Method and device for suppressing surging vibration of wind turbine generator

Abstract

The invention relates to the technical field of wind power generation, in particular to a method and device for restraining surging vibration of a wind turbine generator, and the method comprises the steps that the actual operation wind speed of the wind turbine generator is detected; under the condition that the actual operation wind speed meets a certain wind speed condition, inputting the actual wind speed of the wind turbine generator into a pre-constructed control model of the wind turbine generator to output a stability result; and obtaining an electromagnetic torque control strategy for suppressing the surging vibration of the wind turbine generator according to a stability result, and controlling the wind turbine generator to execute the electromagnetic torque control strategy. Therefore, the problems that in the related technology, when the floating type wind turbine unit operates at the rated wind speed, the oscillation phenomenon of floating type foundation surging motion is prone to occurring, and the oscillation phenomenon influences power output of the floating type wind turbine unit to a great extent, increases mechanical fatigue, is not beneficial to safety and stability of the wind turbine unit and the like are solved.

Description

Technical Field

[0001] The present application relates to the technical field of wind power generation, and in particular to a method and device for suppressing longitudinal vibration of a wind turbine. Background Art

[0002] Due to technical and cost limitations, the current wind energy is mainly utilized from onshore and offshore wind turbines with fixed foundations. With the planning of offshore wind turbines, deep-sea areas with vast and stable wind energy have become the main areas for future wind power development. Among them, floating wind turbines are the best choice for utilizing wind energy. Frequent controller switching near the rated wind speed will cause oscillation of the longitudinal motion of the floating foundation.

[0003] In the related technology, a first torque signal for adjusting the electromagnetic torque of the generator can be calculated based on the tower vibration acceleration signal, and a second torque signal for adjusting the electromagnetic torque of the generator can be calculated based on the generator speed signal, and then the first torque signal and the second torque signal can be used to calculate the frequency conversion control signal to control the generator converter to offset the resonance; the electromagnetic torque control signal of the wind turbine can also be calculated based on the obtained gearbox ratio of the wind turbine, the rated electromagnetic torque, the rotor speed of the wind turbine, the floating foundation pitch angular velocity of the wind turbine, and the inflow wind speed of the wind turbine to eliminate the limit cycle, thereby controlling the rotor speed of the wind turbine to be constant.

[0004] However, in the related art, when the floating wind turbine operates near the rated wind speed, the oscillation phenomenon of the longitudinal motion of the floating foundation is prone to occur, and this oscillation phenomenon greatly affects the power output of the floating wind turbine, increases mechanical fatigue, and is not conducive to the safety and stability of the wind turbine, and urgently needs to be improved. Summary of the invention

[0005] The present application provides a method and device for suppressing the longitudinal oscillation of a wind turbine, so as to solve the problem in the related art that when a floating wind turbine operates near the rated wind speed, the oscillation phenomenon of the longitudinal oscillation motion of the floating foundation is prone to occur, and this oscillation phenomenon greatly affects the power output of the floating wind turbine, increases mechanical fatigue, and is not conducive to the safety and stability of the wind turbine.

[0006] A first aspect of the present application provides a method for suppressing the longitudinal vibration of a wind turbine, comprising the following steps: detecting the actual operating wind speed of the wind turbine; when the actual operating wind speed meets a preset wind speed condition, inputting the actual wind speed of the wind turbine into a pre-constructed control model of the wind turbine to output a stability result, wherein the control model is dynamically established by the rotor speed, floating foundation pitch, floating foundation longitudinal swing, pitch actuator and electromagnetic torque of the wind turbine; obtaining an electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine according to the stability result, and controlling the wind turbine to execute the electromagnetic torque control strategy.

[0007] Optionally, in one embodiment of the present application, before the actual wind speed of the wind turbine is input into a pre-built control model of the wind turbine, it also includes: obtaining the aerodynamic power, aerodynamic torque and aerodynamic thrust of the wind turbine; constructing an initial control model of the wind turbine based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust, the wind rotor speed and the floating foundation pitch; using the initial control model, combining the floating foundation pitch, the variable pitch actuator and the electromagnetic torque to dynamically establish the control model.

