Yaw control method and device for typhoon-resistant wind turbine generator system and storage medium

Abstract

The invention discloses a yaw control method and device for a typhoon-resistant wind turbine generator system, a storage medium, an electronic device and a computer program product. The method comprises the steps that when it is determined that the remaining duration of typhoon reaching the wind turbine generator system is smaller than a first preset duration according to meteorological data, the typhoon reaches the wind turbine generator system; the voltage and current transformation equipment is controlled to supply power to the wind turbine generator set by adopting electric energy provided by an external power grid and charge the energy storage equipment; and controlling the wind turbine generator system to stop generating power when determining that the residual duration of the typhoon reaching the wind turbine generator system is less than a second preset duration or monitoring that the wind speed is greater than a set value. When it is determined that the external power grid is powered off, the energy storage device is controlled to supply power to the wind turbine generator; and based on power supply of the energy storage equipment, the yaw direction of the wind turbine generator is controlled to be consistent with the wind direction of the typhoon. The operation safety of the wind turbine generator set under the extreme weather condition is ensured, the typhoon resistance of the wind turbine generator set is improved, and the damage risk of typhoon to the wind turbine generator set is reduced.

Description

Technical Field

[0001] The present application relates to the field of wind power technology, and in particular to a yaw control method and device, a storage medium, an electronic device, and a computer program product for a typhoon-resistant wind turbine system. Background Art

[0002] As the global energy crisis and environmental pollution become increasingly serious, wind energy, as one of the clean and renewable energy sources, has received more and more attention for its research and development and utilization. As the main equipment for wind energy utilization, wind turbines are greatly affected by extreme weather such as typhoons, lightning, sandstorms, etc. during operation. In order to ensure the safety of wind turbines, it is necessary to effectively control wind turbines to reduce the adverse effects of extreme weather on wind turbines. Since typhoons are characterized by high wind speeds, turbulence, and sudden changes in wind direction, they may cause damage to wind turbine blades, braking systems, nacelles, wind measuring devices, towers, and infrastructure, and may even cause wind turbine collapse.

[0003] In related technologies, it is usually necessary to adjust the direction of the wind turbine through a yaw system so that the blades are always aligned with the wind direction to maintain optimal energy capture efficiency and actively adjust the direction when necessary to cope with rapid changes in wind direction to reduce the impact of typhoons on the wind turbine.

[0004] However, typhoons are often accompanied by power outages. When the power grid loses power, the yaw system loses power supply and cannot continue to operate, which causes the wind turbine to be unable to actively adjust its direction, so the load it bears increases significantly and it is prone to damage. Summary of the invention

[0005] Embodiments of the present application provide a yaw control method and device, a storage medium, an electronic device, and a computer program product for a typhoon-resistant wind turbine system.

[0006] According to one aspect of an embodiment of the present application, a yaw control method for a typhoon-resistant wind turbine system is provided, the wind turbine system comprising a voltage transformer and current converter, an energy storage device, and a wind turbine, the method comprising: when it is determined based on meteorological data that the remaining time for a typhoon to reach the wind turbine system is less than a first preset time, controlling the voltage transformer and current converter to use electric energy provided by an external power grid to power the wind turbine and charge the energy storage device; when it is determined that the remaining time for a typhoon to reach the wind turbine system is less than a second preset time, or when it is monitored that the wind speed is greater than a set value, controlling the wind turbine to stop generating electricity, wherein the second preset time is less than the first preset time; when it is determined that the external power grid is out of power, controlling the energy storage device to power the wind turbine; and based on the power supply of the energy storage device, controlling the yaw direction of the wind turbine to keep the yaw direction of the wind turbine consistent with the wind direction of the typhoon.

[0007] In an exemplary embodiment, controlling a transformer and converter device to charge an energy storage device with electric energy provided by an external power grid includes: determining first frequency information and first phase information of a signal output by the external power grid based on the electric energy provided by the external power grid; adjusting second frequency information and second phase information of a signal output by the energy storage device based on the first frequency information and the first phase information, so that the second frequency information and the second phase information are respectively consistent with the first frequency information and the first phase information; and when it is determined that the power of the energy storage device is lower than a preset power, controlling the transformer and converter device to charge the energy storage device with electric energy provided by the external power grid.

[0008] In an exemplary embodiment, after adjusting the second frequency information and the second phase information of the signal output by the energy storage device according to the first frequency information and the first phase information, the method also includes: when it is determined that the power of the energy storage device is higher than the preset power, determining the active power and reactive power currently output by the external power grid according to the voltage and current information of the signal output by the external power grid; determining the power deviation of the external power grid according to the active power and reactive power currently output by the external power grid, and the set reference active power and reference reactive power; determining the target output current and target output voltage of the energy storage device according to the power deviation; and controlling the voltage and current values ​​output by the energy storage device according to the target output current and the target output voltage, so that the active power and reactive power output by the external power grid reach the reference active power and reference reactive power, respectively.

[0009] In an exemplary embodiment, when it is determined that the external power grid is out of power, the energy storage device is controlled to supply power to the wind turbine, including: when it is determined that the external power grid is out of power, cutting off the connection between the energy storage device and the external power grid; determining the target active power and target reactive power required by the wind turbine; based on the active power and reactive power currently output by the energy storage device, the target active power and the target reactive power, determining the target frequency, target amplitude, and target phase of the output signal of the energy storage device; determining the target output current and target output voltage of the energy storage device according to the target frequency, target amplitude, and target phase of the output signal of the energy storage device; and controlling the voltage and current values ​​output by the energy storage device according to the target output current and the target output voltage, so that the active power and reactive power output by the energy storage device reach the target active power and target reactive power, respectively.

[0010] In an exemplary embodiment, based on the power supply of the energy storage device, the yaw direction of the wind turbine is controlled to make the yaw direction of the wind turbine consistent with the wind direction of the typhoon, including: obtaining a first wind direction of the typhoon; determining an average yaw error between the yaw direction of the wind turbine and the first wind direction within a third preset time period; and adjusting the yaw direction of the wind turbine according to the average yaw error to reduce the average yaw error.

[0011] In an exemplary embodiment, after controlling the yaw direction of the wind turbine based on the power supply of the energy storage device so that the yaw direction of the wind turbine is consistent with the wind direction of the typhoon, the method also includes: obtaining the wind speed of the typhoon; when it is determined that the average wind speed of the typhoon within a fourth preset time period is lower than the wind speed threshold, controlling the transformer and converter device to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage device.

[0012] On the other hand, an embodiment of the present application provides a yaw control device for a typhoon-resistant wind turbine system, the device comprising: a grid-based control module, for controlling the transformer and current converter to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage device when it is determined based on meteorological data that the remaining time for the typhoon to reach the wind turbine system is less than a first preset time; a shutdown control module, for controlling the wind turbine to stop generating electricity when it is determined that the remaining time for the typhoon to reach the wind turbine system is less than a second preset time, or when it is monitored that the wind speed is greater than a set value, wherein the second preset time is less than the first preset time; a grid-building control module, for controlling the energy storage device to power the wind turbine when it is determined that the external power grid is out of power; and a yaw control module, for controlling the yaw direction of the wind turbine based on the power supply of the energy storage device, so that the yaw direction of the wind turbine is consistent with the wind direction of the typhoon.

[0013] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned yaw control method of the typhoon-resistant wind turbine system when running.

[0014] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the yaw control method of the typhoon-resistant wind turbine system through the computer program.

