Variable pitch control method and device for wind turbine generator, storage medium and electronic equipment

Abstract

The invention provides a wind turbine generator variable pitch control method and device, a storage medium and electronic equipment, and belongs to the technical field of wind turbine generator control. The variable-pitch control method for the wind turbine generator comprises the steps that the blade root load and the current wind speed are obtained in real time; according to the preset relation between the blade angle and the wind speed, the blade angle corresponding to the current wind speed is determined, and a target blade angle is obtained; and whether the blade root load meets a preset variable pitch condition or not is judged, and under the condition that it is determined that the blade root load meets the preset variable pitch condition, the blade is controlled to recover the blade angle till the blade angle reaches the target blade angle. And when the blade root load meets the variable pitch condition, variable pitch, change of the stress angle of the blade and reduction of the stress area of the blade are carried out, and finally the purpose of reducing the blade root limit load is achieved, so that the blade root limit load is prevented from exceeding the standard, variable pitch control based on the blade load and wind speed monitoring is achieved, and safe and stable operation of a wind turbine generator is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine control, and in particular to a wind turbine pitch control method, a wind turbine pitch control device, a machine-readable storage medium and an electronic device. Background Art

[0002] Wind turbines are developing towards high power levels, low weight, large hubs and long straight flexible blades. These changes will make the interaction between the aerodynamic effects, gravity and thrust loads of the units more complicated, especially near the rated wind speed. The blade root limit load continues to increase, which may cause the unit's operating stability to deteriorate, the cabin to shake violently, the tower's tilting force to increase, and ultimately lead to blade breakage, damage to key large components of the unit, and even major safety accidents such as unit collapse.

[0003] The existing wind turbine pitch control is controlled according to power. This control method will cause the blade root limit load to exceed the standard, affecting the safe operation of the wind turbine. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a wind turbine pitch control method, a wind turbine pitch control device, a machine-readable storage medium and an electronic device. The wind turbine pitch control method can avoid exceeding the blade root limit load, realize pitch control based on blade load and wind speed monitoring, solve the problem of exceeding the blade root limit load when the wind turbine is operating in a wind speed range of or above the rated speed, and realize safe and stable operation of the wind turbine.

[0005] In order to achieve the above object, the present invention provides a first aspect of a wind turbine pitch control method, comprising: Obtain blade root load and current wind speed in real time; According to the preset relationship between the blade angle and the wind speed, the blade angle corresponding to the current wind speed is determined to obtain a target blade angle; It is determined whether the blade root load satisfies a preset pitch change condition, and when it is determined that the blade root load satisfies the preset pitch change condition, the blade angle is controlled to be recovered until the blade angle reaches the target angle.

[0006] In the embodiment of the present application, the preset pitch change condition includes a preset propeller lifting load threshold; The determining whether the blade root load satisfies a preset pitch change condition, and when it is determined that the blade root load satisfies the preset pitch change condition, controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle, includes: Determining whether the blade root load exceeds a preset propeller lifting load threshold; When it is determined that the blade root load exceeds a preset propeller lifting load threshold, the blade is controlled to retract the propeller angle until the blade angle reaches the target propeller angle.

[0007] In an embodiment of the present application, the preset pitch change condition further includes a preset propeller load threshold, the preset propeller lift load threshold is greater than the preset propeller load threshold, and the method further includes: Determining whether the blade root load exceeds a preset propeller load threshold; When it is determined that the blade root load does not exceed a preset propeller load threshold, the blade is controlled to continue opening.

[0008] In an embodiment of the present application, the preset pitch change condition further includes a preset propeller load threshold, the preset propeller lift load threshold is greater than the preset propeller load threshold, and the method further includes: Determining whether the blade root load is between the preset propeller load threshold and the preset propeller lift load threshold; When it is determined that the blade root load is between the preset propeller load threshold and the preset propeller lifting load threshold, the blade is controlled to continue opening.