[0008] Optionally, in one embodiment of the present application, the electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine set according to the stability result includes: generating a non-smooth expression of the wind turbine set according to non-smooth system theory; using the non-smooth expression to calculate the generalized Jacobian matrix corresponding to the non-smooth expression; analyzing the stability of the wind turbine set according to the eigenvalues ​​of the generalized Jacobian matrix to obtain the stability result, so as to obtain the electromagnetic torque control strategy according to the stability result.

[0009] Optionally, in one embodiment of the present application, the expression of the control model may be, but is not limited to:

[0010]

[0011] in, x s is the displacement of the longitudinal motion, x p is the pitch motion displacement, is the swing speed, is the pitch angular velocity, ρ is the air density, R is the impeller radius, v 0 is the inflow velocity, Ω r is the rotor speed, β is the pitch angle, T e is the electromagnetic torque, z β is the integral step variable, β min is the minimum pitch angle, β max is the maximum pitch angle, Te,max is the maximum electromagnetic torque, K P,β and K I,β is the proportional gain and integral gain, N Gear is the gearbox ratio, z T is the torque controller integral parameter, K I,T is the torque integral control parameter, K I,β is the pitch angle integral control parameter, T ac,T is the electromagnetic torque actuator time constant, T ac,β is the pitch angle actuator time constant, is the pitch angle proportional integral control output, is the electromagnetic torque proportional-integral control output,

[0012] Optionally, in one embodiment of the present application, the expression of the electromagnetic torque control strategy may be, but is not limited to,:

[0013]

[0014] Where J is the moment of inertia of the wind rotor, is the derivative of the wind rotor speed, C q is the aerodynamic torque coefficient and λ is the tip speed ratio.

[0015] A second aspect of the present application provides a device for suppressing the longitudinal vibration of a wind turbine, comprising: a detection module, for detecting the actual operating wind speed of the wind turbine; an input module, for inputting the actual wind speed of the wind turbine into a pre-built control model of the wind turbine when the actual operating wind speed meets a preset wind speed condition, so as to output a stability result, wherein the control model is dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation longitudinal swing, pitch actuator and electromagnetic torque of the wind turbine; a control module, for obtaining an electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine according to the stability result, and controlling the wind turbine to execute the electromagnetic torque control strategy.

[0016] Optionally, in one embodiment of the present application, it also includes: an acquisition module, used to obtain the aerodynamic power, aerodynamic torque and aerodynamic thrust of the wind turbine group before inputting the actual wind speed of the wind turbine group into a pre-built control model of the wind turbine group; a first construction module, used to construct an initial control model of the wind turbine group based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust, the wind wheel speed and the floating foundation pitch; a second construction module, used to use the initial control model, combined with the floating foundation pitch, the variable pitch actuator and the electromagnetic torque to dynamically establish the control model.

[0017] Optionally, in one embodiment of the present application, the control module includes: a generation unit, used to generate a non-smooth expression of the wind turbine according to the non-smooth system theory; a calculation unit, used to use the non-smooth expression to calculate the generalized Jacobian matrix corresponding to the non-smooth expression; and an analysis unit, used to analyze the stability of the wind turbine according to the eigenvalues ​​of the generalized Jacobian matrix to obtain the stability result, so as to obtain the electromagnetic torque control strategy according to the stability result.

[0018] Optionally, in one embodiment of the present application, the expression of the control model may be, but is not limited to:

[0019]

[0020] in, x s is the displacement of the longitudinal motion, x p is the pitch motion displacement, is the swing speed, is the pitch angular velocity, ρ is the air density, R is the impeller radius, v 0 is the inflow velocity, Ω r is the rotor speed, β is the pitch angle, T e is the electromagnetic torque, z β is the integral step variable, β min is the minimum pitch angle, β max is the maximum pitch angle, T e,max is the maximum electromagnetic torque, K P,β and K I,β is the proportional gain and integral gain, N Gear is the gearbox ratio, z T is the torque controller integral parameter, K I,T is the torque integral control parameter, K I,β is the pitch angle integral control parameter, T ac,T is the electromagnetic torque actuator time constant, T ac,β is the pitch angle actuator time constant, is the pitch angle proportional integral control output, is the electromagnetic torque proportional-integral control output,

