Method and device for suppressing pitching vibration of wind turbine generator

Abstract

The invention relates to the technical field of wind power generation, in particular to a suppression method and device for pitching 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, the actual wind speed of the wind turbine generator set is input into a pre-built control model of the wind turbine generator set so as to output a feedback instruction of a GSPI controller, and the control model is built through the wind wheel rotating speed of the wind turbine generator set, floating type foundation pitching and a variable pitch actuator; and according to the feedback instruction, obtaining an independent variable pitch strategy for suppressing pitching vibration of the wind turbine generator, and controlling the GSPI controller to execute the independent variable pitch strategy. Therefore, the problems that in the related technology, feasibility is only theoretically achieved, when pitching damping is slightly increased, the control quality of the rotating speed and the output power of the generator is not greatly improved, and even deterioration occurs 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 pitch 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 have become the main areas for future wind power development. Among them, floating offshore wind turbines are the best choice for utilizing wind energy. However, when floating wind turbines operate in areas with wind speeds higher than the rated speed, oscillations of the floating foundation pitch motion often occur. This phenomenon not only affects the power output of the floating wind turbine, but also increases mechanical fatigue, posing a threat to the safe and stable operation of the wind turbine.

[0003] In the related art, in order to suppress the pitch oscillation of a floating wind turbine, the pitch angular velocity can be fed back and added to the pitch angle control command signal to offset the negative damping term caused by the aerodynamic thrust, thereby increasing the damping of the pitch motion; or the speed error correction ratio and the speed error integral correction ratio of the target wind turbine can be determined based on the inflow wind speed of the target wind turbine, the pitch angular velocity of the target wind turbine and the tower height of the target wind turbine, respectively, and then the rotor speed error and the target pitch angle of the target wind turbine can be determined, thereby improving the stability of the target wind turbine.

[0004] However, the related technology is only feasible in theory. When the pitch damping is slightly increased, the control quality of the generator speed and output power is not improved much, and may even deteriorate, which urgently needs to be improved. Summary of the invention

[0005] The present application provides a method and device for suppressing the pitch vibration of a wind turbine to solve the problem in the related art that the method is only feasible in theory and when the pitch damping is slightly increased, the control quality of the generator speed and output power is not improved much, and may even deteriorate.

[0006] A first aspect of the present application provides a method for suppressing the pitch 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-built control model of the wind turbine to output a feedback instruction of a GSPI (Gain-Scheduling Proportional-Integral) controller, wherein the control model is established by the rotor speed, floating foundation pitch and pitch actuator of the wind turbine; obtaining an independent pitch strategy for suppressing the pitch vibration of the wind turbine according to the feedback instruction, and controlling the GSPI controller to execute the independent pitch 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 a single blade of the wind turbine; constructing an initial control model of the wind turbine based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust of the single blade, the wind rotor speed and the pitch of the floating foundation; and dynamically establishing the control model in combination with the initial control model and the pitch actuator.

[0008] Optionally, in one embodiment of the present application, the independent pitch strategy for suppressing the pitch vibration of the wind turbine set obtained according to the feedback instruction includes: obtaining the blade pitch strategy of the GSPI controller; obtaining the feedback instruction based on the floating basic pitch angular velocity state variable, the wind rotor azimuth state variable, the wind rotor speed state variable and the blade pitch strategy in the control model; correcting the rotor speed error and the integral error in the GSPI controller according to the feedback instruction to obtain the independent pitch strategy based on the corrected rotor speed error and the corrected integral error.

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

[0010]

[0011] Where J is the moment of inertia of the wind wheel, Ω r is the rotor speed, v0 is the inflow wind speed, q is the floating basic pitch angle, β is the pitch angle, N Gear is the gearbox ratio, T e is the electromagnetic torque, T a is the aerodynamic torque, I Mass is the pitch moment of inertia of the floating foundation, A ∞ is the hydrodynamic infinite frequency added mass, B is the hydrodynamic equivalent radiation damping, CHS is the hydrodynamic equivalent hydrostatic restoring stiffness, L T is the tower height, F a is the pneumatic thrust, is the acceleration of the wind wheel speed, is the pitch angular acceleration, is the pitch angular velocity, T ac is the pitch angle actuator time constant, β cmd is the pitch angle command value given by the controller, is the time derivative of the pitch angle.

