Variable pitch control method of wind generating set under gust wind condition and generating set

Abstract

The invention provides a variable pitch control method of a wind generating set under a gust condition and the wind generating set, and the variable pitch control method comprises the following steps: determining the wind speed characteristic quantity of wind reaching an impeller of the wind generating set based on wind speed data; based on the wind speed characteristic quantity, a wind speed trend quantity is determined, and the wind speed trend quantity represents the cumulant of the change of the wind speed characteristic quantity within a preset time period before wind reaches the impeller; and in response to the wind speed trend quantity, indicating that the wind generating set is in a gust wind condition, performing variable pitch control on the wind generating set. According to the variable-pitch control method for the wind generating set under the gust wind condition and the wind generating set, the problem that safe operation of the wind generating set cannot be ensured due to the fact that the limit load of the wind generating set under the gust wind condition is increased is solved, the gust wind condition can be recognized, variable-pitch control is conducted on the wind generating set, and the wind generating set is more reliable. And the safety and the stability of the unit are ensured.

Description

Technical Field

[0001] The present disclosure relates to the field of wind power generation, and more specifically, to a pitch control method of a wind generator set under gusty wind conditions and a generator set. Background Art

[0002] As the diameter of the wind turbine rotor and the overall capacity increase, the cost constraints of the overall machine also increase. For example, under the extreme wind conditions defined in the IEC61400-1 standard, the design load of the wind turbine will increase. In this case, the extreme load problem of the wind turbine and the stability of the unit become important influencing factors in the unit development process. In particular, these problems will become more prominent when facing gusty wind conditions.

[0003] In the related art, although many solutions for unit pitch control have been developed, these solutions lack gust wind condition identification and corresponding unit control strategies, which increases the ultimate load of the wind turbine under gusty wind conditions and cannot ensure the safe operation of the wind turbine. Summary of the invention

[0004] In view of the problem that the ultimate load of a wind turbine generator set increases under gusty wind conditions and the safe operation of the wind turbine generator set cannot be ensured, the present disclosure provides a pitch control method of a wind turbine generator set and a wind turbine generator set.

[0005] A first aspect of the present disclosure provides a pitch control method for a wind turbine generator set under gusty wind conditions, the pitch control method comprising: determining a wind speed characteristic quantity of wind reaching an impeller of the wind turbine generator set based on wind speed data; determining a wind speed trend quantity based on the wind speed characteristic quantity, wherein the wind speed trend quantity represents a cumulative amount of changes in the wind speed characteristic quantity within a preset time period before the wind reaches the impeller; and performing pitch control on the wind turbine generator set in response to the wind speed trend quantity indicating that the wind turbine generator set is in a gusty wind condition.

[0006] Optionally, the wind speed trend quantity is determined in the following manner: the wind speed trend quantity is determined based on the cumulative amount of the wind speed characteristic quantity within the preset time period and the cumulative amount of the initial value of the wind speed characteristic quantity within the preset time; wherein the initial value is the wind speed characteristic quantity at the initial moment within the preset time period.

[0007] Optionally, the wind turbine generator set is determined to be in a gusty wind condition in the following manner: in response to the condition that the wind speed trend quantity satisfies a preset first boundary value, the wind turbine generator set is determined to be in a gusty rising wind condition; in response to the condition that the wind speed trend quantity satisfies a preset second boundary value, the wind turbine generator set is determined to be in a gusty falling wind condition.

[0008] Optionally, the wind turbine generator set is pitch controlled in the following manner: an additional pitch angle or a pitch rate is determined according to the degree to which the wind speed characteristic quantity deviates from the rated wind speed of the wind turbine generator set; and the wind turbine generator set is pitch controlled based on the additional pitch angle or the pitch rate, wherein the degree to which the wind speed characteristic quantity deviates from the rated wind speed is negatively correlated with the pitch rate.

[0009] Optionally, determining the additional pitch angle or the pitch rate according to the degree to which the wind speed characteristic quantity deviates from the rated wind speed of the wind turbine generator set includes: determining multiple wind speed intervals and candidate additional pitch angles or candidate pitch rates corresponding to each wind speed interval based on the rated wind speed, cut-in wind speed, cut-out wind speed and a preset correction value of the wind turbine generator set; and determining the candidate additional pitch angle or candidate pitch rate corresponding to the wind speed interval satisfied by the wind speed characteristic quantity as the additional pitch angle or the pitch rate.

[0010] Optionally, the multiple wind speed intervals include a first wind speed interval, a second wind speed interval and a third wind speed interval, the first wind speed interval is determined based on a preset correction value and the rated wind speed, and includes the rated wind speed; the second wind speed interval is determined based on the cut-in wind speed of the wind turbine generator set and the first wind speed interval, and is less than the first wind speed interval; the third wind speed interval is determined based on the cut-out wind speed of the wind turbine generator set and the first wind speed interval, and is greater than the first wind speed interval.

[0011] Optionally, the candidate additional pitch angle corresponding to the first wind speed interval is greater than the candidate additional pitch angle corresponding to the third wind speed interval, and the candidate additional pitch angle corresponding to the third wind speed interval is greater than the candidate additional pitch angle corresponding to the first wind speed interval, wherein the candidate pitch rate corresponding to the third wind speed interval is greater than the candidate pitch rate corresponding to the second wind speed interval, and the candidate pitch rate corresponding to the second wind speed interval is greater than the candidate pitch rate corresponding to the first wind speed interval.

[0012] Optionally, the wind speed characteristic quantity is determined in the following manner: obtaining wind speed data in one or more wind speed sections pointing from the wind side to the impeller; determining the wind speed characteristic quantity at the current moment based on the wind speed data, the distance of each wind speed section from the impeller, and the wind speed processing parameters on the impeller at the current moment, wherein the wind speed processing parameters are: the average wind speed within a preset time length before the current moment, or the average wind speed of each wind speed section at the current moment.

