Wind wheel azimuth angle compensation method of wind turbine generator, control device, terminal and medium

Abstract

The invention relates to the technical field of data processing, and provides a wind wheel azimuth angle compensation method of a wind turbine generator, a control device, a terminal and a medium, and the method comprises the steps: obtaining the operation information of the wind turbine generator; according to the operation information of the wind turbine generator, constructing a sine function curve corresponding to the blade angle-blade root load; according to the blade angle-blade root load corresponding sine function curve and the operation information of the wind turbine generator, determining the overall azimuth deviation angle of a wind wheel of the blades of the wind turbine generator; and correcting the azimuth angle of the wind wheel of the wind turbine generator by adopting the azimuth deviation angle of the whole wind wheel so as to solve the existing technical problems that the pitch control precision is reduced due to the fact that the azimuth angle of the wind wheel is drifted by a sensor, the operation error of a technician and the like in the pitch control process, and the wind wheel is uneven when the wind turbine generator runs. And finally, the load safety of the unit is reduced.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, a control device, a terminal and a medium for compensating the azimuth angle of a wind turbine rotor. Background Art

[0002] As wind turbines become larger, the load and safety control of the whole machine becomes more stringent. Mainstream whole machine manufacturers at home and abroad have introduced independent variable pitch control technology based on blade root load: according to the wind rotor attitude and blade root load, different variable pitch instructions are sent to different blades of the wind turbine to reduce the unbalanced load of the wind rotor and improve the safety of the unit.

[0003] As a key parameter of independent pitch control technology, the azimuth angle of the wind rotor is generally calibrated manually during commissioning, and the independent pitch control is subsequently performed based on the commissioning calibration results. Affected by factors such as sensor drift and deviations in the operation of technicians, the calibration results of the wind rotor azimuth have errors and need to be calibrated again after a period of time, which reduces the accuracy of independent pitch control, aggravates the unevenness of the wind rotor during operation, and reduces the load safety of the unit. Summary of the invention

[0004] The embodiments of the present application provide a method, a control device, a terminal and a medium for compensating the rotor azimuth angle of a wind turbine set to solve the problem that in the existing variable pitch control process, the rotor azimuth angle is affected by sensor drift, technical personnel's operating errors, etc., which reduces the pitch control accuracy, resulting in uneven wind rotors during wind turbine operation, and ultimately reduces the load safety of the set.

[0005] A first aspect of an embodiment of the present application provides a method for compensating a wind turbine rotor azimuth angle of a wind turbine generator set, the method comprising:

[0006] Obtain wind turbine operation information;

[0007] According to the wind turbine operation information, a sinusoidal function curve corresponding to blade angle and blade root load is constructed;

[0008] Determine the overall azimuth deviation angle of the wind rotor of the wind turbine blade according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information;

[0009] The azimuth deviation angle of the entire wind rotor is used to correct the azimuth angle of the wind rotor of the wind turbine generator set.

[0010] Furthermore, according to the wind turbine operation information, a sinusoidal function curve corresponding to the blade angle and blade root load is constructed; including:

[0011] Extracting the blade angle and the blade root load value corresponding to the blade angle under a preset operating state from the wind turbine operating information to obtain a blade angle-blade root load data set;

[0012] According to the blade angle-blade root load data set, a sinusoidal function curve corresponding to the blade angle-blade root load is constructed.

[0013] Furthermore, the blade angle-blade root load corresponding sine function curve includes a first blade angle-blade root load corresponding sine function curve, a second blade angle-blade root load corresponding sine function curve and a third blade angle-blade root load corresponding sine function curve.

[0014] Further, according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information, determining the overall azimuth deviation angle of the wind rotor of the wind turbine blade includes:

[0015] Extracting the theoretical angle maximum value and minimum value corresponding to the theoretical blade root load maximum value and minimum value from the wind turbine operation information to obtain a theoretical azimuth data set;

[0016] According to the sinusoidal function curve corresponding to the blade angle-blade root load, the actual angle maximum value and minimum value corresponding to the actual blade root load maximum value and minimum value are determined to obtain an actual azimuth angle data set;

[0017] According to the theoretical azimuth angle data set and the actual azimuth angle data set, the blade azimuth deviation angle calculation mode is confirmed.

[0018] Calculate the blade azimuth deviation angle according to the blade azimuth deviation angle calculation mode, the theoretical azimuth angle data set and the actual azimuth angle data set;

[0019] The blade azimuth deviation angles are averaged to obtain the azimuth deviation angle of the entire wind rotor.