[0015] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0016] The above-mentioned yaw control method of the typhoon-resistant wind turbine system ensures that the energy storage device has enough energy to power the wind turbine during the typhoon by charging the energy storage device with the external power grid before the typhoon arrives, stops power generation and enables yaw control during the typhoon, reduces the operating pressure of the generator and transmission system in a strong wind environment, avoids unnecessary equipment loss, and extends the service life of the wind turbine. In the event of a power failure in the external power grid, the power supply of the energy storage device can be used to continue to control the yaw direction of the wind turbine so that it is consistent with the typhoon wind direction, effectively reducing the damage to the wind turbine caused by the typhoon, ensuring the safe operation of the wind turbine under extreme weather conditions, improving the typhoon resistance of the wind turbine, and reducing the risk of damage to the wind turbine caused by the typhoon. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 It is a hardware structure block diagram of the yaw control method of the typhoon-resistant wind turbine system according to an embodiment of the present application;

[0020] Figure 2 is a structural schematic diagram of a wind turbine system according to an embodiment of the present application;

[0021] Figure 3 is a flow chart of a yaw control method for a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0022] Figure 4 This is a second flow chart of a yaw control method for a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0023] Figure 5 is a schematic diagram of a yaw control calculation process of a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0024] Figure 6 This is a third flow chart of a yaw control method for a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0025] Figure 7 This is a second schematic diagram of a yaw control calculation process of a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0026] Figure 8 This is a fourth flow chart of a yaw control method for a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0027] Fig. 9 This is a third schematic diagram of a yaw control calculation process of a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0028] Fig.10 This is a fourth schematic diagram of a yaw control calculation process of a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0029] Fig.11 is a fifth schematic diagram of a yaw control calculation process of a typhoon-resistant wind turbine system according to an embodiment of the present application;

[0030] Fig.12 It is a structural block diagram of a yaw control device of a typhoon-resistant wind turbine system according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0033] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 1 is a hardware structure block diagram of a computer terminal of a yaw control method for a typhoon-resistant wind turbine system according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, referred to as MPU) or a programmable logic device (Programmable logic device, referred to as PLD)) and a memory 104 for storing data. In an exemplary embodiment, the computer terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 A different configuration with more features is shown.

[0034] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the yaw control method of the typhoon-resistant wind turbine system in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0035] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0036] In this embodiment, a yaw control method for a typhoon-resistant wind turbine system is provided. Figure 2 Schematic diagram of the structure of a wind turbine system in this embodiment. The wind turbine system includes a voltage and current conversion device, an energy storage device, and a wind turbine.

[0037] The voltage and current conversion equipment includes a box-type transformer 1 and a converter 3, wherein:

[0038] The high voltage side (e.g., 35 kV) of the box-type transformer 1 is connected to the collector line (external power grid) of the wind farm, and the low voltage side (e.g., 690 V) is connected to the converter and energy storage device, and is mainly composed of a high voltage side circuit breaker 101, a step-up winding 102, and a low voltage side circuit breaker 103.

[0039] The converter 3 converts the electric energy generated by the wind turbine into electric energy with the same voltage, frequency and phase as the grid common connection point (PCC) through AC-DC-AC conversion, and mainly includes a circuit breaker 301, a grid-side converter 302, a DC bus 303 and a machine-side converter 304.

[0040] The energy storage device 2 is mainly composed of a circuit breaker 203, an inverter 202, a battery system 203, etc. The outlet of the circuit breaker 203 is connected to the PCC of the corresponding wind turbine.

[0041] The wind turbine generator set comprises a generator 4, a transmission system 5 and an impeller system 6, and is capable of generating wind power.

[0042] Exemplarily, the wind turbine system further includes a dry-type transformer 7, which reduces the converter outlet voltage of 690V to a unit maintenance and auxiliary power supply voltage of 400V, and is mainly composed of a circuit breaker 701 and a step-down winding 702, etc.

[0043] Tower base maintenance and auxiliary power supply 8, including circuit breaker 801, transformer 802, circuit breaker 803, UPS power supply 804, tower base 24V power supply 805, converter auxiliary power supply 806, tower lighting 807, video surveillance 808, elevator power supply 809.

[0044] The cabin maintenance and auxiliary power supply 9 includes a circuit breaker 901, a cabin 24V power supply 902, a circuit breaker 903, a yaw system auxiliary power supply 904, a gearbox auxiliary power supply 905, a generator auxiliary power supply 906, a video-fire-CMS auxiliary power supply 907, and a cabin maintenance socket and lighting 908.

[0045] Figure 3 : is a flow chart of an optional yaw control method of a typhoon-resistant wind turbine system according to an embodiment of the present application, the process includes the following steps S300-S330:

[0046] Step S300, when it is determined based on meteorological data that the remaining time for the typhoon to reach the wind turbine system is less than a first preset time, control the transformer and converter equipment to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage equipment.

[0047] Among them, before the typhoon arrives, the remaining time for the typhoon to reach the wind turbine system is predicted through meteorological data. When the remaining time is less than a preset first duration (such as 24 hours), the system starts the preparatory mode, activates the transformer and current converter equipment to use external grid power to power the wind turbine, and charges the energy storage equipment at the same time. The main goal of this stage is to ensure that the energy storage equipment has sufficient power before the typhoon actually hits, so that it can immediately take over the power supply when the grid is out of power, and ensure the operation of the key systems of the wind turbine.

[0048] For example, the wind farm supervisory control and data acquisition (SCADA) system issues a typhoon warning, the wind turbines enter the backup power supply preparation mode, check the wind farm power grid, communication network, personnel presence, etc., the wind turbines are connected to the grid normally, and the energy storage system is charged in a grid-based control mode.

[0049] Step S310, when it is determined that the remaining time for the typhoon to reach the wind turbine system is less than a second preset time, or when the wind speed is detected to be greater than a set value, the wind turbine is controlled to stop generating electricity.

[0050] The second preset time length is shorter than the first preset time length.

[0051] Among them, when the remaining time for the typhoon to arrive is further shortened to less than the second preset time (such as 12 hours) or the wind speed is detected to have exceeded the set value (such as the cut-out wind speed), the system automatically controls the wind turbine to stop generating electricity. This step is a preventive measure taken to cope with the upcoming extreme wind speed, to prevent the wind turbine from continuing to operate in strong winds and reduce potential damage to the equipment.

[0052] Step S320: When it is determined that the external power grid is powered off, control the energy storage device to supply power to the wind turbine.

[0053] Once the external power grid is powered off, the control system immediately switches to the energy storage device power supply mode, and the energy storage device provides power for the key systems of the wind turbine (such as the yaw system, control system, etc.). This measure ensures that even if the power grid fails completely, the wind turbine can still maintain basic functions, especially the yaw system, and can continue to operate.

[0054] Step S330: Based on the power supply of the energy storage device, the yaw direction of the wind turbine generator set is controlled so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon.

[0055] Specifically, based on the power provided by the energy storage device, the yaw system of the wind turbine continues to work during the typhoon, and adjusts the direction of the wind turbine in real time according to the data of the wind direction sensor to keep the yaw direction of the wind turbine consistent with the typhoon wind direction. This strategy helps to reduce the lateral load of the typhoon on the wind turbine, protect the blades and transmission system, and avoid structural damage caused by sudden changes in wind direction.

[0056] In this embodiment, by using the external power grid to charge the energy storage device before the typhoon arrives, it is ensured that the energy storage device has enough energy to power the wind turbine during the typhoon, and power generation is stopped and yaw control is enabled during the typhoon, which reduces the operating pressure of the generator and transmission system in a strong wind environment, avoids unnecessary equipment loss, and extends the service life of the wind turbine. In the event of a power failure in the external power grid, the power supply of the energy storage device can be used to continue to control the yaw direction of the wind turbine so that it is consistent with the typhoon wind direction, effectively reducing the damage to the wind turbine caused by the typhoon, ensuring the safe operation of the wind turbine under extreme weather conditions, improving the typhoon resistance of the wind turbine, and reducing the risk of damage to the wind turbine caused by the typhoon.

[0057] In one embodiment, Figure 4 As shown, the step S300 of controlling the voltage conversion device to use the electric energy provided by the external power grid to charge the energy storage device includes: steps S400-S420:

[0058] Step S400: determining first frequency information and first phase information of a signal output by the external power grid according to the electric energy provided by the external power grid.

[0059] The control unit of the wind turbine system first collects the power signal output by the external power grid and extracts the first frequency information and the first phase information from it. This is to ensure that the energy storage device can keep pace with the power grid during power supply or grid connection, and avoid power quality problems and system instability caused by frequency or phase mismatch.

