A wind turbine variable pitch control method, system, device and medium

Abstract

The present invention relates to the technical field of wind turbine pitch control, and specifically to a method, system, device, and medium for wind turbine pitch control. The method comprises: obtaining wind speed data from an anemometer in a wind turbine nacelle, and obtaining temperature data of a pitch motor corresponding to a wind turbine blade; averaging the wind speed data and the pitch motor temperature data to obtain average wind speed data and average pitch motor temperature data; when the average wind speed data is within a wind speed threshold range and the average pitch motor temperature data is within a temperature threshold range, controlling the corresponding pitch motor according to a first condition obtained by combining a pitch rate control demand value corresponding to each blade and a pitch rate dead zone setting value, thereby avoiding power generation loss caused by shutdown protection due to an overtemperature fault of the pitch motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine variable pitch control, and particularly relates to a wind turbine variable pitch control method, system, device and medium. BACKGROUND

[0002] The variable pitch bearing is connected between the wind turbine blade and the hub casting. The variable pitch motor is connected with the variable pitch bearing through the reduction gear box and the variable pitch pinion, and changes the blade angle by driving the variable pitch bearing. Since the variable pitch bearing has a high change frequency and bears a large variable load, if the unit power control mode is improper or the variable pitch bearing lubrication is not in place, mechanical wear and tear will be aggravated. According to the design requirements of the unit, the working temperature of the variable pitch motor will not exceed the set value, and if it exceeds the set value, it will alarm due to high temperature, and if it exceeds the shutdown threshold, it will be protected, resulting in loss of power generation.

[0003] When the traditional wind turbine reaches the rated speed, the target speed of the power control no longer changes with the increase of the wind speed, and the given torque is increased at the same time, so that the increase of the speed will not directly lead to a large increase of the torque. Therefore, when the wind speed changes greatly, the pitch control of the impeller speed is needed, and since the power of the unit is far from the rated power in most cases, the impeller speed or the unit output power needs to be controlled again by pitch, resulting in frequent pitch and further causing the over-temperature of the variable pitch motor and shutdown.

[0004] The traditional speed and torque control is decoupled respectively to reduce the frequent pitch as much as possible. However, there is a certain deviation between the simulation model of the unit design and the actual unit, and the fixed decoupling control parameters are not necessarily suitable for the actual operation of the unit, and the parameters cannot be modified in real time. At the same time, each unit is in different wind conditions, resulting in the phenomenon of frequent pitch of some units under inappropriate control mode. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a wind turbine variable pitch control method, system, device and medium to solve the technical problem of frequent pitch leading to unit failure in the control process of the wind turbine.

[0006] The purpose of the present application is achieved by the following technical scheme:

[0007] In a first aspect, the present application provides a wind turbine variable pitch control method, comprising:

[0008] obtaining current wind speed data of the wind turbine cabin anemometer, and obtaining variable pitch motor temperature data corresponding to the wind turbine blade;

[0009] The wind speed data and the pitch motor temperature data are averaged to obtain wind speed average data and pitch motor average temperature data.

[0010] When the wind speed average data is in the wind speed threshold range and the pitch motor average temperature data is in the temperature threshold range, the corresponding pitch motor is controlled according to a first condition, which is obtained according to the pitch rate control demand value corresponding to each blade and the pitch rate dead zone setting value.

[0011] As a further improvement of the application, the wind speed data and the pitch motor temperature data are averaged to obtain wind speed average data and pitch motor average temperature data, specifically including:

[0012] The wind speed data is processed by sliding average, and the window parameter of the sliding average processing is a first parameter value, to obtain wind speed average data.

[0013] The three obtained pitch motor temperature data are respectively processed by sliding average, and the window parameter of the sliding average processing is a second parameter, and the pitch temperature data processed by sliding average is averaged to obtain pitch motor average temperature data.

[0014] As a further improvement of the application, the first parameter is 0.1-1 second, and the second parameter is 0.1-1 second.

[0015] As a further improvement of the application, the first condition is obtained according to the pitch rate control demand value corresponding to each blade and the pitch rate dead zone setting value, specifically including:

[0016] The first condition is that the pitch rate control demand value is not less than the negative value of the pitch rate dead zone and not greater than the positive value of the pitch rate dead zone.

[0017] As a further improvement of the application, the control of the corresponding pitch motor according to the first condition specifically includes: when the pitch rate control demand value corresponding to each blade satisfies the first condition, the pitch motor is controlled to be inaction, otherwise, the pitch motor is controlled to perform pitch action.