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

[0013]

[0014] Among them, K 1,i (i=1,2,3) and K 2,i (i=1,2,3) is an adjustable parameter, e Ω,i is the speed error signal input to the pitch controller, It is an intermediate variable of the integrator and has no actual physical meaning. is the rated speed.

[0015] A second aspect of the present application provides a device for suppressing the pitch vibration of a wind turbine, comprising: a detection module, for detecting the actual operating wind speed of the wind turbine; an output 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 feedback instruction of a GSPI controller, wherein the control model is established by the rotor speed, the pitch of a floating foundation and a pitch actuator of the wind turbine; a control module, for obtaining an independent pitch strategy for suppressing the pitch vibration of the wind turbine according to the feedback instruction, and controlling the GSPI controller to execute the independent pitch 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 a single blade 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 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 of the single blade, the wind rotor speed and the pitch of the floating foundation; a generation module, used to dynamically establish the control model in combination with the initial control model and the variable pitch actuator.

[0017] Optionally, in one embodiment of the present application, the control module includes: an acquisition unit for acquiring the blade pitch strategy of the GSPI controller; a generation unit for obtaining the feedback instruction based on the floating basic pitch velocity state variable, the wind rotor azimuth state variable, the wind rotor speed state variable and the blade pitch strategy in the control model; and a correction unit for correcting the rotor speed error and the integral error in the GSPI controller according to the feedback instruction, so as to obtain the independent pitch strategy based on the corrected rotor speed error and the corrected integral error.

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

[0019]

[0020] Where J is the moment of inertia of the wind wheel, Ω r is the rotor speed, v0 is the inflow wind speed, q is the floating basic pitch angle, β is the pitch angle, N Gear is the gearbox ratio, T e is the electromagnetic torque, T a is the aerodynamic torque, I Mass is the pitch moment of inertia of the floating foundation, A ∞ is the hydrodynamic infinite frequency added mass, B is the hydrodynamic equivalent radiation damping, C HS is the hydrodynamic equivalent hydrostatic restoring stiffness, L T is the tower height, F a is the pneumatic thrust, is the acceleration of the wind wheel speed, is the pitch angular acceleration, is the pitch angular velocity, T ac is the pitch angle actuator time constant, β cmd is the pitch angle command value given by the controller, is the time derivative of the pitch angle.

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

[0022]

[0023] Among them, K 1,i (i=1,2,3) and K 2,i (i=1,2,3) is an adjustable parameter, e Ω,i is the speed error signal input to the pitch controller, It is an intermediate variable of the integrator and has no actual physical meaning. is the rated speed.

[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 pitch 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 pitch 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 pitch vibration of a wind turbine.

[0027] The embodiment of the present application can 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 of the wind turbine meets certain wind speed conditions, obtain the feedback instruction of the GSPI controller, and then obtain an independent pitch control strategy for suppressing the pitch vibration of the wind turbine, and control the GSPI controller to execute the independent pitch control strategy to achieve pitch suppression of the floating wind turbine. The embodiment of the present application is not subject to the time scale decoupling requirements of the cascade control strategy for the dual-loop dynamics, and can be suitable for engineering applications. Thus, the problem in the related art that it is only feasible in theory, when the pitch damping is slightly increased, the control quality of the generator speed and output power is not improved much, and even deteriorates. Additional aspects and advantages of the present application will be partially given in the following description, and part will become obvious from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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:

[0029] Figure 1 A flow chart of a method for suppressing pitch vibration of a wind turbine set provided according to an embodiment of the present application;

[0030] Figure 2 A block diagram of a device for suppressing pitch vibration of a wind turbine set provided according to an embodiment of the present application;

[0031] Figure 3 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] 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.