[0013] Optionally, the wind speed data includes wind speed data at each wind speed section of multiple paths pointing from the incoming wind side to the impeller, wherein the wind speed characteristic quantity at the current moment is determined in the following manner: the wind speed characteristic quantity at the current moment is determined according to the wind speed data, the direction of each path in the multiple paths, the distance of each wind speed section from the impeller, the wind speed processing parameters on the impeller at the current moment, and the number of paths, wherein the wind speed processing parameters are: the average wind speed of each path in the multiple paths at each wind speed section at the current moment.

[0014] Optionally, the length of the preset time period is determined in the following manner: based on the wind speed characteristic quantity, the distance between the equivalent wind speed section where the wind speed characteristic quantity is located and the impeller, and the pitch response time of the pitch system of the wind turbine generator set, the length of the preset time period is determined.

[0015] A second aspect of the present disclosure provides a computer device, comprising: at least one processor; and at least one memory storing computer executable instructions, wherein the computer executable instructions, when executed by the at least one processor, prompt the at least one processor to execute the pitch control method of a wind turbine generator set under gusty wind conditions according to an embodiment of the present disclosure.

[0016] A third aspect of the present disclosure provides a wind turbine generator set, wherein the wind turbine generator set comprises the computer device according to the embodiment of the present disclosure.

[0017] A fourth aspect of the present disclosure provides a computer-readable storage medium. When instructions in the computer-readable storage medium are executed by at least one processor, the at least one processor is prompted to execute the pitch control method of a wind turbine generator set under gusty wind conditions according to an embodiment of the present disclosure.

[0018] According to the pitch control method of a wind turbine and the wind turbine disclosed in the present invention, the wind speed characteristic quantity at the impeller can be determined based on the wind speed data, and the wind speed trend quantity can be determined based on the wind speed characteristic quantity. When the wind speed trend quantity indicates that the wind turbine is in a gusty wind condition, the wind turbine can be pitch controlled to solve or alleviate the extreme load problem and ensure the safety and stability of the unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic flow chart showing a pitch control method of a wind turbine generator system under gusty wind conditions according to an exemplary embodiment of the present disclosure.

[0020] Figure 2is a schematic flow chart showing steps of determining a wind speed characteristic quantity in a pitch control method of a wind turbine generator set under gusty wind conditions according to an exemplary embodiment of the present disclosure.

[0021] Figure 3 is a schematic diagram showing how wind speed data is acquired in a pitch control method of a wind turbine generator set under gusty wind conditions according to an exemplary embodiment of the present disclosure.

[0022] Figure 4 is a schematic diagram showing a change trend of gust wind conditions in a pitch control method of a wind turbine generator set under gust wind conditions according to an exemplary embodiment of the present disclosure.

[0023] Figure 5 The present invention is a schematic flowchart showing steps of performing pitch control on a wind turbine generator set in a pitch control method of a wind turbine generator set under gusty wind conditions according to an exemplary embodiment of the present disclosure.

[0024] Figure 6 The present invention is a schematic flow chart showing steps of determining an additional pitch angle or a pitch rate in a pitch control method of a wind turbine generator system under gusty wind conditions according to an exemplary embodiment of the present disclosure.

[0025] Figure 7 is a schematic diagram showing a curve of a nonlinear relationship between wind speed and additional pitch angle in a pitch control method of a wind turbine generator set under gusty wind conditions according to an exemplary embodiment of the present disclosure.

[0026] Figure 8 Schematic diagram showing a nonlinear relationship change curve between wind speed and pitch rate in a pitch control method of a wind turbine generator set under gusty wind conditions according to an exemplary embodiment of the present disclosure.

[0027] Fig. 9 1 is a schematic diagram showing a comparison between blade root loads of a wind turbine generator system that adopts a pitch control method according to an exemplary embodiment of the present disclosure and a blade root load that does not adopt a pitch control method.

[0028] Fig.10 1 is a schematic diagram showing a comparison between the nacelle acceleration of a wind turbine generator system adopting a pitch control method according to an exemplary embodiment of the present disclosure and a nacelle acceleration of a wind turbine generator system not adopting a pitch control method. DETAILED DESCRIPTION

[0029] The following specific embodiments are provided to help the reader obtain a comprehensive understanding of the methods, devices and / or systems described herein. However, after understanding the disclosure of the present application, various changes, modifications and equivalents of the methods, devices and / or systems described herein will be clear. For example, the order of operations described herein is only an example and is not limited to those orders set forth herein, but can be changed as will be clear after understanding the disclosure of the present application, except for operations that must occur in a specific order. In addition, for greater clarity and simplicity, the description of features known in the art may be omitted.

[0030] The features described herein can be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and / or systems described herein, which will be clear after understanding the disclosure of the present application.

[0031] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more.

[0032] Although terms such as "first", "second", and "third" may be used herein to describe various members, components, regions, layers, or portions, these members, components, regions, layers, or portions should not be limited by these terms. Instead, these terms are only used to distinguish one member, component, region, layer, or portion from another member, component, region, layer, or portion. Therefore, without departing from the teachings of the examples described herein, the first member, first component, first region, first layer, or first portion referred to in the examples may also be referred to as the second member, second component, second region, second layer, or second portion.

[0033] In the specification, when an element (such as a layer, a region, or a substrate) is described as being “on”, “connected to”, or “coupled to” another element, the element may be directly “on”, “connected to”, or “coupled to” another element, or one or more other elements may be present therebetween. Conversely, when an element is described as being “directly on”, “directly connected to”, or “directly coupled to” another element, there may be no other elements present therebetween.

[0034] The terms used herein are only used to describe various examples and are not intended to limit the disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms "comprise", "include" and "have" indicate the presence of the described features, quantities, operations, components, elements and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements and / or combinations thereof.

[0035] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by a person of ordinary skill in the art to which the present disclosure belongs after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in a general dictionary) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal manner.

[0036] Furthermore, in the description of examples, when it is considered that a detailed description of a well-known related structure or function would cause vague interpretation of the present disclosure, such a detailed description will be omitted.

[0037] As mentioned above, in the related art, there is a problem that the ultimate load of the wind turbine generator set increases under gusty wind conditions and the safe operation of the wind turbine generator set cannot be ensured.

