Wind turbine variable pitch control method and device, storage medium and electronic equipment

Abstract

The application provides a wind turbine variable pitch control method, device, storage medium and electronic equipment, and belongs to the technical field of wind turbine control. The wind turbine variable pitch control method comprises the following steps: acquiring a blade root load and a current wind speed in real time; determining a blade angle corresponding to the current wind speed according to a preset relationship between the blade angle and the wind speed, and obtaining a target blade angle; judging whether the blade root load meets a preset variable pitch condition, and controlling the blade to recover the blade angle until the blade angle reaches the target blade angle in the case that it is determined that the blade root load meets the preset variable pitch condition. When the blade root load meets the variable pitch condition, the variable pitch is performed, the stress angle of the blade is changed, the stress area of the blade is reduced, and the purpose of reducing the blade root limit load is finally achieved, so that the blade root limit load is avoided from exceeding the standard, the variable pitch control based on the blade load and the wind speed monitoring is realized, and the safe and stable operation of the wind turbine is realized.

Description

TECHNICAL FIELD

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

[0002] Wind turbines are developing towards high power levels, low weight, large size hubs and long straight flexible blades, which will make the interaction between aerodynamic effects, gravity and thrust loads more complex, especially near the rated wind speed, the blade root limit load is increasing, which may cause poor operation stability of the wind turbine, severe cabin shaking, tower tilt force aggravation, and eventually lead to blade fracture, damage to key components of the wind turbine, and even major safety accidents such as wind turbine collapse.

[0003] The existing wind turbine variable pitch control is controlled according to power, which may cause the blade root limit load to exceed the standard and affect the safe operation of the wind turbine. SUMMARY

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

[0005] To achieve the above purpose, the first aspect of the present application provides a wind turbine variable pitch control method, comprising:

[0006] obtaining the blade root load and the current wind speed in real time;

[0007] determining the blade angle corresponding to the current wind speed according to the preset blade angle and wind speed relationship to obtain a target blade angle;

[0008] determining whether the blade root load meets the preset variable pitch condition, and controlling the blade to recover the blade angle until the blade angle reaches the target blade angle if it is determined that the blade root load meets the preset variable pitch condition.

[0009] In the embodiments of the present application, the preset variable pitch condition includes a preset pitch-up load threshold;

[0010] The determination of whether the blade root load meets the preset variable pitch condition and the control of the blade to recover the blade angle until the blade angle reaches the target blade angle if it is determined that the blade root load meets the preset variable pitch condition include:

[0011] determining whether the blade root load exceeds a preset pitch-up load threshold value;

[0012] in a case where it is determined that the blade root load exceeds the preset pitch-up load threshold value, controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle.

[0013] In the embodiments of the present application, the preset pitch condition further includes a preset pitch-down load threshold value, and the preset pitch-up load threshold value is greater than the preset pitch-down load threshold value. The method further includes:

[0014] determining whether the blade root load exceeds a preset pitch-down load threshold value;

[0015] in a case where it is determined that the blade root load does not exceed the preset pitch-down load threshold value, controlling the blade to continue to open.

[0016] In the embodiments of the present application, the preset pitch condition further includes a preset pitch-down load threshold value, and the preset pitch-up load threshold value is greater than the preset pitch-down load threshold value. The method further includes:

[0017] determining whether the blade root load is between the preset pitch-down load threshold value and the preset pitch-up load threshold value;

[0018] in a case where it is determined that the blade root load is between the preset pitch-down load threshold value and the preset pitch-up load threshold value, controlling the blade to continue to open.

[0019] In the embodiments of the present application, after the blade is controlled to continue to open, the method further includes:

[0020] controlling the pitch rate of the blade to be a set normal pitch rate.

[0021] In the embodiments of the present application, the blade root load is obtained in real time, including:

[0022] obtaining the bending moment load of each blade root in real time;

[0023] determining the blade root load according to the maximum value in the bending moment load of each blade root.

