A method, device, equipment and medium for identifying and controlling whole machine load

Abstract

The present application discloses a method, device, equipment and medium for identifying and controlling the load of the entire machine, which relates to the field of wind power technology. The method includes: measuring the root bending moment of the three blades of the wind turbine in real time, and determining the pitch mechanism bending moment based on the root bending moment and the real-time pitch angle; determining the hub center bending moment in different hub coordinate systems based on the blade cone angle, the rotor azimuth angle and the pitch mechanism bending moment; determining the cabin bending moment in the tower top coordinate system based on the cabin center of gravity, the cabin weight and the hub center bending moment of the wind turbine; determining the rotor thrust of the wind turbine using the root bending moment, and determining the tower bottom pitching moment in the tower bottom coordinate system based on the rotor thrust and the cabin bending moment; when it is detected that the measured target critical load triggers a pre-set load control strategy, the entire wind turbine is controlled to enter the adjustment link to control the target critical load. The technical solution of the present application is conducive to ensuring the safety of the wind turbine tower structure and improving the maintenance level.

Description

Technical Field

[0001] The present invention relates to the field of wind power technology, and in particular to a method, device, equipment and medium for identifying and controlling the load of a whole machine. Background Art

[0002] The load on the entire wind turbine is complex, with many influencing factors and obvious nonlinear characteristics. The load simulated based on a low-fidelity simulation model is difficult to accurately evaluate the actual load conditions of the rigid-flexible coupling real unit under complex site conditions. In terms of testing, the key loads of the entire unit cannot be directly measured or cannot be measured with long-term low cost and high reliability. If the load level and remaining life of the key components of the entire unit are unknown, it will be difficult to support the closed-loop design of the entire unit load, control load reduction, increase power generation and extend the life of the unit in the later period. Therefore, how to effectively identify and control the load of the entire unit and improve the structural safety and load management level of wind turbines are problems that technicians in this field currently need to solve. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a method, device, equipment, and medium for identifying and controlling the load of the entire machine, which can effectively identify and control the critical load level of the entire machine, thereby ensuring the safety of the wind turbine tower structure and improving the maintenance level. The specific solution is as follows:

[0004] In a first aspect, the present application discloses a method for identifying and controlling the load of an entire machine, comprising:

[0005] measuring the blade root bending moments of the three blades of the wind turbine in real time, and determining the pitch mechanism bending moment based on the blade root bending moments and the real-time pitch angles of the three blades;

[0006] Determining blade cone angles and rotor azimuth angles of the three blades, and determining hub center bending moments in different hub coordinate systems based on the blade cone angles, the rotor azimuth angle, and the pitch mechanism bending moment;

[0007] Determining the center of gravity and weight of a nacelle of the wind turbine generator system, and determining a nacelle bending moment in a tower top coordinate system based on the center of gravity, weight, and hub center bending moment of the nacelle;

[0008] Determining a rotor thrust of the wind turbine generator system using the blade root bending moment, and determining a tower bottom pitching moment in a tower bottom coordinate system based on the rotor thrust and the nacelle bending moment;

[0009] The target critical load of the wind turbine generator set is determined using the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the rotor thrust, and the tower base pitching moment. When it is detected that the target critical load triggers a preset load control strategy, the entire wind turbine generator set is controlled to enter an adjustment phase to control the target critical load.

[0010] Optionally, the real-time measurement of the blade root bending moment of the three blades of the wind turbine generator set, and determination of the pitch mechanism bending moment based on the blade root bending moment and the real-time pitch angles of the three blades, includes:

[0011] The blade root flapping moment and blade root shimmy bending moment of the three blades of the wind turbine are measured in real time through optical fiber sensors or cantilever sensors;

[0012] Determining the in-plane bending moment and out-of-plane bending moment of the pitch mechanism based on the blade root flapping bending moment, the blade root shimmy bending moment, and the real-time pitch angles of the three blades;

[0013] The calculation formulas for the in-plane bending moment and the out-of-plane bending moment are:

[0014] ;

[0015] is the in-plane bending moment, is the out-of-plane bending moment; is the blade root shimmying bending moment, Swing the bending moment for the blade root; is the real-time pitch angle of the three blades; Characterize the three blades of a wind turbine.

