Wind generating set control method and device based on laser radar

Abstract

The invention relates to a wind generating set control method and device based on laser radar, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring equivalent wind speed data of each wind speed measurement section; generating an impeller surface predicted equivalent wind speed based on the equivalent wind speed data; fan design parameters are obtained, and the key wind speed frequency and the relation between the wind energy absorption coefficient and the pitch angle are obtained based on the fan design parameters; performing wind speed frequency extraction on the predicted equivalent wind speed of the impeller surface to obtain a predicted segmented wind speed; the predicted segmented wind speed comprises a first frequency wind speed corresponding to the key wind speed frequency; acquiring the current running state of the fan; the current operation state of the fan comprises a current pitch angle; and generating a variable pitch rate based on the current pitch angle of the fan, the first frequency wind speed and the relationship between the wind energy absorption coefficient and the pitch angle, and performing variable pitch control on the fan based on the variable pitch rate. By adopting the method, the stability of wind energy absorption can be kept, and the fatigue and limit load of parts are reduced.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar-based wind turbine control method, device, wind turbine control system, storage medium and computer program product. Background Art

[0002] With the development of wind power technology, the technology for controlling wind turbines has emerged.

[0003] The traditional control method of wind power is to perform feedback control based on the comparison between the actual values ​​of the current speed and torque and the set values ​​to achieve different wind energy absorption rates.

[0004] However, this control has a hysteresis, that is, the control action is not taken until the speed or torque has deviated from the set value. Summary of the invention

[0005] Based on this, it is necessary to provide a wind turbine control method, device, wind turbine control system, storage medium and computer program product based on lidar that can realize feedforward control in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a wind turbine generator control method based on laser radar, the method comprising:

[0007] Obtain equivalent wind speed data of each wind speed measurement section;

[0008] Based on the equivalent wind speed data, the predicted equivalent wind speed on the impeller surface is generated;

[0009] Obtain wind turbine design parameters, and obtain key wind speed frequency and the relationship between wind energy absorption coefficient and pitch angle based on the wind turbine design parameters;

[0010] Extract the wind speed frequency of the predicted equivalent wind speed on the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes the first frequency wind speed corresponding to the key wind speed frequency;

[0011] Get the current operating status of the wind turbine; the current operating status of the wind turbine includes the current pitch angle;

[0012] A pitch rate is generated based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and the wind turbine is pitch controlled based on the pitch rate.

[0013] In one of the embodiments, the critical wind speed frequency is a wind speed frequency that affects tower fatigue.

[0014] In one of the embodiments, the predicted equivalent wind speed of the impeller surface is less than the rated wind speed of the wind turbine.

[0015] In one embodiment, generating a predicted equivalent wind speed of an impeller surface based on the equivalent wind speed data includes:

[0016] Based on equivalent wind speed data measured at a single wind speed measurement section or multiple wind speed measurement sections, the predicted equivalent wind speed on the impeller surface is generated through Kalman state estimation or turbulence correlation theory.

[0017] In one embodiment, the relationship between the wind energy absorption coefficient and the pitch angle is:

[0018] C=f(β,λ)=f(β,V rot ,ω)

[0019] Where β is the pitch angle, λ is the ratio of the impeller tip speed to the wind speed, V rot is the average wind speed of the impeller, and ω is the impeller speed.

[0020] In one embodiment, generating a pitch rate based on a current pitch angle of a wind turbine, a first frequency wind speed, and a relationship between a wind energy absorption coefficient and a pitch angle includes:

[0021] A predicted pitch angle is obtained based on the relationship between the first frequency wind speed and the wind energy absorption coefficient and the pitch angle;

[0022] The pitch rate is obtained by the current pitch angle and the predicted pitch angle.

