Methods and devices for suppressing sway vibration of wind turbine units

Abstract

This application relates to the field of wind power generation technology, and in particular to a method and apparatus for suppressing the sway vibration of a wind turbine. The method includes: detecting the actual operating wind speed of the wind turbine; when the actual operating wind speed meets certain wind speed conditions, inputting the actual wind speed of the wind turbine into a pre-constructed control model of the wind turbine to output a stability result; obtaining an electromagnetic torque control strategy to suppress the sway vibration of the wind turbine based on the stability result, and controlling the wind turbine to execute the electromagnetic torque control strategy. This solves the problems in related technologies, such as the tendency for floating wind turbines to experience sway vibration of the floating foundation when operating near the rated wind speed. This oscillation significantly affects the power output of the floating wind turbine, increases mechanical fatigue, and is detrimental to the safety and stability of the wind turbine.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and in particular to a method and apparatus for suppressing the sway vibration of a wind turbine. Background Technology

[0002] Due to technological and cost limitations, the primary utilization of wind energy currently comes from onshore and near-shore wind turbines with fixed foundations. With the planning of offshore wind turbines, the vast and stable deep-sea areas have become the main region for future wind power development, among which floating wind turbines are the best choice for utilizing wind energy. However, frequent controller switching near the rated wind speed can cause oscillations due to the swaying motion of the floating foundation.

[0003] In related technologies, 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. Then, the first torque signal and the second torque signal are used to calculate the frequency converter control signal to control the generator converter frequency converter, thereby canceling resonance. Alternatively, the electromagnetic torque control signal of the wind turbine can be calculated based on the obtained gearbox ratio, rated electromagnetic torque, wind turbine rotor speed, wind turbine floating foundation pitch angular velocity, and inflow wind speed of the wind turbine to eliminate limit cycles and thereby control the wind turbine rotor speed to be constant.

[0004] However, in related technologies, when floating wind turbines operate near the rated wind speed, they are prone to oscillations caused by the swaying motion of the floating foundation. This oscillation significantly affects the power output of the floating wind turbine, increases mechanical fatigue, and is detrimental to the safety and stability of the wind turbine, thus requiring urgent improvement. Summary of the Invention

[0005] This application provides a method and apparatus for suppressing the sway vibration of a wind turbine, in order to solve the problems in the related art, where floating wind turbines are prone to oscillations due to the swaying motion of the floating foundation when operating near the rated wind speed. These oscillations significantly affect the power output of the floating wind turbine, increase mechanical fatigue, and are detrimental to the safety and stability of the wind turbine.

[0006] The first aspect of this application provides a method for suppressing the sway 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 wind turbine rotor speed, floating foundation pitch, floating foundation sway, pitch actuator, and electromagnetic torque of the wind turbine; obtaining an electromagnetic torque control strategy for suppressing the sway vibration of the wind turbine based on the stability result, and controlling the wind turbine to execute the electromagnetic torque control strategy.

[0007] Optionally, in one embodiment of this application, before inputting the actual wind speed of the wind turbine into the pre-built control model of the wind turbine, the method further 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 turbine speed, and the sway of the floating foundation; and dynamically establishing the control model using the initial control model, combined with the sway of the floating foundation, the pitch actuator, and the electromagnetic torque.

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

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

[0010]

[0011] in, x s It is the displacement of the oscillating motion, x p It is the displacement of the pitching motion. It is the oscillation speed. ρ is the pitch angular velocity, R is the air density, v0 is the impeller radius, and Ω is the inflow velocity. r β is the rotor speed, β is the pitch angle, and T is the rotor speed. e It is electromagnetic torque, z β It is a variable in the integration process, β min It is the minimum pitch angle, β max It is the maximum pitch angle, T e,maxIt is the maximum value of electromagnetic torque, K P,β and K I,β It refers to the proportional gain and integral gain, N Gear It's the gearbox ratio, z T K is the integral term parameter of the torque controller. I,T It is the torque integral control parameter, K I,β It is the integral control parameter for the pitch angle, T ac,T It is the time constant of the electromagnetic torque actuator, T ac,β It is the time constant of the paddle pitch angle actuator. It is a proportional-integral control output for the pitch angle. It is an electromagnetic torque proportional-integral control output.