[0021] Optionally, in one embodiment of the present application, the expression of the electromagnetic torque control strategy may be, but is not limited to,:

[0022]

[0023] Where J is the moment of inertia of the wind rotor, is the derivative of the wind rotor speed, C qis the aerodynamic torque coefficient and λ is the tip speed ratio.

[0024] A third aspect of the present application 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 executes the program to implement the method for suppressing the longitudinal vibration of a wind turbine as described in the above embodiment.

[0025] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above method for suppressing the longitudinal vibration of a wind turbine.

[0026] A fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, implements the above method for suppressing the longitudinal vibration of a wind turbine.

[0027] In the embodiment of the present application, when the actual operating wind speed meets certain wind speed conditions, the actual wind speed of the wind turbine can be input into the control model of the pre-built wind turbine, and the stability result can be output. According to the stability result, the electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine can be obtained, and then executed to suppress the longitudinal motion, which can effectively control the power of the wind turbine, reduce the operation and maintenance cost of the wind turbine, and extend the service life of the wind turbine. The control strategy is simple to implement, making the controller design more concise and efficient, with good economy, and conducive to practical application. Therefore, the problem in the related art that when the floating wind turbine is operating near the rated wind speed, the oscillation phenomenon of the longitudinal motion of the floating foundation is prone to occur, and the oscillation phenomenon greatly affects the power output of the floating wind turbine, increases mechanical fatigue, and is not conducive to the safety and stability of the wind turbine is solved.

[0028] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0030] Figure 1 A flow chart of a method for suppressing oscillatory vibration of a wind turbine set provided according to an embodiment of the present application;

[0031] Figure 2 A block diagram of an anti-saturation PI (Proportional-Integral) controller provided according to an embodiment of the present application;

[0032] Figure 3 A schematic block diagram of a device for suppressing longitudinal vibration of a wind turbine generator set provided according to an embodiment of the present application;

[0033] Figure 4 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The following describes the method and device for suppressing the longitudinal vibration of a wind turbine according to an embodiment of the present application with reference to the accompanying drawings. In view of the problem mentioned in the above background technology that when a floating wind turbine operates near the rated wind speed, the oscillation phenomenon of the longitudinal motion of the floating foundation is prone to occur, and the oscillation phenomenon greatly affects the power output of the floating wind turbine, increases mechanical fatigue, and is not conducive to the safety and stability of the wind turbine, the present application provides a method for suppressing the longitudinal vibration of a wind turbine. In the method, when the actual operating wind speed meets certain wind speed conditions, the actual wind speed of the wind turbine can be input into a pre-built control model of the wind turbine, and a stability result can be output. According to the stability result, an electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine is obtained, and then executed to suppress the longitudinal motion, which can effectively control the power of the wind turbine, reduce the operation and maintenance cost of the wind turbine, and extend the service life of the wind turbine. The control strategy is simple to implement, making the controller design more concise and efficient, with good economy, and conducive to practical application. Thereby, the problem in the related art that when the floating wind turbine operates near the rated wind speed, the oscillation phenomenon of the longitudinal motion of the floating foundation is prone to occur, and this oscillation phenomenon greatly affects the power output of the floating wind turbine, increases mechanical fatigue, and is not conducive to the safety and stability of the wind turbine.

[0036] Specifically, Figure 1 The present invention is a flow chart of a method for suppressing longitudinal vibration of a wind turbine set provided in accordance with an embodiment of the present application.

[0037] like Figure 1 As shown, the method for suppressing the longitudinal vibration of the wind turbine generator set includes the following steps:

[0038] In step S101, the actual operating wind speed of the wind turbine is detected.