[0038] In view of the above problems, the present disclosure provides a pitch control method for a wind turbine generator set under gusty wind conditions, a computer device, a wind turbine generator set and a computer-readable storage medium to solve or at least alleviate the above problems.

[0039] According to a first aspect of an exemplary embodiment of the present disclosure, a pitch control method of a wind turbine generator set under gusty wind conditions is provided. The pitch control method of a wind turbine generator set under gusty wind conditions can be performed by an electronic device with a computing and analysis function, the electronic device can be a terminal device or a server, wherein the terminal device can be a tablet computer, a laptop computer, a digital assistant, etc.; the server can be an independent server, a server cluster, a cloud computing platform, or a virtualization center.

[0040] In an example application scenario, an electronic device that executes a pitch control method for a wind turbine generator set under gusty wind conditions according to an embodiment of the present disclosure may determine a wind speed characteristic quantity of wind reaching a rotor of the wind turbine generator set based on wind speed data, and may determine a wind speed trend quantity based on the wind speed characteristic quantity. Here, the wind speed trend quantity represents the cumulative amount of changes in the wind speed characteristic quantity within a preset time period before the wind reaches the rotor.

[0041] The electronic device can also perform pitch control on the wind turbine generator set in response to the wind speed trend quantity indicating that the wind turbine generator set is in a gusty wind condition.

[0042] Here, the electronic device may be communicatively connected to a database or a data management system, for example, and the database or the data management system may store measured wind speed data or estimated wind speed data, so that the electronic device may execute the above method based on the wind speed data.

[0043] According to the pitch control scheme of the wind turbine generator set disclosed in the present invention, gust wind conditions can be identified more accurately, and the pitch control of the wind turbine generator set can be performed to solve or alleviate the extreme load problem and ensure the safety and stability of the unit.

[0044] According to an exemplary embodiment of the present disclosure, a pitch control method of a wind turbine generator set under gusty wind conditions may include the following steps:

[0045] like Figure 1 As shown, in step S110, the wind speed characteristic quantity of the wind reaching the impeller of the wind turbine generator system may be determined based on the wind speed data.

[0046] In this step, the wind speed data can be measured by wind measuring equipment such as laser radar, millimeter wave ranging radar, microwave radar, sodar, etc., wherein the laser radar-based feedforward control can be applied to wind turbines. The laser radar can be installed on the nacelle or hub of the wind turbine and can measure the wind speed in front of the impeller. Therefore, the wind field information in front of the impeller can be measured by the laser radar, and the gust wind condition can be identified. After the gust is identified, the unit can enter the safety protection mode to ensure the safety of the whole machine and the goal of load reduction. However, the embodiments of the present disclosure are not limited to this, and can also be obtained by other devices or methods, for example, it can also be estimated by machine learning models or empirical models.

[0047] The wind speed characteristic quantity may characterize the characteristics of the wind speed, which may be obtained by reconstructing the wind speed of the corresponding incoming wind based on the wind speed data, for example, may be an equivalent wind speed or an average wind speed.

[0048] As an example, the wind speed characteristic quantity can be determined in the following way:

[0049] like Figure 2 As shown, in step S210, wind speed data in one or more wind speed sections directed from the incoming wind side to the impeller may be acquired.

[0050] In step S220, the wind speed characteristic quantity at the current moment may be determined according to the wind speed data, the distance of each wind speed section from the impeller, and the wind speed processing parameters on the impeller at the current moment.

[0051] Here, the wind speed processing parameter may be: the average wind speed within a preset time length before the current moment, or the average wind speed of each wind speed section at the current moment.

[0052] Specifically, the wind speed characteristic quantity of the impeller surface in front of the impeller can be measured in advance by means of a remote sensing wind hardware sensor, for example, the wind speed of the single section or multiple sections can be reconstructed for a single section or multiple sections measuring radar. The wind speed characteristic quantity reconstructed in this way can comprehensively reflect the wind speed condition in front of the impeller, thereby facilitating more accurate identification of gust conditions.

[0053] Several example processes for determining wind speed characteristic quantities are given below.

[0054] In one example, the wind speed processing parameter may be the average wind speed within a preset time period before the current moment.

[0055] For example, Figure 3 As shown, taking the wind measuring device as a four-beam pulse laser radar as an example, the wind speed data of one or more range gates (i.e., wind speed sections) can be measured simultaneously, and the wind speed of each beam at multiple range gates can be obtained. The distance from each wind speed section to the impeller can be, for example, the distance from the range gate where the wind speed section is located to the impeller, and the distance can be read at the wind measuring device, for example.

[0056] although Figure 3 Two wind speed sections are used as an example, but it is not limited to this, and there may also be one or more than two wind speed sections.

[0057] In this example, the wind speed reconstruction ideal model can be used for wind speed reconstruction, which is particularly suitable for scenarios with low wind turbulence intensity and low wind shear intensity. Specifically, it can be assumed that the wind speed in front of the impeller moves toward the impeller at a fixed average speed.

[0058] For example, the wind speed characteristic at time t can be expressed by the following formula (1):

[0059]

[0060] Among them, RAWS j (x) represents the average wind speed at the jth measurement position (e.g., wind speed section) at time x; j represents the number of the point on the path, for example, the number of the range gate (i.e., wind speed section); n represents the total number of measurement positions, for example, the total number of range gates; t represents the current time, for example, the time when the wind speed reaches the impeller of the unit; x j represents the measurement distance between the jth measurement position and the measurement device; x1 represents the measurement distance between the 1st measurement position and the measurement device; represents a wind speed processing parameter, specifically, represents the average wind speed within a preset time length before the current moment. For example, it can be the average value of the wind speed characteristic quantity V0L(t) within a preset time length before the current moment. Here, the preset time length can be, for example, but not limited to, 100s or 600s.

[0061] Here, the preset time length can be set according to actual needs, and the average wind speed within the preset time length can be estimated or measured by other methods, such as by measuring with an anemometer installed at or near the impeller.

[0062] In another example, the wind speed processing parameter may be the average wind speed of each wind speed section at the current moment.