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

[0013]

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

[0015] A second aspect of this application provides a device for suppressing the sway 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-constructed control model of the wind turbine, wherein the actual operating wind speed meets a preset wind speed condition, and outputting a stability result, wherein the control model is dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation sway, pitch actuator, and electromagnetic torque of the wind turbine; and a control module for obtaining an electromagnetic torque control strategy for suppressing the sway vibration of the wind turbine based on the stability result, and controlling the wind turbine to execute the electromagnetic torque control strategy.

[0016] Optionally, in one embodiment of this application, it further includes: an acquisition module, configured to acquire the aerodynamic power, aerodynamic torque, and aerodynamic thrust of the wind turbine before inputting the actual wind speed of the wind turbine into the pre-constructed control model of the wind turbine; a first construction module, configured to construct an initial control model of the wind turbine based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust, the wind turbine speed, and the sway of the floating foundation; and a second construction module, configured to dynamically establish the control model using the initial control model, combined with the sway of the floating foundation, the pitch actuator, and the electromagnetic torque.

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

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

[0019]

[0020] in, x s It is the displacement of the oscillating motion, x p It is the displacement of the pitching motion. It is the oscillation speed. ρ is the pitch angular velocity, R is the air density, v0 is the impeller radius, and Ω is the inflow velocity. r β is the rotor speed, β is the pitch angle, and T is the rotor speed. e It is electromagnetic torque, z β It is a variable in the integration process, β min It is the minimum pitch angle, β max It is the maximum pitch angle, T e,max It is the maximum value of electromagnetic torque, K P,β and K I,β It refers to the proportional gain and integral gain, N Gear It's the gearbox ratio, z T K is the integral term parameter of the torque controller. I,T It is the torque integral control parameter, K I,β It is the integral control parameter for the pitch angle, T ac,T It is the time constant of the electromagnetic torque actuator, T ac,β It is the time constant of the paddle pitch angle actuator. It is a proportional-integral control output for the pitch angle. It is an electromagnetic torque proportional-integral control output.

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

[0022]

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

[0024] A third aspect of this application provides an electronic device, including: 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 sway vibration of a wind turbine as described in the above embodiments.

[0025] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for suppressing the sway vibration of a wind turbine.

[0026] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, implements the above-described method for suppressing the sway vibration of a wind turbine.

[0027] This application embodiment, under certain wind speed conditions, inputs the actual wind speed of the wind turbine into a pre-constructed control model of the wind turbine, outputs stability results, and derives an electromagnetic torque control strategy to suppress the sway vibration of the wind turbine based on these results. This strategy is then executed to suppress sway motion, effectively controlling the wind turbine power, reducing maintenance costs, and extending its service life. The control strategy is simple to implement, making the controller design more concise and efficient, and economical, thus beneficial for practical applications. This solves the problem in related technologies where floating wind turbines are prone to sway vibrations of the floating foundation when operating near the rated wind speed. These oscillations significantly affect the power output of the floating wind turbine, increase mechanical fatigue, and are detrimental to the safety and stability of the wind turbine.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0030] Figure 1 This is a flowchart of a method for suppressing the sway vibration of a wind turbine generator according to an embodiment of this application;

[0031] Figure 2 This is a block diagram of an anti-saturation PI (Proportional-Integral) controller according to an embodiment of this application;

[0032] Figure 3 This is a block diagram of a device for suppressing the sway vibration of a wind turbine generator according to an embodiment of this application;

[0033] Figure 4 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

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

[0035] The following describes a method and apparatus for suppressing sway vibration of a wind turbine according to embodiments of this application, with reference to the accompanying drawings. Addressing the issue mentioned in the background art where floating wind turbines are prone to swaying vibrations of the floating foundation when operating near the rated wind speed, and this oscillation significantly affects the power output of the floating wind turbine, increases mechanical fatigue, and is detrimental to the safety and stability of the wind turbine, this application provides a method for suppressing sway vibration of a wind turbine. In this method, when the actual operating wind speed meets certain conditions, the actual wind speed of the wind turbine is input into a pre-constructed control model of the wind turbine, outputting stability results. Based on the stability results, an electromagnetic torque control strategy for suppressing sway vibration of the wind turbine is obtained and executed to suppress sway motion. This effectively controls the power of the wind turbine, reduces the operation and maintenance costs of the wind turbine, and extends the service life of the wind turbine. The control strategy is simple to implement, making the controller design more concise and efficient, with good economic benefits, and is conducive to practical applications. This solves the problem in related technologies where floating wind turbines are prone to oscillations due to the longitudinal motion of the floating foundation when operating near the rated wind speed. This oscillation significantly affects the power output of the floating wind turbine, increases mechanical fatigue, and is detrimental to the safety and stability of the wind turbine.