[0039] It can be understood that the wind turbine in the embodiment of the present application can be, but is not limited to, a floating wind turbine, which can be specifically configured by technicians in the field according to actual conditions, and the present application does not impose any specific limitations.

[0040] It should be noted that the floating wind turbine in the embodiment of the present application is prone to surge vibration problems near the rated wind speed. In some embodiments, the embodiment of the present application can first detect the actual operating wind speed of the wind turbine.

[0041] Optionally, in one embodiment of the present application, before the actual wind speed of the wind turbine is input into the pre-built control model of the wind turbine, it also includes: obtaining the aerodynamic power, aerodynamic torque and aerodynamic thrust of the wind turbine; constructing an initial control model of the wind turbine based on the aerodynamic power, aerodynamic torque, aerodynamic thrust, wind rotor speed and floating foundation pitch; using the initial control model, combining the floating foundation pitch, pitch actuator and electromagnetic torque to dynamically establish a control model. Among them, the expression of the control model can be but is not limited to:

[0042]

[0043] in, x s is the displacement of the longitudinal motion, x p is the pitch motion displacement, is the swing speed, is the pitch angular velocity, ρ is the air density, R is the impeller radius, v 0 is the inflow velocity, Ω r is the rotor speed, β is the pitch angle, T e is the electromagnetic torque, z β is the integral step variable, β min is the minimum pitch angle, β max is the maximum pitch angle, T e,max is the maximum electromagnetic torque, K P,β and K I,β is the proportional gain and integral gain, N Gear is the gearbox ratio, z T is the torque controller integral parameter, K I,T is the torque integral control parameter, K I,β is the pitch angle integral control parameter, T ac,T is the electromagnetic torque actuator time constant, T ac,β is the pitch angle actuator time constant, is the pitch angle proportional integral control output, is the electromagnetic torque proportional-integral control output,

[0044] It can be understood that the control model of the embodiment of the present application may include but is not limited to the three degrees of freedom of wind rotor speed, floating foundation pitch and floating foundation surge, and may also include variable pitch actuators and electromagnetic torque dynamics, etc., and the present application does not impose specific limitations.

[0045] Furthermore, the embodiment of the present application may include 9 state variables based on the degrees of freedom, such as ① floating basic pitch angle, ② floating basic pitch angular velocity, ③ floating basic longitudinal displacement, ④ floating basic longitudinal velocity, ⑤ wind wheel speed, ⑥ pitch angle command value, ⑦ pitch angle true value, ⑧ electromagnetic torque command value, ⑨ electromagnetic torque true value, etc., which may be specifically set by technicians in this field according to actual conditions, and this application does not make specific restrictions, so as to complete subsequent system analysis and controller design.

[0046] In some embodiments, the pneumatic power P of the wind turbine generator set in the present embodiment is a , aerodynamic torque T a and aerodynamic thrust F a The expression can be, but is not limited to:

[0047]

[0048] Where ρ is the air density, R is the impeller radius, is the swing speed, is the pitch angular velocity, v 0 is the inflow velocity, Ω r is the rotor speed, β is the pitch angle, is the relative wind speed, L T is the tower height, λ is the tip speed ratio, and its expression can be but is not limited to:

[0049]

[0050] Among them, C p , C q and C t They are respectively the aerodynamic power coefficient, the aerodynamic torque coefficient, and the aerodynamic thrust coefficient, and they satisfy the following relationship, which can be expressed as but not limited to:

[0051]

[0052] Furthermore, in the embodiment of the present application, based on aerodynamic power, aerodynamic torque and aerodynamic thrust, the speed control system of the floating wind turbine set above the rated wind speed constructs an initial control model of the wind turbine set based on the two degrees of freedom of the rotor speed and the longitudinal oscillation of the floating foundation. The expression of the initial control model can be, but is not limited to,:

[0053]

[0054] Where J is the moment of inertia of the wind wheel, Ω r is the wind wheel speed, v 0 is the inflow wind speed, q is the floating foundation surge angle, β is the propeller pitch angle, N Gear is the gearbox ratio, T e is the electromagnetic torque, T a is the aerodynamic torque, I Mass is the floating basic inertia matrix, A ∞ is the hydrodynamic infinite frequency added mass matrix, B is the hydrodynamic equivalent radiation damping matrix, C HS is the hydrodynamic equivalent hydrostatic recovery stiffness matrix, C Moor is the mooring stiffness matrix, is the derivative of the wind rotor speed, is the acceleration of the oscillation motion, is the angular velocity of the pitch motion, x s is the displacement of the longitudinal motion, x p is the pitch motion displacement, F a It's pneumatic thrust.