[0060] Step S410: adjusting the second frequency information and the second phase information of the signal output by the energy storage device according to the first frequency information and the first phase information, so that the second frequency information and the second phase information are respectively consistent with the first frequency information and the first phase information.

[0061] Specifically, the control system adjusts the signal output by the energy storage device in real time according to the first frequency information and the first phase information extracted from the external power grid, ensuring that the second frequency information and the second phase information are consistent with the power grid signal. This synchronous adjustment can ensure that the power quality output by the energy storage system meets the standards when replacing the power grid, so that the key systems of the wind turbine, such as the yaw system, control system, etc., can receive stable and synchronous power supply without interruption.

[0062] Step S420, when it is determined that the power of the energy storage device is lower than the preset power, the voltage conversion device is controlled to use the power provided by the external power grid to charge the energy storage device.

[0063] Specifically, during the typhoon warning stage, the system continuously monitors the power of the energy storage device. Once it detects that the power is lower than the preset threshold (such as 90%), the control system will immediately switch to charging mode, obtain power from the external power grid through the transformer and current converter, and charge the energy storage device. This strategy ensures that when a typhoon actually comes, the energy storage device can have enough power to support key operations of the wind turbine, such as yaw adjustment.

[0064] Specifically, in this embodiment, the energy storage device is in a grid-following control mode. In this case, the inverter in the energy storage device is regarded as a subordinate device, which tracks and adapts to the voltage, frequency and phase of the grid. The inverter mainly synchronizes the grid through a phase-locked loop (PLL) to ensure that the current injected into the grid is at the same frequency and phase as the grid voltage. The main goal is to maximize the energy conversion efficiency, and the inverter usually does not actively participate in the regulation of the grid frequency and voltage. It is suitable for situations where the grid is stable and no inverter is required to provide additional support.

[0065] like Figure 5 The figure is a schematic diagram of the calculation process in this embodiment. The three-phase voltage measured by the input grid is output, and the grid frequency and phase angle are calculated. Figure 5 First, set the initial phase to θ, substitute it into the dq coordinate transformation, and calculate the grid voltage u od and u oq The value is as follows:

[0066]

[0067] Among them, the matrix T is the abc-dq coordinate transformation matrix, which is used to convert the signal of the three-phase stationary coordinate system into the signal of the synchronous rotating coordinate system. θ is the instantaneous phase angle, which is usually calculated based on the grid voltage phase or phase-locked loop (PLL) to ensure that the dq coordinate system rotates synchronously with the grid frequency.

[0068] This formula describes the coordinate transformation matrix from the three-phase stationary coordinate system (abc) to the synchronous rotating coordinate system (dq), which is usually called Park transformation or abc-dq transformation. This transformation is particularly important in the AC side energy storage device and control method of typhoon-resistant wind turbines because it can convert the time-varying three-phase AC signal into a two-phase orthogonal DC signal, thereby simplifying the control strategy, especially when implementing the phase-locked loop (PLL), current control and power control.

[0069]

[0070] in, Represents the voltage on the d-axis (active component) and the q-axis (reactive component) respectively. abc-dq is the transformation matrix from the three-phase stationary coordinate system to the synchronous rotating coordinate system, Corresponding to each phase voltage of three-phase alternating current.

[0071] will u oq Substitute into the PI formula to calculate the grid frequency. The formula is as follows:

[0072]

[0073] Among them, ω is the representative frequency, which is one of the outputs of the phase-locked loop (PLL) and is used to represent the frequency of the inverter output of the power grid or energy storage system. oq represents the voltage component on the q axis, which is converted from the abc-dq transformation matrix. In the phase-locked loop, u oq A value close to 0 means that the grid voltage is synchronized with the reference phase of the PLL, and when it deviates from 0, it indicates that there is a deviation between the grid voltage phase and the reference phase, and the frequency ω needs to be adjusted to correct this deviation. pPLL and K iPLL Represent the proportional gain and integral gain in the PLL respectively. Proportional gain K pPLL For input error u oq For immediate response, the integral gain K iPLL The error is accumulated to eliminate the steady-state deviation and ensure that the frequency ω is adjusted to the point of synchronization with the grid frequency over time. 1 / s represents the integral operation, which is actually the symbolic representation of the integrator, meaning that the PLL algorithm will continuously adjust u oq The integration is performed to obtain the accumulated phase deviation. Combining the proportional gain and the integral gain, the PLL can quickly respond to the initial phase deviation and eliminate any remaining error through the integration process, thus ensuring that the frequency ω accurately tracks the grid frequency.

[0074] This formula describes the calculation method of the frequency ω in the phase-locked loop (PLL), which is a key part used to control and monitor the synchronization between the energy storage system and the power grid in the wind turbine. In the technical briefing, the purpose of the phase-locked loop (PLL) is to track the phase and frequency of the power grid in real time to ensure that the output of the energy storage system inverter is synchronized with the power grid, which is crucial to maintaining the safe operation of wind turbines under extreme conditions such as typhoons.

[0075] Integrate ω to calculate the grid phase angle, the formula is as follows:

[0076]

[0077] Some formulas describe the core control logic of the phase-locked loop (PLL) to accurately calculate the phase angle θ of the power grid. * In the AC side energy storage device and control method of the typhoon-resistant wind turbine, the purpose of the phase-locked loop is to track the frequency and phase of the power grid in real time to ensure that the power output of the energy storage system inverter is synchronized with the power grid.

[0078] In this embodiment, by adjusting the output signal of the energy storage device in real time and synchronously, the frequency and phase of the output electric energy are ensured to be consistent with the grid signal, avoiding the problems of power quality degradation and system instability, and improving the operating safety and reliability of the wind turbine under extreme weather conditions. When the external power grid is out of power due to a typhoon or other reasons, the energy storage device can immediately take over the power supply, and the output signal is adjusted to be consistent with the grid signal, so as to achieve seamless switching of power supply and reduce the impact of system interruptions on key operations of the wind turbine, such as yaw control. During typhoons, especially when the grid loses power, the energy storage device can provide power support to ensure the normal operation of the yaw system, thereby timely adjusting the direction of the wind turbine, reducing the lateral load of wind on structures such as blades and towers, and reducing the risk of structural damage.

[0079] In one embodiment, Figure 6 As shown, after step S410, adjusting the second frequency information and the second phase information of the signal output by the energy storage device according to the first frequency information and the first phase information, the method further includes steps S600-S630:

[0080] Step S600, when it is determined that the power of the energy storage device is higher than the preset power, the active power and reactive power currently output by the external power grid are determined according to the voltage and current information of the signal output by the external power grid.

[0081] Specifically, when it is confirmed that the power of the energy storage device is higher than the preset threshold, the control unit of the wind turbine system starts to monitor the output signal of the external power grid, extract the voltage and current information, and calculate the active power and reactive power of the current external power grid based on this. This monitoring process helps to understand the operating status of the external power grid in real time and provide data basis for subsequent power adjustment.

[0082] Step S610, determining the power deviation of the external power grid according to the active power and reactive power currently output by the external power grid, and the set reference active power and reference reactive power.

[0083] Specifically, the system compares the active power and reactive power currently output by the external power grid with the set reference active power and reference reactive power to calculate the power deviation. The reference power value is usually set based on the power demand of the wind turbine system during the typhoon warning period and the need for stable operation of the power grid. The calculation of power deviation is a key step in adjusting the output of energy storage equipment.

[0084] Step S620: determining a target output current and a target output voltage of the energy storage device according to the power deviation.

[0085] Specifically, based on the calculated power deviation, the system further determines the target output current and target output voltage of the energy storage device to compensate for the difference between the external power grid and the reference power value. The determination of the target output is intended to adjust the output of the energy storage device so that it can supplement or regulate the power of the power grid and ensure the stable operation of the power grid.

[0086] Step S630, controlling the voltage and current values ​​output by the energy storage device according to the target output current and the target output voltage, so that the active power and reactive power output by the external power grid reach the reference active power and reference reactive power respectively.