[0033] The following describes the method and device for suppressing the pitch vibration of a wind turbine set 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 it is only feasible in theory, when the pitch damping is slightly increased, the control quality of the generator speed and output power is not improved much, and even deteriorates, the present application provides a method for suppressing the pitch vibration of a wind turbine set. In this method, when the actual operating wind speed of the wind turbine set meets certain wind speed conditions, the actual wind speed of the wind turbine set can be input into a pre-built control model of the wind turbine set to obtain a feedback instruction of the GSPI controller, thereby obtaining an independent pitch control strategy for suppressing the pitch vibration of the wind turbine set, and controlling the GSPI controller to execute the independent pitch control strategy to achieve pitch suppression of a floating wind turbine set. The embodiment of the present application is not subject to the time scale decoupling requirements of the cascade control strategy for the dual-loop dynamics, and can be suitable for engineering applications. Thus, the problem that it is only feasible in theory, when the pitch damping is slightly increased, the control quality of the generator speed and output power is not improved much, and even deteriorates in the related art is solved.

[0034] Specifically, Figure 1 The present invention is a flow chart of a method for suppressing pitch vibration of a wind turbine set provided according to an embodiment of the present application.

[0035] like Figure 1 As shown, the method for suppressing the pitch vibration of a wind turbine generator set comprises the following steps:

[0036] In step S101, the actual operating wind speed of the wind turbine is detected.

[0037] It should be noted that when the floating wind turbine in the embodiment of the present application operates in an area with a wind speed higher than the rated wind speed, an oscillation phenomenon of the floating foundation pitch motion can be observed. Therefore, the embodiment of the present application can first detect the actual operating wind speed of the wind turbine.

[0038] 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 a single blade of the wind turbine; constructing an initial control model of the wind turbine based on the aerodynamic power, aerodynamic torque, aerodynamic thrust of a single blade, wind rotor speed and floating foundation pitch; and dynamically establishing a control model by combining the initial control model and the pitch actuator. The expression of the control model can be, but is not limited to,:

[0039]

[0040] Where J is the moment of inertia of the wind wheel, Ω r is the rotor speed, v0 is the inflow wind speed, q is the floating basic pitch angle, β is the pitch angle, N Gear is the gearbox ratio, T e is the electromagnetic torque, T a is the aerodynamic torque, I Mass is the pitch moment of inertia of the floating foundation, A ∞ is the hydrodynamic infinite frequency added mass, B is the hydrodynamic equivalent radiation damping, C HS is the hydrodynamic equivalent hydrostatic restoring stiffness, L T is the tower height, F a is the pneumatic thrust, is the acceleration of the wind wheel speed, is the pitch angular acceleration, is the pitch angular velocity, T ac is the pitch angle actuator time constant, β cmd is the pitch angle command value given by the controller, is the time derivative of the pitch angle.

[0041] It can be understood that the control model established in the embodiment of the present application may include but is not limited to the two degrees of freedom of the wind rotor speed and the pitch of the floating foundation, and may also include the dynamics of the variable pitch actuator. The specific settings can be made by technicians in this field according to actual conditions, and the present application does not impose any specific restrictions.

[0042] In addition, it should be noted that the control model of the embodiment of the present application can include but is not limited to 5 state variables, such as the floating basic pitch angle, the floating basic pitch angular velocity, the wind rotor azimuth, the wind rotor speed, the true value of the pitch angle, etc. This application does not make specific restrictions to complete the subsequent system analysis and controller design.

[0043] In some embodiments, the embodiments of the present application can obtain the aerodynamic power, aerodynamic torque and aerodynamic thrust of a single blade of a wind turbine. The expressions of aerodynamic power and aerodynamic torque can be, but are not limited to, respectively:

[0044]

[0045] Where ρ is the air density, R is the impeller radius, is the relative wind speed, λ is the tip speed ratio, is the pitch angular velocity, v0 is the inflow wind speed, Ω r is the rotor speed, β is the pitch angle, L T is the tower height.