[0063] There is a wind speed evolution effect when the wind in front of the impeller moves, which will further cause the average wind speed at different distances from the impeller to change. Therefore, in order to make the wind speed reconstruction method closer to the actual wind speed operation process, the average wind speed at each wind speed section can be considered for wind speed reconstruction.

[0064] Here, wind speed evolution may refer to the change or evolution of wind speed over time. Wind speed refers to the speed of the wind, usually expressed in miles per hour (mph) or meters per second (m / s). Wind speed evolution may, for example, refer to the changing trend of wind speed over time at a certain location, or the changing trend of wind speed over time at multiple locations in a certain area.

[0065] For example, the wind speed characteristic at time t can be expressed by the following formula (2):

[0066]

[0067] Among them, RAWS j (x) represents the average wind speed at the jth measurement position (e.g., wind speed section) at time x; j represents the number of the point on the path, for example, the number of the range gate (i.e., wind speed section); n represents the total number of measurement positions, for example, the total number of range gates; t represents the current time, for example, the time when the wind speed reaches the impeller of the unit; x j represents the measurement distance between the jth measurement position and the measurement device; x1 represents the measurement distance between the 1st measurement position and the measurement device; represents a wind speed processing parameter, specifically, represents the average wind speed of the j-th wind speed section within a preset time length before the current moment. Here, the preset time length may be, for example, but not limited to, 100s or 600s.

[0068] Here, the average wind speed at the j-th wind speed section at the current moment can be estimated or measured by other methods, such as by an anemometer installed at or near the impeller, for example, Figure 3 For example, the wind speeds of multiple points in each wind speed section may be calculated, and the average of the wind speeds of the multiple points may be used as the average wind speed of the wind speed section.

[0069] In yet another example, the wind speed processing parameter may be the average wind speed of each path in the multiple paths at each wind speed section at the current moment.

[0070] Specifically, based on the law of wind speed evolution, in theory, the average wind speeds at different measurement distances and different measurement heights in front of the impeller are affected by the evolution effect. Therefore, in order to build a detailed wind speed reconstruction model, it can be assumed that the wind speeds at different measurement positions and different measurement heights in front of the impeller of the wind turbine move forward according to different average wind speeds for wind speed reconstruction.

[0071] In this example, the wind speed data may include wind speed data at each wind speed section of multiple paths pointing from the incoming wind side to the impeller, wherein the wind speed characteristic quantity at the current moment can be determined in the following manner: the wind speed characteristic quantity at the current moment can be determined based on the wind speed data, the direction of each path in the multiple paths, the distance of each wind speed section from the impeller, the wind speed processing parameters on the impeller at the current moment, and the number of paths.

[0072] Here, the direction of each path can be represented by the angle between the path and the horizontal line, but it is not limited thereto and can also be represented by other means, such as the angle between the path and the vertical line, the angle between the path and another path, vector coordinates, etc. Specifically, the extension direction of the path can be arbitrary. For example, the direction of the light beam emitted by the laser radar can be divergent. When calculating the synthetic wind speed, the extension direction of the path can be converted to a direction perpendicular to the impeller surface. Therefore, the direction of the path can be represented by the angle between the path and the horizontal line perpendicular to the impeller surface.

[0073] Still Figure 3 For example, when the wind measuring equipment is a four-beam pulsed laser radar, the wind speed of each beam at multiple range gates (i.e., wind speed sections) can be obtained. For example, four paths formed by four beams can be selected to measure the wind speed at two range gates on each path respectively.

[0074] Although four paths and two points on each path are used as an example to obtain wind speed data, the embodiments of the present disclosure are not limited thereto, and more or fewer paths may be selected, and / or more or fewer points may be selected on each path.

[0075] As an example, when the wind speeds of all points on the path at the corresponding target time are obtained, the average wind speed of these points in a specific direction may be calculated.

[0076] For example, the composite wind speed V0Beam of the ith path at the current moment can be expressed by the following formula (3): i (t):

[0077]

[0078] Among them, RWS ij (x) represents the average wind speed at the jth measurement position (e.g., wind speed section) of the i-th path at time x; i represents the number of the path, for example, for a four-beam radar, the value of i can be 1, 2, 3, 4; j represents the number of the point on the path, for example, it can be the number of the range gate (i.e., wind speed section); n represents the total number of measurement positions, such as the total number of range gates; θ i represents the direction of the i-th path, such as the angle between the path and the horizontal line; t represents the current moment, such as the moment when the wind speed reaches the impeller of the unit; x j represents the measurement distance between the jth measurement position and the measurement device; x1 represents the measurement distance between the 1st measurement position and the measurement device; represents a wind speed processing parameter, specifically, it represents the average wind speed of the ith path at the jth wind speed section within a preset time length before the current moment. Here, the preset time length may be, for example, but not limited to, 100s or 600s.

[0079] Based on the above formula (3), the wind speed characteristic at time t can be expressed by the following formula (4):

[0080]

[0081] Here, m is the total number of paths, such as the total number of light beams.

[0082] In this example, since the wind speed conditions of multiple paths at multiple measurement locations are taken into account, the wind speed evolution process can be better acquired, which can be closer to the actual wind speed change, making the reconstructed wind speed feature more representative.

[0083] In step S120, the wind speed trend quantity may be determined based on the wind speed characteristic quantity.

[0084] In this step, the wind speed trend quantity may represent the cumulative amount of changes in the wind speed characteristic quantity within a preset time period before the wind reaches the impeller.

[0085] Gusts can refer to winds with positive or negative deviations from their average value within a specified time. In gusty conditions, the wind speed may deviate from its average value in a short period of time. Therefore, by calculating the cumulative amount of changes in the wind speed characteristic quantity over a period of time, gusty conditions can be identified more accurately and timely, so that unit control strategies can be taken in a timely manner.

[0086] As an example, the wind speed trend amount may be determined in the following manner: the wind speed trend amount may be determined based on the accumulation amount of the wind speed characteristic amount within a preset time period and the accumulation amount of the initial value of the wind speed characteristic amount within a preset time period;

[0087] Here, the initial value may be a wind speed characteristic at an initial moment in a preset time period. Specifically, the change in the cumulative amount of the wind speed characteristic within the preset time period may be determined based on the difference between the cumulative amount of the wind speed characteristic within the preset time period and the cumulative amount of the wind speed characteristic at the initial moment of the preset time period within the preset time period.

