Methods and devices for suppressing pitching 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 pitch 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 feedback commands to the GSPI controller. The control model is established by the wind turbine's rotor speed, the pitch of the floating foundation, and the pitch actuator; obtaining an independent pitch strategy to suppress the pitch vibration of the wind turbine based on the feedback commands, and controlling the GSPI controller to execute the independent pitch strategy. This solves the problem in related technologies where the technology is only theoretically feasible, and a slight increase in pitch damping does not significantly improve the control quality of generator speed and output power, or may even worsen it.

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 pitching 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, deep-sea areas have become the main region for future wind power development. Among these, 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 their rated speeds, they often experience oscillations due to the pitching motion of the floating foundation. This phenomenon not only affects the power output of the floating turbine but also increases mechanical fatigue, threatening the safe and stable operation of the wind turbine.

[0003] In related technologies, to suppress the pitch oscillation of floating wind turbines, the pitch angular velocity can be fed back and added to the pitch angle control command signal to counteract the negative damping term brought about by aerodynamic thrust, thereby increasing the pitch motion damping. Alternatively, based on the inflow wind speed, pitch angular velocity, and tower height of the target wind turbine, the rotational speed error correction ratio and integral rotational speed error correction ratio of the target wind turbine can be determined, thereby determining the rotor speed error and target pitch angle of the target wind turbine, thus improving the stability of the target wind turbine.

[0004] However, the relevant technologies are only theoretically feasible. When the pitch damping is slightly increased, the control quality of generator speed and output power is not improved much, and may even deteriorate. Therefore, improvements are urgently needed. Summary of the Invention

[0005] This application provides a method and apparatus for suppressing pitch vibration of wind turbine generators, in order to solve the problems in related technologies that are only theoretically feasible, and that when pitch damping is slightly increased, the control quality of generator speed and output power is not significantly improved, or may even deteriorate.

[0006] The first aspect of this 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-constructed control model of the wind turbine to output feedback instructions from a GSPI (Gain-Scheduling Proportional-Integral) controller, wherein the control model is established by the wind turbine 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 instructions, and controlling the GSPI controller to execute the independent pitch 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 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 turbine speed, and the pitch of the floating foundation; and dynamically establishing the control model by combining the initial control model and the pitch actuator.

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

[0009] Optionally, in one embodiment of this 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 turbine, Ω r V is the rotor speed, v0 is the inflow wind speed, q is the pitch angle of the floating foundation, β is the propeller pitch angle, and N is the rotor speed. Gear It's the gearbox ratio, T e It is electromagnetic torque, T a It is aerodynamic torque, I Mass It is the moment of inertia of the floating foundation during pitching, A ∞ B is the hydrodynamic infinite frequency added mass, C is the hydrodynamic equivalent radiation damping, and C is the hydrodynamic equivalent radiation damping.HS It is the hydrodynamic equivalent still water restoring stiffness, L T It is the height of the tower, F a It is aerodynamic thrust. It is the acceleration of the wind turbine's rotational speed. It is the pitch acceleration. It is the pitch angular velocity, T ac β is the time constant of the actuator for the pitch angle. cmd It is the pitch angle command value given by the controller. It is the derivative of the pitch angle with respect to time.

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

[0013]

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

[0015] A second aspect of this 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 command from the GSPI controller, wherein the control model is established by the wind turbine rotor speed, floating foundation pitch, and pitch actuator of the wind turbine; and a control module for obtaining an independent pitch strategy for suppressing the pitch vibration of the wind turbine according to the feedback command, and controlling the GSPI controller to execute the independent pitch 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 a single blade 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 construction module, configured to construct 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 turbine speed, and the pitch of the floating foundation; and a generation module, configured to dynamically establish the control model by combining the initial control model and the pitch actuator.

[0017] Optionally, in one embodiment of this 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 command based on the floating base pitch angular velocity state variable, the wind turbine rotor azimuth state variable, the wind turbine rotation speed state variable, and the blade pitch strategy in the control model; and a correction unit for correcting the rotor speed error and integral error in the GSPI controller according to the feedback command, 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 this 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 turbine, Ω r V is the rotor speed, v0 is the inflow wind speed, q is the pitch angle of the floating foundation, β is the propeller pitch angle, and N is the rotor speed. Gear It's the gearbox ratio, T e It is electromagnetic torque, T a It is aerodynamic torque, I Mass It is the moment of inertia of the floating foundation during pitching, A ∞ B is the hydrodynamic infinite frequency added mass, C is the hydrodynamic equivalent radiation damping, and C is the hydrodynamic equivalent radiation damping. HS It is the hydrodynamic equivalent still water restoring stiffness, L T It is the height of the tower, F a It is aerodynamic thrust. It is the acceleration of the wind turbine's rotational speed. It is the pitch acceleration. It is the pitch angular velocity, T ac β is the time constant of the actuator for the pitch angle. cmd It is the pitch angle command value given by the controller. It is the derivative of the pitch angle with respect to time.