[0024] In the embodiments of the present application, the blade root load and the current wind speed are obtained in real time, including:

[0025] obtaining an initial blade root load and an initial current wind speed in real time;

[0026] respectively performing low-pass filtering on the initial blade root load and the initial current wind speed to obtain the blade root load and the current wind speed.

[0027] A wind turbine pitch control device is provided in the second aspect of the present application, including:

[0028] an acquisition module, configured to acquire a blade root load and a current wind speed in real time;

[0029] a determination module, configured to determine a target blade angle according to a preset blade angle and wind speed relationship corresponding to the current wind speed;

[0030] a control module, configured to determine whether the blade root load meets a preset pitch condition, and control the blade to recover the blade angle until the blade angle reaches the target blade angle when it is determined that the blade root load meets the preset pitch condition.

[0031] The third aspect of the present application provides an electronic device, which comprises:

[0032] at least one processor;

[0033] a memory connected with the at least one processor;

[0034] wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the wind turbine pitch control method described above by executing the instructions stored in the memory.

[0035] The fourth aspect of the present application provides a machine readable storage medium, which stores instructions, and the instructions make the processor be configured to execute the wind turbine pitch control method described above when the processor executes the instructions.

[0036] Through the above technical solution, the blade root load and the current wind speed are acquired in real time, the target blade angle is obtained according to the preset blade angle and wind speed relationship corresponding to the current wind speed, and it is determined whether the blade root load meets the preset pitch condition, and the blade is controlled to recover the blade angle until the blade angle reaches the target blade angle when it is determined that the blade root load meets the preset pitch condition. Through the preset blade angle and wind speed relationship, the blade angle corresponding to the current wind speed is determined, the blade is pitched when the blade root load meets the pitch condition, the blade angle is recovered to the target blade angle, the stress angle of the blade is changed, the stress area of the blade is reduced, and the purpose of reducing the blade root limit load is finally achieved, the blade root limit load is avoided to exceed the standard, the pitch control based on the blade load and the wind speed monitoring is realized, and the problem that the blade root limit load exceeds the standard when the wind turbine runs in the rated wind speed and above is solved, so that the safe and stable operation of the wind turbine is realized.

[0037] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0038] 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 detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0039] Figure 1 The following schematically shows a flow chart of a method for controlling pitch of a wind turbine according to an embodiment of the present application;

[0040] Figure 2 Schematically showing a comparison diagram before and after pitch control of a wind turbine according to an embodiment of the present application;

[0041] Figure 3 A schematic diagram shows a detailed process diagram for determining whether the blade root load meets the preset pitch condition according to an embodiment of the present application;

[0042] Figure 4 The following schematically shows a structural diagram of a wind turbine pitch control device according to an embodiment of the present application;

[0043] Figure 5 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0044] Description of Reference Numerals

[0045] 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

[0046] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein 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.

[0047] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0048] Please see Figure 1 , Figure 1 The following is a schematic flow chart of a method for controlling a pitch change of a wind turbine according to an embodiment of the present application. This embodiment provides a method for controlling a pitch change of a wind turbine, comprising the following steps:

[0049] Step 210: acquiring the blade root load and the current wind speed in real time;

[0050] In the embodiment, the blade root load can be obtained by installing a blade root load detection system on the blade, and specifically, a strain gauge can be arranged at the blade root position to acquire the load data of the blade root in real time. The blade root load can be a blade root Mxy load, which is the combined load of Mx and My at the blade root, where Mx and My represent the bending moments in two perpendicular directions. The current wind speed can be a real-time wind speed, which can be detected in real time by a wind speed sensor, obtained from a wind turbine monitoring system, or measured by external measuring equipment such as a wind tower or a laser wind radar. The specific acquisition method of the current wind speed is not limited in the embodiment.

[0051] In some embodiments, the real-time acquisition of the blade root load includes the following steps:

[0052] First, the bending moment load of each blade root is acquired in real time.