[0018] As a further improvement of the application, when the pitch rate control demand value corresponding to each blade satisfies the first condition, the pitch motor is controlled to be inaction, otherwise, the pitch motor is controlled to perform pitch action, specifically including:

[0019] The pitch rate control demand values corresponding to the three pitch motors are respectively obtained, and the pitch rate dead zone setting value is determined.

[0020] Whether the first condition is satisfied is judged according to the pitch rate control demand value corresponding to each pitch motor and the pitch rate dead zone setting value.

[0021] When the three pitch motor pitch rate control demand values meet the first condition at the same time, the pitch rate control demand values of the three pitch motors are set to 0 respectively, and the corresponding pitch motor is controlled to be inaction.

[0022] When the pitch rate control demand value of the existing pitch motor does not meet the first condition, the pitch rate control demand value of the pitch motor that does not meet the first condition is taken as a control instruction, and the control instruction is sent to the pitch motor to perform the pitch action.

[0023] As a further improvement of the application, the first wind speed threshold in the wind speed threshold range is 6-8 m / s, and the second wind speed threshold in the wind speed threshold range is 9-12 m / s.

[0024] The first temperature threshold in the temperature threshold range is 100-110 DEG C, and the second temperature threshold in the temperature threshold range is 120-140 DEG C.

[0025] In a second aspect, the application provides a wind turbine pitch control system for implementing the wind turbine pitch control method described above, comprising:

[0026] A data acquisition module is configured to acquire current wind speed data of a wind turbine nacelle anemometer and temperature data of a wind turbine blade corresponding pitch motor.

[0027] A data processing module is configured to average the wind speed data and the pitch motor temperature data to obtain wind speed average data and pitch motor average temperature data.

[0028] A pitch control module is configured to control the corresponding pitch motor according to a first condition when the wind speed average data is in the wind speed threshold range and the pitch motor average temperature data is in the temperature threshold range, and the first condition is obtained according to the pitch rate control demand value of each blade and the pitch rate dead zone setting value.

[0029] In a third aspect, the application provides a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform the wind turbine pitch control method described above.

[0030] In a fourth aspect, the application provides a computing device, comprising:

[0031] One or more processors, memories, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for performing the steps in the wind turbine pitch control method described above.

[0032] The wind turbine variable pitch control method provided by the application controls the variable pitch rate dead zone by judging the temperature of the variable pitch motor, thereby avoiding the loss of power generation caused by shutdown protection due to the over-temperature failure of the variable pitch motor to the greatest extent.

[0033] The relationship between the current wind speed and the variable pitch is analyzed, and the variable pitch rate dead zone is directly controlled in the wind speed section where frequent variable pitch is most likely to occur, thereby not responding to frequent variable pitch actions caused by improper control methods and protecting the fatigue damage of the variable pitch actuator caused by frequent actions. The first condition combines the variable pitch rate control demand value corresponding to each blade and the variable pitch rate dead zone setting value, which can more accurately control the variable pitch motor and make the variable pitch operation of the blade more accurate and efficient. The application reduces the fatigue damage of the variable pitch actuator caused by frequent actions and the number of shutdowns caused by the over-temperature failure of the variable pitch motor by introducing the variable pitch rate dead zone.

[0034] Further, the wind speed data is processed by sliding average, and by setting a suitable first parameter value as a window parameter, the fluctuations and noises in the wind speed data can be effectively smoothed. This makes the obtained wind speed average data more accurately reflect the real wind speed situation in a period of time, avoids misjudgment caused by instantaneous abnormal values, and provides a more reliable data basis for subsequent control decisions. The three variable pitch motor temperature data are processed by sliding average, and the processed temperature data are averaged again, which can also reduce the fluctuations of the temperature data. Especially in the case of multiple variable pitch motors running at the same time, this processing method can consider the temperature change trend of each motor to obtain more representative average temperature data of the variable pitch motor, improving the accuracy of the variable pitch motor temperature state judgment. The sliding average processing can effectively filter out abnormal data and reduce the misoperation caused by data errors. The reliable processing of wind speed data and variable pitch motor temperature data reduces the risk of system failure caused by false data and improves the reliability of the entire wind power system.