[0087] Specifically, the control system accurately adjusts the output of the energy storage device according to the determined target output current and target output voltage to achieve the goal of matching the active power and reactive power output of the external power grid with the reference active power and reference reactive power. This process may involve the control of the inverter to ensure that the output of the energy storage device accurately matches the grid demand.

[0088] like Figure 7 As shown, it is a schematic diagram of the calculation process in this embodiment. Figure 7 The control module mainly includes a phase-locked loop phase angle calculation module 10, a current outer loop calculation module 11, a current intermediate loop calculation module 12 and a current inner loop calculation module 13. The phase-locked loop phase angle calculation module 10 has been described in the above embodiment and will not be described again.

[0089] The current outer loop calculation module 11 includes power calculation 11-1 and PI calculation 11-2. The input of this module is the three-phase voltage u measured by the power grid. oabc , three-phase current i oabc , Active reference value P ref , reactive power reference value Q ref The output is the PCC point dq axis current control target value i odq * The input of power calculation 11-1 is the three-phase voltage and current measured by the power grid, and the output is the active power P measured by the power grid. e and reactive Q e First, the three-phase voltage u measured by the power grid is converted into oabc , three-phase current i oabc Convert to u odq and i odq , and then substitute it into the following formula to calculate the grid measured active power P e and reactive Q e .

[0090]

[0091] Among them, P e Represents the active power measured at the PCC point, which is the actual electrical energy delivered by the wind turbine to the grid to drive the load and generate mechanical work. In the dq coordinate system, the active power is calculated by multiplying the voltage and current on the d-axis and q-axis. e Represents the reactive power measured at the PCC point, which is used for voltage support and power quality control within the power grid. It does not directly drive the load, but plays an important role in maintaining grid stability and improving energy efficiency. od 、u 0q Respectively represent the d-axis and q-axis voltages in the dq coordinate system of the PCC point. od ,i oq They represent the d-axis and q-axis currents in the dq coordinate system of the PCC point respectively.

[0092] The above formula describes the calculation of the active power P of the wind turbine at the PCC point from the voltage and current in the dq coordinate system. e and reactive power Q e In the AC side energy storage device and control method of typhoon-resistant wind turbines, accurate calculation of active and reactive power is crucial to the control strategy of the energy storage system, especially to ensure the stable operation of wind turbines under extreme conditions such as typhoons.

[0093] Then P e , Q e , P ref and Q ref Substitute into the PI formula to calculate the PCC point dq axis current control target value i odq * , the formula is as follows:

[0094]

[0095] in, and Represents the control target value of the inverter output current on the d-axis and q-axis, that is, the current size that the inverter should output to match the expected active power and reactive power. K pPQ is the gain of the proportional controller, which is used to respond immediately to the power error. e Or reactive power Q e With reference value P ref and Q ref When a deviation occurs, the proportional controller responds quickly and attempts to reduce the deviation. iPQis the gain of the integral controller, which is used to eliminate the steady-state deviation of the power error. The integral controller continuously accumulates the power error, and even if the error is small, the controller output can be gradually adjusted through the long-term integral action until the power output is exactly the same as the reference value. (1 / s) represents the integral operation and is the mathematical expression of the integral controller. In control engineering, the integral controller is often used to eliminate the steady-state error of the system to ensure that the output can closely track the reference value during long-term operation. P e and Q e Respectively represent the active power and reactive power measured at the PCC point, which are obtained by the aforementioned power calculation formula. ref and Q ref Represents the desired active power and reactive power, which are usually set according to the operating status of the wind turbine, grid demand or the SOC status of the energy storage system.

[0096] The above formula describes the control target calculation method of the inverter output current of the energy storage system in the dq coordinate system.

[0097] The current intermediate loop calculation module 12 includes a differential operation 12-1 and a DQ transformation 12-2. The module input is the PCC point dq axis current control target value i odq * The output is the inverter filter capacitor front end dq axis current control target value i dq * First, measure the three-phase voltage u of the power grid oabc Perform differential operation to calculate the inverter filter capacitor current i Cabc , the formula is as follows:

[0098]

[0099] Among them, i Ca ,i Cb ,i Cc They are the currents of the inverter filter capacitor in phase a, phase b, and phase c respectively. These currents reflect the current component of the filter capacitor in the current output from the inverter to the grid, and are used to evaluate the smoothness and power quality of the inverter output current. f Represents the capacitance value of the inverter filter capacitor. The filter capacitor is a key component in the energy storage system for filtering out high-frequency harmonics in the inverter output current to ensure that the inverter output current is closer to an ideal sinusoidal waveform in the dq coordinate system, thereby improving the efficiency and stability of the power system. s is a differential operator used to calculate the derivative of the input signal. In the formula, su oa ,su ob ,su ocThey represent the rate of change of the grid voltage of phase A, phase B, and phase C respectively. When calculating the filter capacitor current, the rate of change of the grid voltage is used instead of the voltage itself because the capacitor current is proportional to the rate of change of the voltage.

[0100] The above formula describes the calculation method of the filter capacitor current in the AC side energy storage device of the typhoon-resistant wind turbine, which is a key component of the current inner loop control strategy of the energy storage system. In the AC power system, especially the wind power generation system, the role of the filter capacitor is to smooth the current output by the inverter, reduce the high-frequency harmonics in the current, and ensure the power quality.

[0101] Then the inverter filter capacitor i Cabc and the grid phase angle θ * Substituting into the dq coordinate transformation, the inverter filter capacitor dq axis current i is calculated Cdq Finally, the PCC point dq axis current control target value i odq * and the inverter filter capacitor dq axis current i Cdq Add together to get the inverter filter capacitor front end dq axis current control target value i dq * .

[0102] The current inner loop calculation module 13 includes PI calculation 13-1 and 13-2, dq coordinate transformation 13-3 and dq coordinate inverse transformation 13-4. First, the three-phase current measurement value i of the front end of the inverter filter capacitor is abc Through dq transformation, it is converted into the dq axis current i at the front end of the inverter filter capacitor dq Then, the voltage value corresponding to the current loop is calculated by PI, and the formula is as follows:

[0103]

[0104] Among them, u id and u iq K represents the voltage control target values ​​of the inverter on the d-axis and q-axis. These values ​​will be used to generate the inverter modulation voltage control target value, instructing the inverter how to adjust its output to achieve the target current. pc and K ic Respectively represent the proportional gain and integral gain in the current inner loop control. Proportional gain K pc For immediate response to current deviation, the integral gain K ic It is used to eliminate long-term stability errors and ensure that the inverter output current is consistent with the target current. and Consistent. and It represents the target current value of the inverter on the d-axis and q-axis, which is calculated based on the feedforward control and feedback control. The goal is to ensure that the active and reactive power output by the inverter meets the set reference value. d and i q Represents the actual measured current value of the inverter on the d-axis and q-axis, reflecting the current operating status of the inverter. This formula shows the voltage calculation method for the inverter current inner loop control in the AC side energy storage device of the typhoon-resistant wind turbine, which is a key step to achieve precise current control. In the technical disclosure document, the current inner loop control is an important part of the inverter control strategy of the energy storage system, ensuring that the current output by the inverter can accurately track the control target, thereby effectively managing active and reactive power and ensuring the stability and efficiency of the power system.

[0105] Afterwards, the inverter dq axis voltage control target value is obtained by introducing the dq axis cross-influence term, and the formula is as follows:

[0106]

[0107] in, and They are the control target values ​​of the inverter output voltage on the d-axis and q-axis, respectively, and are used to generate the inverter modulation voltage control target value to instruct the inverter how to adjust its output voltage to achieve the target current. id and u iq Respectively represent the current inner loop control voltage values ​​calculated on the d-axis and q-axis, which are output by the aforementioned proportional and integral controllers and are used to eliminate the deviation between the inverter output current and the target current. od and u oq Represents the actual measured voltage value of the PCC point on the d-axis and q-axis, reflecting the current state of the inverter output voltage and the components of the grid voltage. ω is the angular frequency of the grid. For the inverter, it is a fixed value used to convert signals from the abc coordinate system to the dq coordinate system, and from the dq coordinate system back to the abc coordinate system. L f Indicates the filter inductance value on the inverter side, which is a key component in the inverter output circuit for smoothing current and filtering high-frequency harmonics. q and i d They represent the actual output current of the inverter on the q-axis and d-axis respectively. These current values ​​reflect the current working status of the inverter.