[0009] In the embodiment of the present application, after controlling the blades to continue opening, the method further includes: Control the blade pitch rate to the set normal pitch rate.

[0010] In the embodiment of the present application, the blade root load is obtained in real time, including: Obtain the bending moment load at the root of each blade in real time; The blade root load is determined based on the maximum value of the bending moment loads at the roots of the blades.

[0011] In the embodiment of the present application, the real-time acquisition of blade root load and current wind speed includes: Obtain the initial blade root load and current initial wind speed in real time; The initial blade root load and the current initial wind speed are respectively subjected to low-pass filtering to obtain the blade root load and the current wind speed.

[0012] In a second aspect of the present application, a wind turbine pitch control device comprises: An acquisition module is used to obtain blade root load and current wind speed in real time; A determination module is used to determine the blade angle corresponding to the current wind speed according to a preset relationship between the blade angle and the wind speed, and obtain a target blade angle; The control module is used to determine whether the blade root load meets the preset pitch change condition, and when it is determined that the blade root load meets the preset pitch change condition, control the blade to retract the pitch angle until the blade angle reaches the target pitch angle.

[0013] A third aspect of the present application provides an electronic device, the electronic device comprising: at least one processor; a memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned wind turbine pitch control method by executing the instructions stored in the memory.

[0014] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute the above-mentioned wind turbine pitch control method.

[0015] Through the above technical scheme, the blade root load and the current wind speed are obtained in real time; according to the preset relationship between the blade angle and the wind speed, the blade angle corresponding to the current wind speed is determined to obtain the target blade angle; it is judged whether the blade root load meets the preset pitch change condition, and when it is determined that the blade root load meets the preset pitch change condition, the blade angle is controlled to be recovered until the blade angle reaches the target blade angle. The blade angle corresponding to the current wind speed is determined by the preset relationship between the blade angle and the wind speed, and when the blade root load meets the pitch change condition, the pitch is changed to make the blade angle recovered to the target pitch angle, thereby changing the force angle of the blade and reducing the force area of ​​the blade, and finally achieving the purpose of reducing the blade root limit load, avoiding the blade root limit load exceeding the standard, realizing the pitch control based on blade load and wind speed monitoring, and solving the problem of the blade root limit load exceeding the standard when the wind turbine is operating in the rated wind speed range or above, so as to achieve safe and stable operation of the wind turbine.

[0016] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings: Figure 1 A schematic diagram of a flow chart of a wind turbine pitch control method according to an embodiment of the present application is shown; Figure 2 A schematic diagram showing a comparison before and after the pitch control of a wind turbine according to an embodiment of the present application; Figure 3 A detailed process diagram for determining whether the blade root load meets the preset pitch condition according to an embodiment of the present application is schematically shown; Figure 4A schematic diagram of the structure of a wind turbine pitch control device according to an embodiment of the present application is shown; Figure 5 The internal structure of a computer device according to an embodiment of the present application is schematically shown.

[0018] Description of Reference Numerals 410 - acquisition module; 420 - determination module; 430 - control module; A01 - processor; A02 - network interface; A03 - internal memory; A04 - display screen; A05 - input device; A06 - non-volatile storage medium; B01 - operating system; B02 - computer program. DETAILED DESCRIPTION

[0019] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0020] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] Please see Figure 1 , Figure 1 The flowchart of a method for controlling a pitch change of a wind turbine generator set according to an embodiment of the present application is schematically shown. This embodiment provides a method for controlling a pitch change of a wind turbine generator set, comprising the following steps: Step 210: Obtain blade root load and current wind speed in real time; In this embodiment, the blade root load can be obtained by installing a blade root load detection system on the blade, specifically, by placing a strain gauge at the blade root position and collecting the load data of the blade root in real time. The blade root load can be the blade root Mxy load, that is, the composite load of Mx and My at the root of the blade, where Mx and My respectively represent the bending moments in two mutually perpendicular directions. The current wind speed is the real-time wind speed, which can be obtained by real-time detection by a wind speed sensor, or obtained from the monitoring system of the wind turbine, or measured by external measuring equipment, such as a wind tower, a laser wind radar, etc. The specific method of obtaining the current wind speed is not limited in this embodiment.