[0023] In a second aspect, the present application also provides a wind turbine generator control device based on laser radar, the device comprising:

[0024] Radar wind speed measurement module, used to obtain equivalent wind speed data of each wind speed measurement section;

[0025] An equivalent wind speed prediction module is used to generate an equivalent wind speed prediction of the impeller surface based on the equivalent wind speed data;

[0026] The wind turbine system model module is used to obtain the wind turbine design parameters, and obtain the key wind speed frequency and the relationship between the wind energy absorption coefficient and the pitch angle based on the wind turbine design parameters;

[0027] A frequency extraction module is used to extract the wind speed frequency of the predicted equivalent wind speed on the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes a first frequency wind speed corresponding to the key wind speed frequency;

[0028] The wind turbine status acquisition module is used to obtain the current operating status of the wind turbine; the current operating status of the wind turbine includes the current pitch angle;

[0029] The pitch rate processing module is used to generate a pitch rate based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and to perform pitch control on the wind turbine based on the pitch rate.

[0030] In a third aspect, the present application further provides a wind turbine control system, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0031] Obtain equivalent wind speed data of each wind speed measurement section;

[0032] Based on the equivalent wind speed data, the predicted equivalent wind speed on the impeller surface is generated;

[0033] Obtain wind turbine design parameters, and obtain key wind speed frequency and the relationship between wind energy absorption coefficient and pitch angle based on the wind turbine design parameters;

[0034] Extract the wind speed frequency of the predicted equivalent wind speed on the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes the first frequency wind speed corresponding to the key wind speed frequency;

[0035] Get the current operating status of the wind turbine; the current operating status of the wind turbine includes the current pitch angle;

[0036] A pitch rate is generated based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and the wind turbine is pitch controlled based on the pitch rate.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0038] Obtain equivalent wind speed data of each wind speed measurement section;

[0039] Based on the equivalent wind speed data, the predicted equivalent wind speed on the impeller surface is generated;

[0040] Obtain wind turbine design parameters, and obtain key wind speed frequency and the relationship between wind energy absorption coefficient and pitch angle based on the wind turbine design parameters;

[0041] Extract the wind speed frequency of the predicted equivalent wind speed on the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes the first frequency wind speed corresponding to the key wind speed frequency;

[0042] Get the current operating status of the wind turbine; the current operating status of the wind turbine includes the current pitch angle;

[0043] A pitch rate is generated based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and the wind turbine is pitch controlled based on the pitch rate.

[0044] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0045] Obtain equivalent wind speed data of each wind speed measurement section;

[0046] Based on the equivalent wind speed data, the predicted equivalent wind speed on the impeller surface is generated;

[0047] Obtain wind turbine design parameters, and obtain key wind speed frequency and the relationship between wind energy absorption coefficient and pitch angle based on the wind turbine design parameters;

[0048] Extract the wind speed frequency of the predicted equivalent wind speed on the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes the first frequency wind speed corresponding to the key wind speed frequency;

[0049] Get the current operating status of the wind turbine; the current operating status of the wind turbine includes the current pitch angle;

[0050] A pitch rate is generated based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and the wind turbine is pitch controlled based on the pitch rate.

[0051] The above-mentioned wind turbine control method, device, computer equipment, storage medium and computer program product based on laser radar generate a predicted equivalent wind speed on the impeller surface based on the acquired equivalent wind speed data, and obtain the key wind speed frequency and the relationship between the wind energy absorption coefficient and the pitch angle based on the wind turbine design parameters; thereby extracting the wind speed frequency of the predicted equivalent wind speed on the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes the first frequency wind speed corresponding to the key wind speed frequency; and obtaining the current operating status of the wind turbine; the current operating status of the wind turbine includes the current pitch angle; thereby being able to generate a pitch rate based on the current pitch angle of the wind turbine, the first frequency wind speed and the relationship between the wind energy absorption coefficient and the pitch angle, and perform pitch control on the wind turbine based on the pitch rate. The method provided in the present application uses radar control for feedforward control, which can not only obtain the predicted equivalent wind speed by acquiring the equivalent wind speed data, but also follow the wind speed reaching the impeller surface, so as to realize the advance action of the wind turbine to cope with the wind speed change and maintain the stability of wind energy absorption, thereby making the operation of the unit more stable and reducing component fatigue and extreme load; it can also be used in various wind speed segments, and can also change the current pitch angle of the wind turbine in a targeted manner according to the wind in a specific frequency segment, thereby reducing the adverse effects of wind in certain specific frequency segments on the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are 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.