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

[0022]

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

[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 pitching 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 pitching 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 pitching vibration of a wind turbine.

[0027] This application embodiment, when the actual operating wind speed of the wind turbine meets certain wind speed conditions, inputs the actual wind speed of the wind turbine into a pre-constructed control model of the wind turbine, obtains feedback commands from the GSPI controller, and then obtains an independent pitch strategy to suppress the pitch vibration of the wind turbine. The GSPI controller is then controlled to execute the independent pitch strategy, achieving pitch suppression of the floating wind turbine. This application embodiment is not subject to the time-scale decoupling requirements of cascaded control strategies for dual-loop dynamics, making it suitable for engineering applications. Therefore, it solves the problems in related technologies where the technology is only theoretically feasible, and when pitch damping is slightly increased, the improvement in control quality of generator speed and output power is minimal, or even deteriorates. 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 the application. Attached Figure Description

[0028] 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:

[0029] Figure 1 This is a flowchart of a method for suppressing pitching vibration of a wind turbine generator according to an embodiment of this application;

[0030] Figure 2 This is a block diagram of a wind turbine pitch vibration suppression device provided according to an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0032] 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.

[0033] The following describes a method and apparatus for suppressing the pitch vibration of a wind turbine according to embodiments of this application, with reference to the accompanying drawings. Addressing the problem mentioned in the background art that is only theoretically feasible, and that a slight increase in pitch damping does little to improve the control quality of generator speed and output power, or even worsens it, this application provides a method for suppressing the pitch vibration of a wind turbine. In this method, when the actual operating wind speed of the wind turbine meets certain wind speed conditions, the actual wind speed of the wind turbine is input into a pre-constructed control model of the wind turbine to obtain feedback instructions from the GSPI controller. This leads to an independent pitch strategy for suppressing the pitch vibration of the wind turbine, and the GSPI controller is controlled to execute the independent pitch strategy, thereby achieving pitch suppression of the floating wind turbine. The embodiments of this application are not subject to the time-scale decoupling requirements of cascaded control strategies for dual-loop dynamics, making them suitable for engineering applications. Thus, this solves the problems in related technologies where the methods are only theoretically feasible, and that a slight increase in pitch damping does little to improve the control quality of generator speed and output power, or even worsens it.

[0034] Specifically, Figure 1 This is a flowchart of a method for suppressing pitching vibration of a wind turbine generator according to an embodiment of this application.

[0035] like Figure 1 As shown, the method for suppressing the pitching vibration of the wind turbine includes 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 is operating in an area with a wind speed higher than the rated wind speed, the oscillation phenomenon of the floating foundation pitching can be observed. Therefore, the actual operating wind speed of the wind turbine can be detected first in this embodiment.

[0038] 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 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, rotor speed, and the pitch of the floating foundation; and dynamically establishing a control model by combining the initial control model and the pitch actuator. The expression of the control model may be, but is not limited to, the following:

[0039]

[0040] Where J is the moment of inertia of the wind turbine, Ω r V is the rotor speed, v0 is the inflow wind speed, q is the pitch angle of the floating foundation, β is the propeller pitch angle, and N is the rotor speed. Gear It's the gearbox ratio, T e It is electromagnetic torque, T a It is aerodynamic torque, I Mass It is the moment of inertia of the floating foundation during pitching, A ∞ B is the hydrodynamic infinite frequency added mass, C is the hydrodynamic equivalent radiation damping, and C is the hydrodynamic equivalent radiation damping. HS It is the hydrodynamic equivalent still water restoring stiffness, L T It is the height of the tower, F a It is aerodynamic thrust. It is the acceleration of the wind turbine's rotational speed. It is the pitch acceleration. It is the pitch angular velocity, T ac β is the time constant of the actuator for the pitch angle. cmd It is the pitch angle command value given by the controller. It is the derivative of the pitch angle with respect to time.

[0041] It is understood that the control model established in the embodiments of this application may include, but is not limited to, the two degrees of freedom of wind turbine speed and floating foundation pitch, and may also include the dynamics of the pitch actuator. The specific settings can be made by those skilled in the art according to the actual situation, and this application does not impose any specific limitations.