[0053] In the embodiment, the bending moment load of each blade root can be a blade root Mxy load, which is the combined load of Mx and My at the blade root, where Mx and My represent the bending moments in two perpendicular directions. In specific implementation, the combined load of Mx and My of each blade root can be used as the bending moment load of each blade root.

[0054] Then, the blade root load is determined according to the maximum value in the bending moment load of each blade root.

[0055] In the embodiment, the combined load of Mx and My of each blade root can be compared, and the maximum value can be selected as the blade root load. For example, the main control system compares the combined load of Mx and My of the blade roots of the three blades, and then selects the maximum value to obtain the blade root load.

[0056] By taking the maximum value in the bending moment load of each blade root as the blade root load, only one value needs to be judged when determining whether to control the pitch of the blade, which helps to improve the control efficiency.

[0057] In some embodiments, the real-time acquisition of the blade root load and the current wind speed includes the following steps:

[0058] First, the initial blade root load and the current initial wind speed are acquired in real time.

[0059] Then, the initial blade root load and the current initial wind speed are low-pass filtered respectively to obtain the blade root load and the current wind speed.

[0060] In the embodiment, the initial blade root load and the current initial wind speed are both real-time collected data. Considering the influence of high-frequency data fluctuation, the initial blade root load and the current initial wind speed can be low-pass filtered in 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, and helping to improve the accuracy of the variable pitch control. The low-pass filtering is a prior art, which will not be described here.

[0061] Step 220: determining the blade angle corresponding to the current wind speed according to the preset blade angle and wind speed relationship, to obtain a target blade angle;

[0062] In the embodiment, the preset blade angle and wind speed relationship can be a linear relationship between the blade angle and the wind speed obtained in advance according to simulation and test. Through the linear relationship between the blade angle and the wind speed, a small blade angle corresponding to different wind speeds can be obtained. In a wind turbine, the small blade angle usually refers to a smaller installation angle of the wind turbine blade. After obtaining the current wind speed, the corresponding small blade angle, i.e. the target blade angle, can be obtained according to the preset blade angle and wind speed relationship.

[0063] The small blade angle has an important influence on the operation of the wind turbine. When the blade is in the small blade angle state, the wind turbine can more effectively capture wind energy. The smaller blade angle makes the contact area of the blade with the wind relatively small, and the force of the wind on the blade is relatively concentrated, thereby improving the starting performance of the wind turbine and the operating efficiency of the wind turbine at low wind speed. Under different wind speed conditions, the wind turbine can adjust the blade angle of the blade to optimize the capture of wind energy and the output power of the unit. When the wind speed is low, appropriately reducing the blade angle can increase the absorption of wind energy by the blade; and when the wind speed is too high, increasing the blade angle can reduce the wind load on the blade to protect the wind turbine from excessive mechanical stress.

[0064] Step 230: judging whether the blade root load meets the preset variable pitch condition, and controlling the blade to recover the blade angle until the blade angle reaches the target blade angle in a case where it is determined that the blade root load meets the preset variable pitch condition.

[0065] In the embodiment, the preset variable pitch condition can be preset, and the target blade angle is the angle of the variable pitch of the blade. Please refer to Figure 2 , Figure 2 The figure shows a comparison before and after the variable pitch control of the wind turbine according to the embodiment of the application. According to the blade load and the wind speed, it can be judged whether the variable pitch condition is met. If it is met, the variable pitch is controlled, and if it is not met, the variable pitch is released.

[0066] Please refer to Figure 3 , Figure 3A detailed process diagram for judging whether the blade root load meets the preset pitch condition according to an embodiment of the present application is shown schematically. In some embodiments, the preset pitch condition includes a preset pitch-up load threshold value;

[0067] The judgment of whether the blade root load meets the preset pitch condition, and the control of the blade to retract the pitch angle until the blade angle reaches the target pitch angle when it is determined that the blade root load meets the preset pitch condition, includes:

[0068] First, it is judged whether the blade root load exceeds the preset pitch-up load threshold value;

[0069] In this embodiment, the pitch-up load refers to the load formed by the force generated when the blade is lifted or supported upward. The above-mentioned preset pitch-up load threshold value 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, the above-mentioned preset pitch-up load threshold value can be pre-set according to the design requirements of the blade root Mxy load. The above-mentioned judgment is actually a judgment of whether the pitch-up condition is met. When the blade root load exceeds the pitch-up load threshold value, it means that the pitch-up condition is met, and the blade angle is no longer opened but stays at the current angle, but the retraction of the blade angle is not affected. Then it is judged whether the preset pitch-up load threshold value is exceeded, that is, whether the pitch-up condition is met.