[0055] In addition, the embodiment of the present application also uses a reference speed offset algorithm near the rated wind speed, and its expression can be but is not limited to:

[0056]

[0057] in, is the rated speed of the wind wheel, Ω r is the wind wheel speed, β min is the minimum pitch angle, β max is the maximum pitch angle, β is the pitch angle, T e,max is the maximum electromagnetic torque, T e is the electromagnetic torque, k vs and k pc is the bias parameter, ΔΩ T is the wind wheel speed error input to the electromagnetic torque dynamics, ΔΩ β It is the rotor speed error input to the pitch actuator.

[0058] In addition, it should be noted that Figure 2 As shown, the pitch control and electromagnetic torque control of the embodiment of the present application both adopt an anti-saturation PI controller, wherein the pitch anti-saturation PI control expression can be but is not limited to:

[0059]

[0060] Among them, K P,β and K I,β is the proportional gain and integral gain, z β is the integration variable, is the proportional-integral output, It is the internal state variable of the integral controller and has no actual physical meaning.

[0061] In the embodiment of the present application, the electromagnetic torque anti-saturation PI control is similar to the above formula and will not be elaborated here.

[0062] Then this application establishes a control model, recording The control model can be expressed as but not limited to:

[0063]

[0064] in, Specifically, the expression can be, but is not limited to:

[0065]

[0066] σ 1 =A 55 m+I 55 m+A 11 A 55 -A 15 A 51 +A 11 I 55 #(14)

[0067] In step S102, when the actual operating wind speed meets the preset wind speed condition, the actual wind speed of the wind turbine is input into a pre-built control model of the wind turbine to output a stability result, wherein the control model is dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation surge, pitch actuator and electromagnetic torque of the wind turbine.

[0068] Through the above analysis, it can be known that the control model of the embodiment of the present application can be dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation surge, variable pitch actuator and electromagnetic torque.

[0069] As a possible implementation method, in the embodiment of the present application, when the actual operating wind speed meets certain wind speed conditions, the actual wind speed of the wind turbine can be input into a pre-built control model of the wind turbine to output a stability result, wherein the certain wind speed condition can be set by technicians in this field according to actual conditions, and this application does not impose any specific restrictions.

[0070] For example, when the actual operating wind speed of the wind turbine generator set is near the rated wind speed, the actual wind speed of the wind turbine generator set may be input into a pre-built control model of the wind turbine generator set to output a stability result.

[0071] In step S103, an electromagnetic torque control strategy for suppressing the surging vibration of the wind turbine is obtained according to the stability result, and the wind turbine is controlled to execute the electromagnetic torque control strategy.

[0072] In the actual implementation process, the embodiment of the present application can obtain the electromagnetic torque control strategy according to the stability result, and execute the electromagnetic torque control strategy to achieve the longitudinal oscillation suppression effect.

[0073] Optionally, in one embodiment of the present application, an electromagnetic torque control strategy for suppressing the longitudinal vibration of a wind turbine is obtained according to the stability result, including: generating a non-smooth expression of the wind turbine according to the non-smooth system theory; using the non-smooth expression to calculate the generalized Jacobian matrix corresponding to the non-smooth expression; analyzing the stability of the wind turbine according to the eigenvalue of the generalized Jacobian matrix to obtain the stability result, so as to obtain the electromagnetic torque control strategy according to the stability result. Among them, the expression of the electromagnetic torque control strategy can be but is not limited to:

[0074]

[0075] Where J is the moment of inertia of the wind rotor, is the derivative of the wind rotor speed, C q is the aerodynamic torque coefficient and λ is the tip speed ratio.