[0053] Figure 1It is a schematic diagram of the pitch changing action of the wind turbine generator set;

[0054] Figure 2 is a schematic flow chart of a laser radar-based wind turbine generator control method in an embodiment;

[0055] Figure 3 is a schematic diagram of a pitch angle in one embodiment;

[0056] Figure 4 It is a curve diagram of wind speed and pitch angle of a wind turbine in a traditional wind turbine;

[0057] Figure 5 is a curve diagram showing the relationship between the pitch angle and the wind energy absorption coefficient in one embodiment;

[0058] Figure 6 is a schematic diagram of wind speed change in an embodiment;

[0059] Figure 7 The change of the average wind speed of the impeller surface of the wind speed measurement section over time in one embodiment;

[0060] Figure 8 In one embodiment, Figure 7 The change of wind speed, the change of pitch rate of the wind turbine when the method of the present application is used (function turned on) and when the method of the present application is not used (function turned off);

[0061] Fig. 9 In one embodiment, Figure 7 The change of wind speed, the change of tower load in two cases when using the method of the present application (function turned on) and not using the method of the present application (function turned off).

[0062] Fig.10 is a schematic flow chart of a wind turbine generator control method based on laser radar in another embodiment;

[0063] Fig.11 is a structural block diagram of a wind turbine generator control device based on laser radar in one embodiment;

[0064] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0065] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0066] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0068] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0070] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0071] See also Figure 1 , is a schematic diagram of the pitch action of a wind turbine generator set, where the arrow indicates the pitch direction of the impeller of the separated generator set. Since the traditional control method of wind power has hysteresis, that is, the control action will not be performed until the speed or torque has deviated from the set value, by installing a cabin lidar on the top of the cabin of the wind turbine generator set, the wind speed in front of the wind turbine can be obtained when facing the wind, so a short-term high-accuracy prediction can be made. The measurement results of the lidar measurement are used to estimate the future short-term wind speed on the impeller surface. According to the estimated wind speed and wind power equipment parameters, the pitch angle to be achieved in the future is set, and the pitch rate executed by the feedforward function is set according to the difference between this pitch angle and the current theoretical or actual pitch angle.

[0072] See also Figure 2 , Figure 2 A flow chart of a laser radar-based wind turbine control method in one embodiment of the present invention is shown. The laser radar-based wind turbine control method provided in one embodiment of the present invention includes steps 202 to 212.

[0073] Step 202: Acquire equivalent wind speed data of each wind speed measurement section.

[0074] Exemplarily, the equivalent wind speed data of each measurement section collected by the cabin radar is read by the radar wind speed measurement module and transmitted to the main control system.

[0075] The radar wind speed measurement module collects wind speed data at different heights and locations around the wind turbine. The plane or area where these collection points are located is called the wind speed measurement section. Usually, these sections are distributed upstream, downstream, or above and below the blade sweep area of ​​the wind turbine.

[0076] Exemplarily, the equivalent wind speed data of each measurement section can include:

[0077] The upstream cross-sectional wind speed data is measured, such as the upstream wind speed data at a distance of 100 meters from the wind turbine; the downstream cross-sectional wind speed data is measured, such as the downstream wind speed data at a distance of 200 meters from the wind turbine; the vertical cross-sectional wind speed data is measured, such as the wind speed distribution data from the ground to the blade tip height; the horizontal cross-sectional wind speed data is measured, and the horizontal wind speed distribution data from the blade tip to the bottom of the tower is measured.

[0078] Step 204: Generate a predicted equivalent wind speed of the impeller surface based on the equivalent wind speed data.

[0079] Step 206, obtaining wind turbine design parameters, and obtaining the key wind speed frequency and the relationship between the wind energy absorption coefficient and the pitch angle based on the wind turbine design parameters.

[0080] The wind energy absorption coefficient is defined as shown in formula (1):

[0081] P = CP wind (1)

[0082] Where P is the wind energy absorbed by the wind turbine, P wind For incoming wind energy.

[0083] Please also refer to Figure 3 , Figure 3 Schematic diagram of the pitch angle β. The pitch angle β on the wind turbine is defined as the angle between the airfoil chord line 33 of the blade (i.e. the line connecting the leading and trailing edges of the airfoil) and the rotor rotation plane 32.