[0070] Then, when it is determined that the blade root load exceeds the preset pitch-up load threshold value, the blade is controlled to retract the pitch angle until the blade angle reaches the target pitch angle.

[0071] In this embodiment, when the blade root load exceeds the pitch-up load threshold value, it means that the pitch-up condition is met, and the pitch control system can control the blade angle to actively retract the pitch angle as the wind speed increases, and the retracted blade angle will also be greater than the pitch angle. For example, the pitch-up load threshold value is 50, and the blade root load is 68, and the blade is controlled to retract the pitch angle until the blade angle reaches the target pitch angle.

[0072] By judging whether the blade root load exceeds the preset pitch-up load threshold value, when it is determined that the blade root load exceeds the preset pitch-up load threshold value, the blade is controlled to retract the pitch angle until the blade angle reaches the target pitch angle, thereby actively retracting the blade angle, changing the stress angle of the blade, reducing the stress area of the blade, and ultimately achieving the purpose of reducing the blade root limit load to meet the blade root load design standard.

[0073] In some embodiments, the preset pitch condition further includes a preset pitch-down load threshold value, the preset pitch-up load threshold value is greater than the preset pitch-down load threshold value, and the method further includes:

[0074] First, it is judged whether the blade root load exceeds the preset pitch-down load threshold value;

[0075] In the embodiment, the blade supporting load generally refers to a load generated by an upward supporting force on the blade in some specific scenarios, such as when the blade is in a specific supporting state or is subjected to a specific external force. The preset blade supporting load threshold can be preset according to the design requirement of the blade root load, and when the blade root load is the blade root Mxy load, the preset blade supporting load threshold can be preset according to the design requirement of the blade root Mxy load. The above judgment is actually a judgment of whether the blade supporting condition is met.

[0076] It should be noted that the above judgment can also be after the initial blade root load is low-pass filtered, and then whether the data after low-pass filtering exceeds the preset blade supporting load threshold is judged.

[0077] Then, in a case where it is determined that the blade root load does not exceed the preset blade supporting load threshold, the blade is controlled to continue to open.

[0078] In the embodiment, in a case where the blade root load does not exceed the preset blade supporting load threshold, the blade supporting condition is not met, the blade angle is released, and the blade can be normally opened. For example, the blade supporting load threshold is 20, the lifting load threshold is 50, and the blade root load is 15, and the blade is controlled to continue to open.

[0079] In some embodiments, the preset blade supporting condition further includes a preset blade supporting load threshold, the preset lifting load threshold is greater than the preset blade supporting load threshold, and the method further includes:

[0080] First, it is judged whether the blade root load is between the preset blade supporting load threshold and the preset lifting load threshold.

[0081] In the embodiment, it can be first judged whether the blade root load exceeds the preset blade supporting load threshold, in a case where it is determined that the blade root load exceeds the preset blade supporting load threshold, the blade is controlled to maintain the current angle, and then it is judged whether the blade root load exceeds the preset lifting load threshold. If not, it indicates that the blade root load is between the preset blade supporting load threshold and the preset lifting load threshold, otherwise, it indicates that the blade root load is not between the preset blade supporting load threshold and the preset lifting load threshold.

[0082] Then, in a case where it is determined that the blade root load is between the preset blade supporting load threshold and the preset lifting load threshold, the blade is controlled to continue to open.