[0035] Further, the variable pitch rate dead zone is set to work in both positive and negative directions, and when the variable pitch rate instruction given by the controller is less than or equal to the dead zone, the variable pitch actuator is sent a 0 instruction, so that the variable pitch actuator does not move. By clearly defining the relationship between the variable pitch rate control demand value and the positive and negative values of the variable pitch rate dead zone, an accurate standard is provided for the control of the variable pitch motor. This allows the variable pitch operation to be performed within a reasonable range, avoiding the situation of excessive variable pitch or insufficient variable pitch, and improving the accuracy and efficiency of the variable pitch.

[0036] Further, by judging the pitch motor temperature of three blades to judge whether the pitch motor over-temperature condition really exists, pitch inaction caused by introducing the pitch rate dead zone mode due to single pitch motor failure and the like is avoided.

[0037] The system of the present application does not need to install any other hardware, and can be implemented by only upgrading the wind turbine control software, and the modification cost is small. The pitch motor over-temperature failure shutdown caused by frequent pitch can be avoided to a certain extent under the premise of ensuring safe operation of the unit. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0039] Figure 1 is a flow chart of the pitch control method of the wind turbine in the embodiment of the present application;

[0040] Figure 2 is a structure schematic diagram of the pitch control system of the wind turbine in the embodiment of the present application;

[0041] Figure 3 is a structure schematic diagram of the electronic device in the embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose and technical solutions of the present application more clear and convenient to understand. The following will further describe the present application in combination with the drawings and embodiments, and the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0043] The technical solutions of the present application will be described clearly and completely in combination with the drawings and specific embodiments, wherein the described embodiments are only some embodiments of the present application, not all embodiments.

[0044] Embodiment 1

[0045] As Figure 1As shown, the embodiment provides a wind turbine variable pitch control method. By introducing a variable pitch dead zone into the variable pitch control through the potential fault point of the variable pitch motor over-temperature, unnecessary variable pitch actions are excluded from actual variable pitch actions when there is a potential fault of variable pitch motor over-temperature, thereby avoiding power loss caused by variable pitch motor over-temperature shutdown in the case of ensuring safe operation of the unit, on the one hand, and avoiding fatigue damage to the variable pitch actuator caused by frequent variable pitch, on the other hand. The following is a specific implementation.

[0046] First, the current wind turbine wind speed data Vwind is obtained, and the variable pitch motor temperature data Ti_pitch (i=1, 2, 3) corresponding to the three wind turbine blades are obtained respectively.

[0047] The wind speed data and the variable pitch motor temperature data are averaged to obtain wind speed average data and variable pitch motor average temperature data. The specific processing method is as follows:

[0048] The wind speed data is processed by sliding average, and the window parameter of the sliding average processing is the first parameter value mov1, to obtain the wind speed average data F_Vwind.

[0049] The three obtained variable pitch motor temperature data are processed by sliding average, and the window parameter of the sliding average processing is the second parameter mov2. After averaging the variable pitch temperature data processed by sliding average, the variable pitch motor average temperature data F_Tavg_pitch is obtained.

[0050] In this embodiment, the first parameter is 0.1-1 second, and the second parameter is 0.1-1 second.

[0051] When the wind speed average data is in the wind speed threshold range, and the variable pitch motor average temperature data is in the temperature threshold range, the corresponding variable pitch motor is controlled according to the first condition. The first condition is obtained according to the variable pitch rate control demand value pitchdemand_i of each blade and the variable pitch rate dead zone setting value pitch_deadband.

[0052] A wind speed threshold range (Threshold_wind1, Threshold_wind2) and a temperature threshold range (Threshold_T_pitch1, Threshold_T_pitch2) are obtained. In this embodiment, the first wind speed threshold Threshold_wind1 in the wind speed threshold range is 6-8 m / s, the second wind speed threshold Threshold_wind2 in the wind speed threshold range is 9-12 m / s, the first temperature threshold Threshold_T_pitch1 in the temperature threshold range is 100-110°C, and the second temperature threshold Threshold_T_pitch2 in the temperature threshold range is 120-140°C.

[0053] When the pitch rate control demand value corresponding to each blade meets the first condition, the pitch motor is controlled not to act, otherwise, the pitch motor is controlled to act, wherein the first condition is that the pitch rate control demand value is not less than the negative value of the pitch rate dead zone -pitch_deadband and not greater than the positive value of the pitch rate dead zone +pitch_deadband.

[0054] The method specifically comprises:

[0055] Pitch rate control demand values corresponding to three pitch motors are obtained respectively, and a pitch rate dead zone setting value is determined.

[0056] Whether the first condition is met is determined according to the pitch rate control demand values corresponding to the three pitch motors and the pitch rate dead zone setting value respectively.