[0084] For example, the key wind speed frequencies include wind speed frequencies that affect tower fatigue, speed fluctuation, hub load, blade load, or other wind speed frequencies that affect the operation of the tower or wind turbine. Depending on the target to be optimized, the corresponding key wind speed frequencies are extracted, so that the wind speed in a specific frequency range is extracted for optimization, which has the greatest impact on the target value.

[0085] Step 208, extracting the wind speed frequency of the predicted equivalent wind speed on the impeller surface to obtain predicted segmented wind speeds; the predicted segmented wind speeds include a first frequency wind speed corresponding to the key wind speed frequency.

[0086] Exemplarily, by predicting the equivalent wind speed on the impeller surface and extracting the wind speed frequency, wind speed components in different frequency bands can be obtained, thereby obtaining the predicted segmented wind speed, wherein the first frequency wind speed is obtained by extracting the characteristic frequency according to the key wind speed frequency.

[0087] Step 210, obtaining the current operating state of the wind turbine; the current operating state of the wind turbine includes the current pitch angle.

[0088] Optionally, the current operating status of the wind turbine, such as rotation speed and pitch angle, can be obtained based on existing sensors of the wind turbine.

[0089] Step 212, generating a pitch rate based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and performing pitch control on the wind turbine based on the pitch rate.

[0090] In this embodiment, the predicted equivalent wind speed of the impeller surface is generated based on the acquired equivalent wind speed data, and the key wind speed frequency and the relationship between the wind energy absorption coefficient and the pitch angle are obtained based on the wind turbine design parameters; thereby, the wind speed frequency of the predicted equivalent wind speed of the impeller surface is extracted to obtain the predicted segmented wind speed; the predicted segmented wind speed includes the first frequency wind speed corresponding to the key wind speed frequency; and the current operating state of the wind turbine is obtained; the current operating state of the wind turbine includes the current pitch angle; thereby, the pitch rate can be generated based on the current pitch angle of the wind turbine, the first frequency wind speed and the relationship between the wind energy absorption coefficient and the pitch angle, and the pitch control of the wind turbine is performed based on the pitch rate. The method provided in the present application uses radar control for feedforward control, which can not only obtain the predicted equivalent wind speed by acquiring the equivalent wind speed data, but also follow the wind speed reaching the impeller surface, so as to realize the advance action of the wind turbine to cope with the wind speed change and maintain the stability of wind energy absorption, thereby making the operation of the unit more stable and reducing the fatigue and extreme load of large components; it can also be used in various wind speed segments, and can also change the current pitch angle of the wind turbine in a targeted manner according to the wind in a specific frequency segment, thereby reducing the adverse effects of wind in certain specific frequency segments on the wind turbine.

[0091] In an exemplary embodiment, the critical wind speed frequency is a wind speed frequency that affects tower fatigue. The critical wind speed frequency that affects tower fatigue is between 0.05 Hz and 0.2 Hz.

[0092] Due to the design characteristics of the wind turbine, wind in a certain frequency range has the greatest impact on tower fatigue, generally between 0.05Hz-0.2Hz. Extremely low-frequency wind, that is, wind speed increases or decreases slowly, contributes very little to tower fatigue; rapidly changing wind, after being absorbed by the impeller, has a significant attenuation of its high-frequency components, and has little impact on the unit.

[0093] In this embodiment, by setting the key wind speed frequency to the wind speed frequency that affects tower fatigue, the first frequency wind speed corresponding to the wind speed frequency that affects tower fatigue is obtained after the wind speed frequency is extracted from the predicted equivalent wind speed of the impeller surface; and the pitch rate is obtained based on the first frequency wind speed corresponding to the wind speed frequency that affects tower fatigue, and the wind turbine is pitch controlled based on the pitch rate, so that the pitch angle can be changed in advance after the incoming wind is predicted, thereby not only being able to adjust the speed of the wind turbine in real time to achieve an ideal wind energy absorption rate, but also being able to eliminate the influence of the wind corresponding to the first frequency wind speed on tower fatigue.

[0094] In an exemplary embodiment, the impeller surface predicted equivalent wind speed is less than the rated wind speed of the wind turbine.

[0095] In a traditional wind turbine, when the wind turbine does not reach the rated power at low wind speed, for example, the wind speed at the rated power is 10m / s, the wind turbine will not respond, so the target pitch angle of the wind turbine remains unchanged. Figure 4 The figure shows a curve diagram of wind speed and pitch angle of a wind turbine in a traditional wind turbine.