[0046] In the embodiment of the present application, the expression of the tip speed ratio λ may be, but is not limited to,:

[0047]

[0048] Further, in the embodiment of the present application, the expression of the aerodynamic thrust of a single blade may be, but is not limited to,:

[0049]

[0050] Among them, i represents the azimuth angle of blade i, C p , C q and C t They are aerodynamic power coefficient, aerodynamic torque coefficient, and aerodynamic thrust coefficient, and the expressions they satisfy can be but are not limited to:

[0051]

[0052] In some embodiments, the embodiments of the present application can construct an initial control model of the wind turbine generator system based on aerodynamic power, aerodynamic torque, aerodynamic thrust of a single blade, rotor speed and floating foundation pitch.

[0053] For example, the speed control system of the floating wind turbine in the embodiment of the present application at a wind speed above the rated wind speed constructs an initial control model of the wind turbine based on the two degrees of freedom of the wind rotor speed and the pitch of the floating foundation, and the expression thereof can be but is not limited to:

[0054]

[0055] Where J is the moment of inertia of the wind wheel, Ω r is the rotor speed, v0 is the inflow wind speed, q is the floating basic pitch angle, β is the pitch angle, N Gear is the gearbox ratio, T e is the electromagnetic torque, T a is the aerodynamic torque, I Mass is the pitch moment of inertia of the floating foundation, A ∞ is the hydrodynamic infinite frequency added mass, B is the hydrodynamic equivalent radiation damping, C HS is the hydrodynamic equivalent hydrostatic restoring stiffness, L T is the tower height, F a is the pneumatic thrust, is the acceleration of the wind wheel speed, is the pitch angular acceleration, is the pitch angular velocity.

[0056] In addition, it should be noted that the dynamic expression of the pitch actuator in the embodiment of the present application can be but is not limited to:

[0057]

[0058] Among them, T ac is the time constant of the pitch angle actuator, β is the true value of the pitch angle, β cmd It is the pitch angle command value given by the controller.

[0059] Through the above analysis, the embodiment of the present application can combine the initial control model and the pitch actuator to dynamically establish a control model, and its expression can be but not limited to:

[0060]

[0061] 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 feedback instruction of the GSPI controller, wherein the control model is established by the rotor speed, floating foundation pitch and pitch actuator of the wind turbine.

[0062] It can be understood that the control model of the embodiment of the present application can be established by the rotor speed, floating foundation pitch and pitch actuator of the wind turbine, and can be specifically set by technicians in this field according to actual conditions, and this application does not make any specific restrictions.

[0063] As a possible implementation method, the embodiment of the present application can 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 certain wind speed conditions, and then output feedback instructions for the GSPI controller, wherein the certain wind speed conditions can be set by technicians in this field according to actual conditions, and this application does not impose specific restrictions.

[0064] In addition, it should be noted that the embodiment of the present application can simultaneously utilize the floating foundation pitch angular velocity, the wind rotor azimuth angle and the wind rotor speed to work together to generate the feedback instruction of the GSPI controller, which has a good pitch suppression effect.

[0065] In step S103, an independent pitch control strategy for suppressing the pitch vibration of the wind turbine is obtained according to the feedback instruction, and the GSPI controller is controlled to execute the independent pitch control strategy.

[0066] It can be understood that the GSPI controller in the embodiment of the present application is used to determine the blade pitch angle.

[0067] In the actual implementation process, the embodiment of the present application can obtain an independent pitch change strategy for suppressing the pitch vibration of the wind turbine according to the feedback instruction, and then execute the independent pitch change strategy.