[0057] When the pitch rate control demand values of the three pitch motors simultaneously meet the first condition, the pitch rate control demand values corresponding to the three pitch motors are set to 0 respectively, and the corresponding pitch motor is controlled not to act.

[0058] When the pitch rate control demand value of a pitch motor does not meet the first condition, the pitch rate control demand value corresponding to the pitch motor that does not meet the first condition is taken as a control instruction, and the control instruction is sent to the pitch motor to act. By introducing the pitch rate dead zone, the fatigue damage caused by the frequent action of the pitch actuator and the shutdown caused by the over-temperature failure of the pitch motor due to the frequent pitching caused by improper control are reduced.

[0059] Wherein the above parameters, mov1, mov2, Threshold_wind1, Threshold_wind2, Threshold_T_pitch1, Threshold_T_pitch2, pitch_deadband are determined by the wind turbine in the computer environment simulation or field prototype actual test results or actual operation data of batch operation unit, etc. Table 1 is the range of generally selected values:

[0060] Table 1: parameter range

[0061]

[0062] The variable pitch motor temperature is judged to control the variable pitch rate dead zone, so that the power generation loss caused by the shutdown protection due to the variable pitch motor over-temperature fault is avoided to the greatest extent. The variable pitch rate dead zone is controlled by judging the wind speed, and the variable pitch rate dead zone control is strictly limited to the acting wind speed, so that the over-speed shutdown or the situation of large load caused by the untimely variable pitch is avoided.

[0063] The present application can directly analyze the variable pitch motor temperature, which is directly related to the variable pitch rate dead zone, reduce unnecessary variable pitch action, reduce the variable pitch motor over-temperature, and reduce the power generation loss caused by shutdown to the greatest extent.

[0064] By analyzing the relationship between the current wind speed and the variable pitch, the variable pitch rate dead zone is directly controlled in the wind speed section where the frequent variable pitch is most likely to occur, so that the frequent variable pitch action caused by improper control is not responded, and the fatigue damage of the variable pitch actuator caused by frequent action is protected.

[0065] Embodiment 2

[0066] As shown in Figure 2 The present embodiment provides a wind turbine variable pitch control system for realizing the wind turbine variable pitch control method in embodiment 1, comprising a data acquisition module, a data processing module and a variable pitch control module; each module specifically comprises:

[0067] The data acquisition module is used for acquiring current wind turbine nacelle anemometer wind speed data and acquiring variable pitch motor temperature data corresponding to the wind turbine blade;

[0068] The data processing module is used for averaging the wind speed data and the variable pitch motor temperature data to obtain wind speed average data and variable pitch motor average temperature data;

[0069] The pitch control module controls the corresponding pitch motor according to a first condition when the wind speed average data is in the wind speed threshold range and the pitch motor average temperature data is in the temperature threshold range, wherein the first condition is obtained according to the pitch rate control demand value corresponding to each blade and the pitch rate dead zone setting value.

[0070] The system does not need to install any other hardware, and can be implemented only by upgrading the wind turbine control software, has low modification cost, and can avoid pitch motor over-temperature failure shutdown caused by frequent pitching under the premise of ensuring safe operation of the wind turbine.

[0071] Embodiment 3

[0072] In another embodiment of the present application, the present application further provides a storage medium, specifically a computer readable storage medium (Memory), which is a memory device in a terminal device, used for storing programs and data. It can be understood that the computer readable storage medium herein can include a built-in storage medium in the terminal device, and of course can also include an expansion storage medium supported by the terminal device, and can be any tangible medium containing or storing programs, which can be used or combined with an instruction execution system, device or apparatus. The computer readable storage medium provides a storage space, which stores an operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and the instructions can be one or more computer programs (including program codes). It should be noted that more specific examples (non-exhaustive list) of the computer readable storage medium include an electrical connection with one or more conductive wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0073] The computer readable storage medium also includes a data signal propagating in a baseband or as a carrier wave in a propagated data signal, in which a readable program code is borne. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, which can send, propagate or transmit programs for use by or in combination with an instruction execution system, device or apparatus. The program code contained on the readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0074] The program code may be implemented in any of various ways, including procedure-based, object-based, and / or component-based technologies, and the program code can execute directly on the user's computing device, partially on the user's computing device and partially on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network ("LAN") or a wide area network ("WAN"), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider ("ISP").