[0088] For example, Figure 4 Taking the EOG wind condition of IEC 61400-1 as an example, a wind speed curve diagram of the gust wind condition change trend is shown. Here, the EOG (Extreme operating gust) wind condition is an extreme gust form defined by the IEC 61400-1 international standard. Figure 4 As shown, if the current time is t0 and the length of the preset time period is Δt, the initial time of the preset time period is (t0-Δt).

[0089] As an example, the wind speed trend quantity S can be expressed by the following formula (5):

[0090]

[0091] Among them, V0L(t) represents the wind speed characteristic, V0L(t0-Δt)×Δt represents the cumulative amount of the wind speed characteristic quantity within the preset time period Δt, and V0L(t0-Δt)×Δt represents the cumulative amount of the initial value V0L(t0-Δt) of the wind speed characteristic quantity within the preset time period Δt.

[0092] Reference Figure 4 The curve shown can be considered as the difference between the area under the curve of the wind speed characteristic quantity within the preset time period (that is, the area formed by the curve and the horizontal axis within the preset time period) and the accumulated area of ​​the wind speed characteristic quantity at the initial moment after the preset time period (that is, the area of ​​the rectangle formed by the size of the wind speed characteristic quantity at the initial moment and the length of the preset time period).

[0093] In the above manner, the trend quantity is determined by utilizing the difference between the two cumulative quantities, which can reflect the change of wind speed since the start of the mutation (for example, the above initial moment), and the basic wind speed that already existed at the start of the mutation can be eliminated. This makes it possible to focus on the relative size of the cumulative change of the wind speed characteristic quantity regardless of the basic wind speed, thereby avoiding the difference in the identification of gust conditions caused by different basic wind speeds, thereby being able to more accurately identify gust conditions.

[0094] As an example, the length of the preset time period can be determined in the following manner: the length of the preset time period can be determined based on the wind speed characteristic quantity, the distance from the impeller to the equivalent wind speed section where the wind speed characteristic quantity is located, and the pitch response time of the pitch system of the wind turbine generator set.

[0095] Here, when determining the length Δt of the preset time period, it may be considered to reserve advance control time for the unit to achieve a more effective control effect. For example, the length Δt of the preset time period may at least meet the following conditions:

[0096]

[0097] Wherein, V0L(t) is the wind speed characteristic quantity, x is the distance between the equivalent wind speed section where the wind speed characteristic quantity is located and the impeller surface of the wind turbine generator set, and τ is the response time of the variable pitch actuator of the wind turbine generator set.

[0098] According to the above conditions, the length of the preset time period can be determined more reasonably, and the pitch control time can be reserved for the unit to respond to the gust wind condition, so as to achieve a better unit control effect. However, the preset time period is not limited to this, and it can also be calculated without the above conditions. For example, even if the preset time period is short, at least part of the load problem can be alleviated by pitch control.

[0099] Return to reference Figure 1 In step S130, in response to the wind speed trend quantity indicating that the wind turbine generator set is in a gusty wind condition, pitch control may be performed on the wind turbine generator set.

[0100] In the case of determining the wind speed trend quantity, the wind speed trend quantity reflects the process of energy accumulation of wind speed changes, and can better reflect the energy increase trend of the wind turbine after the wind speed acts on the impeller. By analyzing the wind speed trend quantity, it can be determined whether it is currently in a gusty wind condition. If it is in a gusty wind condition, pitch control can be performed; if it is not in a gusty wind condition, the current operating state of the unit can be continued. For example, a boundary value condition can be preset for the wind speed trend quantity. When the wind speed trend quantity meets the boundary value condition, it can be considered to be in a gusty wind condition; when the wind speed trend quantity does not meet the boundary value condition, it can be considered not to be in a gusty wind condition. Here, the boundary value condition can be set according to actual needs. An example of a boundary value condition is given below.

[0101] As an example, it can be determined that the wind turbine is in a gusty wind condition in the following manner: in response to the condition that the wind speed trend quantity satisfies a preset first boundary value, it is determined that the wind turbine is in a gusty rising wind condition; in response to the condition that the wind speed trend quantity satisfies a preset second boundary value, it is determined that the wind turbine is in a gusty falling wind condition.

[0102] Specifically, the gust wind condition can be divided into a gust up wind condition and a gust down wind condition. The first boundary value condition and the second boundary value condition can be preset for these two wind conditions to determine the specific gust wind condition and adopt a corresponding control strategy.

[0103] As an example, according to the requirements of the wind turbine development process, the first boundary value S can be set for the gust rising wind condition. b_1 , set the second boundary value S for the gust downwind condition b_2 , when the wind speed trend is greater than S b_1 When the wind speed trend quantity S is less than S b_2 Here, as an example, the first boundary value may be a positive value, and the second boundary value may be a negative value.

[0104] By distinguishing between gusty rising wind conditions and gusty falling wind conditions, the unit's pitch control can be refined, and corresponding control strategies can be adopted for gust wind conditions at different stages to improve the control effect.

[0105] In addition, as an example, due to the influence of wind zones (Class A, Class B, Class C, etc.) during the design and development of wind turbines, the boundary value conditions for gust identification may not be unified. Therefore, the above boundary value conditions can be determined according to the actual application of the unit. As an example, the EOG wind condition defined in the IEC61400-1 standard can be used. Under this standard wind condition, the gust area (i.e., wind speed trend quantity) within the length Δt of the preset time period is calculated, and the boundary value conditions for gust identification are confirmed based on the size of the gust area.

[0106] As an example, when the wind speed trend quantity under the EOG wind condition is S0, the first boundary value S b_1 and the second boundary value S b_2 The following conditions can be met respectively:

[0107]

[0108]

[0109] Selecting a boundary value within the range of the above conditions can achieve a balance between the gust recognition frequency and the recognition effect. Specifically, when the above conditions are exceeded, if the boundary value is set to be less than the lower limit, gust recognition may be more frequent due to the boundary value being too small; if the boundary value is set to be greater than the upper limit, the recognition effect may be weakened due to the boundary value being too large.