[0068] Optionally, in one embodiment of the present application, an independent pitch strategy for suppressing the pitch vibration of a wind turbine is obtained according to a feedback instruction, including: obtaining a blade pitch strategy of a GSPI controller; obtaining a feedback instruction based on a floating basic pitch angular velocity state variable, a wind rotor azimuth state variable, a wind rotor speed state variable, and a blade pitch strategy in a control model; and correcting a rotor speed error and an integral error in a GSPI controller according to the feedback instruction to obtain an independent pitch strategy based on the corrected rotor speed error and the corrected integral error. The expression of the independent pitch strategy may be, but is not limited to,:

[0069]

[0070] Among them, K 1,i (i=1,2,3) and K 2,i (i=1,2,3) is an adjustable parameter, e Ω,i is the speed error signal input to the pitch controller, It is an intermediate variable of the integrator and has no actual physical meaning. is the rated speed.

[0071] It should be noted that due to the coupling between the blade pitch controller and the pitch motion in the frequency domain, the relevant cascade control strategy in the embodiment of the present application performs poorly. Therefore, the embodiment of the present application proposes a new blade pitch controller to solve the problem. The pitch controller not only generates feedback instructions through the floating basic pitch angular velocity, the wind rotor azimuth angle and the wind rotor speed, but also mixes the generated feedback instructions into the error signal of the GSPI controller to correct the rotor speed error and the integral error, thereby obtaining an independent pitch strategy.

[0072] It can be understood that the most commonly used strategy of the GSPI controller in this application is the blade pitch control strategy, and its expression can be but is not limited to:

[0073]

[0074] Among them, K P is the proportional control gain, K I is the integral control gain, G K (Ω r ,β) is the gain scheduling function, is the rated speed.

[0075] Furthermore, in order to increase the pitch motion damping of the platform, the embodiment of the present application corrects the rotor speed error and the integral error, thereby obtaining an independent pitch strategy, the expression of which can be but is not limited to:

[0076]

[0077] Among them, K 1,i (i=1,2,3) and K 2,i (i=1,2,3) are adjustable parameters. Different combinations of the two parameters correspond to different control effects of rotor speed tracking and platform pitch suppression. Ω,i is the speed error signal input to the pitch controller, It is an intermediate variable of the integrator and has no actual physical meaning. The subscript i represents the i-th blade.

[0078] The embodiment of the present application forms synchronous feedback of the rotor speed and the platform pitch angular velocity to get rid of the requirement of cascade control for dual-loop decoupling dynamics, thereby achieving wind wheel speed tracking and platform pitch suppression.

[0079] According to the method for suppressing the pitch vibration of a wind turbine set proposed in the embodiment of the present application, when the actual operating wind speed of the wind turbine set meets certain wind speed conditions, the actual wind speed of the wind turbine set can be input into the control model of the wind turbine set constructed in advance, and the feedback instruction of the GSPI controller can be obtained, thereby obtaining an independent pitch control strategy for suppressing the pitch vibration of the wind turbine set, and controlling the GSPI controller to execute the independent pitch control strategy to achieve the pitch suppression of the floating wind turbine set. The embodiment of the present application is not subject to the time scale decoupling requirements of the cascade control strategy for the dual-loop dynamics, and can be suitable for engineering applications. Therefore, the problem that the related technology is only feasible in theory, when the pitch damping is slightly increased, the control quality of the generator speed and output power is not improved much, and even deteriorates.

[0080] Next, a device for suppressing pitch 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.

[0081] Figure 2 It is a block diagram of a device for suppressing pitch vibration of a wind turbine set provided according to an embodiment of the present application.

[0082] like Figure 2 As shown, the device 10 for suppressing the pitch vibration of a wind turbine generator set includes: a detection module 100 , an output module 200 and a control module 300 .

[0083] The detection module 100 is used to detect the actual operating wind speed of the wind turbine.

[0084] The output 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 the feedback instruction of the GSPI controller, wherein the control model is established by the rotor speed, floating foundation pitch and pitch actuator of the wind turbine.

[0085] The control module 300 is used to obtain an independent pitch control strategy for suppressing the pitch vibration of the wind turbine according to the feedback instruction, and control the GSPI controller to execute the independent pitch control strategy.

[0086] Optionally, in one embodiment of the present application, it also includes: an acquisition module, a construction module and a generation module.