[0022] In some embodiments, the real-time acquisition of blade root loads includes the following steps: First, the bending moment load at the root of each blade is obtained in real time; In this embodiment, the bending moment load at the root of each blade may be the Mxy load at the root of each blade, that is, the composite load of Mx and My at the root of the blade, where Mx and My represent the bending moments in two mutually perpendicular directions, respectively. In specific implementation, the composite load of Mx and My at the root of each blade may be used as the bending moment load at the root of each blade.

[0023] Then, the blade root load is determined according to the maximum value of the bending moment loads at the roots of the blades.

[0024] In this embodiment, the collected composite loads Mx and My of the blade roots of each blade may be compared, and the maximum value may be selected as the blade root load. For example, the main control system compares the collected composite loads Mx and My of the blade roots of three blades, and then selects the maximum value to obtain the blade root load.

[0025] By taking the maximum value of the bending moment loads at the roots of the blades as the blade root load, only one value needs to be judged when determining whether to control the blade pitch change, thereby helping to improve control efficiency.

[0026] In some embodiments, the real-time acquisition of blade root load and current wind speed includes the following steps: First, the initial blade root load and the current initial wind speed are obtained in real time; Then, the initial blade root load and the current initial wind speed are respectively subjected to low-pass filtering to obtain the blade root load and the current wind speed.

[0027] In this embodiment, the above-mentioned initial blade root load and current initial wind speed refer to data collected in real time. Considering the influence of high-frequency data fluctuations, the initial blade root load and the current initial wind speed can be low-pass filtered in the time series to filter out high-frequency fluctuations in the data, thereby improving the data accuracy of the blade root load and the current wind speed, thereby helping to improve the accuracy of pitch control. The above-mentioned low-pass filtering belongs to the prior art and will not be described in detail here.

[0028] Step 220: determining the blade angle corresponding to the current wind speed according to the preset relationship between the blade angle and the wind speed, and obtaining a target blade angle; In this embodiment, the above-mentioned preset relationship between blade angle and wind speed can be obtained in advance based on simulation and experiment, and the linear relationship between blade angle and wind speed can be used to obtain the corresponding small blade angle under different wind speeds. In a wind turbine, the small blade angle usually refers to the smaller installation angle of the wind turbine blade. After obtaining the current wind speed, the corresponding small blade angle, that is, the target blade angle, can be obtained according to the preset relationship between blade angle and wind speed.

[0029] Small blade angles have an important impact on the operation of wind turbines. When the blades are in a small blade angle state, the wind turbine can capture wind energy more effectively. The smaller blade angle makes the contact area between the blades and the incoming wind relatively small, and the force of the wind on the blades is relatively concentrated, thereby improving the starting performance of the wind turbine and the operating efficiency at low wind speeds. Under different wind speed conditions, wind turbines can optimize the capture of wind energy and the output power of the unit by adjusting the blade angle. When the wind speed is low, appropriately reducing the blade angle can increase the blade's absorption of wind energy; when the wind speed is too high, increasing the blade angle can reduce the wind load on the blades and protect the wind turbine from excessive mechanical stress.

[0030] Step 230: Determine whether the blade root load satisfies a preset pitch change condition, and if it is determined that the blade root load satisfies the preset pitch change condition, control the blade to retract the pitch angle until the blade angle reaches the target pitch angle.

[0031] In this embodiment, the preset pitch change condition may be pre-set, and the target pitch angle is the pitch change angle of the blade. Figure 2 , Figure 2 The schematic diagram shows a comparison diagram before and after the pitch control of a wind turbine according to an embodiment of the present application. According to the blade load and wind speed, it can be determined whether the pitch condition is met. If it is met, the pitch is controlled, and if not, the pitch is released.