[0076] Those skilled in the art can understand that, in the embodiments of the present application, stability analysis of the wind turbine can be performed based on non-smooth system theory and nonlinear system theory to obtain stability results.

[0077] According to the non-smooth system theory, a non-smooth system with a switching boundary can be represented as, but not limited to:

[0078]

[0079] Among them, S + and S - are separated by discontinuous boundaries Σ, where ∑ can be closed or approach infinity, and this application does not impose any specific limitation.

[0080]

[0081] Furthermore, in the embodiment of the present application, at the switching boundary, the generalized Jacobian matrix corresponding to the non-smooth expression can be calculated, wherein the expression of the generalized Jacobian matrix can be, but is not limited to,:

[0082]

[0083] in,

[0084] Through analysis, it can be seen that in the embodiment of the present application, near the rated wind speed, as s G Change, J. G There is a pair of complex conjugate eigenvalues ​​that cross the imaginary axis, proving that the wind turbine has non-smooth bifurcation. Based on the existence of non-smooth bifurcation, it can be seen that the limit cycle of the floating wind turbine is caused by the longitudinal motion, and we can get:

[0085]

[0086] In the embodiment of the present application, the electromagnetic torque control signal is:

[0087]

[0088] The dynamic equation of the wind wheel speed after compensation is the electromagnetic torque control strategy, and its expression can be but is not limited to:

[0089]

[0090] The embodiment of the present application eliminates the longitudinal surge velocity in equation (20), thereby avoiding coupling between the two.

[0091] According to the method for suppressing the longitudinal vibration of a wind turbine set proposed in the embodiment of the present application, when the actual operating wind speed meets certain wind speed conditions, the actual wind speed of the wind turbine set can be input into the control model of the pre-built wind turbine set, and the stability result can be output. According to the stability result, the electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine set is obtained, and then executed to suppress the longitudinal motion, which can effectively control the power of the wind turbine set, reduce the operation and maintenance cost of the wind turbine set, and extend the service life of the wind turbine set. The control strategy is simple to implement, making the controller design more concise and efficient, with good economy, and conducive to practical application. Therefore, the problem in the related art that when the floating wind turbine set operates near the rated wind speed, the oscillation phenomenon of the longitudinal motion of the floating foundation is prone to occur, and the oscillation phenomenon greatly affects the power output of the floating wind turbine set, increases mechanical fatigue, and is not conducive to the safety and stability of the wind turbine set is solved.

[0092] Next, a device for suppressing longitudinal vibration of a wind turbine set proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0093] Figure 3 It is a block diagram of a device for suppressing longitudinal vibration of a wind turbine set provided according to an embodiment of the present application.

[0094] like Figure 3 As shown, the wind turbine generator set surge vibration suppression device 10 includes: a detection module 100 , an input module 200 and a control module 300 .

[0095] The detection module 100 is used to detect the actual operating wind speed of the wind turbine.

[0096] The input module 200 is used to input the actual wind speed of the wind turbine into a pre-built control model of the wind turbine when the actual operating wind speed meets the preset wind speed condition, so as to output a stability result, wherein the control model is dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation surge, variable pitch actuator and electromagnetic torque of the wind turbine.

[0097] The control module 300 is used to obtain an electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine according to the stability result, and control the wind turbine to execute the electromagnetic torque control strategy.

[0098] Optionally, in one embodiment of the present application, it further includes: an acquisition module, a first construction module and a second construction module.

[0099] The acquisition module is used to acquire the aerodynamic power, aerodynamic torque and aerodynamic thrust of the wind turbine set before inputting the actual wind speed of the wind turbine set into the pre-built control model of the wind turbine set.

[0100] The first building module is used to build an initial control model of the wind turbine based on aerodynamic power, aerodynamic torque, aerodynamic thrust, wind rotor speed and floating foundation surge.