[0075] The one or more instructions stored in the computer-readable storage medium can be loaded and executed by a processor to implement the corresponding steps of the wind turbine variable pitch control method in the above embodiments; the one or more instructions stored in the computer-readable storage medium are loaded and executed by the processor to implement the following steps:

[0076] First step: obtain the current nacelle anemometer wind speed Vwind;

[0077] Second step: perform a moving average of Vwind with a mov1 parameter;

[0078] Third step: obtain the moving average F_Vwind of Vwind;

[0079] Fourth step: obtain the temperature of the first pitch motor T1_pitch;

[0080] Fifth step: perform a moving average of T1_pitch with a mov2 parameter to obtain F_T1_pitch;

[0081] Sixth step: obtain the temperature of the second pitch motor T2_pitch;

[0082] Seventh step: perform a moving average of T2_pitch with a mov2 parameter to obtain F_T2_pitch;

[0083] Eighth step: obtain the temperature of the third pitch motor T3_pitch;

[0084] Ninth step: perform a moving average of T3_pitch with a mov2 parameter to obtain F_T3_pitch;

[0085] Tenth step: obtain the average of the three moving average pitch motor temperatures to obtain F_Tavg_pitch;

[0086] Tenth step: Get Threshold_wind1, 2 (wind speed threshold) and Threshold_T_pitch1, 2 (temperature threshold)

[0087] Twelfth step: Determine whether Threshold_wind2≥F_Vwind≥Threshold_wind1 and Threshold_T_pitch2≥F_Tavg_pitch (average temperature value of pitch motor) ≥Threshold_T_pitch1 are true at the same time;

[0088] Thirteenth step: If not, the judgment logic is terminated;

[0089] Fourteenth step: If yes, get the pitch deadband setting value pitch_deadband;

[0090] Fifteenth step: Get the pitch rate control demand pitchdemand_1;

[0091] Sixteenth step: Determine whether +pitch_deadband≥pitchdemand_1≥-pitch_deadband is true;

[0092] Seventeenth step: If yes, pitchdemand_1 is forced to be equal to 0, that is, the pitch motor does not act;

[0093] Eighteenth step: If not, the pitchdemand_1 instruction is sent to the pitch motor to perform the pitch action;

[0094] Nineteenth step: Get the pitch rate control demand pitchdemand_2;

[0095] Twentieth step: Determine whether +pitch_deadband≥pitchdemand_2≥-pitch_deadband is true;

[0096] Twenty-first step: If yes, pitchdemand_2 is forced to be equal to 0, that is, the pitch motor does not act;

[0097] Twenty-second step: If not, the pitchdemand_2 instruction is sent to the pitch motor to perform the pitch action;

[0098] Twenty-third step: Get the pitch rate control demand pitchdemand_3;

[0099] Twenty-fourth step: Determine whether +pitch_deadband≥pitchdemand_3≥-pitch_deadband is true;

[0100] Twenty-fifth step: if yes, then pitchdemand_3 is forced to be equal to 0, i.e. the pitch motor is not actuated;

[0101] Twenty-sixth step: if no, then pitchdemand_3 is sent to the pitch motor, which is actuated.

[0102] Embodiment 4

[0103] Please refer to Figure 3 , the terminal device is a computer device, the computer device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable on the processor 61, which implements the wind turbine pitch control method in the embodiment when executed by the processor 61. To avoid repetition, this will not be repeated here. Alternatively, the computer program 63 is executed by the processor 61 to implement the functions of each model / unit in the computing system of Embodiment 1, and to avoid repetition, this will not be repeated here.

[0104] The computer device 60 can be a desktop computer, a notebook, a palm computer, and a cloud server, etc. The computer device 60 can include, but is not limited to, a processor 61, a memory 62. Those skilled in the art can understand that Figure 3 The computer device 60 is only an example and does not constitute a limitation on the computer device 60, and can include more or fewer components than shown, or combine certain components, or different components, for example, the computer device can also include an input / output device, a network access device, a bus, etc.

[0105] The processor 61 can be a central processing unit (CPU), and can also be other general-purpose processors, central processors, graphics processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, quantum computing-based data processing logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0106] The memory 62 can be an internal storage unit of the computer device 60, such as a hard disk or a memory of the computer device 60. The memory 62 can also be an external storage device of the computer device 60, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, and the like.

[0107] Further, the memory 62 can include both an internal storage unit and an external storage device of the computer device 60. The memory 62 is used to store computer programs and other programs and data required by the computer device. The memory 62 can also be used to temporarily store data that has been output or will be output.