[0110] As an example, in step S130, the wind turbine generator set may be subjected to pitch control in the following manner:

[0111] like Figure 5 As shown, in step S510, the additional pitch angle or pitch rate may be determined according to the degree to which the wind speed characteristic quantity deviates from the rated wind speed of the wind turbine generator set.

[0112] Under different wind speed conditions, when gusts occur, the impact on the unit is different. Generally speaking, the load reduction effect produced by the control is higher near the rated wind speed. Therefore, the additional pitch angle can be determined according to the degree to which the wind speed characteristic quantity deviates from the rated wind speed of the wind turbine.

[0113] Here, the degree to which the wind speed characteristic quantity deviates from the rated wind speed may be negatively correlated with the additional pitch angle, and when the wind speed characteristic quantity is near the rated wind speed, the additional pitch angle may be larger. The degree to which the wind speed characteristic quantity deviates from the rated wind speed is negatively correlated with the pitch rate.

[0114] As an example, in step S510, the additional pitch angle or pitch rate may be determined in the following manner:

[0115] like Figure 6 As shown, in step S610, multiple wind speed intervals and candidate additional pitch angles or candidate pitch rates corresponding to each wind speed interval may be determined based on the rated wind speed, cut-in wind speed, cut-out wind speed and preset correction value of the wind turbine generator set.

[0116] In step S620, a candidate additional pitch angle or a candidate pitch rate corresponding to the wind speed interval satisfied by the wind speed characteristic quantity may be determined as the additional pitch angle or the pitch rate.

[0117] Here, the wind speed characteristic quantity may be divided into a plurality of wind speed intervals, and different intervals may correspond to different preset candidate additional pitch angles or pitch change rates.

[0118] As an example, the above-mentioned multiple wind speed intervals may include a first wind speed interval, a second wind speed interval, and a third wind speed interval. The first wind speed interval may be determined based on a preset correction value and a rated wind speed, and includes the rated wind speed; the second wind speed interval may be determined based on a cut-in wind speed of the wind turbine generator set and the first wind speed interval, and is smaller than the first wind speed interval; the third wind speed interval may be determined based on a cut-out wind speed of the wind turbine generator set and the first wind speed interval, and is larger than the first wind speed interval. Here, the preset correction value may be determined according to actual needs or an empirical method to determine the first wind speed interval near the rated wind speed.

[0119] Here, the candidate additional pitch angle corresponding to the first wind speed interval may be greater than the candidate additional pitch angle corresponding to the third wind speed interval, and the candidate additional pitch angle corresponding to the third wind speed interval may be greater than the candidate additional pitch angle corresponding to the first wind speed interval; the candidate pitch rate corresponding to the third wind speed interval may be greater than the candidate pitch rate corresponding to the second wind speed interval, and the candidate pitch rate corresponding to the second wind speed interval may be greater than the candidate pitch rate corresponding to the first wind speed interval. In this way, a larger additional pitch angle or pitch rate can be used when the wind speed condition is close to the rated wind speed, thereby improving the load reduction effect of pitch control.

[0120] In one example, when a gust-up wind condition is identified, a nonlinear relationship change curve between the wind speed characteristic quantity and the additional pitch angle Δθ can be established, and the curve can be expressed by the following formula (6):

[0121]

[0122] Among them, V0L represents the wind speed characteristic, V cutin Indicates the cut-in wind speed of the wind turbine, V rated Indicates the rated wind speed of the wind turbine generator set, V cutout represents the cut-out wind speed of the wind turbine generator set, v1 represents the preset first correction value, v2 represents the preset second correction value, Δθ max represents the maximum additional pitch demand, f represents the additional pitch demand correction coefficient, and here, the unit of the additional pitch angle can be, for example, degree (deg). Although formula (6) shows the value of the additional pitch angle in each wind speed range, it is not limited thereto and can also be set according to actual conditions.

[0123] As an example, the first correction value v1, the second correction value v2 and the additional pitch demand correction coefficient f can all be obtained by iterative analysis based on the load reduction demand in the development process of the wind turbine generator set to obtain their optimal values. For example, based on the experience of the whole machine development, v1∈[2,5], v2∈[2,5], f∈[0,1], and its unit can be meters per second (m / s), for example, v1=v2=3m / s, f=0.8. In addition, the first correction value and the second correction value can be the same or different, and different values ​​can be adjusted according to the wind speed range in which the load constraint is located during the development of the wind turbine generator set. For example, taking the rated wind speed of 10m / s as an example, if the whole machine load problem occurs at a wind speed of 7m / s, the first correction value v1 can be 4m / s to identify and control the wind speed in a specific range, and the value of the second correction value v2 can be determined similarly.

[0124] For example, at the cut-in wind speed V cutin 3m / s, rated wind speed V rated The cut-out wind speed is 10m / s. cutout In the example where the first correction value v1 and the second correction value v2 are 20 m / s, and f is 0.8, the calculation can be as follows: Figure 7 The nonlinear relationship curve between the wind speed characteristic quantity and the additional pitch angle is shown.

[0125] In another example, when a gusty downwind condition is identified, the wind speed characteristic quantity and the pitch rate can be established. The nonlinear relationship change curve can be expressed by the following formula (7):

[0126]

[0127] Among them, V0L represents the wind speed characteristic, V cutin Indicates the cut-in wind speed of the wind turbine, V rated Indicates the rated wind speed of the wind turbine generator set, V cutout represents the cut-out wind speed of the wind turbine generator set, v1 represents the preset first correction value, v2 represents the preset second correction value, represents the maximum pitch speed requirement, and f represents the additional pitch speed requirement correction coefficient. Although equation (7) shows the value of the pitch speed in each wind speed range, it is not limited thereto and can also be set according to actual conditions.