[0083] In the embodiment, when the blade root load is between the preset pitch load threshold and the preset lift load threshold, the blade angle is released, and the pitch control system no longer recovers the blade angle. For example, the pitch load threshold is 20, the lift load threshold is 50, and the blade root load is 35. The control blade continues to open.

[0084] By first determining whether the blade root load exceeds the preset pitch load threshold, in the case that the blade root load exceeds the preset pitch load threshold, the blade root load is controlled to maintain the current angle, and whether the blade root load exceeds the preset lift load threshold is determined. In the case that the blade root load exceeds the preset lift load threshold, the blade angle is controlled to recover the blade angle until the blade angle reaches the target blade angle, thereby actively recovering the blade angle, changing the stress angle of the blade, reducing the stress 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 pitch condition including the preset pitch load threshold and the preset lift load threshold, the blade root limit load can be judged from the pitch load and the lift load, making the judgment more accurate.

[0085] In the above implementation process, the blade root load and the current wind speed are obtained in real time; the target blade angle is determined according to the preset blade angle and wind speed relationship corresponding to the current wind speed, and the target blade angle is obtained. The preset blade angle and wind speed relationship is a small blade angle corresponding to different wind speeds; whether the blade root load meets the preset pitch condition is determined, and in the case that the blade root load meets the preset pitch condition, the blade angle is controlled to recover the blade angle until the blade angle reaches the target blade angle. By presetting the blade angle and wind speed relationship, the blade angle corresponding to the current wind speed is determined, and the pitch is performed when the blade root load meets the pitch condition, so that the blade angle is recovered to the target blade angle, thereby changing the stress angle of the blade, reducing the stress area of the blade, and ultimately achieving the purpose of reducing the blade root limit load. The problem of exceeding the blade root limit load is avoided, the pitch control based on blade load and wind speed monitoring is realized, and the problem of exceeding the blade root limit load when the wind turbine operates at a rated wind speed or above is solved, so as to realize safe and stable operation of the wind turbine.

[0086] In some embodiments, further comprising: in the case that the blade root load does not exceed the preset pitch load threshold, controlling the blade to continue to open.

[0087] In some embodiments, further comprising: in the case that the blade root load does not exceed the preset lift load threshold, controlling the blade to continue to open.

[0088] In the embodiment, in the case that the blade root load does not exceed the preset lift load threshold, the blade angle is released, and the pitch control system no longer recovers the blade angle.

[0089] During the wind speed change process, the opening action of the blade is stopped in time according to the judgment conditions of the blade load and the wind speed, and as the wind speed increases, the pitch control system can actively recover the blade angle according to the judgment conditions, change the force angle of the blade, reduce the force area of the blade, and finally realize the purpose of reducing the blade root limit load, so as to meet the blade root load design standard.

[0090] In some embodiments, after controlling the blade to continue to open, further comprising: controlling the blade pitch rate to be a set normal pitch rate.

[0091] In the embodiment, the set normal pitch rate can be the original pitch rate. After controlling the blade to continue to open, the blade angle is released. After controlling the blade to pitch, the blade pitch rate is controlled to be the set normal pitch rate, so as to restore the original pitch mode and facilitate normal operation of the wind turbine.

[0092] Figure 1 The flowchart of the wind turbine pitch control method in one embodiment is shown. It should be understood that although the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in sequence according to the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, Figure 1 At least part of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times. The execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps. Figure 1

[0093] Please refer to Figure 4 , Figure 4 The structure of a wind turbine pitch control device according to an embodiment of the present application is schematically shown. The embodiment provides a wind turbine pitch control device, which comprises an acquisition module 410, a determination module 420 and a control module 430, wherein:

[0094] The acquisition module 410 is configured to acquire the blade root load and the current wind speed in real time.

[0095] The determination module 420 is configured to determine the blade angle corresponding to the current wind speed according to the preset relationship between the blade angle and the wind speed, to obtain a target blade angle.

[0096] ​The control module 430 is configured to determine whether the blade root load meets the preset pitch change condition, and control the blade to retract the pitch angle until the pitch angle reaches the target pitch angle when it is determined that the blade root load meets the preset pitch change condition.