[0101] The second building module is used to dynamically establish a control model by using the initial control model in combination with the floating foundation pitch, pitch actuator and electromagnetic torque.

[0102] Optionally, in one embodiment of the present application, the control module 300 includes: a generation unit, a calculation unit and an analysis unit.

[0103] The generating unit is used to generate the non-smooth expression of the wind turbine according to the non-smooth system theory.

[0104] The computing unit is used to compute the generalized Jacobian matrix corresponding to the non-smooth expression using the non-smooth expression.

[0105] The analysis unit is used to analyze the stability of the wind turbine according to the eigenvalue of the generalized Jacobian matrix to obtain a stability result, so as to obtain an electromagnetic torque control strategy according to the stability result.

[0106] Optionally, in one embodiment of the present application, the expression of the control model may be, but is not limited to:

[0107]

[0108] in, x s is the displacement of the longitudinal motion, x pis the pitch motion displacement, is the swing speed, is the pitch angular velocity, ρ is the air density, R is the impeller radius, v 0 is the inflow velocity, Ω r is the rotor speed, β is the pitch angle, T e is the electromagnetic torque, z β is the integral step variable, β min is the minimum pitch angle, β max is the maximum pitch angle, T e,max is the maximum electromagnetic torque, K P,β and K I,β is the proportional gain and integral gain, N Gear is the gearbox ratio, z T is the torque controller integral parameter, K I,T is the torque integral control parameter, K I,β is the pitch angle integral control parameter, T ac,T is the electromagnetic torque actuator time constant, T ac,β is the pitch angle actuator time constant, is the pitch angle proportional integral control output, is the electromagnetic torque proportional-integral control output,

[0109] Optionally, in one embodiment of the present application, the expression of the electromagnetic torque control strategy may be, but is not limited to,:

[0110]

[0111] Where J is the moment of inertia of the wind rotor, is the derivative of the wind rotor speed, C q is the aerodynamic torque coefficient and λ is the tip speed ratio.

[0112] It should be noted that the above explanation of the embodiment of the method for suppressing the longitudinal vibration of a wind turbine is also applicable to the device for suppressing the longitudinal vibration of a wind turbine in this embodiment, and will not be described in detail here.

[0113] According to the device for suppressing the longitudinal oscillation vibration of a wind turbine set proposed in the embodiment of the present application, when the actual operating wind speed meets certain wind speed conditions, the actual wind speed of the wind turbine set can be input into the control model of the pre-built wind turbine set, and the stability result can be output. According to the stability result, the electromagnetic torque control strategy for suppressing the longitudinal oscillation vibration of the wind turbine set is obtained, and then executed to suppress the longitudinal oscillation motion, which can effectively control the power of the wind turbine set, reduce the operation and maintenance cost of the wind turbine set, and extend the service life of the wind turbine set. The control strategy is simple to implement, making the controller design more concise and efficient, with good economy, and conducive to practical application. Therefore, the problem in the related art that when the floating wind turbine set operates near the rated wind speed, the oscillation phenomenon of the longitudinal oscillation motion of the floating foundation is prone to occur, and the oscillation phenomenon greatly affects the power output of the floating wind turbine set, increases mechanical fatigue, and is not conducive to the safety and stability of the wind turbine set is solved.

[0114] Figure 4 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. The electronic device may include:

[0115] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0116] When the processor 402 executes the program, the method for suppressing the longitudinal vibration of the wind turbine set provided in the above embodiment is implemented.

[0117] Furthermore, the electronic device further comprises:

[0118] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0119] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0120] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0121] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0122] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0123] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0124] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above method for suppressing the longitudinal vibration of a wind turbine.

[0125] The embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements the above method for suppressing the longitudinal vibration of a wind turbine.

[0126] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0127] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0128] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0129] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0130] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0131] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0132] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0133] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for suppressing the longitudinal vibration of a wind turbine, characterized in that: The following steps are involved: Detect the actual operating wind speed of the wind turbine; In the case where the actual operating wind speed meets the preset wind speed condition, the actual wind speed of the wind turbine set is input into a pre-built control model of the wind turbine set to output a stability result, wherein the control model is dynamically established by the rotor speed, floating foundation pitch, floating foundation surge, pitch actuator and electromagnetic torque of the wind turbine set; An electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine is obtained according to the stability result, and the wind turbine is controlled to execute the electromagnetic torque control strategy.