[0020] Further, according to the theoretical azimuth angle data set and the actual azimuth angle data set, the theoretical azimuth angle data set and the actual azimuth angle data set, confirming the blade azimuth deviation angle calculation mode includes:

[0021] Extract the target theoretical azimuth and the target actual azimuth;

[0022] If the difference between the target theoretical azimuth and the target actual azimuth is less than -180°, it is confirmed that the blade azimuth deviation angle calculation mode is the first calculation mode. The specific calculation formula of the first calculation mode is as follows:

[0023] DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct+360) / 2,

[0024] Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle;

[0025] The difference between the target theoretical azimuth and the target actual azimuth is greater than 180°, confirming that the blade azimuth deviation angle calculation mode is the second calculation mode. The specific calculation formula of the second calculation mode is as follows:

[0026] DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct-360) / 2,

[0027] Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle;

[0028] The difference between the target theoretical azimuth and the target actual azimuth is greater than -180° and less than 180°, confirming that the blade azimuth deviation angle calculation mode is the third calculation mode. The specific calculation formula of the third calculation mode is as follows:

[0029] DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct) / 2

[0030] Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle.

[0031] A second aspect of an embodiment of the present application provides a wind turbine pitch control device, the device comprising:

[0032] A first acquisition unit, used to acquire wind turbine operation information;

[0033] The first processing unit is used to fit a sinusoidal function curve corresponding to blade angle and blade root load according to the wind turbine operation information;

[0034] A second processing unit is used to determine the overall azimuth deviation angle of the wind rotor of the wind turbine blade according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information;

[0035] The third processing unit is used to compensate the azimuth angle of the wind rotor of the wind turbine set by using the overall azimuth deviation angle of the wind rotor of the wind turbine set blades.

[0036] A third aspect of an embodiment of the present application provides a terminal, comprising a processor, an input device, an output device and a memory, wherein the processor, input device, output device and memory are interconnected, wherein the memory is used to store a computer program, and the computer program includes program instructions, and the processor is configured to call the program instructions to execute part or all of the steps of the wind wheel azimuth angle compensation method as described in the first aspect.

[0037] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions, which, when executed by a processor, enable the processor to perform part or all of the steps of the wind wheel azimuth angle compensation method described in the first aspect.

[0038] Beneficial effects:

[0039] The present invention provides a method for compensating the azimuth angle of a wind turbine rotor of a wind turbine. The method comprises the following steps: firstly obtaining the operation information of the wind turbine rotor, then constructing a sinusoidal function curve corresponding to the blade angle and the blade root load through the operation information of the wind turbine rotor, finding the coupling relationship between the blade angle and the blade root load, and then confirming the overall azimuth deviation angle of the wind turbine rotor between the actual operation wind position azimuth angle and the theoretical wind position azimuth angle on the theoretical design parameters of the wind turbine rotor according to the operation information of the wind turbine rotor and the coupling relationship between the blade angle and the blade root load. Finally, the azimuth deviation angle of the wind turbine rotor of the actually operated wind turbine rotor is corrected by the obtained overall azimuth deviation angle of the wind turbine rotor, thereby improving the accuracy of the variable pitch control system, so as to solve the technical problem that in the existing variable pitch control process, the variable pitch control accuracy is reduced due to the wind turbine rotor azimuth angle being affected by sensor drift, operation errors of technicians, etc., resulting in uneven wind turbine rotor during operation of the wind turbine rotor, and finally reducing the load safety of the unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1A schematic diagram of the overall process of a method for compensating the azimuth angle of a wind turbine rotor of a wind turbine generator system is provided for an embodiment of the present application;

[0042] Figure 2 A schematic flow chart of specific steps for constructing blade angle-blade root load of a method for compensating the rotor azimuth angle of a wind turbine set is provided for an embodiment of the present application;

[0043] Figure 3 A schematic diagram of a sinusoidal function curve corresponding to blade angle and blade root load of a wind turbine generator set wind rotor azimuth angle compensation method is provided for an embodiment of the present application;

[0044] Figure 4 A schematic flow chart of specific steps for determining the overall azimuth deviation angle of a wind rotor of a wind turbine generator set in a method for compensating the azimuth angle of a wind rotor is provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of the structure of a terminal provided in an embodiment of the present application;

[0046] Figure 6 A structural schematic diagram of a wind turbine pitch control device is provided for an embodiment of the present application;

[0047] Reference numerals:

[0048] The first blade angle-blade root load corresponds to the sine function curve-1, the second blade angle-blade root load corresponds to the sine function curve-2, the third blade angle-blade root load corresponds to the sine function curve-3, the first acquisition unit-4, the first processing unit-5, the second processing unit-6, and the third processing unit-7. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions 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 are within the scope of protection of this application.