[0097] The wind turbine generator pitch control device comprises 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 corresponding functions are realized by the processor executing the program units stored in the memory.

[0098] The processor comprises a core, and the core retrieves the corresponding program unit from the memory. The core can be one or more, and the core parameters can be adjusted to avoid exceeding the blade root limit load.

[0099] The memory can comprise a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory comprises at least one memory chip.

[0100] The embodiment of the present application provides a machine readable storage medium, which stores a program, and the program is executed by a processor to realize the wind turbine generator pitch control method.

[0101] The embodiment of the present application provides a processor, which is used to run a program, and the program is executed to realize the wind turbine generator pitch control method.

[0102] In one embodiment, a computer device can be provided, which can be a terminal, and an internal structure diagram of the computer device can be as shown in Figure 5 The computer device comprises 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. The processor A01 of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises 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 operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is configured to communicate with external terminals through network connection. The computer program is executed by the processor A01 to realize a wind turbine generator pitch control method. The display screen A04 of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device A05 of the computer device can be a touch layer overlaid on the display screen, or can be a key, trackball or touchpad arranged on the shell of the computer device, or can be an external keyboard, touchpad or mouse, etc.

[0103] Those skilled in the art can understand that Figure 5 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0104] In one embodiment, the wind turbine variable pitch control method and device provided by the present application can be implemented in the form of a computer program, which can run on a computer device as shown in the figure. Figure 5 The memory of the computer device can store various program modules constituting the wind turbine variable pitch control method and device, such as the acquisition module 410, the determination module 420 and the control module 430 shown in the figure. The computer program constituted by various program modules enables the processor to execute the steps in the wind turbine variable pitch control method of various embodiments of the present application described in the specification. Figure 4

[0105] The computer device can execute step 210 by the acquisition module 410 in the wind turbine variable pitch control method and device as shown in the figure. The computer device can execute step 220 by the determination module 420. The computer device can execute step 230 by the control module 430. Figure 5 Figure 4 The computer device can execute step 210 by the acquisition module 410 in the wind turbine variable pitch control method and device as shown in the figure. The computer device can execute step 220 by the determination module 420. The computer device can execute step 230 by the control module 430.

[0106] The electronic device provided by the embodiment of the present application comprises at least one processor, a memory connected with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the at least one processor realizes the wind turbine variable pitch control method described above by executing the instructions stored in the memory. The processor executes the instructions to realize the following steps:

[0107] Real-time acquisition of the blade root load and the current wind speed;

[0108] Determination of the blade angle corresponding to the current wind speed according to the preset blade angle and wind speed relationship, to obtain a target blade angle;

[0109] Determination of whether the blade root load meets the preset variable pitch condition, and control of the blade to retract the blade angle until the blade angle reaches the target blade angle in the case where it is determined that the blade root load meets the preset variable pitch condition.

[0110] In one embodiment, the preset variable pitch condition includes a preset pitch load threshold;

[0111] ​judging whether the blade root load meets a preset pitch condition, and controlling the pitch of the blades based on the target pitch angle when it is determined that the blade root load meets the preset pitch condition, comprising:

[0112] judging whether the blade root load exceeds a preset pitch-up load threshold value;

[0113] controlling the pitch of the blades to be retracted until the pitch angle reaches the target pitch angle when it is determined that the blade root load exceeds the preset pitch-up load threshold value.

[0114] In one embodiment, the preset pitch condition further comprises a preset pitch-down load threshold value, the preset pitch-up load threshold value is greater than the preset pitch-down load threshold value, and the method further comprises:

[0115] judging whether the blade root load exceeds the preset pitch-down load threshold value;

[0116] controlling the pitch of the blades to continue to open when it is determined that the blade root load does not exceed the preset pitch-down load threshold value.