[0042] Additionally, it should be noted that the control model in this application embodiment may include, but is not limited to, five state variables, such as the floating foundation pitch angle, the floating foundation pitch angular velocity, the wind turbine rotor azimuth angle, the wind turbine speed, and the actual value of the pitch angle. This application does not impose specific limitations in order to complete the subsequent system analysis and controller design.

[0043] In some embodiments, the aerodynamic power, aerodynamic torque, and aerodynamic thrust of a single blade of a wind turbine can be obtained. The expressions for aerodynamic power and aerodynamic torque can be, but are not limited to, as follows:

[0044]

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

[0046] In this embodiment of the application, the expression for the tip speed ratio λ can be, but is not limited to, as follows:

[0047]

[0048] Furthermore, in the embodiments of this application, the expression for the aerodynamic thrust of a single blade may be, but is not limited to, as follows:

[0049]

[0050] Among them, Ψ i C represents the azimuth angle of blade i. p C q and C t These are the aerodynamic power coefficient, aerodynamic torque coefficient, and aerodynamic thrust coefficient, respectively, and their expressions can be, but are not limited to, the following:

[0051]

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

[0053] For example, in the embodiments of this application, 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 pitch of the floating foundation. Its expression can be, but is not limited to, as follows:

[0054]

[0055] Where J is the moment of inertia of the wind turbine, Ω r V is the rotor speed, v0 is the inflow wind speed, q is the pitch angle of the floating foundation, β is the propeller pitch angle, and N is the rotor speed. Gear It's the gearbox ratio, T e It is electromagnetic torque, T a It is aerodynamic torque, I Mass It is the moment of inertia of the floating foundation during pitching, A ∞ B is the hydrodynamic infinite frequency added mass, C is the hydrodynamic equivalent radiation damping, and C is the hydrodynamic equivalent radiation damping. HS It is the hydrodynamic equivalent still water restoring stiffness, L T It is the height of the tower, F a It is aerodynamic thrust. It is the acceleration of the wind turbine's rotational speed. It is the pitch acceleration. It is the pitch angular velocity.

[0056] Additionally, it should be noted that the expression for the dynamics of the pitch actuator in this embodiment of the application may be, but is not limited to, as follows:

[0057]

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

[0059] Based on the above analysis, the embodiments of this application can dynamically establish a control model by combining the initial control model and the pitch actuator, and its expression can be, but is not limited to, as follows:

[0060]

[0061] 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 feedback commands from the GSPI controller. The control model is established by the wind turbine rotor speed, floating foundation pitch and pitch actuator.

[0062] It is understood that the control model in this application embodiment can be established by the wind turbine rotation speed, floating foundation pitch and pitch actuator, and can be specifically set by those skilled in the art according to the actual situation. This application does not impose any specific limitations.

[0063] As one possible implementation, embodiments of this 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 from the GSPI controller. 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 any specific limitations.

[0064] Furthermore, it should be noted that the embodiments of this application can simultaneously utilize the floating foundation pitch angular velocity, the wind turbine rotor azimuth angle, and the wind turbine rotation speed to generate feedback commands for the GSPI controller, resulting in excellent pitch suppression.

[0065] In step S103, an independent pitch strategy to suppress 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 strategy.

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

[0067] In actual implementation, the embodiments of this application can obtain an independent pitch strategy to suppress the pitch vibration of the wind turbine based on the feedback instructions, and then execute the independent pitch strategy.

[0068] Optionally, in one embodiment of this application, obtaining an independent pitch strategy to suppress wind turbine pitch vibration according to a feedback command includes: acquiring the blade pitch strategy of the GSPI controller; obtaining a feedback command based on the floating foundation pitch angular velocity state variable, the wind turbine rotor azimuth angle state variable, the wind turbine speed state variable, and the blade pitch strategy in the control model; and correcting the rotor speed error and integral error in the GSPI controller according to the feedback command, so as to obtain an independent pitch strategy based on the corrected rotor speed error and the corrected integral error. The expression for the independent pitch strategy may be, but is not limited to, as follows:

[0069]

[0070] Among them, K 1,i (i = 1, 2, 3) and K 2,i (i = 1, 2, 3) are adjustable parameters, e Ω,i It is the speed error signal input to the pitch controller. It is an intermediate variable of the integrator and has no actual physical meaning. That 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 related cascaded control strategy performs poorly in this embodiment. Therefore, this embodiment proposes a novel blade pitch controller to solve this problem. This pitch controller not only generates feedback commands by combining the floating foundation pitch angular velocity, the rotor azimuth angle, and the rotor speed, but also mixes the generated feedback commands and feeds them back into the error signal forming the GSPI controller to correct rotor speed error and integral error, thereby obtaining an independent pitch strategy.