[0032] Please see Figure 3 , Figure 3 The detailed process diagram of judging whether the blade root load meets the preset pitch change condition according to an embodiment of the present application is schematically shown. In some embodiments, the preset pitch change condition includes a preset propeller lifting load threshold; The determining whether the blade root load satisfies a preset pitch change condition, and when it is determined that the blade root load satisfies the preset pitch change condition, controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle, includes: First, determining whether the blade root load exceeds a preset propeller lifting load threshold; In the present embodiment, the propeller lifting load refers to the load formed by the force generated when the propeller blade is lifted or supported upward. The above-mentioned preset propeller lifting load threshold can be pre-set according to the design requirements of the blade root load. When the blade root load is the blade root Mxy load, correspondingly, the above-mentioned preset propeller lifting load threshold can be pre-set according to the design requirements of the blade root Mxy load. The above judgment is actually a judgment of whether the propeller lifting condition is met. When the blade root load exceeds the propeller support load threshold, it means that the propeller support condition is met, the blade angle is no longer opened, but remains at the current angle, but the recovery of the blade angle is not affected. Then continue to judge whether it exceeds the preset propeller lifting load threshold, that is, judge whether the propeller lifting condition is met.

[0033] Then, when it is determined that the blade root load exceeds a preset propeller lifting load threshold, the blade is controlled to retract the propeller angle until the blade angle reaches the target propeller angle.

[0034] In this embodiment, when the blade root load exceeds the propeller lifting load threshold, it means that the propeller lifting condition is met, and the variable pitch control system can control the blade angle to actively retract the propeller angle as the wind speed increases, and the retracted blade angle will also be greater than the propeller support angle. For example, if the propeller lifting load threshold is 50 and the blade root load is 68, the blade angle is controlled to retract until the blade angle reaches the target propeller angle.

[0035] By judging whether the blade root load exceeds the preset propeller lifting load threshold, if it is determined that the blade root load exceeds the preset propeller lifting load threshold, the blade angle is controlled to be recovered until the blade angle reaches the target angle, thereby actively recovering the blade angle, changing the force angle of the blade, and reducing the force area of ​​the blade, ultimately achieving the purpose of reducing the blade root limit load so that it meets the blade root load design standard.

[0036] In some embodiments, the preset pitch change condition further includes a preset propeller load threshold, the preset propeller lift load threshold is greater than the preset propeller load threshold, and the method further includes: First, determining whether the blade root load exceeds a preset propeller load threshold; In this embodiment, the propeller load generally refers to the load formed by the upward supporting force generated on the blade in certain specific scenarios, such as when the blade is in a specific supporting state or is subjected to a specific external force. The above-mentioned preset propeller load threshold can be pre-set according to the design requirements of the blade root load. When the blade root load is the blade root Mxy load, correspondingly, the above-mentioned preset propeller load threshold can be pre-set according to the design requirements of the blade root Mxy load. The above judgment is actually to judge whether the propeller condition is met.

[0037] It should be noted that the above judgment may also be made after the initial blade root load is low-pass filtered, and then judging whether the data after the low-pass filtering exceeds a preset propeller load threshold.

[0038] Then, when it is determined that the blade root load does not exceed the preset propeller load threshold, the blade is controlled to continue to open.

[0039] In this embodiment, when the blade root load does not exceed the preset propeller load threshold, the propeller condition is not met, the blade angle is released, and the propeller can be opened normally. For example, if the propeller load threshold is 20, the propeller load threshold is 50, and the blade root load is 15, the blade is controlled to continue to open.