[0050] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0051] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0052] In order to better understand the rotor azimuth compensation method of a wind turbine provided in an embodiment of the present application, the following first briefly introduces the scenario in which the rotor azimuth compensation method of a wind turbine is applied. During the operation of the wind turbine, the rotor azimuth of the blades needs to be adjusted so that the three blades of the wind turbine can well receive the wind load and cause minimal damage to the wind turbine. Therefore, the manufacturer sets an ideal parameter for the rotor azimuth of the wind turbine, that is, the theoretical rotor azimuth. However, in the actual operation, the calibration of the rotor azimuth is easily affected by uncontrollable conditions such as sensor drift and deviations in the operation of technicians, so that the rotor will have a large gap with the theoretical rotor azimuth during the actual operation, which reduces the accuracy of the variable pitch control, resulting in an uneven rotor when the wind turbine is running, which will cause permanent damage to the wind turbine after long-term operation, reducing the load safety of the unit.

[0053] In summary, the embodiments of the present application aim to solve the technical problem that in the existing pitch control process, the pitch control accuracy is reduced due to the wind rotor azimuth angle being affected by sensor drift, technical personnel's operating errors, etc., resulting in an uneven wind rotor during the operation of the wind turbine, and ultimately reducing the load safety of the unit. A method for compensating the azimuth angle of a wind turbine is provided. The method can determine the overall azimuth deviation angle of the wind rotor of the wind turbine blades through the wind turbine operation information, thereby correcting the azimuth angle of the wind rotor of the wind turbine and improving the accuracy of pitch control.

[0054] like Figure 1 As shown, this embodiment provides a schematic flow chart of a method for compensating the azimuth angle of a wind turbine rotor of a wind turbine generator set, which specifically includes:

[0055] S1. Obtaining wind turbine operating information. In this preferred embodiment, firstly, extracting wind turbine real-time operating parameter information and wind turbine theoretical design parameter information from a wind turbine database.

[0056] S2. Construct a sinusoidal function curve corresponding to blade angle and blade root load according to the wind turbine operation information.

[0057] Among them, as a preferred solution of this embodiment, Figure 2 As shown, a schematic flow chart of the specific steps of constructing a blade angle-blade root load of a wind turbine rotor azimuth angle compensation method is provided, which specifically includes:

[0058] S201. Extract the blade angle under the preset operating state and the blade root load value corresponding to the blade angle from the operating information of the wind turbine set, that is, from the real-time operating parameter information of the wind turbine set, to obtain a blade angle-blade root load data set. In this embodiment, under the preset operating state, the frequency is set to 50 Hz, and the blades of the wind turbine set are the first blade, the second blade and the third blade. Therefore, the blade root load values ​​that need to be extracted include: the first blade root load value, the second blade root load value and the third blade root load value; the blade angles that need to be extracted include: the first blade wind rotor azimuth angle, the second blade wind rotor azimuth angle and the third blade wind rotor azimuth angle; after obtaining the above data, merge the blade angle and the blade root load data to obtain the blade angle-blade root load data set to provide basic data for subsequent processing and analysis;

[0059] Preferably, in this embodiment, the blade angle-blade root load data set needs to be acquired when the wind turbine is in a grid-connected and normal power generation state, and the blade angle-blade root load data set is preprocessed, the difference and abnormal data of the blade angle-blade root load data set are supplemented and eliminated, and the preprocessed blade angle-blade root load data set is used as the data set for subsequent processing and analysis.

[0060] S202: construct a sinusoidal function curve corresponding to the blade angle and the blade root load according to the blade angle-blade root load data set.

[0061] Specifically, after obtaining the blade angle-blade root load data set, the least squares method is used to construct the blade angle-blade root load corresponding sine function curve, such as Figure 3 As shown, a schematic diagram of a sinusoidal function curve corresponding to blade angle-blade root load of a wind turbine rotor azimuth angle compensation method is provided. In this embodiment, the sinusoidal function curve corresponding to blade angle-blade root load includes a first sinusoidal function curve 1 corresponding to blade angle-blade root load, a second sinusoidal function curve 2 corresponding to blade angle-blade root load and a third sinusoidal function curve 3 corresponding to blade angle-blade root load. By obtaining three sinusoidal function curves, the coupling correspondence between the blade root load and the blade angle (it should be noted that, in this embodiment, the blade angle is consistent with the concept of the wind rotor azimuth angle) in the three blades can be clearly observed. When the load of one of the blades is known, the corresponding blade angle of the current load can be known through the sinusoidal function curve corresponding to the blade angle-blade root load of the blade.