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

[0073]

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

[0075] Furthermore, in order to increase the platform pitch motion damping, the embodiments of this application corrected the rotor speed error and integral error, thereby obtaining an independent pitch strategy, the expression of which may 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 these two parameters correspond to different control effects on rotor speed tracking and platform pitch suppression. Ω,i It 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 indicates the i-th blade.

[0078] This application embodiment achieves wind turbine speed tracking and platform pitch angular velocity suppression by forming synchronous feedback between rotor speed and platform pitch angular velocity, thereby eliminating the requirement of cascaded control for dual-loop decoupling dynamics.

[0079] The method for suppressing pitch vibration of wind turbines 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 to obtain feedback commands from the GSPI controller. This leads to an independent pitch strategy for suppressing pitch vibration, which is then executed by the GSPI controller to achieve pitch suppression of the floating wind turbine. This embodiment is not subject to the time-scale decoupling requirements of cascaded control strategies for dual-loop dynamics, making it suitable for engineering applications. This solves the problems in related technologies where the technology is only theoretically feasible, and a slight increase in pitch damping does not significantly improve the control quality of generator speed and output power, or may even worsen it.

[0080] Next, referring to the accompanying drawings, a device for suppressing the pitching vibration of a wind turbine generator according to an embodiment of this application is described.

[0081] Figure 2 This is a block diagram of a wind turbine pitch vibration suppression device provided according to an embodiment of this application.

[0082] like Figure 2 As shown, the wind turbine pitch vibration suppression device 10 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 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 feedback command of the GSPI controller. The control model is established by the wind turbine rotor speed, floating foundation pitch and pitch actuator.

[0085] The control module 300 is used to obtain an independent pitch strategy to suppress the pitch vibration of the wind turbine based on feedback instructions, and to control the GSPI controller to execute the independent pitch strategy.

[0086] Optionally, in one embodiment of this application, it further 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 before inputting the actual wind speed of the wind turbine into the pre-built control model of the wind turbine.

[0088] The module is used to build the initial control model of the wind turbine based on aerodynamic power, aerodynamic torque, aerodynamic thrust of a single blade, rotor speed, and the pitch of the floating foundation.

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

[0090] Optionally, in one embodiment of this 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 pitching strategy of the GSPI controller.

[0092] The generation unit is used to obtain feedback commands based on the floating foundation pitch angular velocity state variables, wind turbine rotor azimuth state variables, wind turbine speed state variables, and blade pitch control strategy in the control model.

[0093] The correction unit is used to correct the rotor speed error and integral error in the GSPI controller according to the feedback instructions, 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 this application, the expression for the control model may be, but is not limited to, the following:

[0095]

[0096] Where J is the moment of inertia of the wind turbine, Ω r V is the rotor speed, v0 is the inflow wind speed, q is the pitch angle of the floating foundation, β is the propeller pitch angle, and N is the rotor speed. Gear It's the gearbox ratio, T e It is electromagnetic torque, T a It is aerodynamic torque, I Mass It is the moment of inertia of the floating foundation during pitching, A ∞ B is the hydrodynamic infinite frequency added mass, C is the hydrodynamic equivalent radiation damping, and C is the hydrodynamic equivalent radiation damping. HS It is the hydrodynamic equivalent still water restoring stiffness, L TIt is the height of the tower, F a It is aerodynamic thrust. It is the acceleration of the wind turbine's rotational speed. It is the pitch acceleration. It is the pitch angular velocity, T ac β is the time constant of the actuator for the pitch angle. cmd It is the pitch angle command value given by the controller. It is the derivative of the pitch angle with respect to time.

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

[0098]

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

[0100] It should be noted that the explanation of the aforementioned embodiment of the method for suppressing pitch vibration of wind turbines also applies to the device for suppressing pitch vibration of wind turbines in this embodiment, and will not be repeated here.

[0101] The wind turbine pitch vibration suppression device proposed in this application can, when the actual operating wind speed of the wind turbine meets certain wind speed conditions, input the actual wind speed of the wind turbine into a pre-built control model of the wind turbine to obtain feedback commands from the GSPI controller. This leads to an independent pitch strategy for suppressing the pitch vibration of the wind turbine, and the GSPI controller is then controlled to execute the independent pitch strategy, thereby achieving pitch suppression of the floating wind turbine. This embodiment is not subject to the time-scale decoupling requirements of cascaded control strategies for dual-loop dynamics, making it suitable for engineering applications. This solves the problems in related technologies where the technology is only theoretically feasible, and a slight increase in pitch damping does not significantly improve the control quality of generator speed and output power, or may even worsen it.