[0016] Optionally, determining the blade cone angles and the rotor azimuth angles of the three blades, and determining the hub center bending moments in different hub coordinate systems based on the blade cone angles, the rotor azimuth angles, and the pitch mechanism bending moments, includes:

[0017] determining blade cone angles of the three blades, and determining a first hub center bending moment in a rotating hub coordinate system based on the pitch mechanism bending moment;

[0018] Determining the rotor azimuth angles of the three blades, and determining a second hub center bending moment in a fixed hub coordinate system based on the rotor azimuth angles and the first hub center bending moment;

[0019] The calculation formula of the first hub center bending moment is:

[0020] ;

[0021] 、 、 are the first hub center bending moment components on the x-axis, y-axis and z-axis in the rotating hub coordinate system respectively; 、 are the in-plane bending moment and out-of-plane bending moment of the pitch mechanism, Characterize the three blades of the wind turbine; is the blade cone angle of the three blades;

[0022] The calculation formula of the second hub center bending moment is:

[0023] ;

[0024] 、 、 are the components of the second hub center bending moment on the x-axis, y-axis and z-axis in the fixed hub coordinate system respectively; is the rotor azimuth, defined as the orientation angle of the first blade.

[0025] Optionally, the calculation formula for the cabin bending moment in the tower top coordinate system is:

[0026] ;

[0027] in, 、 、 are the cabin bending moment components on the x-axis, y-axis and z-axis in the tower top coordinate system respectively; 、 、 is the hub center bending moment in the fixed hub coordinate system; is the transmission chain inclination angle; is the cabin weight, is the center of gravity of the cabin, g is the acceleration due to gravity, is the weight of the wind wheel, is the wind wheel thrust, is the front-to-back distance between the hub center and the tower top center, It is the vertical distance between the hub center and the tower top center.

[0028] Optionally, determining the rotor thrust of the wind turbine generator set by using the blade root bending moment, and determining the tower bottom pitching moment in a tower bottom coordinate system based on the rotor thrust and the nacelle bending moment, includes:

[0029] The blade root flapping moment is used to determine the rotor thrust of the wind turbine. The calculation formula of the rotor thrust is: ; where a and b are the least squares linearization coefficients obtained based on the simulation data of blade root flapping moment and blade root thrust load, Swing the bending moment for the blade root;

[0030] The tower bottom pitching moment in the tower bottom coordinate system is determined based on the wind rotor thrust and the nacelle bending moment. The calculation formula of the tower bottom pitching moment is: ; is the transmission chain inclination angle, h is the tower height, is the cabin bending moment component on the y-axis in the tower top coordinate system, is the cabin weight, is the measured cabin fore-aft acceleration.

[0031] Optionally, when it is detected that the target critical load triggers a preset load control strategy, controlling the entire wind turbine generator set to enter an adjustment phase to control the target critical load includes:

[0032] Determining design values ​​corresponding to the target critical loads for the entire wind turbine generator set through simulation, and setting load thresholds for each of the target critical loads in a turbine controller of the wind turbine generator set according to the design values;

[0033] When it is monitored that any of the target critical loads exceeds the load threshold, blade pitch change measures and power limitation measures are taken, and when it is monitored that the target critical load meets the preset exit condition, the wind turbine generator set is controlled to enter the normal operation link.

[0034] Optionally, after controlling the entire wind turbine generator set to enter an adjustment phase to control the target critical load, the method further includes:

[0035] Processing the load time history of the target critical load by a rain flow counting method to determine the equivalent fatigue load and the remaining life of the target component in the entire wind turbine generator set;

[0036] Formulate corresponding operation and maintenance measures for the target component according to the equivalent fatigue load and the remaining life;

[0037] The calculation formula of the equivalent fatigue load is: ; is the load amplitude The number of cycles under the load amplitude is n, the number of load amplitude intervals is m, and the inverse slope of the material SN curve is m.

[0038] The calculation formula for the remaining life is: ; C is the material fatigue constant, is the total fatigue life.