[0036] Specifically, Figure 1 This is a flowchart of a method for suppressing the sway vibration of a wind turbine according to an embodiment of this application.

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

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

[0039] It is understood that the wind turbine units in the embodiments of this application may be, but are not limited to, floating wind turbine units. The specific configuration can be made by those skilled in the art according to the actual situation, and this application does not impose any specific restrictions.

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

[0041] Optionally, in one embodiment of this application, before inputting the actual wind speed of the wind turbine into the pre-built control model of the wind turbine, the method further 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, rotor speed, and floating foundation sway; and dynamically establishing a control model using the initial control model, combined with the floating foundation pitch, pitch actuator, and electromagnetic torque. The expression of the control model may be, but is not limited to, the following:

[0042]

[0043] in, x s It is the displacement of the oscillating motion, x p It is the displacement of the pitching motion. It is the oscillation speed. ρ is the pitch angular velocity, R is the air density, v0 is the impeller radius, and Ω is the inflow velocity. r β is the rotor speed, β is the pitch angle, and T is the rotor speed. e It is electromagnetic torque, z β It is a variable in the integration process, β min It is the minimum pitch angle, β max It is the maximum pitch angle, T e,max It is the maximum value of electromagnetic torque, K P,β and K I,β It refers to the proportional gain and integral gain, N Gear It's the gearbox ratio, z T K is the integral term parameter of the torque controller. I,T It is the torque integral control parameter, K I,β It is the integral control parameter for the pitch angle, T ac,T It is the time constant of the electromagnetic torque actuator, T ac,β It is the time constant of the paddle pitch angle actuator. It is a proportional-integral control output for the pitch angle. It is an electromagnetic torque proportional-integral control output.

[0044] It is understood that the control model in this application embodiment may include, but is not limited to, the three degrees of freedom of wind turbine speed, floating foundation pitch and floating foundation sway, and may also include pitch actuator and electromagnetic torque dynamics, etc. This application does not impose specific limitations.

[0045] Furthermore, the embodiments of this application can include nine state variables based on degrees of freedom, such as ① floating foundation pitch angle, ② floating foundation pitch angular velocity, ③ floating foundation sway displacement, ④ floating foundation sway velocity, ⑤ wind turbine speed, ⑥ commanded pitch angle value, ⑦ actual pitch angle value, ⑧ commanded electromagnetic torque value, and ⑨ actual electromagnetic torque value. These can be specifically set by those skilled in the art according to the actual situation. This application does not impose any specific limitations, thereby completing the subsequent system analysis and controller design.

[0046] In some embodiments of this application, the aerodynamic power P of the wind turbine generator set a Pneumatic 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 and R is the impeller radius. It is the oscillation speed. It is the pitch angular velocity, v0 is the inflow velocity, Ω r β is the rotor speed, and β is the blade pitch angle. It is relative wind speed, L T Where λ is the tower height and λ is the tip speed ratio, its expression can be, but is not limited to, as follows:

[0049]

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

[0051]

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

[0053]

[0054] Where J is the moment of inertia of the wind turbine, Ωr V is the rotor speed, v0 is the inflow wind speed, q is the sway angle of the floating foundation, β is the pitch angle, and N is the inflow wind speed. Gear It's the gearbox ratio, T e It is electromagnetic torque, T a It is aerodynamic torque, I Mass It is the floating fundamental inertia matrix, A ∞ B is the hydrodynamic infinite frequency added mass matrix, C is the hydrodynamic equivalent radiation damping matrix, and D is the hydrodynamic equivalent radiation damping matrix. HS It is the hydrodynamic equivalent hydrostatic restoring stiffness matrix, C Moor It is the mooring stiffness matrix. It is the derivative of the wind turbine rotation speed. It is the acceleration of oscillation motion. It is the angular velocity of the pitching motion, x s It is the displacement of the oscillating motion, x p It is the pitch displacement, F a It is aerodynamic thrust.

[0055] Furthermore, this application embodiment also uses a reference rotational speed offset algorithm near the rated wind speed, the expression of which may be, but is not limited to:

[0056]

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

[0058] Additionally, it should be noted that, as Figure 2 As shown, both pitch control and electromagnetic torque control in this embodiment of the application employ anti-saturation PI controllers. The expression for the pitch anti-saturation PI control can be, but is not limited to, the following:

[0059]

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

[0061] In the embodiments of this application, the electromagnetic torque anti-saturation PI control is similar to the above formula, and will not be described in detail here.