[0040] In some embodiments, the preset pitch change condition further includes a preset propeller load threshold, the preset propeller lift load threshold is greater than the preset propeller load threshold, and the method further includes: First, determining whether the blade root load is between the preset propeller load threshold and the preset propeller lift load threshold; In this embodiment, it can be determined first whether the blade root load exceeds the preset propeller load threshold. When it is determined that the blade root load exceeds the preset propeller load threshold, the blade is controlled to maintain the current angle, and then it is determined whether the blade root load exceeds the preset propeller lift load threshold. If it does not exceed, it means that the blade root load is between the preset propeller load threshold and the preset propeller lift load threshold. Otherwise, it means that the blade root load is not between the preset propeller load threshold and the preset propeller lift load threshold.

[0041] Then, when it is determined that the blade root load is between the preset propeller load threshold and the preset propeller lifting load threshold, the blade is controlled to continue to open.

[0042] In this embodiment, when the blade root load is between the preset propeller load threshold and the preset propeller lift load threshold, the blade angle is released, and the pitch control system no longer retracts the propeller angle. For example, if the propeller load threshold is 20, the propeller lift load threshold is 50, and the blade root load is 35, the blade is controlled to continue to open.

[0043] By first determining whether the blade root load exceeds the preset propeller load threshold, when the blade root load exceeds the preset propeller load threshold, controlling the blade to maintain the current angle, and determining whether the blade root load exceeds the preset propeller lift load threshold, when it is determined that the blade root load exceeds the preset propeller lift load threshold, controlling the blade to retract the propeller angle until the blade angle reaches the target propeller angle, thereby actively retracting the blade angle, changing the force angle of the blade, and reducing the force area of ​​the blade, and ultimately achieving the purpose of reducing the blade root limit load to meet the blade root load design standard. By setting the preset variable pitch conditions including the preset propeller load threshold and the preset propeller lift load threshold, the blade root limit load can be judged to be excessive from the two aspects of propeller load and propeller lift load, making the judgment more accurate.

[0044] In the above implementation process, the blade root load and the current wind speed are obtained in real time; according to the preset relationship between the blade angle and the wind speed, the blade angle corresponding to the current wind speed is determined to obtain the target blade angle, and the preset relationship between the blade angle and the wind speed is the corresponding small blade angle under different wind speeds; it is judged whether the blade root load meets the preset pitch change condition, and when it is determined that the blade root load meets the preset pitch change condition, the blade angle is controlled to be recovered until the blade angle reaches the target blade angle. The blade angle corresponding to the current wind speed is determined by the preset relationship between the blade angle and the wind speed, and when the blade root load meets the pitch change condition, the pitch is changed to make the blade angle recovered to the target pitch angle, thereby changing the force angle of the blade and reducing the force area of ​​the blade, and finally achieving the purpose of reducing the blade root limit load, avoiding the blade root limit load exceeding the standard, realizing the pitch control based on blade load and wind speed monitoring, and solving the problem of the blade root limit load exceeding the standard when the wind turbine is operating in the rated wind speed range and above, so as to achieve safe and stable operation of the wind turbine.

[0045] In some embodiments, the method further includes: controlling the blade to continue opening when it is determined that the blade root load does not exceed a preset propeller load threshold.

[0046] In some embodiments, the method further includes: controlling the blade to continue opening when it is determined that the blade root load does not exceed a preset propeller lifting load threshold.

[0047] In this embodiment, when the blade root load does not exceed the preset propeller lifting load threshold, the blade angle is released and the pitch control system no longer recovers the blade angle.

[0048] During the change of wind speed, the opening action of the blades can be stopped in time according to the judgment conditions of blade load and wind speed. As the wind speed increases, the variable pitch control system can actively retract the blade angle according to the judgment conditions, change the force angle of the blade, and reduce the force area of ​​the blade, ultimately achieving the purpose of reducing the ultimate load on the blade root so that it meets the blade root load design standard.

[0049] In some embodiments, after controlling the blades to continue opening, the method further includes: controlling the blade pitch rate to be a set normal pitch rate.

[0050] In this embodiment, the above-mentioned set normal pitch rate can be the original pitch rate. After controlling the blades to continue to open, the blade angle is released. After the release, after controlling the blade pitch, the blade pitch rate is controlled to be the set normal pitch rate to restore the original pitch mode, so as to facilitate normal operation of the wind turbine.