[0108] This formula describes the calculation method of the inverter output voltage in the dq coordinate system, and is an important part of the AC side energy storage device and its control strategy for typhoon-resistant wind turbines. In the dq coordinate system, the inverter output voltage control target value is accurately calculated to ensure that the inverter output current can accurately track the target current, thereby achieving precise control of active and reactive power.

[0109] Finally, the inverter dq axis voltage control target value u dq * Substitute the dq coordinate inverse transformation to calculate the inverter modulation voltage control target value u abc * , the formula is as follows:

[0110]

[0111] This formula defines the transformation matrix from the dq coordinate system to the abc coordinate system. It is a key element in the control method of the AC side energy storage device of the typhoon-resistant wind turbine. It is used to realize the conversion of the inverter output voltage between different coordinate systems. The dq coordinate system is a synchronous rotating coordinate system, which is often used in power electronics and motor control to simplify the analysis and control of the AC system; while the abc coordinate system is a three-phase stationary coordinate system fixed in space. In the energy storage control of typhoon-resistant wind turbines, this transformation plays a bridging role, ensuring that the inverter can accurately generate an output voltage that matches the three-phase power grid.

[0112]

[0113] In the AC side energy storage control method of the typhoon-resistant wind turbine, the output voltage of the inverter is calculated in the dq coordinate system, but the modulation voltage of the inverter needs to be generated in the abc coordinate system. dq-abc The conversion matrix is ​​used to convert the voltage control target value in the dq coordinate system Converted into voltage control target value in abc coordinate system

[0114] In this embodiment, by adjusting the output of the energy storage device, the active power and reactive power of the external power grid are maintained at a preset reference value, which helps to stabilize the operation of the power grid during the typhoon warning period, provide the basic power support required by the wind turbine system, including the preparation of the yaw system, equipment detection and maintenance, etc., to ensure that the wind turbine is in the best preparation state when the typhoon comes. In the wind turbine system, by accurately controlling the output of the energy storage device, the available power resources can be used more effectively to avoid overcharging or output when the power is sufficient, resulting in energy waste. At the same time, ensuring that the power of the power grid meets the preset reference value helps to optimize the power dispatching and distribution of the entire wind farm, reduce power fluctuations, and improve power grid efficiency. During the typhoon warning period, through the intelligent control of the energy storage device, the dependence on traditional backup power sources such as diesel generators can be reduced, the self-sufficiency of the wind turbine system can be improved, and the risks caused by failures or untimely maintenance of traditional auxiliary systems can be reduced. Compared with traditional diesel generators, electrochemical energy storage systems have faster response speeds and higher operational flexibility. During the typhoon warning period, the output can be adjusted quickly to adapt to changes in the external power grid and the immediate needs of the wind turbine system, improving the responsiveness and controllability of the entire system.

[0115] In one embodiment, Figure 8 As shown, step S320, when it is determined that the external power grid is out of power, controls the energy storage device to supply power to the wind turbine. It includes: steps S800-S840:

[0116] Step S800: When it is determined that the external power grid is powered off, the connection between the energy storage device and the external power grid is cut off.

[0117] Specifically, when the external power grid loses power, the system responds immediately by disconnecting the energy storage device from the external power grid to prevent the grid failure from causing damage to the wind turbine and its energy storage system. This disconnection mechanism ensures that the wind turbine system can operate independently and is not affected by the power outage.

[0118] Step S810, determining the target active power and target reactive power required by the wind turbine.

[0119] Specifically, in the event of a power outage, the control system needs to determine the target active power and reactive power required by the wind turbine. These target power values ​​are based on the wind turbine's operating requirements during the power outage, such as power supply to the yaw system, equipment maintenance and monitoring, and also take into account the requirement for rapid grid connection after the grid is restored.

[0120] Step S820, based on the active power and reactive power currently output by the energy storage device, the target active power and the target reactive power, determine the target frequency, target amplitude, and target phase of the output signal of the energy storage device.

[0121] Specifically, based on the active power and reactive power currently output by the energy storage device, as well as the previously determined target active power and reactive power, the system calculates the target frequency, target amplitude, and target phase of the energy storage device output signal. This process ensures that the output of the energy storage device can meet the power needs of the wind turbines, while being as consistent as possible with the parameters of the external power grid (when power is restored), preparing for a smooth transition after the power grid is restored.

[0122] Step S830, determining a target output current and a target output voltage of the energy storage device according to a target frequency, a target amplitude, and a target phase of an output signal of the energy storage device.

[0123] Specifically, based on the target parameters of the energy storage device output signal calculated above, the system further determines the target output current and target output voltage of the energy storage device to ensure the quality and stability of the output power and meet the power demand of the wind turbine system during power outages.

[0124] Step S840, controlling the voltage and current values ​​output by the energy storage device according to the target output current and the target output voltage, so that the active power and reactive power output by the energy storage device reach the target active power and the target reactive power respectively.

[0125] Specifically, based on the determined target output current and target output voltage, the control system accurately adjusts the output of the energy storage device to ensure that the active power and reactive power it provides match the target values, maintaining the stable operation of the key systems of the wind turbine during power outages.

[0126] Specifically, in this embodiment, the energy storage device is in a grid-forming control mode, in which case the inverter in the energy storage device can operate like a traditional synchronous generator, that is, the inverter can control the voltage and frequency of its connection point. Under grid-forming control, the inverter no longer relies on a phase-locked loop to track the grid, but uses virtual synchronous generator technology or similar methods to simulate the behavior of a synchronous generator. The inverter can actively adjust the voltage and frequency of its output to support the grid, especially in the case of grid failure or instability. Through methods such as droop control, the inverter can simulate the active and reactive frequency-voltage response of the generator to provide grid frequency and voltage control. It is suitable for scenarios where the grid is fragile or the inverter is required to provide frequency and voltage support, such as microgrids, island operation, or grid fault recovery. When a typhoon comes, the wind turbine needs to adjust its operating mode to cope with abnormalities or power outages in the grid. In the grid-following control mode, by calculating the active and reactive power of the PCC point, the energy storage system can intelligently adjust the charging and discharging strategy to support the stable operation of the wind turbine. In the grid-forming control mode, these calculations are used to control the power output of the inverter to independently maintain the voltage and frequency of the PCC point, ensuring that the wind turbine can still operate safely in the event of a grid failure or power outage, such as performing active yaw, anti-corrosion and dehumidification functions, thereby reducing typhoon damage to the wind turbine.

[0127] For example, Fig. 9 As shown in FIG. 1 , it is a schematic diagram of the calculation process in this embodiment. Figure 4 As shown, it mainly includes a power synchronization calculation module 15, a voltage outer loop calculation module 14 and a current inner loop calculation module 13.

[0128] The power synchronization calculation module 15 mainly includes power calculation 15-1, droop control 15-2 and dq conversion 15-3. The input of this module is the three-phase voltage u measured by the power grid. oabc , three-phase current i oabc , Active reference value P ref , reactive power reference value Q ref The output is the PCC point dq axis voltage control target value u odq * The power calculation 15-1 is consistent with the grid-dependent control power calculation 11-1.

[0129] The input of droop control 15-2 is the active power P measured by the power grid. e and reactive Q e , Active reference value P ref and reactive power reference value Q ref , the output is the PCC point voltage control target value and phase angle control target value, the formula is as follows:

[0130]

[0131] Among them, ω N is the rated angular frequency (usually the angular frequency corresponding to the rated frequency of the power grid), P e is the current measured active power, P ref is the set active power reference value, m is the active power droop coefficient, which determines the relationship between active power and frequency deviation. This formula shows that when the actual active power deviates from the reference value, the angular frequency output by the inverter will be adjusted accordingly. The higher the power, the lower the angular frequency, and vice versa, thus simulating the droop characteristics of the generator. N is the rated voltage amplitude, Q e is the reactive power currently measured, Q ref is the set reactive power reference value, and n is the reactive power droop coefficient. This formula shows that the amplitude of the inverter output voltage will be adjusted according to the reactive power deviation. The higher the reactive power, the lower the output voltage amplitude, and vice versa, thereby achieving voltage regulation. The integral of the angular frequency ω is the phase angle, which is used by the inverter to generate an output voltage that matches the grid in the dq coordinate system. The above formula reflects the core control strategy of the AC-side energy storage device of the typhoon-resistant wind turbine in the grid-forming control mode, namely droop control, which is used to simulate the droop characteristics of the generator when the grid loses power or is unstable, and help the energy storage system independently stabilize the grid voltage and frequency.