[0062] Therefore, this application establishes a control model, and records... The control model can be obtained, and its expression can be, but is not limited to, as follows:

[0063]

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

[0065]

[0066] σ1=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 conditions, the actual wind speed of the wind turbine is input into the pre-built control model of the wind turbine to output the stability result. The control model is dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation sway, pitch actuator and electromagnetic torque.

[0068] As can be seen from the above analysis, the control model of this application embodiment can be dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation sway, pitch actuator and electromagnetic torque.

[0069] As one possible implementation method, in this application embodiment, 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 stability results. The certain wind speed conditions can be set by those skilled in the art according to the actual situation, and this application does not impose specific limitations.

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

[0071] In step S103, an electromagnetic torque control strategy to suppress the sway vibration of the wind turbine is obtained based on the stability results, and the wind turbine is controlled to execute the electromagnetic torque control strategy.

[0072] In actual implementation, the embodiments of this application can obtain an electromagnetic torque control strategy based on the stability results and execute the electromagnetic torque control strategy to achieve sway suppression effect.

[0073] Optionally, in one embodiment of this application, obtaining an electromagnetic torque control strategy to suppress the oscillation vibration of a wind turbine based on stability results includes: generating a non-smooth expression of the wind turbine based on non-smooth system theory; calculating the generalized Jacobian matrix corresponding to the non-smooth expression using the non-smooth expression; analyzing the stability of the wind turbine based on the eigenvalues ​​of the generalized Jacobian matrix to obtain stability results, and then obtaining the electromagnetic torque control strategy based on the stability results. The expression for the electromagnetic torque control strategy may be, but is not limited to, the following:

[0074]

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

[0076] Those skilled in the art will understand that the embodiments of this application can perform stability analysis of wind turbine units based on nonsmooth system theory and nonlinear system theory to obtain stability results.

[0077] In this embodiment of the application, based on the theory of nonsmooth systems, a nonsmooth system with a switching boundary can be, but is not limited to, represented as:

[0078]

[0079] Among them, S + and S - Separated by discontinuous boundaries Σ, where, ∑ can be closed or tend to infinity; this application does not impose any specific restrictions.

[0080]

[0081] Furthermore, in this embodiment of the 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, as follows:

[0082]

[0083] in,

[0084] Analysis shows that, in the embodiments of this application, near the rated wind speed, as s G Change, J G A pair of complex conjugate eigenvalues ​​crosses the imaginary axis, proving that the wind turbine exhibits nonsmooth bifurcation. Based on the existence of nonsmooth bifurcation, it can be concluded that the limiting cycle of the floating wind turbine is due to sway motion, hence:

[0085]

[0086] In this embodiment of the application, the electromagnetic torque control signal is defined as follows:

[0087]

[0088] The dynamic equation for the wind turbine speed after compensation is based on the electromagnetic torque control strategy, and its expression can be, but is not limited to, as follows:

[0089]

[0090] In this embodiment, the oscillation velocity is eliminated in equation (20), thus avoiding the coupling between the two.

[0091] The method for suppressing the sway vibration of wind turbines proposed in this application allows the actual wind speed of the wind turbine to be input into a pre-built control model of the wind turbine when the actual operating wind speed meets certain conditions. The model outputs stability results and, based on these results, obtains an electromagnetic torque control strategy to suppress the sway vibration of the wind turbine. This strategy is then executed to suppress sway motion, effectively controlling the power of the wind turbine, reducing its operation and maintenance costs, and extending its service life. The control strategy is simple to implement, making the controller design more concise and efficient, and economical, thus beneficial for practical applications. This solves the problem in related technologies where floating wind turbines are prone to sway vibration of the floating foundation when operating near the rated wind speed. This oscillation significantly affects the power output of the floating wind turbine, increases mechanical fatigue, and is detrimental to the safety and stability of the wind turbine.

[0092] Next, referring to the accompanying drawings, a device for suppressing the sway vibration of a wind turbine generator according to an embodiment of this application is described.

[0093] Figure 3 This is a block diagram of a device for suppressing the sway vibration of a wind turbine provided according to an embodiment of this application.

[0094] like Figure 3 As shown, the wind turbine 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 the pre-built control model of the wind turbine when the actual operating wind speed meets the preset wind speed conditions, so as to output the stability result. The control model is dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation sway, pitch actuator and electromagnetic torque.