[0039] In a second aspect, the present application discloses a device for identifying and controlling the load of an entire machine, comprising:

[0040] A first load identification module is used to measure the blade root bending moment of the three blades of the wind turbine in real time, and determine the pitch mechanism bending moment based on the blade root bending moment and the real-time pitch angle of the three blades;

[0041] a second load identification module, configured to determine the blade cone angles and the rotor azimuth angles of the three blades, and determine the hub center bending moments in different hub coordinate systems based on the blade cone angles, the rotor azimuth angles, and the pitch mechanism bending moments;

[0042] a third load identification module, configured to determine the center of gravity and weight of a nacelle of the wind turbine generator, and determine a nacelle bending moment in a tower top coordinate system based on the center of gravity, weight and hub center bending moment of the nacelle;

[0043] a fourth load identification module, configured to determine a rotor thrust of the wind turbine generator system using the blade root bending moment, and determine a tower bottom pitching moment in a tower bottom coordinate system based on the rotor thrust and the nacelle bending moment;

[0044] A load control module is used to determine the target critical load of the wind turbine generator set by using the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the wind rotor thrust and the tower base pitching moment, and when it is monitored that the target critical load triggers a pre-set load control strategy, control the entire wind turbine generator set to enter an adjustment phase to control the target critical load.

[0045] In a third aspect, the present application discloses an electronic device comprising a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the method for identifying and controlling the entire machine load as described above.

[0046] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the method for identifying and controlling the entire machine load as described above.

[0047] The present application provides a method for identifying and controlling the load of the entire machine, comprising: measuring the blade root bending moment of the three blades of the wind turbine in real time, and determining the bending moment of the pitch mechanism based on the blade root bending moment and the real-time pitch angle of the three blades; determining the blade cone angle and the rotor azimuth of the three blades, and determining the hub center bending moment in different hub coordinate systems based on the blade cone angle, the rotor azimuth and the pitch mechanism bending moment; determining the center of gravity and the weight of the nacelle of the wind turbine, and determining the tower top coordinate system based on the center of gravity, the nacelle weight and the hub center bending moment. The invention relates to a method for determining a target critical load of the wind turbine generator set by using the blade root bending moment, the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the rotor thrust and the tower bottom pitching moment in the tower bottom coordinate system; determining the rotor thrust of the wind turbine generator set by using the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the rotor thrust and the tower bottom pitching moment in the tower bottom coordinate system; and controlling the entire wind turbine generator set to enter an adjustment phase to control the target critical load when it is detected that the target critical load triggers a preset load control strategy.

[0048] The beneficial effect of this application is that by measuring the blade root bending moment, pitch mechanism bending moment, hub center bending moment, nacelle bending moment, rotor thrust, and tower base pitching moment, the target critical loads required for the entire wind turbine are determined. Using these target critical loads, the critical load levels of the entire turbine can be effectively identified and controlled, which helps ensure the safety of the wind turbine tower structure and improve maintenance capabilities.

[0049] In addition, the present application provides an apparatus, device, and storage medium for identifying and controlling the entire machine load, which correspond to the above-mentioned method for identifying and controlling the entire machine load, and have the same effect as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0051] Figure 1 This is a flow chart of a method for identifying and controlling the entire machine load disclosed in this application;

[0052] Figure 2 This application discloses an online intelligent control logic diagram for 7 groups of 22 key loads of a whole machine;

[0053] Figure 3 This is a flow chart of an overall system for online identification and control of whole-machine load disclosed in this application;

[0054] Figure 4 A timing comparison diagram of the hub torque of a simulation and identification disclosed in this application;

[0055] Figure 5 A time series comparison diagram of the cabin bending moment of the tower top coordinate system of the present application is disclosed;

[0056] Figure 6 A time series comparison diagram of the simulated and identified tower base coordinate system pitching moment disclosed in this application;

[0057] Figure 7 This is a schematic structural diagram of a device for identifying and controlling the load of an entire machine disclosed in this application;

[0058] Figure 8 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0060] Wind turbine loads are complex, influenced by numerous factors, and exhibit significant nonlinear characteristics. Currently, loads simulated using low-fidelity simulation models are insufficient to accurately assess the actual loads experienced by rigid-flexible coupled turbines under complex site conditions. Furthermore, testing often presents challenges in measuring key loads directly or with high reliability and low cost over the long term.

[0061] To this end, the present application provides a solution for identifying and controlling the load of the entire machine, which can effectively identify and control the critical load level of the entire machine, thereby improving the structural safety and load management level of the wind turbine set.