[0087] The acquisition module is used to acquire the aerodynamic power, aerodynamic torque and aerodynamic thrust of a single blade 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.

[0088] Building blocks for constructing an initial control model for a wind turbine based on aerodynamic power, aerodynamic torque, aerodynamic thrust of a single blade, rotor speed, and floating foundation pitch.

[0089] The generation module is used to dynamically establish a control model by combining the initial control model and the pitch actuator.

[0090] Optionally, in one embodiment of the present application, the control module 300 includes: an acquisition unit, a generation unit and a generation unit.

[0091] The acquisition unit is used to acquire the blade pitch strategy of the GSPI controller.

[0092] The generating unit is used to obtain feedback instructions based on the floating basic pitch angular velocity state variable, the wind rotor azimuth state variable, the wind rotor speed state variable and the blade pitch strategy in the control model.

[0093] The correction unit is used to correct the rotor speed error and the integral error in the GSPI controller according to the feedback instruction, so as to obtain an independent pitch strategy based on the corrected rotor speed error and the corrected integral error.

[0094] Optionally, in one embodiment of the present application, the expression of the control model may be, but is not limited to:

[0095]

[0096] Where J is the moment of inertia of the wind wheel, Ω r is the rotor speed, v0 is the inflow wind speed, q is the floating basic pitch angle, β is the pitch angle, N Gear is the gearbox ratio, T e is the electromagnetic torque, T a is the aerodynamic torque, I Mass is the pitch moment of inertia of the floating foundation, A ∞ is the hydrodynamic infinite frequency added mass, B is the hydrodynamic equivalent radiation damping, C HS is the hydrodynamic equivalent hydrostatic restoring stiffness, L Tis the tower height, F a is the pneumatic thrust, is the acceleration of the wind wheel speed, is the pitch angular acceleration, is the pitch angular velocity, T ac is the pitch angle actuator time constant, β cmd is the pitch angle command value given by the controller, is the time derivative of the pitch angle.

[0097] Optionally, in one embodiment of the present application, the expression of the independent pitch strategy may be, but is not limited to:

[0098]

[0099] Among them, K 1,i (i=1,2,3) and K 2,i (i=1,2,3) is an adjustable parameter, e Ω,i is the speed error signal input to the pitch controller, It is an intermediate variable of the integrator and has no actual physical meaning. is the rated speed.

[0100] It should be noted that the above explanations and descriptions of the embodiment of the method for suppressing the pitch vibration of a wind turbine generator set are also applicable to the device for suppressing the pitch vibration of a wind turbine generator set of this embodiment, and will not be described in detail here.

[0101] According to the device for suppressing the pitch vibration of a wind turbine set proposed in the embodiment of the present application, when the actual operating wind speed of the wind turbine set meets certain wind speed conditions, the actual wind speed of the wind turbine set can be input into the control model of the wind turbine set constructed in advance, and the feedback instruction of the GSPI controller can be obtained, thereby obtaining an independent pitch control strategy for suppressing the pitch vibration of the wind turbine set, and controlling the GSPI controller to execute the independent pitch control strategy to achieve the pitch suppression of the floating wind turbine set. The embodiment of the present application is not subject to the time scale decoupling requirements of the cascade control strategy for the dual-loop dynamics, and can be suitable for engineering applications. Therefore, the problem that the related technology is only feasible in theory, when the pitch damping is slightly increased, the control quality of the generator speed and output power is not improved much, and even deteriorates.

[0102] Figure 3 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:

[0103] A memory 301 , a processor 302 , and a computer program stored in the memory 301 and executable on the processor 302 .

[0104] When the processor 302 executes the program, the method for suppressing the pitch vibration of the wind turbine set provided in the above embodiment is implemented.

[0105] Furthermore, the electronic device further comprises:

[0106] The communication interface 303 is used for communication between the memory 301 and the processor 302 .

[0107] The memory 301 is used to store computer programs that can be run on the processor 302 .

[0108] The memory 301 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.