[0051] Figure 1 FIG. 1 is a flow chart of a method for controlling the pitch of a wind turbine in one embodiment. It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0052] Please see Figure 4 , Figure 4 The structure diagram of a wind turbine pitch control device according to an embodiment of the present application is schematically shown. This embodiment provides a wind turbine pitch control device, including an acquisition module 410, a determination module 420 and a control module 430, wherein: An acquisition module 410 is used to acquire blade root load and current wind speed in real time; A determination module 420 is used to determine the blade angle corresponding to the current wind speed according to a preset relationship between the blade angle and the wind speed, and obtain a target blade angle; The control module 430 is used to determine whether the blade root load meets the preset pitch change condition, and when it is determined that the blade root load meets the preset pitch change condition, control the blade to retract the pitch angle until the blade angle reaches the target pitch angle.

[0053] The wind turbine pitch control device includes a processor and a memory. The acquisition module 410, the determination module 420 and the control module 430 are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.

[0054] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the blade root limit load can be prevented from exceeding the limit by adjusting the kernel parameters.

[0055] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0056] An embodiment of the present invention provides a machine-readable storage medium on which a program is stored. When the program is executed by a processor, the wind turbine pitch control method is implemented.

[0057] An embodiment of the present invention provides a processor, which is used to run a program, wherein the wind turbine pitch control method is executed when the program is run.

[0058] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, a method for controlling the pitch of a wind turbine is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse.

[0059] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0060] In one embodiment, the wind turbine pitch control method and device provided in the present application can be implemented in the form of a computer program. The computer program can be Figure 5 The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the wind turbine pitch control method device, for example, Figure 4 The acquisition module 410, determination module 420 and control module 430 are shown. The computer program composed of various program modules enables the processor to execute the steps of the wind turbine pitch control method of each embodiment of the present application described in this specification.

[0061] Figure 5 The computer device shown can be Figure 4The acquisition module 410 in the wind turbine pitch control method device shown executes step 210. The computer device may execute step 220 through the determination module 420. The computer device may execute step 230 through the control module 430.

[0062] An embodiment of the present application provides an electronic device, the electronic device comprising: at least one processor; a memory connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, the at least one processor implements the above-mentioned wind turbine pitch control method by executing the instructions stored in the memory, and the processor implements the following steps when executing the instructions: Obtain blade root load and current wind speed in real time; According to the preset relationship between the blade angle and the wind speed, the blade angle corresponding to the current wind speed is determined to obtain a target blade angle; It is determined whether the blade root load satisfies a preset pitch change condition, and when it is determined that the blade root load satisfies the preset pitch change condition, the blade angle is controlled to be recovered until the blade angle reaches the target angle.

[0063] In one embodiment, the preset pitch change condition includes a preset propeller lifting load threshold; The determining whether the blade root load satisfies a preset pitch change condition, and controlling the blade pitch change based on the target pitch angle when it is determined that the blade root load satisfies the preset pitch change condition, includes: Determining whether the blade root load exceeds a preset propeller lifting load threshold; When it is determined that the blade root load exceeds a preset propeller lifting load threshold, the blade is controlled to retract the propeller angle until the blade angle reaches the target propeller angle.

[0064] In one embodiment, the preset pitch change condition further includes a preset propeller load threshold, the preset propeller lift load threshold is greater than the preset propeller load threshold, and the method further includes: Determining whether the blade root load exceeds a preset propeller load threshold; When it is determined that the blade root load does not exceed a preset propeller load threshold, the blade is controlled to continue opening.

[0065] In one embodiment, the preset pitch change condition further includes a preset propeller load threshold, the preset propeller lift load threshold is greater than the preset propeller load threshold, and the method further includes: Determining whether the blade root load is between the preset propeller load threshold and the preset propeller lift load threshold; When it is determined that the blade root load is between the preset propeller load threshold and the preset propeller lifting load threshold, the blade is controlled to continue opening.