[0062] The embodiment of the present invention discloses a method for identifying and controlling the load of a whole machine, see Figure 1 As shown, the method includes:

[0063] Step S11: measuring the blade root bending moments of the three blades of the wind turbine in real time, and determining the pitch mechanism bending moment based on the blade root bending moments and the real-time pitch angles of the three blades.

[0064] In this embodiment, both fiber optic sensors and cantilever sensors are suitable for long-term measurement of blade root bending moments. Therefore, the blade root bending moments of three wind turbine blades are measured in real time using either fiber optic sensors or cantilever sensors. Fiber optic sensors are more expensive and provide more reliable and accurate measurements, while cantilever sensors are less expensive but may have some measurement errors.

[0065] In the embodiment of the present application, the first set of critical loads measured and identified for the entire machine is the blade root bending moment, which includes two key loads: the blade root flapping moment and the blade root shimmy bending moment. The blade root flapping moment is generated by the flapping motion of the blade. Flapping motion refers to the back-and-forth vibration of the blade about its axis of rotation, which causes a bending load at the blade root. The blade root shimmy bending moment is generated by the shimmy motion of the blade. Shimmy motion refers to the lateral vibration of the blade about its axis of rotation, which also causes a bending load at the blade root.

[0066] Generally, only the blade root flapping moment is measured at the blade root , mainly reflects the aerodynamic load on the blade, while the blade root swing bending moment It mainly reflects the gravity load on the blades. Aerodynamic load and gravity load are the main load sources of the wind turbine. Therefore, in order to identify the key loads of the whole machine, the root flapping moment of the three blades of the unit is and blade root shimmying bending moment All must be measured.

[0067] On this basis, combined with the real-time pitch angle of the three blades , the second set of key loads of the whole machine is calculated, the pitch mechanism bending moment. Among them, the pitch mechanism bending moment includes the in-plane bending moment of the pitch mechanism and out-of-plane bending moment Two key loads can be used to evaluate the load condition of the pitch mechanism. The calculation formula is as follows:

[0068] ;in, Characterize the three blades of a wind turbine.

[0069] It can be seen that after step S11, two groups of four key loads are measured and identified, namely blade root flapping moment , blade root swing bending moment , in-plane bending moment of the pitch mechanism , out-of-plane bending moment of the pitch mechanism Therefore, for the three-blade machine, there are two groups of 12 critical loads in total.

[0070] Step S12: determining the blade cone angles and the rotor azimuth angles of the three blades, and determining the hub center bending moments in different hub coordinate systems based on the blade cone angles, the rotor azimuth angles and the pitch mechanism bending moments.

[0071] In the embodiment of the present application, the blade cone angle The angle of inclination of the blade centerline relative to the axis of rotation, commonly used to describe the geometry of blades in wind turbines and other rotating machinery. This reflects the degree of fore-aft tilt of the blades, and the blade taper angle must be considered when combining blade loads onto the hub.

[0072] In the embodiment of the present application, the blade cone angles of the three blades and the wind rotor azimuth angle are combined to calculate the hub center bending moment in the rotating hub coordinate system and the fixed hub coordinate system respectively. Specifically:

[0073] First, based on the pitch mechanism bending moment and combined with the blade cone angle, the first hub center bending moment in the rotating hub coordinate system is obtained. It should be noted that the three blades of the wind turbine are distributed in three equal parts, and the angles between the second blade and the third blade and the first blade are 120° and 240° respectively. The first hub bending moment in the rotating hub coordinate system is calculated as follows:

[0074] ;

[0075] 、 、 are the first hub center bending moment components on the x-axis, y-axis and z-axis in the rotating hub coordinate system respectively; 、 are the in-plane bending moment and out-of-plane bending moment of the pitch mechanism, Characterize the three blades of the wind turbine; is the blade cone angle of the three blades.

[0076] Furthermore, based on the wind rotor azimuth The second hub center bending moment in the fixed hub coordinate system is obtained by adding the first hub center bending moment. Defined as the orientation angle of the first blade, the wind turbine's electric slip ring device can obtain the wind turbine's azimuth in real time. , then the second hub center bending moment in the fixed hub coordinate system is calculated as follows:

[0077] ;

[0078] 、 、 are the components of the second hub center bending moment on the x-axis, y-axis and z-axis in the fixed hub coordinate system respectively; is the rotor azimuth, defined as the orientation angle of the first blade.