[0062] S3. Determine the overall azimuth deviation angle of the wind rotor of the wind turbine blade according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information.

[0063] As a preferred solution of this embodiment, Figure 4As shown, a schematic flow chart of specific steps for determining the overall azimuth deviation angle of a wind rotor of a wind turbine generator set is provided, which specifically includes:

[0064] S301. Extract the theoretical angle maximum and minimum values ​​corresponding to the theoretical blade root load maximum and minimum values ​​from the wind turbine operation information to obtain a theoretical azimuth data set. Preferably, in this embodiment, the theoretical angle maximum and minimum values ​​corresponding to the theoretical blade root load maximum and minimum values ​​are obtained from the theoretical design parameter information of the wind turbine. The wind turbine in this embodiment has three blades, so the theoretical azimuth data set includes: the theoretical angle maximum and minimum values ​​of the first blade, the theoretical angle maximum and minimum values ​​of the second blade, and the theoretical angle maximum and minimum values ​​of the third blade.

[0065] S302. According to the sinusoidal function curve corresponding to the blade angle-blade root load, the actual angle maximum and minimum values ​​corresponding to the actual blade root load maximum and minimum values ​​are confirmed to obtain an actual azimuth angle data set. This embodiment is preferred because the load maximum and minimum values ​​are consistent in both theoretical parameters and actual parameters. Therefore, the actual blade root load azimuth angle data set includes: the actual blade root load angle maximum and minimum value of the first blade, the actual blade root load angle maximum and minimum value of the second blade, and the actual blade root load angle maximum and minimum value of the third blade. By obtaining the actual blade root load azimuth angle data set and the theoretical azimuth angle data set, the deviation of the wind wheel azimuth angle in the actual operating state and the theoretical operating state can be obtained under the same load conditions.

[0066] S303, confirming the blade azimuth deviation angle calculation mode according to the theoretical azimuth angle data set and the actual azimuth angle data set. This embodiment is preferred. Since the wind rotor azimuth angle is in the range of 0-360 degrees, if the theoretical value and the actual value are one near 300-360 degrees and one near 0-60 degrees, the difference between the theoretical value and the actual value is not the actual deviation value. Therefore, three cases need to be processed. Polar coordinate conversion can be used, or case-by-case processing can be used. This embodiment adopts a case-by-case processing method. As the preferred solution of this embodiment, the following three calculation modes are included:

[0067] It is preferred to extract the target theoretical azimuth and the target actual azimuth;

[0068] If the difference between the target theoretical azimuth and the target actual azimuth is less than -180°, it is confirmed that the blade azimuth deviation angle calculation mode is the first calculation mode. The specific calculation formula of the first calculation mode is as follows:

[0069] DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct+360) / 2,

[0070] Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle;

[0071] The difference between the target theoretical azimuth and the target actual azimuth is greater than 180°, confirming that the blade azimuth deviation angle calculation mode is the second calculation mode. The specific calculation formula of the second calculation mode is as follows:

[0072] DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct-360) / 2,

[0073] Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle;

[0074] The difference between the target theoretical azimuth and the target actual azimuth is greater than -180° and less than 180°, confirming that the blade azimuth deviation angle calculation mode is the third calculation mode. The specific calculation formula of the third calculation mode is as follows:

[0075] DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct) / 2

[0076] Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle.

[0077] S304, calculating the blade azimuth deviation angle according to the blade azimuth deviation angle calculation mode, the theoretical azimuth angle data set and the actual azimuth angle data set, and calculating according to the calculation formula in step S303. This step obtains the first blade azimuth deviation angle, the second blade azimuth deviation angle and the third blade azimuth deviation angle.

[0078] S305, taking an average value of the blade azimuth deviation angles to obtain the overall azimuth deviation angle of the wind rotor. In this preferred embodiment, the overall azimuth deviation angle of the wind rotor can be obtained by adding the first blade azimuth deviation angle, the second blade azimuth deviation angle and the third blade azimuth deviation angle and taking an average value.

