque fluctuation number is not a positive integer multiple of the preset fluctuation number, then the fluctuation duration time of each time the total torque fluctuates within the rotation period is obtained.

[0081] In chronological order, it is determined whether the difference between the durations of each two adjacent fluctuations is greater than a preset difference. If so, it is determined that the blades of the wind turbine generator set have aerodynamic anomalies.

[0082] Likewise, from Figure 4 It can be seen that when the speed of the yaw motor is reversed and fluctuated in the cycle of one rotation of the impeller, the duration of each fluctuation is different. Therefore, by obtaining the duration of the fluctuation in the rotation cycle, subtracting the duration of each two adjacent fluctuations in chronological order, the difference in the duration of the fluctuation is obtained, and the difference is compared with the preset difference. If the preset difference is less than or equal to the difference, it is considered that the blades of the wind turbine have aerodynamic anomalies.

[0083] Optionally, the torque state information also includes a fluctuation peak value. The step of judging whether the blades of the wind turbine generator set have aerodynamic anomalies based on the torque state information further includes:

[0084] If the difference between the durations of any two adjacent fluctuations is less than or equal to the preset difference, the fluctuation peak value is obtained each time the total torque fluctuates within the rotation cycle.

[0085] In chronological order, it is determined whether the peak difference between each two adjacent fluctuation peaks is greater than a preset peak difference.

[0086] If so, it is determined that there is aerodynamic anomaly in the blades of the wind turbine generator set.

[0087] Still Figure 4 For example, when the speed of the yaw motor is reversed and fluctuated in the cycle of one rotation of the impeller, the peak value of the actual yaw speed is different each time. Therefore, it is also possible to determine whether there is aerodynamic abnormality in the blades of the wind turbine by the fluctuation peak value of the total torque. Obtain the fluctuation peak value every time the total torque fluctuates during the rotation cycle, compare the two fluctuation peak values ​​detected at adjacent moments, and obtain the peak difference. If there is a peak difference greater than the preset peak difference, it means that there is an aerodynamic abnormality in the blade.

[0088] It should be noted that the order of judging blade aerodynamic anomalies in the above text can be changed. In actual situations, it is only necessary to meet any one of the total torque fluctuation times, fluctuation duration or fluctuation peak judgment to consider that the wind turbine blades have aerodynamic anomalies.

[0089] Optionally, the method further includes: if it is determined that aerodynamic anomalies exist in the blades of the wind turbine generator set, generating a corresponding aerodynamic anomaly report and issuing an aerodynamic anomaly alarm.

[0090] If the controller determines that the blades of the corresponding wind turbine have aerodynamic anomalies, it can generate a corresponding aerodynamic anomaly report, such as the time when the aerodynamic anomaly occurred, the various data detected during the aerodynamic anomaly, etc., and send the aerodynamic anomaly report to the control terminal, and at the same time issue a aerodynamic anomaly alarm to notify the staff to handle it.

[0091] Optionally, the method also includes: if there is no aerodynamic abnormality in the blades of the wind turbine generator set, re-acquiring the first torque and the second torque to obtain the total torque; and within a new rotation cycle, monitoring the torque state information of the total torque to determine whether there is aerodynamic abnormality in the blades of the wind turbine generator set.

[0092] As an optional implementation, if it is finally determined that the blades of the wind turbine generator set do not have aerodynamic anomalies, the controller can re-acquire the new first torque and second torque to calculate the total torque, and monitor the torque state information of the newly calculated total torque in a new rotation cycle to cyclically determine whether the blades of the wind turbine generator set have aerodynamic anomalies.

[0093] Based on the same inventive concept, Figure 5 As shown, the embodiment of the present invention provides a blade aerodynamic abnormality detection device 300, which is applied to a controller of a wind turbine generator set, wherein the wind turbine generator set also includes a yaw device, and the controller is in communication connection with the yaw device. The blade aerodynamic abnormality detection device 300 includes:

[0094] The total torque calculation unit 301 is used to calculate the total torque of the nacelle of the wind turbine generator set acting on the yaw device based on the motor torque of the yaw motor of the yaw device when the yaw device is in the hovering mode.

[0095] The torque state information monitoring unit 302 is used to monitor the torque state information of the total torque within one rotation cycle of the impeller of the wind turbine generator set.

[0096] The aerodynamic anomaly judging unit 303 is used to judge whether there is an aerodynamic anomaly in the blades of the wind turbine generator set based on the torque state information.

[0097] Regarding the above-mentioned blade aerodynamic abnormality detection device 300, the specific functions of each unit therein have been described in detail in the embodiment of the blade aerodynamic abnormality detection method provided in this specification, and will not be elaborated here.

[0098] Based on the same inventive concept, an embodiment of the present invention specification provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned blade aerodynamic abnormality detection methods.

[0099] The present invention has at least the following beneficial effects:

[0100] By calculating the total torque of the wind turbine nacelle acting on the yaw device when the yaw device of the wind turbine is in hovering mode, the torque state information of the total torque within one rotation cycle of the impeller is used to determine whether the blades of the wind turbine have aerodynamic anomalies. Only the control software is upgraded on the hardware configuration of the original unit, and the software detection logic is added in the existing yaw control mode, which does not affect any control process of the unit and does not require the installation of other hardware equipment. Low-cost and reliable blade aerodynamic anomaly detection is achieved.