[0097] The control module 300 is used to obtain an electromagnetic torque control strategy to suppress the sway vibration of the wind turbine based on the stability results, and to control the wind turbine to execute the electromagnetic torque control strategy.

[0098] Optionally, in one embodiment of this 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 before inputting the actual wind speed of the wind turbine into the pre-built control model of the wind turbine.

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

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

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

[0103] The generation unit is used to generate a non-smooth representation of the wind turbine based on the theory of non-smooth systems.

[0104] The computational unit is used to compute the generalized Jacobian matrix corresponding to the nonsmooth representation.

[0105] The analysis unit is used to analyze the stability of the wind turbine based on the eigenvalues ​​of the generalized Jacobian matrix, obtain the stability results, and then derive an electromagnetic torque control strategy based on the stability results.

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

[0107]

[0108] in, x s It is the displacement of the oscillating motion, x pIt is the displacement of the pitching motion. It is the oscillation speed. ρ is the pitch angular velocity, R is the air density, v0 is the impeller radius, and Ω is the inflow velocity. r β is the rotor speed, β is the pitch angle, and T is the rotor speed. e It is electromagnetic torque, z β It is a variable in the integration process, β min It is the minimum pitch angle, β max It is the maximum pitch angle, T e,max It is the maximum value of electromagnetic torque, K P,β and K I,β It refers to the proportional gain and integral gain, N Gear It's the gearbox ratio, z T K is the integral term parameter of the torque controller. I,T It is the torque integral control parameter, K I,β It is the integral control parameter for the pitch angle, T ac,T It is the time constant of the electromagnetic torque actuator, T ac,β It is the time constant of the paddle pitch angle actuator. It is a proportional-integral control output for the pitch angle. It is an electromagnetic torque proportional-integral control output.

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

[0110]

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

[0112] It should be noted that the explanation of the aforementioned embodiment of the method for suppressing the sway vibration of wind turbines also applies to the device for suppressing the sway vibration of wind turbines in this embodiment, and will not be repeated here.

[0113] The wind turbine sway vibration suppression device proposed in this application can, under certain wind speed conditions, input the actual wind speed of the wind turbine into a pre-built control model of the wind turbine, output stability results, and obtain an electromagnetic torque control strategy to suppress the sway vibration of the wind turbine based on the stability results. This strategy is then executed to suppress sway motion, effectively controlling the wind turbine power, reducing wind turbine operation and maintenance costs, and extending the service life of the wind turbine. The control strategy is simple to implement, making the controller design more concise and efficient, and possessing good economic benefits, which is conducive to practical application. This solves the problems in related technologies where, when floating wind turbines operate near the rated wind speed, oscillations of the floating foundation easily occur, and these oscillations significantly affect the power output of the floating wind turbine, increase mechanical fatigue, and are detrimental to the safety and stability of the wind turbine.

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

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

[0116] When the processor 402 executes the program, it implements the method for suppressing the sway vibration of the wind turbine provided in the above embodiments.

[0117] Furthermore, the electronic device further includes:

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

[0119] The memory 401 is used to store computer programs that can be run 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, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, 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 one type of bus.

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

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

[0124] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for suppressing the sway vibration of a wind turbine.

[0125] This application also provides a computer program product, including a computer program that, when executed, implements the above-described method for suppressing the sway vibration of a wind turbine.

[0126] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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

[0128] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0129] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0130] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0131] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0132] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0133] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for suppressing the oscillation vibration of a wind turbine generator, characterized in that, Includes the following steps: Detect the actual operating wind speed of the wind turbine; When the actual operating wind speed meets the preset wind speed conditions, the actual wind speed of the wind turbine is input into the pre-constructed control model of the wind turbine to output the stability result. The control model is dynamically established by the wind turbine rotor speed, floating foundation pitch, floating foundation sway, pitch actuator and electromagnetic torque. Based on the stability results, an electromagnetic torque control strategy for suppressing the sway vibration of the wind turbine is obtained, and the wind turbine is controlled to execute the electromagnetic torque control strategy. The expression for the control model is as follows: in, x s It is the displacement of the oscillating motion, x p It is the displacement of the pitching motion. It is the oscillation speed. ρ is the pitch angular velocity, R is the air density, v0 is the impeller radius, and Ω is the inflow velocity. r β is the rotor speed, β is the pitch angle, and T is the rotor speed. e It is electromagnetic torque, z β It is a variable in the integration process, β min It is the minimum pitch angle, β max It is the maximum pitch angle, T e,max It is the maximum value of electromagnetic torque, K P,β and K I,β It refers to the proportional gain and integral gain, N Gear It's the gearbox ratio, z T K is the integral term parameter of the torque controller. I,T It is the torque integral control parameter, K I,β It is the integral control parameter for the pitch angle, T ac,T It is the time constant of the electromagnetic torque actuator, T ac,β It is the time constant of the paddle pitch angle actuator. It is a proportional-integral control output for the pitch angle. It is an electromagnetic torque proportional-integral control output.