[0132] The dq transformation 15-3 converts the three-phase voltage control target value of the PCC point into the dq axis voltage control target value, and the formula is as follows:

[0133]

[0134] The above formula describes the voltage transformation process from the abc coordinate system to the dq coordinate system, which is part of the inverter output voltage control strategy of the AC side energy storage device of the typhoon-resistant wind turbine in the grid-type control mode. In the energy storage control of the typhoon-resistant wind turbine, this transformation is crucial to ensure that the voltage output by the inverter is consistent with the frequency and phase of the system, thereby providing a stable and reliable power supply. The parameter explanation is referred to above and will not be repeated.

[0135] The voltage outer loop calculation module 14 mainly includes PI calculation 14-1 and 14-2, dq coordinate transformation 14-3 and 14-4. The input of this module is the PCC point dq axis voltage control target value u odq * The output is the inverter filter capacitor front end dq axis current control target value i dq * First, the three-phase voltage measurement value u at PCC point oabc Converted into dq axis voltage u through dq transformationodq Then, the current value corresponding to the voltage loop is calculated by PI, and the formula is as follows:

[0136]

[0137] Among them, i d and i q Represents the target current values ​​of the inverter on the d-axis and q-axis. These current values ​​will be used as inputs to the inverter current inner loop control to guide the inverter on how to adjust its output current to achieve the control target.

[0138] K pu and K iu They are the proportional gain and integral gain in the voltage outer loop control. Proportional gain K pu For fast response to voltage deviation, the integral gain K iu It is used to eliminate long-term steady-state errors and ensure that the inverter output voltage is completely consistent with the target value. and Indicates the voltage control target value of the inverter on the d-axis and q-axis, which is calculated based on droop control and dq coordinate transformation and is used to guide the inverter on how to adjust its output voltage to meet system requirements. od and u oq Represents the actual measured voltage value of the inverter on the d-axis and q-axis, reflecting the current output voltage status of the inverter. In the grid-type control mode, when a typhoon comes, the wind turbine enters the anti-typhoon mode, and the energy storage system supplies power to the wind turbine and its auxiliary systems through the inverter.

[0139] After that, the three-phase current measurement value i of PCC point is converted into oabc Converted into dq axis current i odq Finally, by introducing the dq axis cross-influence term, the inverter filter capacitor front dq axis current control target value i is obtained. dq * , the formula is as follows:

[0140]

[0141] in, and Indicates the target current value of the inverter's filter capacitor front end on the d-axis and q-axis. This is the current that the inverter actually needs to output to ensure that the active and reactive components of the inverter output voltage are consistent with the target value. d and i q Represents the target current value of the inverter on the d-axis and q-axis. These values ​​are calculated according to the outer loop control strategy of the inverter (such as grid-following or grid-forming control) and are used to guide the active and reactive components of the inverter output voltage. od and i oqIndicates the actual output current of the inverter on the d-axis and q-axis, reflecting the current working state of the inverter, that is, how much current the inverter is actually outputting to the grid. ω is the angular frequency of the grid or inverter. For the grid-type control mode, ω can be independently generated by the inverter according to the local control strategy and is used for the conversion between the dq coordinate system and the abc coordinate system. f Represents the capacitance value of the inverter-side filter capacitor, a key component in the inverter output circuit used to smooth the output voltage and filter out high-frequency harmonics. oq and u od Indicates the actual output voltage of the inverter on the q-axis and d-axis. These voltage values ​​reflect the current working state of the inverter and the active and reactive components of the output voltage.

[0142] This formula reflects the control logic of the current inner loop calculation module in the control strategy of the AC side energy storage device of the typhoon-resistant wind turbine, and is used to calculate the control target values ​​of the d-axis and q-axis currents at the front end of the filter capacitor of the inverter. In the grid-forming control mode, especially in the case of power outage or instability of the power grid during typhoons, it ensures that the current output by the inverter can accurately track the target value, thereby maintaining the stability of the inverter output voltage.

[0143] The current inner loop calculation module 13 is consistent with the grid-following control current inner loop calculation module 13. The module input is the inverter filter capacitor front end dq axis current control target value i dq * , the output is the inverter modulation voltage control target value u abc * .

[0144] The energy storage system adopts the grid-type control mode for discharge, P ref and Q ref The droop control is used for setting, and the formula is as follows:

[0145]

[0146] Among them, P ref and Q ref Indicates the active power and reactive power reference values ​​of the inverter in the grid-forming control mode, that is, the power target that the inverter needs to output. These reference values ​​are used to guide the inverter on how to adjust its output to maintain the voltage and frequency at the PCC point. N and Q N Represents the rated active power and reactive power of the inverter, that is, the power that the inverter is expected to output under normal operating conditions, which is usually set according to the specifications of the inverter and the needs of the wind farm. N and U NIt is the rated frequency and voltage of the power grid, reflecting the frequency and voltage standards of the power grid under normal operating conditions, usually 50Hz or 60Hz and the standard power grid voltage level. f and U represent the frequency output by the current inverter and the voltage value detected by the PCC point, reflecting the actual current operating status of the inverter and the real-time status of the power grid voltage. f and K u The droop control coefficients of active power and reactive power are used to adjust the power output of the inverter. These coefficients determine how the inverter adjusts its output power according to the frequency deviation and voltage deviation to simulate the droop characteristics of the generator and maintain the stability of the power grid.

[0147] This formula reflects the power reference value adjustment strategy of the inverter of the AC side energy storage device of the typhoon-resistant wind turbine in the grid-forming control mode, especially related to the frequency and voltage droop control. When a typhoon causes power outage or instability in the grid, the wind turbine needs to enter the typhoon-resistant mode. At this time, the energy storage device and its inverter take on the task of independent power supply, and maintain the voltage and frequency stability of the PCC point by simulating the droop characteristics of the generator.

[0148] In this embodiment, when the power grid is disconnected, the connection between the energy storage device and the power grid is quickly disconnected, avoiding the direct threat of power grid failure to the wind turbine. At the same time, by accurately controlling the output of the energy storage device, the key system of the wind turbine is ensured to operate stably during the power outage, reducing the risk of structural damage in extreme weather. The electrochemical energy storage system has a fast response characteristic. The energy storage device can immediately switch to the power supply mode at the moment of power outage of the external power grid, ensuring that the key systems of the wind turbine such as the yaw system and the control system can receive power supply without interruption, improving the response speed and operational flexibility of the system. By accurately controlling the parameters (frequency, amplitude, phase) of the output signal of the energy storage device and the target output current and voltage, the energy output efficiency of the energy storage device can be maximized, energy utilization can be optimized, and energy waste during power outages can be avoided, reducing long-term operation and maintenance costs. Under extreme weather conditions such as typhoons, through the intelligent control of the energy storage device, the wind turbine system can achieve self-sufficiency, reduce dependence on the external power grid, and improve the independent operation capability and disaster resistance of the entire system.

[0149] In one embodiment, Fig.10 As shown, step S330, based on the power supply of the energy storage device, controls the yaw direction of the wind turbine to make the yaw direction of the wind turbine consistent with the wind direction of the typhoon. It includes: steps S1000-S1020:

[0150] Step S1000, obtaining the first wind direction of the typhoon.

[0151] Specifically, the wind turbine system first obtains the first wind direction information of the current typhoon through the installed wind direction sensor or other external meteorological data services. This information is crucial for the yaw control of the wind turbine during the typhoon, and can help the system understand the changing trend of the wind direction in real time.