[0066] In one embodiment, after controlling the blades to continue opening, the method further includes: Control the blade pitch rate to the set normal pitch rate.

[0067] In one embodiment, obtaining blade root load in real time includes: Obtain the bending moment load at the root of each blade in real time; The blade root load is determined based on the maximum value of the bending moment loads at the roots of the blades.

[0068] In one embodiment, the real-time acquisition of blade root load and current wind speed includes: Obtain the initial blade root load and current initial wind speed in real time; The initial blade root load and the current initial wind speed are respectively subjected to low-pass filtering to obtain the blade root load and the current wind speed.

[0069] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0070] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0071] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0072] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0073] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0074] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0075] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0076] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0077] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A wind turbine pitch control method, characterized in that: include: Obtain blade root load and current wind speed in real time; According to the preset relationship between the blade angle and the wind speed, the blade angle corresponding to the current wind speed is determined to obtain a target blade angle; It is determined whether the blade root load satisfies a preset pitch change condition, and when it is determined that the blade root load satisfies the preset pitch change condition, the blade angle is controlled to be recovered until the blade angle reaches the target angle.

2. The wind turbine pitch control method according to claim 1, characterized in that: The preset pitch change condition includes a preset propeller lifting load threshold; The determining whether the blade root load satisfies a preset pitch change condition, and when it is determined that the blade root load satisfies the preset pitch change condition, controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle, includes: Determining whether the blade root load exceeds a preset propeller lifting load threshold; When it is determined that the blade root load exceeds a preset propeller lifting load threshold, the blade is controlled to retract the propeller angle until the blade angle reaches the target propeller angle.

3. The wind turbine pitch control method according to claim 2, characterized in that: The preset pitch change condition further includes a preset propeller load threshold, the preset propeller lift load threshold is greater than the preset propeller load threshold, and the method further includes: Determining whether the blade root load exceeds a preset propeller load threshold; When it is determined that the blade root load does not exceed a preset propeller load threshold, the blade is controlled to continue opening.

4. The wind turbine pitch control method according to claim 2, characterized in that: The preset pitch change condition further includes a preset propeller load threshold, the preset propeller lift load threshold is greater than the preset propeller load threshold, and the method further includes: Determining whether the blade root load is between the preset propeller load threshold and the preset propeller lift load threshold; When it is determined that the blade root load is between the preset propeller load threshold and the preset propeller lifting load threshold, the blade is controlled to continue opening.

5. The wind turbine pitch control method according to claim 3 or 4, characterized in that: After controlling the paddles to continue opening, the method further includes: Control the blade pitch rate to the set normal pitch rate.

6. The wind turbine pitch control method according to claim 1, characterized in that: Real-time acquisition of blade root loads, including: Obtain the bending moment load at the root of each blade in real time; The blade root load is determined based on the maximum value of the bending moment loads at the roots of the blades.

7. The wind turbine pitch control method according to claim 1, characterized in that: The real-time acquisition of blade root load and current wind speed includes: Obtain the initial blade root load and current initial wind speed in real time; The initial blade root load and the current initial wind speed are respectively subjected to low-pass filtering to obtain the blade root load and the current wind speed.

8. A wind turbine pitch control device, characterized in that: include: An acquisition module is used to obtain blade root load and current wind speed in real time; A determination module is used to determine the blade angle corresponding to the current wind speed according to a preset relationship between the blade angle and the wind speed, and obtain a target blade angle; The control module is used to determine whether the blade root load meets the preset pitch change condition, and when it is determined that the blade root load meets the preset pitch change condition, control the blade to retract the pitch angle until the blade angle reaches the target pitch angle.

9. An electronic device, characterized in that: The electronic device includes: at least one processor; a memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the wind turbine pitch control method according to any one of claims 1 to 7 by executing the instructions stored in the memory.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the wind turbine pitch control method according to any one of claims 1 to 7.

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