[0096] As the capacity of wind turbines continues to increase and the rated wind speed of the turbines gradually increases, the turbines operate below the rated wind speed most of the time. Therefore, a method is needed to control the pitch at the rated wind speed.

[0097] Using lidar for feedforward control can eliminate the lag of control to a certain extent, but currently this technology is only effective when the wind speed exceeds the rated wind speed of the wind turbine, resulting in limited application effect.

[0098] In this implementation, by obtaining the design parameters of the wind turbine, the key wind speed frequency and the relationship between the wind energy absorption coefficient and the pitch angle are obtained based on the design parameters of the wind turbine; and the wind speed frequency is extracted from the predicted equivalent wind speed of the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes the first frequency wind speed corresponding to the key wind speed frequency, and even when the predicted equivalent wind speed of the impeller surface is less than the rated wind speed of the wind turbine, the wind turbine can be subjected to variable pitch control. This improves the problem that the target pitch angle of the wind turbine remains unchanged at the rated wind speed, so that when the first frequency wind speed corresponding to the key wind speed frequency appears, the wind turbine can be subjected to variable pitch control by generating a variable pitch rate.

[0099] In order to make the radar feedforward control function play a control effect, in this embodiment, by utilizing the detection of the wind speed at a specific frequency, the pitch angle will respond even if the wind speed falls below the rated wind speed.

[0100] In an exemplary embodiment, step 204 generates a predicted equivalent wind speed of the impeller surface based on the equivalent wind speed data, including: generating a predicted equivalent wind speed of the impeller surface through Kalman state estimation or turbulence correlation theory based on equivalent wind speed data measured at a single wind speed measurement section or multiple wind speed measurement sections.

[0101] The single wind speed measurement section or the multiple wind speed measurement sections are selected from one or more of the wind speed measurement sections.

[0102] Kalman state estimation is a recursive filtering method widely used in control systems and signal processing, especially in processing noisy measurement data and predicting future states. Usually, Kalman state estimation uses Kalman filters to estimate system states. In wind speed prediction, Kalman filters can be used to estimate and predict the impeller surface wind speed in a short time based on the wind speed data of multiple sections measured by radar.

[0103] Turbulence correlation theory is an important concept in fluid mechanics and atmospheric dynamics, which is used to analyze and predict turbulence characteristics in flow fields. In wind speed prediction, turbulence correlation theory can be used to understand the statistical characteristics of wind speed, thereby better predicting wind speed.

[0104] In this embodiment, through Kalman state estimation, radar wind speed measurement data of multiple sections can be effectively used to predict the impeller surface wind speed in a short time. This method not only takes into account the dynamic changes of the system, but also processes the noise in the measurement data, thereby providing more accurate prediction results; and based on turbulence-related theory, the statistical characteristics of wind speed data can be understood, so as to select a suitable time delay and establish an accurate wind speed prediction model. In this embodiment, by combining the Kalman filter and turbulence-related theory to generate the predicted equivalent wind speed of the impeller surface, the accuracy and robustness of the wind speed prediction can be further improved.

[0105] In an exemplary embodiment, the relationship between the wind energy absorption coefficient and the pitch angle is:

[0106] C = f(β, λ) = f(β, V rot , ω) (2)

[0107] In formula (2), β is the pitch angle, λ is the ratio of the impeller tip speed to the wind speed, and V rot is the average wind speed of the impeller, and ω is the impeller speed.

[0108] Optionally, the blade wind energy absorption curve can be obtained according to the design parameters. Referring to the case of reaching a steady state, the wind energy absorption coefficient C is only related to the pitch angle β, and the relationship is as follows: Figure 5 , as the pitch angle β increases, the wind energy absorption coefficient C decreases.

[0109] In an exemplary embodiment, generating a pitch rate based on a current pitch angle of a wind turbine, a first frequency wind speed, and a relationship between a wind energy absorption coefficient and a pitch angle includes:

[0110] The predicted pitch angle is obtained based on the first frequency wind speed and the relationship between the wind energy absorption coefficient and the pitch angle; and the pitch rate is obtained through the current pitch angle and the predicted pitch angle.