[0152] Step S1010: determining an average yaw error between the yaw direction of the wind turbine generator set and the first wind direction within a third preset time period.

[0153] Specifically, in the typhoon warning or anti-typhoon mode, the system regularly (for example, every 30 seconds) calculates the yaw error between the yaw direction of the wind turbine and the first wind direction of the typhoon, and calculates the average value of these errors within a third preset time period (such as 10 minutes). The calculation of the average yaw error comprehensively considers the rapid change of wind direction and the yaw response of the wind turbine, providing quantitative guidance for the next yaw adjustment.

[0154] Step S1020: adjusting the yaw direction of the wind turbine according to the average yaw error to reduce the average yaw error.

[0155] Specifically, based on the calculated average yaw error, the system uses an adaptive control strategy to adjust the yaw direction of the wind turbine to minimize the average yaw error. This process may involve speed control and direction adjustment of the yaw motor and power support from energy storage devices to ensure that the wind turbine can respond quickly and accurately to changes in wind direction.

[0156] In this embodiment, by real-time monitoring of the typhoon wind direction and precise adjustment of the yaw direction of the wind turbine, the lateral loads on key structures such as the blades and tower of the wind turbine can be effectively reduced, the risk of structural damage is reduced, and the physical safety of the wind turbine is guaranteed. The intelligent yaw control strategy improves the dynamic response capability of the wind turbine during typhoons, enabling the wind turbine to more effectively adjust to rapid changes in wind direction, maintain the relative position of the rotor blades and the wind direction, and enhance the wind turbine's ability to resist typhoons.

[0157] In one embodiment, Fig.11 As shown, in step S330, based on the power supply of the energy storage device, the yaw direction of the wind turbine is controlled so that the yaw direction of the wind turbine is consistent with the wind direction of the typhoon, the method further includes: steps S1100-S1110:

[0158] Step S1100, obtaining the wind speed of the typhoon.

[0159] Specifically, the wind speed of the typhoon is continuously monitored, and the real wind speed information of the typhoon is obtained by installing wind speed sensors on wind turbines or using external meteorological data services.

[0160] Step S1110, when it is determined that the average wind speed of the typhoon within the fourth preset time period is lower than the wind speed threshold, control the voltage conversion device to use the electric energy provided by the external power grid to power the wind turbine set and charge the energy storage device.

[0161] Specifically, within a fourth preset time period (such as 10 minutes), the average wind speed of the typhoon is counted and calculated. The calculation of this average wind speed helps to more accurately determine whether the typhoon has actually passed and whether the external power grid has been restored to a state where it can be safely accessed. When the control unit detects that the average wind speed within the fourth preset time period is lower than a preset wind speed threshold (such as a threshold for cutting out the wind speed), it is determined that the impact of the typhoon has been reduced to a safe level and the external power grid may have returned to normal. At this time, the system automatically controls the transformer and current converter to switch from the energy storage device power supply mode to the external power grid power supply mode, and uses the electric energy provided by the external power grid to power the wind turbine set, while charging the energy storage device.

[0162] Specifically, when the 10-minute average wind speed is less than the cut-out wind speed and the SCADA system indicates that a typhoon is passing, the SCADA system activates the unit to enter the recovery detection mode and conducts self-inspection of the wind turbine. The detection items mainly include the following aspects: 1) Reset the early warning and alarm signals that are blocked during the typhoon; 2) Check whether the unit status is OK; 3) Check whether the power grid is OK; 4) Check whether the entire wind farm communication network is OK. If all detection feedbacks are normal, the unit will exit the typhoon resistance mode and enter the normal operation state, and the energy storage system will be charged in the grid-based control mode. If one of the tests fails, manual on-site inspection and maintenance must be carried out. After the maintenance is completed, each unit will exit the typhoon resistance mode and enter the normal operation state, and the energy storage system will be charged in the grid-based control mode.

[0163] In this embodiment, by real-time monitoring of typhoon wind speed and calculating the average value, the wind turbine system can accurately determine whether the typhoon has passed and whether the external power grid has been restored to a safe power supply state. This ensures that the wind turbine can be restarted safely and quickly after the typhoon, reduces unplanned downtime, and improves the power generation efficiency and economic benefits of the wind farm. During the typhoon warning period and typhoon resistance mode, the energy storage device assumes the responsibility of supplying power to the key systems of the wind turbine. After the typhoon, the energy storage device can be charged through the external power grid to restore its power in time, prepare for the next possible emergency power supply, and improve the utilization efficiency and long-term reliability of the energy storage device.

[0164] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0165] In this embodiment, a yaw control device for a typhoon-resistant wind turbine system is also provided, and the yaw control device for the typhoon-resistant wind turbine system is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0166] Fig.12 FIG. 1 is a structural block diagram of an optional yaw control device for a typhoon-resistant wind turbine system according to an embodiment of the present application. Fig.12 As shown, including:

[0167] The grid-connected control module 1201 is used to control the transformer and current converter to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage device when it is determined based on meteorological data that the remaining time for the typhoon to reach the wind turbine system is less than a first preset time.

[0168] The shutdown control module 1202 is used to control the wind turbine to stop generating electricity when it is determined that the remaining time for the typhoon to reach the wind turbine system is less than a second preset time, or when the wind speed is monitored to be greater than a set value, wherein the second preset time is less than the first preset time.

[0169] The network control module 1203 is used to control the energy storage device to supply power to the wind turbine when it is determined that the external power grid is out of power.

[0170] The yaw control module 1204 is used to control the yaw direction of the wind turbine generator set based on the power supply of the energy storage device, so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon.

[0171] Through the above device, by using the external power grid to charge the energy storage device before the typhoon arrives, it is ensured that the energy storage device has enough energy to power the wind turbine during the typhoon, and the power generation is stopped during the typhoon and the yaw control is enabled, which reduces the operating pressure of the generator and the transmission system in a strong wind environment, avoids unnecessary equipment loss, and extends the service life of the wind turbine. In the event of power failure in the external power grid, the power supply of the energy storage device can be used to continue to control the yaw direction of the wind turbine to keep it consistent with the typhoon wind direction, effectively reducing the damage to the wind turbine by the typhoon, ensuring the safe operation of the wind turbine under extreme weather conditions, improving the typhoon resistance of the wind turbine, and reducing the risk of damage to the wind turbine caused by the typhoon.

[0172] In an exemplary embodiment, the above-mentioned grid-connected control module is also used to determine the first frequency information and the first phase information of the signal output by the external grid according to the electric energy provided by the external grid. According to the first frequency information and the first phase information, the second frequency information and the second phase information of the signal output by the energy storage device are adjusted so that the second frequency information and the second phase information are respectively consistent with the first frequency information and the first phase information. When it is determined that the power of the energy storage device is lower than the preset power, the transformer and current converter are controlled to use the electric energy provided by the external grid to charge the energy storage device.

[0173] In an exemplary embodiment, the above device further includes:

[0174] The power grid information determination module is used to determine the active power and reactive power currently output by the external power grid based on the voltage and current information of the signal output by the external power grid when it is determined that the power of the energy storage device is higher than the preset power.

[0175] The power deviation determination module is used to determine the power deviation of the external power grid according to the active power and reactive power currently output by the external power grid, and the set reference active power and reference reactive power.

[0176] The target determination module is used to determine the target output current and target output voltage of the energy storage device according to the power deviation.

[0177] The regulating control module is used to control the voltage and current values ​​output by the energy storage device according to the target output current and the target output voltage, so that the active power and reactive power output by the external power grid reach the reference active power and reference reactive power respectively.

[0178] In an exemplary embodiment, the network control module is also used to cut off the connection between the energy storage device and the external power grid when it is determined that the external power grid is out of power. Determine the target active power and target reactive power required by the wind turbine. Based on the active power and reactive power currently output by the energy storage device, the target active power and the target reactive power, determine the target frequency, target amplitude, and target phase of the output signal of the energy storage device. According to the target frequency, target amplitude, and target phase of the output signal of the energy storage device, determine the target output current and target output voltage of the energy storage device. According to the target output current and the target output voltage, control the voltage and current values ​​output by the energy storage device so that the active power and reactive power output by the energy storage device reach the target active power and the target reactive power, respectively.