[0109] If the memory 301, the processor 302 and the communication interface 303 are implemented independently, the communication interface 303, the memory 301 and the processor 302 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 3 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.

[0110] Optionally, in a specific implementation, if the memory 301, the processor 302 and the communication interface 303 are integrated on a chip, the memory 301, the processor 302 and the communication interface 303 can communicate with each other through an internal interface.

[0111] The processor 302 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.

[0112] An embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method for suppressing the pitch vibration of a wind turbine set as described above is implemented.

[0113] The embodiment of the present application further provides a computer program product, including a computer program, which, when executed, implements the above method for suppressing the pitch vibration of a wind turbine.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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 pitch 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 feedback instruction of a gain-scheduled proportional-integral (GSPI) controller, wherein the control model is established by the rotor speed, floating foundation pitch and pitch actuator of the wind turbine set; An independent pitch control strategy for suppressing the pitch vibration of the wind turbine is obtained according to the feedback instruction, and the GSPI controller is controlled to execute the independent pitch 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 the aerodynamic power, aerodynamic torque and aerodynamic thrust of a single blade of the wind turbine; Constructing an initial control model of the wind turbine generator system based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust of the single blade, the wind rotor speed and the pitch of the floating foundation; The control model is dynamically established by combining the initial control model and the pitch actuator.

3. The method according to claim 1, characterized in that The independent pitch control strategy for suppressing the pitch vibration of the wind turbine generator set obtained according to the feedback instruction includes: Obtaining a blade pitch strategy of the GSPI controller; The feedback instruction is obtained based on the floating basic pitch angular velocity state variable, the wind rotor azimuth state variable, the wind rotor speed state variable and the blade pitch strategy in the control model; The rotor speed error and the integral error in the GSPI controller are corrected according to the feedback instruction, so as to obtain the independent pitch strategy based on the corrected rotor speed error and the corrected integral error.

4. The method according to claim 1, characterized in that: The expression of the control model is: Where J is the moment of inertia of the wind wheel, Ω r is the rotor speed, v0 is the inflow wind speed, q is the floating basic pitch angle, β is the pitch angle, N Gear is the gearbox ratio, T e is the electromagnetic torque, T a is the aerodynamic torque, I Mass is the pitch moment of inertia of the floating foundation, A ∞ is the hydrodynamic infinite frequency added mass, B is the hydrodynamic equivalent radiation damping, C HS is the hydrodynamic equivalent hydrostatic restoring stiffness, L T is the tower height, F a is the pneumatic thrust, is the acceleration of the wind wheel speed, is the pitch angular acceleration, is the pitch angular velocity, T ac is the pitch angle actuator time constant, β cmd is the pitch angle command value given by the controller, is the time derivative of the pitch angle.

5. The method according to claim 1, characterized in that The expression of the independent pitch strategy is: Among them, K 1,i (i=1,2,3) and K 2,i (i=1,2,3) is an adjustable parameter, e Ω,i is the speed error signal input to the pitch controller, It is an intermediate variable of the integrator and has no actual physical meaning. is the rated speed.

6. A device for suppressing pitch 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 output module is used to input the actual wind speed of the wind turbine group into a pre-built control model of the wind turbine group when the actual operating wind speed meets the preset wind speed condition, so as to output a feedback instruction of the GSPI controller, wherein the control model is established by the rotor speed, floating foundation pitch and pitch actuator of the wind turbine group; The control module is used to obtain an independent pitch change strategy for suppressing the pitch vibration of the wind turbine according to the feedback instruction, and control the GSPI controller to execute the independent pitch change 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 a single blade 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 construction module, configured to construct an initial control model of the wind turbine generator system based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust of the single blade, the rotor speed and the pitch of the floating foundation; A generation module is used to dynamically establish the control model by combining the initial control model and the pitch actuator.

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 pitch 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 pitch vibration of a wind turbine set as claimed 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 pitch vibration of a wind turbine set as claimed in any one of claims 1 to 5.

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