[0111] Please also refer to Figure 6 , Figure 6 is a schematic diagram of wind speed variation over a period of time. In one embodiment, the wind speed variation sequence from t0 to t1 is as follows: Figure 6 As shown in the curve 61, optionally, the wind energy change caused by the wind speed change in this period is expressed as △P wind t0-t1 It is understandable that △P wind t0-t1The wind energy change △P' caused by the first frequency wind speed change corresponding to the key wind speed frequency that has a greater impact on tower fatigue wind t0-t1 , and the wind energy change △P caused by the second frequency wind speed change corresponding to the wind speed frequency with little effect on the remaining wind speed frequency" wind t0-t1 . Among them, △P' wind t0-t1 The wind speed frequency can be extracted by extracting the wind speed frequency of the predicted equivalent wind speed on the impeller surface, and then the first frequency wind speed corresponding to the key wind speed frequency can be obtained. For example, a filter or a similar frequency extraction module can be designed to perform the extraction, such as Figure 6 As shown by curve 63 in FIG. 1 ; the remaining part is as follows Figure 6 As shown by the straight line 62 in FIG.

[0112] Get △P' wind t0-t1 After the change sequence, based on the different purposes of the wind turbine control method using the laser radar, such as to eliminate the influence of tower fatigue, speed fluctuation, hub load, blade load, etc., the wind speed change shown in the curve 63 needs to be offset by adjusting the pitch angle β in real time, that is, the wind energy absorption amount P = C × P wind The change is made in a manner that is as close to the straight line 62 as possible.

[0113] The current pitch angle at the current time t0 and the predicted pitch angle at the predicted time t1 obtained by this method are β t0 and β t1 , the pitch rate △β can be obtained through formula (3).

[0114]

[0115] Outputting the pitch rate result to the wind turbine pitch controller can execute actions, thereby performing pitch control on the wind turbine.

[0116] Alternatively, other control schemes may be used, such as a nonlinear control scheme (eg, model-based control), or the pitch angle or pitch rate may be obtained by other similar means.

[0117] Please also refer to Figure 7 and Figure 8 ,in Figure 7 The figure is a diagram showing the change of the average wind speed of the impeller surface of the wind speed measurement section over time in an embodiment, wherein the horizontal axis represents the sampling time point in seconds (s), and the vertical axis represents the wind speed in meters per second (m / s); Figure 8 In one embodiment, Figure 7The change of wind speed, the change of pitch rate of the wind turbine when using the method of the present application (function turned on) and when not using the method of the present application (function turned off).

[0118] It can be seen that without using the wind turbine control method based on laser radar of the present application, the variable pitch system of the wind turbine does not work below the rated wind speed. Figure 7 It can be seen that the average wind speed is 7.8m / s, which has never reached the rated wind speed. Figure 8 As shown in the curve when the function is turned off, it is always 0. After the function is turned on, the pitch system changes with the wind speed below the rated wind speed, as shown in the curve corresponding to the function turned on.

[0119] In the original wind turbine control strategy, the wind turbine's pitch control system does not work below the rated wind speed. Figure 7 The average wind speed is 7.8m / s, which has never reached the rated wind speed. Figure 8 The dotted line of the function is turned off, and it is always 0. After the function is turned on, the pitch system changes with the wind speed below the rated wind speed, as shown in the continuous curve of the function turned on.

[0120] The benefits of enabling the function are as follows: Fig. 9 As shown, Fig. 9 Shows that with Figure 7 The change of wind speed, the change of tower load in two cases when the method of the present application is used (function is turned on) and when the method of the present application is not used (function is turned off), where the horizontal axis represents the sampling time point in seconds (s), and the vertical axis represents the tower load in kilonewton meters (kNm). Fig. 9 It can be seen that when the function is turned on, the tower load is significantly more stable, the fluctuation is reduced, and the corresponding statistical tower fatigue load is also reduced; for this simulation, the fatigue load calculated by the rain flow method (m=4) is 0.239640E+08 and 0.220294E+08, a decrease of 8.1%. Since the overall fatigue load evaluation of the wind turbine is roughly [wind frequency] * [average fatigue load in each wind speed range], this wind speed range has a high proportion of wind frequency in the entire wind speed range, so it also contributes greatly to the reduction of the overall fatigue load of the wind turbine.