[0108] Any reference to a memory, a database, or other medium herein includes at least one of volatile and non-volatile memories. Non-volatile memories can include read only memories (ROM), tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, and the like. Volatile memories can include random access memories (RAM), external cache memories, and the like. As an illustration and not a limitation, the RAM can be in a variety of forms, such as static random access memories (SRAM) or dynamic random access memories (DRAM), and the like.

[0109] The database involved in the embodiments provided herein can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, and the like, without being limited thereto. The processor involved in the embodiments provided herein can be a general processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, and the like, without being limited thereto.

Claims

1. A wind turbine pitch control method, characterized in that: include: Obtain the current wind speed data from the anemometer in the wind turbine nacelle and the temperature data of the pitch motor corresponding to the wind turbine blades; The wind speed data and the pitch motor temperature data are averaged to obtain the average wind speed data and the average pitch motor temperature data; When the average wind speed data is within the wind speed threshold range and the average temperature data of the pitch motor is within the temperature threshold range, the corresponding pitch motor is controlled according to a first condition, where the first condition is obtained according to a pitch rate control demand value corresponding to each blade and a pitch rate dead zone setting value; The first condition is obtained based on the pitch rate control demand value corresponding to each blade and the pitch rate dead zone setting value, and specifically includes: The first condition is that the pitch rate control demand value is not less than the negative value of the pitch rate dead zone and not greater than the positive value of the pitch rate dead zone; The controlling of the corresponding pitch motor according to the first condition specifically includes: when the pitch rate control demand value corresponding to each blade meets the first condition, controlling the pitch motor not to act; otherwise, controlling the pitch motor to perform pitch action; When the pitch rate control demand value corresponding to each blade meets the first condition, the pitch motor is controlled not to act; otherwise, the pitch motor is controlled to perform pitch action, specifically including: Obtain the pitch rate control demand values ​​corresponding to the three pitch motors respectively, and determine the pitch rate dead zone setting value; judge whether the first condition is met according to the pitch rate control demand values ​​corresponding to the three pitch motors and the pitch rate dead zone setting value; when the pitch rate control demand values ​​of the three pitch motors meet the first condition at the same time, set the pitch rate control demand values ​​corresponding to the three pitch motors to 0 respectively, and control the corresponding pitch motors not to move; when the pitch rate control demand value of a pitch motor does not meet the first condition, use the pitch rate control demand value corresponding to the pitch motor that does not meet the first condition as a control instruction, and transmit the control instruction to the pitch motor to perform the pitch action.

2. The wind turbine generator set pitch control method according to claim 1, characterized in that: The averaging of the wind speed data and the pitch motor temperature data to obtain the average wind speed data and the average pitch motor temperature data specifically includes: Performing a sliding average process on the wind speed data, where a window parameter of the sliding average process is a first parameter value, to obtain average wind speed data; The three acquired variable pitch motor temperature data are respectively subjected to sliding average processing, the window parameter of the sliding average processing is the second parameter, and the variable pitch motor temperature data after the sliding average processing are averaged to obtain the average temperature data of the variable pitch motor.

3. The wind turbine generator set pitch control method according to claim 2, characterized in that: The first parameter is 0.1~1 second, and the second parameter is 0.1~1 second.

4. The wind turbine generator set pitch control method according to claim 1, characterized in that: The first wind speed threshold in the wind speed threshold range is 6-8 m / s, and the second wind speed threshold in the wind speed threshold range is 9-12 m / s; The first temperature threshold in the temperature threshold range is 100-110° C., and the second temperature threshold in the temperature threshold range is 120-140° C.

5. A wind turbine pitch control system, used to implement the wind turbine pitch control method according to any one of claims 1 to 4, characterized in that: include: The data acquisition module is used to obtain the wind speed data of the current wind turbine cabin anemometer and the temperature data of the variable pitch motor corresponding to the wind turbine blades; The data processing module is used to average the wind speed data and the temperature data of the pitch motor to obtain the average wind speed data and the average temperature data of the pitch motor; The pitch control module controls the corresponding pitch motor according to a first condition when the average wind speed data is within the wind speed threshold range and the average temperature data of the pitch motor is within the temperature threshold range. The first condition is obtained according to the pitch rate control demand value corresponding to each blade and the pitch rate dead zone setting value.

6. A computer-readable storage medium storing one or more programs, characterized in that: The one or more programs include instructions, which, when executed by a computing device, enable the computing device to execute the wind turbine pitch control method according to any one of claims 1 to 4.

7. A computing device, characterized in that include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include steps for executing the wind turbine pitch control method according to any one of claims 1 to 4.

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