2. The method according to claim 1, characterized in that Before inputting the actual wind speed of the wind turbine generator set into the pre-built control model of the wind turbine generator set, the method further includes: Obtaining aerodynamic power, aerodynamic torque and aerodynamic thrust of the wind turbine generator set; Constructing an initial control model of the wind turbine generator system based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust, the wind rotor speed and the longitudinal surge of the floating foundation; The control model is dynamically established by utilizing the initial control model in combination with the floating foundation pitch, the variable pitch actuator and the electromagnetic torque.

3. The method according to claim 1, characterized in that The electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine generator set obtained according to the stability result includes: generating a non-smooth expression of the wind turbine according to non-smooth system theory; Calculating a generalized Jacobian matrix corresponding to the non-smooth expression using the non-smooth expression; The stability of the wind turbine is analyzed according to the eigenvalues ​​of the generalized Jacobian matrix to obtain the stability result, so as to obtain the electromagnetic torque control strategy according to the stability result.

4. The method according to claim 1, characterized in that: The expression of the control model is: in, x s is the displacement of the longitudinal motion, x p is the pitch motion displacement, is the swing speed, is the pitch angular velocity, ρ is the air density, R is the impeller radius, v0 is the inflow wind speed, Ω r is the rotor speed, β is the pitch angle, T e is the electromagnetic torque, z β is the integral variable, β min is the minimum pitch angle, β max is the maximum pitch angle, T e，max is the maximum electromagnetic torque, K P，β and K I，β is the proportional gain and integral gain, N Gear is the gearbox ratio, z T is the torque controller integral parameter, K I，T is the torque integral control parameter, K I，β is the pitch angle integral control parameter, T ac，T is the electromagnetic torque actuator time constant, T ac，β is the pitch angle actuator time constant, is the pitch angle proportional integral control output, is the electromagnetic torque proportional-integral control output, 5. The method according to claim 1, characterized in that: The expression of the electromagnetic torque control strategy is: Where J is the moment of inertia of the wind rotor, is the derivative of the wind rotor speed, C q is the aerodynamic torque coefficient and λ is the tip speed ratio.

6. A device for suppressing longitudinal vibration of a wind turbine, characterized in that: include: A detection module, used to detect the actual operating wind speed of the wind turbine; An input module is used for inputting the actual wind speed of the wind turbine group into a pre-built control model of the wind turbine group to output a stability result when the actual operating wind speed meets the preset wind speed condition, wherein the control model is dynamically established by the rotor speed, floating foundation pitch, floating foundation surge, pitch actuator and electromagnetic torque of the wind turbine group; A control module is used to obtain an electromagnetic torque control strategy for suppressing the longitudinal vibration of the wind turbine according to the stability result, and control the wind turbine to execute the electromagnetic torque control strategy.

7. The device according to claim 6, characterized in that Also includes: An acquisition module, used for acquiring the aerodynamic power, aerodynamic torque and aerodynamic thrust of the wind turbine set before inputting the actual wind speed of the wind turbine set into a pre-built control model of the wind turbine set; A first construction module is used to construct an initial control model of the wind turbine generator set based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust, the wind rotor speed and the longitudinal surge of the floating foundation; The second building module is used to dynamically establish the control model by using the initial control model in combination with the floating foundation pitch, the variable pitch actuator and the electromagnetic torque.

8. 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 executes the program to implement the method for suppressing the longitudinal vibration of a wind turbine set as claimed in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method for suppressing the longitudinal vibration of a wind turbine set as described in any one of claims 1 to 5.

10. A computer program product, characterized in that It comprises a computer program, which, when executed, is used to implement the method for suppressing the longitudinal vibration of a wind turbine set as claimed in any one of claims 1 to 5.

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