[0121] In an exemplary embodiment, see Fig.10 , Fig.10 A flow chart of a laser radar-based wind turbine control method in another embodiment of the present invention is shown. Another embodiment of the present invention provides a laser radar-based wind turbine control method, including steps 1002 to 1014.

[0122] Step 1002, obtaining equivalent wind speed data of each wind speed measurement section.

[0123] Step 1004, based on the equivalent wind speed data measured at a single wind speed measurement section or multiple wind speed measurement sections, generate the impeller surface predicted equivalent wind speed through Kalman state estimation or turbulence correlation theory; the impeller surface predicted equivalent wind speed is less than the rated wind speed of the wind turbine.

[0124] Step 1006, obtain the design parameters of the wind turbine, and obtain the key wind speed frequency and the relationship between the wind energy absorption coefficient and the pitch angle based on the design parameters of the wind turbine; the key wind speed frequency is the wind speed frequency that affects the fatigue of the tower; the relationship between the wind energy absorption coefficient and the pitch angle is:

[0125] C=f(β,λ)=f(β,V rot ,ω)

[0126] Where β is the pitch angle, λ is the ratio of the impeller tip speed to the wind speed, V rot is the average wind speed of the impeller, and ω is the impeller speed.

[0127] Step 1008, extracting the wind speed frequency of the predicted equivalent wind speed of the impeller surface to obtain predicted segmented wind speed; the predicted segmented wind speed includes a first frequency wind speed corresponding to the key wind speed frequency.

[0128] Step 1010, obtaining the current operating state of the wind turbine; the current operating state of the wind turbine includes the current pitch angle.

[0129] Step 1012: obtaining a predicted pitch angle based on the first frequency wind speed and the relationship between the wind energy absorption coefficient and the pitch angle.

[0130] Step 1014, obtaining a pitch rate through the current pitch angle and the predicted pitch angle, and performing pitch control on the wind turbine based on the pitch rate.

[0131] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0132] Based on the same inventive concept, the embodiment of the present application also provides a laser radar-based wind turbine control device for implementing the laser radar-based wind turbine control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the laser radar-based wind turbine control device provided below can refer to the limitations of the laser radar-based wind turbine control method above, and will not be repeated here.

[0133] In an exemplary embodiment, Fig.11 As shown, a laser radar-based wind turbine generator control device is provided, comprising: a radar wind speed measurement module 1102, an equivalent wind speed prediction module 1104, a wind turbine system model module 1106, a frequency extraction module 1108, a wind turbine state acquisition module 1110 and a pitch rate processing module 1112, wherein:

[0134] The radar wind speed measurement module 1102 is used to obtain equivalent wind speed data of each wind speed measurement section;

[0135] An equivalent wind speed prediction module 1104 is used to generate a predicted equivalent wind speed on the impeller surface based on the equivalent wind speed data;

[0136] A wind turbine system model module 1106 is used to obtain wind turbine design parameters, and obtain the key wind speed frequency and the relationship between the wind energy absorption coefficient and the pitch angle based on the wind turbine design parameters;

[0137] The frequency extraction module 1108 is used to extract the wind speed frequency of the predicted equivalent wind speed of the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes the first frequency wind speed corresponding to the key wind speed frequency;

[0138] The wind turbine status acquisition module 1110 is used to acquire the current operating status of the wind turbine; the current operating status of the wind turbine includes the current pitch angle;

[0139] The pitch rate processing module 1112 is used to generate a pitch rate based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and perform pitch control on the wind turbine based on the pitch rate.

[0140] In an exemplary embodiment, the key wind speed frequency in the wind turbine system model module 1106 is the wind speed frequency that affects tower fatigue.

[0141] In an exemplary embodiment, the impeller surface predicted equivalent wind speed in the equivalent wind speed prediction module 1104 is less than the rated wind speed of the wind turbine.

[0142] In an exemplary embodiment, the equivalent wind speed prediction module 1104 is further used to generate a predicted equivalent wind speed of the impeller surface based on equivalent wind speed data measured at a single wind speed measurement section or multiple wind speed measurement sections through Kalman state estimation or turbulence correlation theory.