[0079] S4. Use the overall azimuth deviation angle of the wind rotor to correct the azimuth angle of the wind rotor of the wind turbine. After obtaining the overall azimuth deviation angle of the wind rotor, use the overall azimuth deviation angle of the wind rotor in a variable pitch control system so that when the variable pitch control system adjusts the azimuth angle of the wind rotor, the overall azimuth deviation angle of the wind rotor can be compensated, thereby improving the accuracy of the variable pitch control system, and further making the actual operating state of the wind turbine closer to the theoretical operating state than before compensation.

[0080] That is, this embodiment provides a method for compensating the azimuth angle of a wind turbine rotor of a wind turbine. First, the operation information of the wind turbine rotor is obtained. Then, a sinusoidal function curve corresponding to the blade angle and the blade root load is constructed through the operation information of the wind turbine rotor to find the coupling relationship between the blade angle and the blade root load. Then, according to the operation information of the wind turbine rotor and the coupling relationship between the blade angle and the blade root load, the overall azimuth deviation angle of the wind turbine rotor between the actual operating wind position azimuth and the theoretical wind position azimuth on the theoretical design parameters of the wind turbine rotor is confirmed. Finally, the azimuth deviation angle of the wind turbine rotor of the actual operating wind turbine rotor is corrected by the obtained overall azimuth deviation angle, thereby improving the accuracy of the variable pitch control system to solve the technical problem that in the existing variable pitch control process, the wind turbine rotor azimuth angle is affected by sensor drift, technical personnel operation errors, etc., which reduces the pitch control accuracy, resulting in uneven wind rotor during wind turbine operation, and ultimately reduces the load safety of the unit.

[0081] For the above embodiments, please refer to Figure 5 , Figure 5 A schematic diagram of the structure of a terminal provided in an embodiment of the present application, such as Figure 5 As shown, it includes a processor, an input device, an output device and a memory, which are connected to each other, wherein the memory is used to store a computer program, the computer program includes program instructions, the processor is configured to call the program instructions, and the program includes instructions for executing the following steps;

[0082] Obtain wind turbine operation information;

[0083] According to the wind turbine operation information, a sinusoidal function curve corresponding to blade angle and blade root load is constructed;

[0084] Determine the overall azimuth deviation angle of the wind rotor of the wind turbine blade according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information;

[0085] The azimuth deviation angle of the entire wind rotor is used to correct the azimuth angle of the wind rotor of the wind turbine generator set.

[0086] In this example, by obtaining the wind turbine operating information, and then using the wind turbine operating information to construct a sinusoidal function curve corresponding to the blade angle-blade root load, the coupling relationship between the blade angle and the blade root load is found, and then based on the wind turbine operating information and the coupling relationship between the blade angle and the blade root load, the overall azimuth deviation angle of the wind rotor between the actual operating wind position azimuth and the theoretical wind position azimuth on the theoretical design parameters of the wind turbine is confirmed. Finally, the obtained overall azimuth deviation angle of the wind rotor is used to correct the azimuth angle of the wind turbine actually operating, thereby improving the accuracy of the pitch control system to solve the problem that in the existing pitch control process, the pitch control accuracy is reduced due to the wind rotor azimuth being affected by sensor drift, technical personnel operation errors, etc., resulting in an uneven wind rotor during wind turbine operation, which ultimately reduces the load safety of the unit.

[0087] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that in order to realize the above functions, the terminal includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0088] The embodiment of the present application can divide the terminal into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0089] In line with the above, see Figure 6 , Figure 6 The present invention provides a schematic diagram of a wind turbine pitch control device. Figure 6 As shown, the device comprises:

[0090] A first acquisition unit 4 is used to acquire wind turbine operation information;

[0091] The first processing unit 5 is used to fit a sinusoidal function curve corresponding to blade angle and blade root load according to the wind turbine operation information;

[0092] A second processing unit 6 is used to determine the overall azimuth deviation angle of the wind rotor of the wind turbine blade according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information;

[0093] The third processing unit 7 is used to compensate the azimuth angle of the wind rotor of the wind turbine set by using the overall azimuth deviation angle of the wind rotor of the wind turbine set blades.

[0094] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method for compensating the wind turbine rotor azimuth angle of a wind turbine set as recorded in the above method embodiments.

[0095] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program enables a computer to execute part or all of the steps of any one of the wind turbine rotor azimuth angle compensation methods described in the above method embodiments.

[0096] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0097] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0098] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, the functional units in the various embodiments of the application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software program modules.