[0117] In one embodiment, the preset pitch condition further comprises a preset pitch-down load threshold value, the preset pitch-up load threshold value is greater than the preset pitch-down load threshold value, and the method further comprises:

[0118] judging whether the blade root load is between the preset pitch-down load threshold value and the preset pitch-up load threshold value;

[0119] controlling the pitch of the blades to continue to open when it is determined that the blade root load is between the preset pitch-down load threshold value and the preset pitch-up load threshold value.

[0120] In one embodiment, after controlling the pitch of the blades to continue to open, the method further comprises:

[0121] controlling the pitch rate of the blades to be a set normal pitch rate.

[0122] In one embodiment, the blade root load is obtained in real time, comprising:

[0123] obtaining the bending moment load of each blade root in real time;

[0124] determining the blade root load according to the maximum value in the bending moment load of each blade root.

[0125] In one embodiment, the blade root load and the current wind speed are obtained in real time, comprising:

[0126] obtaining an initial blade root load and an initial current wind speed in real time;

[0127] The initial blade root load and the current initial wind speed are low-pass filtered respectively to obtain a blade root load and a current wind speed.

[0128] Those skilled in the art will understand that embodiments of the present application can be provided as methods, systems, or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0129] The present application is described in reference to the flowchart and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagrams, as well as combinations of flows and / or blocks in the flowchart and / or block diagrams, 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagrams block or blocks. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the function specified in the flowchart and / or block diagram block or blocks.

[0130] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions means which implement the function specified in the flowchart and / or block diagrams block or blocks. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the function specified in the flowchart and / or block diagram block or blocks.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the function specified in the flowchart and / or block diagrams block or blocks. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the function specified in the flowchart and / or block diagram block or blocks.

[0132] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0133] Memory can include non-persistent memory, Random Access Memory (RAM), and / or non-volatile memory, such as Read Only Memory (ROM) or flash memory, in a computer readable medium. Memory is an example of computer readable media.

[0134] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as 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 disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "comprising", "containing", or any other variant thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements in the list, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0136] The above merely provides an example of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of 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 the target blade angle; determining whether the blade root load satisfies a preset pitch condition, and if it is determined that the blade root load satisfies the preset pitch condition, controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle; Wherein, the preset pitch change condition includes a preset propeller lift load threshold; The determining whether the blade root load satisfies a preset pitch condition, and controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle if it is determined that the blade root load satisfies the preset pitch 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, controlling the blade to retract the propeller angle until the blade angle reaches the target propeller angle; Wherein, the preset pitch change condition also 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, controlling the blade to continue opening; The method further comprises: 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 lift load threshold, the blade is controlled to continue opening.

2. The wind turbine pitch control method according to claim 1, characterized in that: After controlling the blades to continue opening, the method further includes: Control the blade pitch rate to the set normal pitch rate.

3. 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.

4. 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.

5. A wind turbine pitch control device, characterized in that: include: Acquisition module, used to obtain blade root load and current wind speed in real time; a determination module, configured 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; A control module, for judging whether the blade root load satisfies a preset pitch condition, and controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle if it is determined that the blade root load satisfies the preset pitch condition; wherein the preset pitch condition includes a preset pitch lift load threshold; the judging whether the blade root load satisfies the preset pitch condition, and controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle if it is determined that the blade root load satisfies the preset pitch condition, comprises: judging whether the blade root load exceeds a preset pitch lift load threshold; if it is determined that the blade root load exceeds the preset pitch lift load threshold, controlling the blade to retract the pitch angle until the blade angle reaches the target pitch angle; Wherein, the preset pitch condition also includes a preset propeller load threshold, the preset propeller lifting load threshold is greater than the preset propeller load threshold, and it is judged whether the blade root load exceeds the preset propeller load threshold; 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; wherein, the preset pitch condition also includes a preset propeller load threshold, the preset propeller lifting load threshold is greater than the preset propeller load threshold, and it is judged whether the blade root load is between the preset propeller load threshold and the preset propeller lifting 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 to open.

6. 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 4 by executing the instructions stored in the memory.

7. 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 4.

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