[0179] In an exemplary embodiment, the yaw control module is further used to obtain a first wind direction of a typhoon, determine an average yaw error between the yaw direction of the wind turbine and the first wind direction within a third preset time period, and adjust the yaw direction of the wind turbine according to the average yaw error to reduce the average yaw error.

[0180] In an exemplary embodiment, the above device further includes:

[0181] The wind speed acquisition module is used to obtain the wind speed of the typhoon.

[0182] The power supply control module is used to control the transformer and converter equipment to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage equipment when it is determined that the average wind speed of the typhoon within the fourth preset time period is lower than the wind speed threshold.

[0183] An embodiment of the present application further provides a storage medium, which includes a stored program, wherein the program executes any of the above methods when it is run.

[0184] Optionally, in this embodiment, the storage medium may be configured to store program codes for executing the following steps:

[0185] S1, when it is determined based on meteorological data that the remaining time for the typhoon to reach the wind turbine system is less than a first preset time, control the transformer and converter equipment to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage equipment.

[0186] S2, when it is determined that the remaining time for the typhoon to reach the wind turbine system is less than a second preset time, or when the wind speed is monitored to be greater than a set value, the wind turbine is controlled to stop generating electricity, wherein the second preset time is less than the first preset time.

[0187] S3, when it is determined that the external power grid is out of power, control the energy storage device to supply power to the wind turbine.

[0188] S4, based on the power supply of the energy storage device, controls the yaw direction of the wind turbine generator set so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon.

[0189] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0190] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0191] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0192] S1, when it is determined based on meteorological data that the remaining time for the typhoon to reach the wind turbine system is less than a first preset time, control the transformer and converter equipment to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage equipment.

[0193] S2, when it is determined that the remaining time for the typhoon to reach the wind turbine system is less than a second preset time, or when the wind speed is monitored to be greater than a set value, the wind turbine is controlled to stop generating electricity, wherein the second preset time is less than the first preset time.

[0194] S3, when it is determined that the external power grid is out of power, control the energy storage device to supply power to the wind turbine.

[0195] S4, based on the power supply of the energy storage device, controls the yaw direction of the wind turbine generator set so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon.

[0196] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0197] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores the computer program product, and when the computer program is executed by a processor, the steps of the method in each embodiment of the present application are implemented.

[0198] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0199] S1, when it is determined based on meteorological data that the remaining time for the typhoon to reach the wind turbine system is less than a first preset time, control the transformer and converter equipment to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage equipment.

[0200] S2, when it is determined that the remaining time for the typhoon to reach the wind turbine system is less than a second preset time, or when the wind speed is monitored to be greater than a set value, the wind turbine is controlled to stop generating electricity, wherein the second preset time is less than the first preset time.

[0201] S3, when it is determined that the external power grid is out of power, control the energy storage device to supply power to the wind turbine.

[0202] S4, based on the power supply of the energy storage device, controls the yaw direction of the wind turbine generator set so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon.

[0203] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0204] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A yaw control method for a typhoon-resistant wind turbine system, characterized in that: The wind turbine system includes a voltage and current conversion device, an energy storage device, and a wind turbine. The method includes: When it is determined according to meteorological data that the remaining time for the typhoon to reach the wind turbine system is less than a first preset time, controlling the voltage conversion device to use electric energy provided by an external power grid to power the wind turbine and charge the energy storage device; When it is determined that the remaining time for the typhoon to reach the wind turbine system is less than a second preset time, or when the wind speed is detected to be greater than a set value, the wind turbine is controlled to stop generating electricity, wherein the second preset time is less than the first preset time; When it is determined that the external power grid is out of power, controlling the energy storage device to supply power to the wind turbine generator set; Based on the power supply of the energy storage device, the yaw direction of the wind turbine generator set is controlled so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon.

2. The yaw control method of the typhoon-resistant wind turbine system according to claim 1, characterized in that: The step of controlling the voltage conversion device to use electric energy provided by an external power grid to charge the energy storage device comprises: Determining first frequency information and first phase information of a signal output by the external power grid according to the electric energy provided by the external power grid; According to the first frequency information and the first phase information, adjusting the second frequency information and the second phase information of the signal output by the energy storage device so that the second frequency information and the second phase information are respectively consistent with the first frequency information and the first phase information; When it is determined that the power of the energy storage device is lower than the preset power, the voltage conversion device is controlled to use the power provided by the external power grid to charge the energy storage device.

3. The yaw control method of the typhoon-resistant wind turbine system according to claim 2, characterized in that: After adjusting the second frequency information and the second phase information of the signal output by the energy storage device according to the first frequency information and the first phase information, the method further includes: When it is determined that the power of the energy storage device is higher than the preset power, the active power and reactive power currently output by the external power grid are determined according to the voltage and current information of the signal output by the external power grid; Determining the power deviation of the external power grid according to the active power and reactive power currently output by the external power grid, and the set reference active power and reference reactive power; Determining a target output current and a target output voltage of the energy storage device according to the power deviation; According to the target output current and the target output voltage, the voltage and current values ​​output by the energy storage device are controlled so that the active power and reactive power output by the external power grid reach the reference active power and the reference reactive power respectively.

4. The yaw control method of a typhoon-resistant wind turbine system according to any one of claims 1 to 3, characterized in that: When it is determined that the external power grid is out of power, controlling the energy storage device to supply power to the wind turbine generator set includes: When it is determined that the external power grid is powered off, disconnecting the energy storage device from the external power grid; Determining the target active power and target reactive power required by the wind turbine generator set; Determine the target frequency, target amplitude, and target phase of the output signal of the energy storage device based on the active power and reactive power currently output by the energy storage device, the target active power, and the target reactive power; Determining a target output current and a target output voltage of the energy storage device according to a target frequency, a target amplitude, and a target phase of an output signal of the energy storage device; According to the target output current and the target output voltage, the voltage and current values ​​output by the energy storage device are controlled so that the active power and reactive power output by the energy storage device reach the target active power and the target reactive power respectively.

5. The yaw control method of a typhoon-resistant wind turbine system according to any one of claims 1 to 3, characterized in that: The controlling the yaw direction of the wind turbine generator set based on the power supply of the energy storage device so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon includes: Obtaining a first wind direction of the typhoon; Determining an average yaw error between the yaw direction of the wind turbine generator set and the first wind direction within a third preset time period; According to the average yaw error, the yaw direction of the wind turbine generator set is adjusted to reduce the average yaw error.

6. The yaw control method of a typhoon-resistant wind turbine system according to any one of claims 1 to 3, characterized in that: After controlling the yaw direction of the wind turbine generator set based on the power supply of the energy storage device so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon, the method further includes: Obtaining the wind speed of the typhoon; When it is determined that the average wind speed of the typhoon within the fourth preset time period is lower than the wind speed threshold, the voltage conversion device is controlled to use the electric energy provided by the external power grid to power the wind turbine set and charge the energy storage device.

7. A yaw control device for a typhoon-resistant wind turbine system, characterized in that: The device comprises: A grid-connected control module, for controlling the voltage-converting device to use the electric energy provided by the external power grid to power the wind turbine and charge the energy storage device when it is determined based on meteorological data that the remaining time for the typhoon to reach the wind turbine system is less than a first preset time; A shutdown control module, configured to control the wind turbine to stop generating electricity when it is determined that the remaining time for the typhoon to reach the wind turbine system is less than a second preset time, or when the wind speed is detected to be greater than a set value, wherein the second preset time is less than the first preset time; A network control module, used to control the energy storage device to supply power to the wind turbine generator set when it is determined that the external power grid is out of power; The yaw control module is used to control the yaw direction of the wind turbine generator set based on the power supply of the energy storage device, so that the yaw direction of the wind turbine generator set is consistent with the wind direction of the typhoon.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6 when executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 6 through the computer program.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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