[0143] In an exemplary embodiment, the relationship between the wind energy absorption coefficient and the pitch angle in the wind turbine system model module 1106 is:

[0144] C=f(β,λ)=f(β,V rot ,ω)

[0145] Where β is the pitch angle, λ is the ratio of the impeller tip speed to the wind speed, V rot is the average wind speed of the impeller, and ω is the impeller speed.

[0146] In an exemplary embodiment, the pitch rate processing module is further used to obtain a predicted pitch angle based on the first frequency wind speed and the relationship between the wind energy absorption coefficient and the pitch angle; and obtain the pitch rate through the current pitch angle and the predicted pitch angle.

[0147] Each module in the above-mentioned laser radar-based wind turbine control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0148] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig.12 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store equivalent wind speed data, wind turbine design parameter data and wind turbine current operating status data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a wind turbine generator control method based on laser radar is implemented.

[0149] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0150] In an exemplary embodiment, a wind turbine control system is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0151] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0152] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0153] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0154] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0155] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A wind turbine generator control method based on laser radar, characterized in that: The method comprises: Obtain equivalent wind speed data of each wind speed measurement section; Based on the equivalent wind speed data, generating a predicted equivalent wind speed on the impeller surface; Acquire wind turbine design parameters, and obtain key wind speed frequency and the relationship between wind energy absorption coefficient and pitch angle based on the wind turbine design parameters; Extracting the wind speed frequency of the predicted equivalent wind speed on the impeller surface to obtain a predicted segmented wind speed; the predicted segmented wind speed includes a first frequency wind speed corresponding to the key wind speed frequency; Acquire the current operating state of the wind turbine; the current operating state of the wind turbine includes the current pitch angle; A pitch rate is generated based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and pitch control is performed on the wind turbine based on the pitch rate.

2. The method according to claim 1, characterized in that: The critical wind speed frequency is the wind speed frequency that affects tower fatigue.

3. The method according to claim 1, characterized in that The predicted equivalent wind speed of the impeller surface is less than the rated wind speed of the wind turbine.

4. The method according to claim 1, characterized in that: The generating of the predicted equivalent wind speed of the impeller surface based on the equivalent wind speed data comprises: Based on equivalent wind speed data measured at a single wind speed measurement section or multiple wind speed measurement sections, the predicted equivalent wind speed on the impeller surface is generated through Kalman state estimation or turbulence correlation theory.

5. The method according to claim 1, characterized in that The relationship between the wind energy absorption coefficient and the pitch angle is: C=f(β,λ)=f(β,V rot ,oh) Where β is the pitch angle, λ is the ratio of the impeller tip speed to the wind speed, V rot is the average wind speed of the impeller, and ω is the impeller speed.

6. The method according to claim 1, characterized in that The generating the pitch rate based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle includes: Obtaining a predicted pitch angle based on the first frequency wind speed and the relationship between the wind energy absorption coefficient and the pitch angle; The pitch rate is obtained by using the current pitch angle and the predicted pitch angle.

7. A wind turbine generator control device based on laser radar, characterized in that: The device comprises: Radar wind speed measurement module, used to obtain equivalent wind speed data of each wind speed measurement section; An equivalent wind speed prediction module, used to generate a predicted equivalent wind speed on the impeller surface based on the equivalent wind speed data; A wind turbine system model module is used to obtain wind turbine design parameters, and obtain the key wind speed frequency and the relationship between the wind energy absorption coefficient and the pitch angle based on the wind turbine design parameters; A frequency extraction module, used for extracting the wind speed frequency of the predicted equivalent wind speed of the impeller surface to obtain the predicted segmented wind speed; the predicted segmented wind speed includes a first frequency wind speed corresponding to the key wind speed frequency; A wind turbine status acquisition module is used to acquire the current operating status of the wind turbine; the current operating status of the wind turbine includes the current pitch angle; A pitch rate processing module is used to generate a pitch rate based on the current pitch angle of the wind turbine, the first frequency wind speed, and the relationship between the wind energy absorption coefficient and the pitch angle, and to perform pitch control on the wind turbine based on the pitch rate.

8. A wind turbine control system, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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

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