2. The method according to claim 1, characterized in that, Before inputting the actual wind speed of the wind turbine into the pre-built control model of the wind turbine, the following steps are also included: Obtain the aerodynamic power, aerodynamic torque, and aerodynamic thrust of the wind turbine. An initial control model for the wind turbine is constructed based on the aerodynamic power, aerodynamic torque, aerodynamic thrust, wind turbine speed, and the sway of the floating foundation. The initial control model is used to dynamically establish the control model by combining the pitch of the floating foundation, the pitch actuator, and the electromagnetic torque.

3. The method according to claim 1, characterized in that, The electromagnetic torque control strategy for suppressing the sway vibration of the wind turbine, obtained based on the stability results, includes: The non-smooth representation of the wind turbine is generated based on the theory of non-smooth systems. Calculate the generalized Jacobian matrix corresponding to the non-smooth representation using the non-smooth representation; The stability of the wind turbine is analyzed based on the eigenvalues ​​of the generalized Jacobian matrix to obtain the stability results, and the electromagnetic torque control strategy is derived based on the stability results.

4. The method according to claim 1, characterized in that, The expression for the electromagnetic torque control strategy is: Where J is the moment of inertia of the wind turbine. C is the derivative of the wind turbine rotation speed. q λ is the aerodynamic torque coefficient, and λ is the tip speed ratio.

5. A device for suppressing oscillation vibration of a wind turbine generator, characterized in that, include: The detection module is used to detect the actual operating wind speed of the wind turbine. The input module is used to input the actual wind speed of the wind turbine into the pre-built control model of the wind turbine when the actual operating wind speed meets the preset wind speed conditions, so as to output the stability result. The control model is dynamically established by the wind turbine's rotor speed, floating foundation pitch, floating foundation sway, pitch actuator and electromagnetic torque. The control module is used to obtain an electromagnetic torque control strategy to suppress the sway vibration of the wind turbine based on the stability results, and to control the wind turbine to execute the electromagnetic torque control strategy. The expression for the control model is as follows: in, x s It is the displacement of the oscillating motion, x p It is the displacement of the pitching motion. It is the oscillation speed. ρ is the pitch angular velocity, R is the air density, v0 is the impeller radius, and Ω is the inflow velocity. r β is the rotor speed, β is the pitch angle, and T is the rotor speed. e It is electromagnetic torque, z β It is a variable in the integration process, β min It is the minimum pitch angle, β max It is the maximum pitch angle, T e,max It is the maximum value of electromagnetic torque, K P,β and K I,β It refers to the proportional gain and integral gain, N Gear It's the gearbox ratio, z T K is the integral term parameter of the torque controller. I,T It is the torque integral control parameter, K I,β It is the integral control parameter for the pitch angle, T ac,T It is the time constant of the electromagnetic torque actuator, T ac,β It is the time constant of the paddle pitch angle actuator. It is a proportional-integral control output for the pitch angle. It is an electromagnetic torque proportional-integral control output.

6. The apparatus according to claim 5, characterized in that, Also includes: The acquisition module is used to acquire the aerodynamic power, aerodynamic torque, and aerodynamic thrust of the wind turbine before inputting the actual wind speed of the wind turbine into the pre-built control model of the wind turbine. The first construction module is used to construct the initial control model of the wind turbine based on the aerodynamic power, aerodynamic torque, aerodynamic thrust, wind turbine speed and the swaying of the floating foundation; The second construction module is used to dynamically establish the control model by utilizing the initial control model and combining the pitch of the floating foundation, the pitch actuator, and the electromagnetic torque.

7. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the processor executing the program to implement the method for suppressing the sway vibration of a wind turbine as described in any one of claims 1-4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for suppressing the sway vibration of a wind turbine as described in any one of claims 1-4.

9. A computer program product, characterized in that, Includes a computer program, which, when executed, is used to implement the method for suppressing the sway vibration of a wind turbine as described in any one of claims 1-4.

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