[0101] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0102] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0103] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for compensating the azimuth angle of a wind turbine rotor, applied to a wind turbine rotor pitch control device, characterized in that: include: Obtain wind turbine operation information; According to the wind turbine operation information, a sinusoidal function curve corresponding to blade angle and blade root load is constructed; Determine the overall azimuth deviation angle of the wind rotor of the wind turbine blade according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information; The azimuth deviation angle of the entire wind rotor is used to correct the azimuth angle of the wind rotor of the wind turbine generator set.

2. The method for compensating the wind turbine rotor azimuth angle of a wind turbine according to claim 1, characterized in that: According to the wind turbine operation information, a sinusoidal function curve corresponding to blade angle and blade root load is constructed; including: Extracting the blade angle and the blade root load value corresponding to the blade angle under a preset operating state from the wind turbine operating information to obtain a blade angle-blade root load data set; According to the blade angle-blade root load data set, a sinusoidal function curve corresponding to the blade angle-blade root load is constructed.

3. The method for compensating the wind turbine rotor azimuth angle of a wind turbine according to claim 2, characterized in that: The blade angle-blade root load corresponding sine function curve includes a first blade angle-blade root load corresponding sine function curve, a second blade angle-blade root load corresponding sine function curve and a third blade angle-blade root load corresponding sine function curve.

4. The method for compensating the wind turbine rotor azimuth angle of a wind turbine according to claim 2, characterized in that: Determining the overall azimuth deviation angle of the wind rotor of the wind turbine blade according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information includes: Extracting the theoretical angle maximum value and minimum value corresponding to the theoretical blade root load maximum value and minimum value from the wind turbine operation information to obtain a theoretical azimuth data set; According to the sinusoidal function curve corresponding to the blade angle-blade root load, the actual angle maximum value and minimum value corresponding to the actual blade root load maximum value and minimum value are determined to obtain an actual azimuth angle data set; According to the theoretical azimuth angle data set and the actual azimuth angle data set, the blade azimuth deviation angle calculation mode is confirmed. Calculate the blade azimuth deviation angle according to the blade azimuth deviation angle calculation mode, the theoretical azimuth angle data set and the actual azimuth angle data set; The blade azimuth deviation angles are averaged to obtain the azimuth deviation angle of the entire wind rotor.

5. The method for compensating the wind turbine rotor azimuth angle of a wind turbine according to claim 4, characterized in that: According to the theoretical azimuth angle data set and the actual azimuth angle data set, the theoretical azimuth angle data set and the actual azimuth angle data set, confirming the blade azimuth deviation angle calculation mode includes: Extract the target theoretical azimuth and the target actual azimuth; If the difference between the target theoretical azimuth and the target actual azimuth is less than -180°, it is confirmed that the blade azimuth deviation angle calculation mode is the first calculation mode. The specific calculation formula of the first calculation mode is as follows: DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct+360) / 2, Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle; The difference between the target theoretical azimuth and the target actual azimuth is greater than 180°, confirming that the blade azimuth deviation angle calculation mode is the second calculation mode. The specific calculation formula of the second calculation mode is as follows: DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct-360) / 2, Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle; The difference between the target theoretical azimuth and the target actual azimuth is greater than -180° and less than 180°, confirming that the blade azimuth deviation angle calculation mode is the third calculation mode. The specific calculation formula of the third calculation mode is as follows: DeltaPOS=(MaxPosition-MaxPositionAct+MinPosition-MinPositionAct) / 2 Among them, DeltaPOS is the blade azimuth deviation angle, MaxPosition is the theoretical maximum angle, MaxPositionAct is the actual maximum angle, MinPosition is the theoretical minimum angle, and MinPositionAct is the actual minimum angle.

6. A wind turbine pitch control device, characterized in that: The device comprises: A first acquisition unit, used to acquire wind turbine operation information; The first processing unit is used to fit a sinusoidal function curve corresponding to blade angle and blade root load according to the wind turbine operation information; A second processing unit is used to determine the overall azimuth deviation angle of the wind rotor of the wind turbine blade according to the blade angle-blade root load corresponding sine function curve and the wind turbine operation information; The third processing unit is used to compensate the azimuth angle of the wind rotor of the wind turbine set by using the overall azimuth deviation angle of the wind rotor of the wind turbine set blades.

7. A terminal, characterized in that: It includes a processor, an input device, an output device and a memory, which are interconnected, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the wind rotor azimuth angle compensation method of the wind turbine set as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the method for compensating the wind turbine rotor azimuth angle of a wind turbine set according to any one of claims 1 to 5.

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