[0128] As an example, the first correction value v1, the second correction value v2 and the additional pitch demand correction coefficient f can all be obtained by iterative analysis based on the load reduction demand in the development process of the wind turbine generator set to obtain their optimal values. For example, based on the experience of the whole machine development, v1∈[2,5], v2∈[2,5], f∈[0,1], and its unit can be meters per second (m / s), for example, v1=v2=3m / s, f=0.8. In addition, the first correction value and the second correction value can be the same or different, and different values ​​can be adjusted according to the wind speed range in which the load constraint is located during the development of the wind turbine generator set. For example, taking the rated wind speed of 10m / s as an example, if the whole machine load problem occurs at a wind speed of 7m / s, the first correction value v1 can be 4m / s to identify and control the wind speed in a specific range, and the value of the second correction value v2 can be determined similarly.

[0129] For example, at the cut-in wind speed V cutin 3m / s, rated wind speed V rated The cut-out wind speed is 10m / s. cutout In the example where the first correction value v1 and the second correction value v2 are 20 m / s, and f is 0.8, the calculation can be as follows: Figure 8 The nonlinear relationship between wind speed characteristic quantity and pitch rate is shown in the curve above. Figure 7 and here Figure 8 The purpose is to show the relationship between the wind speed characteristic quantity and the additional pitch angle and the pitch change rate, so the specific values ​​are not shown.

[0130] Through the above method, the additional pitch angle or pitch rate can be determined according to the wind speed conditions and whether the gust wind condition is an upward wind condition or a downward wind condition, and the pitch control can be performed to perform load protection more precisely under gust wind conditions.

[0131] In step S520, pitch control may be performed on the wind turbine generator system based on the additional pitch angle or the pitch rate.

[0132] After the additional pitch angle or the pitch rate is determined, the blades of the wind turbine generator set can be controlled to perform a retracting action according to the additional pitch angle or the pitch rate.

[0133] Under gusty rising wind conditions, after determining the additional pitch angle, the blades of the wind turbine can be controlled to perform the retracting action at a certain pitch rate, and the pitch angles of the three blades can be controlled from the current pitch angle θ to the position of θ+Δθ. After reaching the θ+Δθ position, the pitch angle of the wind turbine can be limited, and the unit is not allowed to perform the opening action until the gusty wind condition experiences and passes through the impeller surface of the wind turbine.

[0134] In gusty downwind conditions, after determining the pitch rate, when the wind turbine is in the open-pitch state, the pitch rate of the wind turbine is limited to not exceed the pitch rate.

[0135] Through the above method, when a gusty wind condition is identified, pitch control can be performed according to the wind speed conditions. Since the changing trend of the wind speed is obtained in advance through the trend quantity, the control method has a time advance amount, which can effectively reduce the limit load of the wind turbine and prevent overspeed.

[0136] Fig. 9 and Fig.10 The effects of using the pitch control method of a wind turbine generator set in gusty wind conditions and not using the pitch control method are respectively shown.

[0137] Compared with not adopting the pitch control method, when the method according to the exemplary embodiment of the present disclosure is adopted, Fig. 9 As shown, the load of the unit can be reduced; Fig.10 As shown, the cabin acceleration can be reduced, thereby improving the stability of the unit.

[0138] According to the pitch control method of a wind turbine under gusty wind conditions according to the embodiment of the present disclosure, gusty wind conditions can be accurately identified, and under extreme gusty wind conditions, the ultimate load of the wind turbine can be reduced through pitch control or torque control of the wind turbine to ensure the safety of the unit.

[0139] According to a second aspect of the present disclosure, a computer device is provided, comprising: at least one processor; and at least one memory storing computer executable instructions, wherein the computer executable instructions, when executed by the at least one processor, prompt the at least one processor to execute the pitch control method of a wind turbine generator set under gusty wind conditions according to the exemplary embodiment of the present disclosure.

[0140] As an example, the computer device may be arranged in the wind turbine, or the computer device may be connected to a control system of the wind turbine.

[0141] As an example, the computer device can be a PC, a tablet device, a personal digital assistant, a smart phone, or other device capable of executing the above-mentioned instruction set. Here, the computer device is not necessarily a single electronic device, but can also be any device or circuit that can execute the above-mentioned instructions (or instruction sets) individually or jointly. The computer device can also be part of an integrated control system or system manager, or can be configured as a portable electronic device that is interconnected with a local or remote (e.g., via wireless transmission) interface.

[0142] In a computer device, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a programmable logic device, a dedicated processor system, a microcontroller or a microprocessor. As an example and not limitation, a processor may also include an analog processor, a digital processor, a microprocessor, a multi-core processor, a processor array, a network processor, etc.

[0143] The processor can execute instructions or codes stored in the memory, wherein the memory can also store data. Instructions and data can also be sent and received through the network via the network interface device, wherein the network interface device can adopt any known transmission protocol.

[0144] The memory may be integrated with the processor, for example, RAM or flash memory is arranged within an integrated circuit microprocessor or the like. In addition, the memory may include a separate device, such as an external disk drive, a storage array, or any other storage device that can be used by a database system. The memory and the processor may be operatively coupled, or may communicate with each other, such as through an I / O port, a network connection, etc., so that the processor can read files stored in the memory.

[0145] In addition, the computer device may also include a video display (such as a liquid crystal display) and a user interaction interface (such as a keyboard, a mouse, a touch input device, etc.) All components of the computer device may be connected to each other via a bus and / or a network.

[0146] According to a third aspect of the present disclosure, a wind turbine generator set is provided. The wind turbine generator set may include the computer device according to the embodiment of the present disclosure.

[0147] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided. When instructions in the computer-readable storage medium are executed by at least one processor, the at least one processor is prompted to execute the pitch control method of a wind turbine generator set under gusty wind conditions according to the exemplary embodiment of the present disclosure.