[0102] Figure 3 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:

[0103] The memory 301, the processor 302, and the computer program stored on the memory 301 and capable of running on the processor 302.

[0104] When the processor 302 executes the program, it implements the method for suppressing the pitching vibration of the wind turbine provided in the above embodiments.

[0105] Furthermore, electronic devices also include:

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

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

[0108] The memory 301 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0109] If the memory 301, processor 302, and communication interface 303 are implemented independently, then the communication interface 303, memory 301, and processor 302 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 as address buses, data buses, control buses, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

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

[0111] Processor 302 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.

[0112] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for suppressing the pitching vibration of a wind turbine.

[0113] This application also provides a computer program product, including a computer program that, when executed, implements the above-described method for suppressing the pitching vibration of a wind turbine.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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 pitching 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-built control model of the wind turbine to output the feedback command of the gain scheduling proportional integral GSPI controller. The control model is established by the wind turbine rotor speed, floating foundation pitch and pitch actuator of the wind turbine. An independent pitch strategy for suppressing the pitch vibration of the wind turbine is obtained based on the feedback instruction, and the GSPI controller is controlled to execute the independent pitch strategy. The expression for the control model is as follows: ， in, It is the moment of inertia of the wind turbine. It is the wind turbine speed. It is the inflow wind speed. It is the pitch angle of the floating foundation. It is the propeller pitch angle. It's the gearbox ratio. It is electromagnetic torque. It is aerodynamic torque. It is the moment of inertia of the floating foundation during pitching. It is the added mass of the infinite frequency of hydrodynamics. It is the hydrodynamic equivalent radiation damping. It is the hydrodynamic equivalent still water restoring stiffness. It is the height of the tower. It is aerodynamic thrust. It is the acceleration of the wind turbine's rotational speed. It is the pitch acceleration. It is the pitch angular velocity. for Pitch angle actuator time constant, It is the pitch angle command value given by the controller. It is the derivative of the pitch angle with respect to time.

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: The aerodynamic power, aerodynamic torque, and aerodynamic thrust of a single blade of the wind turbine are obtained. An initial control model for the wind turbine is constructed based on the aerodynamic power, aerodynamic torque, aerodynamic thrust of a single blade, wind turbine 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, obtained according to the feedback command, includes: Obtain the blade pitch strategy of the GSPI controller; Based on the floating foundation pitch angular velocity state variables, wind turbine rotor azimuth angle state variables, wind turbine speed state variables, and the blade pitch strategy in the control model, the feedback command is obtained. The rotor speed error and 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 for the independent pitch strategy is: ， in, and It is an adjustable parameter. It is the speed error signal input to the pitch controller. It is an intermediate variable of the integrator and has no actual physical meaning. It is the rated speed, subscript Indicates the first One leaf, Indicates blade i azimuth angle, It is the wind turbine speed. It is the pitch angular velocity.

5. A device for suppressing pitching 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 output 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 feedback command of the GSPI controller. The control model is established by the wind turbine rotor speed, floating foundation pitch and pitch actuator of the wind turbine. The control module is used to obtain an independent pitch strategy to suppress the pitch vibration of the wind turbine according to the feedback instruction, and to control the GSPI controller to execute the independent pitch strategy. The expression for the control model is as follows: ， in, It is the moment of inertia of the wind turbine. It is the wind turbine speed. It is the inflow wind speed. It is the pitch angle of the floating foundation. It is the propeller pitch angle. It's the gearbox ratio. It is electromagnetic torque. It is aerodynamic torque. It is the moment of inertia of the floating foundation during pitching. It is the added mass of the infinite frequency of hydrodynamics. It is the hydrodynamic equivalent radiation damping. It is the hydrodynamic equivalent still water restoring stiffness. It is the height of the tower. It is aerodynamic thrust. It is the acceleration of the wind turbine's rotational speed. It is the pitch acceleration. It is the pitch angular velocity. for Pitch angle actuator time constant, It is the pitch angle command value given by the controller. It is the derivative of the pitch angle with respect to time.

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 a single blade of the wind turbine before inputting the actual wind speed of the wind turbine into the pre-built control model of the wind turbine. A construction module is used to construct an initial control model of the wind turbine based on the aerodynamic power, the aerodynamic torque, the aerodynamic thrust of a single blade, the wind turbine 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.

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 pitching 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 pitching 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 pitching vibration of a wind turbine as described in any one of claims 1-4.

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