[0101] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0102] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0103] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0104] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for detecting blade aerodynamic anomalies, characterized in that: A controller applied to a wind turbine generator set, wherein the wind turbine generator set further comprises a yaw device, and the controller is communicatively connected with the yaw device; the method comprises: When the yaw device is in a hovering mode, calculating a total torque of the nacelle of the wind turbine generator set acting on the yaw device based on the motor torque of the yaw motor of the yaw device; Monitoring the torque state information of the total torque within a rotation cycle of the impeller of the wind turbine generator set; Based on the torque state information, it is determined whether there is aerodynamic abnormality in the blades of the wind turbine generator set.

2. The blade aerodynamic anomaly detection method according to claim 1, characterized in that: There are multiple yaw motors; the total torque of the nacelle of the wind turbine generator set acting on the yaw device based on the motor torque of the yaw motor of the yaw device is calculated, including: Determining whether the number of the yaw motors is an odd number; If so, determine one of the yaw motors as an idle motor, and divide the remaining yaw motors into a first yaw motor group and a second yaw motor group; control the first yaw motor group to be enabled in a first meshing direction, and control the second yaw motor group to be enabled in a second meshing direction opposite to the first meshing direction; obtain a first torque of the first yaw motor group and a second torque of the second yaw motor group respectively; determine the difference between the absolute value of the first torque and the absolute value of the second torque as the total torque; If not, all the yaw motors are divided into a first yaw motor group and a second yaw motor group; the first yaw motor group is controlled to be enabled in a first meshing direction, and the second yaw motor group is controlled to be enabled in a second meshing direction opposite to the first meshing direction; the first torque of the first yaw motor group and the second torque of the second yaw motor group are respectively obtained; and the difference between the absolute value of the first torque and the absolute value of the second torque is determined as the total torque.

3. The blade aerodynamic anomaly detection method according to claim 1, characterized in that: The torque state information includes the total torque fluctuation times; The determining, based on the torque state information, whether the blades of the wind turbine generator set have aerodynamic anomalies includes: Determining whether the total torque fluctuation number is a positive integer multiple of a preset fluctuation number within the rotation period; If so, it is determined that there is aerodynamic anomaly in the blades of the wind turbine generator set.

4. The blade aerodynamic anomaly detection method according to claim 3, characterized in that: The torque state information also includes the duration of the fluctuation; and judging whether the blades of the wind turbine generator set have aerodynamic abnormalities based on the torque state information further includes: If the total torque fluctuation number is not a positive integer multiple of the preset fluctuation number, then obtaining the duration of the fluctuation each time the total torque fluctuates within the rotation period; In chronological order, determining whether the difference between the durations of each two adjacent fluctuations is greater than a preset difference; If so, it is determined that there is aerodynamic anomaly in the blades of the wind turbine generator set.

5. The blade aerodynamic anomaly detection method according to claim 4, characterized in that: The torque state information also includes a fluctuation peak value; and judging whether the blades of the wind turbine generator set have aerodynamic abnormalities based on the torque state information further includes: If the difference between the durations of two adjacent fluctuations is less than or equal to the preset difference, obtaining the fluctuation peak value each time the total torque fluctuates within the rotation period; In chronological order, determining whether the peak difference between each two adjacent fluctuation peaks is greater than a preset peak difference; If so, it is determined that there is aerodynamic anomaly in the blades of the wind turbine generator set.

6. The blade aerodynamic anomaly detection method according to any one of claims 3 to 5, characterized in that: The method further comprises: If it is determined that the blades of the wind turbine generator set have aerodynamic anomalies, a corresponding aerodynamic anomaly report is generated and an aerodynamic anomaly alarm is issued.

7. The blade aerodynamic anomaly detection method according to claim 2, characterized in that: The method further comprises: If there is no aerodynamic abnormality in the blades of the wind turbine generator set, the first torque and the second torque are reacquired to obtain the total torque; and in a new rotation cycle, the torque state information of the total torque is monitored to determine whether there is aerodynamic abnormality in the blades of the wind turbine generator set.

8. A blade aerodynamic anomaly detection device, characterized in that: A controller applied to a wind turbine generator set, wherein the wind turbine generator set further comprises a yaw device, and the controller is communicatively connected with the yaw device; the blade aerodynamic abnormality detection device comprises: a total torque calculation unit, configured to calculate a total torque of the nacelle of the wind turbine generator set acting on the yaw device based on the motor torque of the yaw motor of the yaw device when the yaw device is in a hovering mode; A torque state information monitoring unit, used to monitor the torque state information of the total torque within one rotation cycle of the impeller of the wind turbine generator set; The aerodynamic anomaly judgment unit is used to judge whether there is an aerodynamic anomaly in the blades of the wind turbine generator set based on the torque state information.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when executing the program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of the method according to any one of claims 1 to 7.

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