[0148] The pitch control method of a wind turbine generator set under gusty wind conditions according to an embodiment of the present disclosure can be written as a computer program and stored on a computer-readable storage medium. Examples of computer-readable storage media include: read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disk storage, hard disk drive (HDD), solid state drive (SSD), card storage (such as, multimedia card, secure digital (SD) card or extreme digital (XD) card), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk and any other device, any other device is configured to store computer program and any associated data, data files and data structures in a non-transitory manner and provide the computer program and any associated data, data files and data structures to a processor or computer so that the processor or computer can execute the computer program. In one example, the computer program and any associated data, data files and data structures are distributed on a networked computer system so that the computer program and any associated data, data files and data structures are stored, accessed and executed in a distributed manner by one or more processors or computers.

[0149] The specific implementation methods of the present disclosure have been described in detail above. Although some embodiments have been shown and described, those skilled in the art should understand that these embodiments may be modified and varied without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents. These modifications and variations should also be within the scope of protection of the claims of the present disclosure.

Claims

1. A method for controlling the pitch of a wind turbine generator set under gusty wind conditions, characterized in that: The pitch control method comprises: Based on the wind speed data, determining a wind speed characteristic quantity of the wind reaching the impeller of the wind turbine generator set; Based on the wind speed characteristic quantity, determining a wind speed trend quantity, wherein the wind speed trend quantity represents a cumulative amount of changes in the wind speed characteristic quantity within a preset time period before the wind reaches the impeller; In response to the wind speed trend quantity indicating that the wind turbine generator set is in a gusty wind condition, pitch control is performed on the wind turbine generator set.

2. The pitch control method according to claim 1, characterized in that: The wind speed trend quantity is determined by: Determining the wind speed trend amount based on the accumulation of the wind speed characteristic amount within the preset time period and the accumulation of the initial value of the wind speed characteristic amount within the preset time period; The initial value is the wind speed characteristic at the initial moment in the preset time period.

3. The pitch control method according to claim 1, characterized in that: The wind turbine generator set is determined to be in gusty wind conditions by: In response to the wind speed trend quantity satisfying a preset first boundary value, determining that the wind turbine generator set is in a gust rising wind condition; In response to the wind speed trend quantity satisfying a preset second boundary value condition, it is determined that the wind turbine generator set is in a gust-down wind condition.

4. The pitch control method according to any one of claims 1 to 3, characterized in that: The wind turbine generator set is subjected to pitch control in the following manner: Determining an additional pitch angle or a pitch change rate according to the degree to which the wind speed characteristic quantity deviates from the rated wind speed of the wind turbine generator set; Based on the additional pitch angle or the pitch rate, the wind turbine generator set is subjected to pitch control. The degree to which the wind speed characteristic quantity deviates from the rated wind speed is negatively correlated with the pitch rate.

5. The pitch control method according to claim 4, characterized in that: The step of determining the additional pitch angle or the pitch change rate according to the degree to which the wind speed characteristic quantity deviates from the rated wind speed of the wind turbine generator set comprises: Based on the rated wind speed, the cut-in wind speed, the cut-out wind speed and the preset correction value of the wind turbine generator set, a plurality of wind speed intervals and candidate additional pitch angles or candidate pitch change rates corresponding to each wind speed interval are determined; A candidate additional pitch angle or a candidate pitch rate corresponding to a wind speed interval satisfied by the wind speed characteristic quantity is determined as the additional pitch angle or the pitch rate.

6. The pitch control method according to claim 5, characterized in that: The plurality of wind speed intervals include a first wind speed interval, a second wind speed interval and a third wind speed interval, The first wind speed interval is determined based on a preset correction value and the rated wind speed, and includes the rated wind speed; The second wind speed interval is determined based on the cut-in wind speed of the wind turbine generator set and the first wind speed interval, and is smaller than the first wind speed interval; The third wind speed interval is determined based on the cut-out wind speed of the wind turbine generator set and the first wind speed interval, and is greater than the first wind speed interval.

7. The pitch control method according to claim 6, characterized in that: The candidate additional pitch angle corresponding to the first wind speed interval is greater than the candidate additional pitch angle corresponding to the third wind speed interval, and the candidate additional pitch angle corresponding to the third wind speed interval is greater than the candidate additional pitch angle corresponding to the first wind speed interval, Among them, the candidate pitch rate corresponding to the third wind speed interval is greater than the candidate pitch rate corresponding to the second wind speed interval, and the candidate pitch rate corresponding to the second wind speed interval is greater than the candidate pitch rate corresponding to the first wind speed interval.

8. The pitch control method according to claim 1, characterized in that: The wind speed characteristic quantity is determined by: Acquire wind speed data in one or more wind speed sections directed from the incoming wind side to the impeller; Determine the wind speed characteristic quantity at the current moment according to the wind speed data, the distance of each wind speed section from the impeller, and the wind speed processing parameter on the impeller at the current moment, The wind speed processing parameter is: the average wind speed within a preset time length before the current moment, or the average wind speed of each wind speed section at the current moment.

9. The pitch control method according to claim 8, characterized in that: The wind speed data includes wind speed data of multiple paths from the incoming wind side to the impeller at each wind speed section, wherein the wind speed characteristic quantity at the current moment is determined by: Determine the wind speed characteristic quantity at the current moment according to the wind speed data, the direction of each path in the multiple paths, the distance of each wind speed section from the impeller, the wind speed processing parameters on the impeller at the current moment, and the number of paths, The wind speed processing parameter is: the average wind speed of each path in the multiple paths at each wind speed section at the current moment.

10. The pitch control method according to claim 1, characterized in that: The length of the preset time period is determined by: The length of the preset time period is determined based on the wind speed characteristic quantity, the distance between the equivalent wind speed section where the wind speed characteristic quantity is located and the impeller, and the pitch response time of the pitch system of the wind turbine generator set.

11. A computer device, characterized in that: include: at least one processor; at least one memory storing computer executable instructions, Wherein, when the computer executable instructions are executed by the at least one processor, the at least one processor is prompted to execute the pitch control method of a wind turbine generator set under gusty wind conditions as described in any one of claims 1 to 10.

12. A wind turbine generator set, characterized in that: The wind turbine comprises the computer device according to claim 11.

13. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by at least one processor, the at least one processor is prompted to execute the pitch control method of a wind turbine generator set under gusty wind conditions as described in any one of claims 1 to 10.

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