[0079] It can be seen that after step S12, the key loads measured and identified are the hub center bending moment in the rotating hub coordinate system and 、 、 , hub center bending moment in fixed hub coordinate system 、 、 Since the rotating hub coordinate system and the fixed hub coordinate system and The same, therefore, after step S12, two groups of five key loads of the whole machine are measured and identified.

[0080] Step S13: determining the nacelle center of gravity and nacelle weight of the wind turbine generator set, and determining the nacelle bending moment in the tower top coordinate system based on the nacelle center of gravity, the nacelle weight and the hub center bending moment.

[0081] In the embodiment of the present application, the sources of the cabin bending moment load in the tower top coordinate system mainly include the hub and the cabin. The hub load is identified in step S12, and its conversion into the tower top coordinate system must take into account the transmission chain inclination angle. and additional bending moment. Usually it does not coincide with the center of the tower top, resulting in its gravity load generating bending moment. The cabin bending moment load in the tower top coordinate system is calculated as follows:

[0082] ;

[0083] in, 、 、 are the cabin bending moment components on the x-axis, y-axis and z-axis in the tower top coordinate system respectively; 、 、 is the hub center bending moment in the fixed hub coordinate system; is the transmission chain inclination angle; is the cabin weight, is the center of gravity of the cabin, g is the acceleration due to gravity, is the weight of the wind wheel, is the wind wheel thrust, is the front-to-back distance between the hub center and the tower top center, It is the vertical distance between the hub center and the tower top center.

[0084] It can be seen that after step S13, a set of three key loads of the whole machine are measured and identified, which are the cabin bending moment in the tower top coordinate system 、 、 .

[0085] Step S14: determining the rotor thrust of the wind turbine generator system using the blade root bending moment, and determining the tower bottom pitching moment in the tower bottom coordinate system based on the rotor thrust and the nacelle bending moment.

[0086] The rotor thrust reflects the harmful and unfavorable external loads that the wind turbine needs to withstand when generating electricity, and the pitching moment at the bottom of the tower in the tower base coordinate system is a further reflection of the rotor thrust at the bottom of the tower. Excessive bending and torsion at the bottom of the tower can easily damage the tower structure and weaken its service life. Therefore, in order to identify the key loads of the entire machine, both the rotor thrust and the pitching moment at the bottom of the tower in the tower base coordinate system need to be measured. In the embodiment of the present application, the rotor thrust and the pitching moment at the bottom of the tower in the tower base coordinate system are calculated using the following formula:

[0087] First, the blade root flapping moment is used to determine the rotor thrust of the wind turbine. The calculation formula of the rotor thrust is: ; where a and b are the least squares linearization coefficients obtained based on the simulation data of blade root flapping moment and blade root thrust load, Swing the bending moment for the blade root;

[0088] Secondly, the tower bottom pitching moment in the tower bottom coordinate system is determined based on the wind rotor thrust and the nacelle bending moment; the calculation formula of the tower bottom pitching moment is: ; is the transmission chain inclination angle, h is the tower height, is the cabin bending moment component on the y-axis in the tower top coordinate system, is the cabin weight; To measure the fore-aft acceleration of the nacelle, an accelerometer used for tower top acceleration measurement is usually used. This reflects the impact of high-frequency nacelle inertia force on the tower life and needs to be included in the identification calculation.

[0089] It can be seen that after step S14, two groups of key loads of the whole machine are measured and identified, namely the wind wheel thrust and and the tower base pitching moment in the tower base coordinate system .

[0090] Step S15: Determine the target critical load of the wind turbine generator set using the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the rotor thrust, and the tower base pitching moment. When it is detected that the target critical load triggers a preset load control strategy, control the entire wind turbine generator set to enter an adjustment phase to control the target critical load.

[0091] After the above steps S11 to S14, a total of 7 groups of 22 key loads are obtained, which are used as the target key loads that need to be measured for the entire wind turbine. In the embodiment of the present application, the target key loads identified by real-time measurement are combined with the set load threshold to control the key loads of the entire machine online.

[0092] Specifically, the design values ​​of the entire wind turbine set corresponding to the target critical load are determined through simulation, and the load thresholds of each load in the target critical loads are set in the set controller of the wind turbine set according to the design values; when it is monitored that any load in the target critical loads exceeds the load threshold, blade pitch change measures and power limitation measures are taken, and when it is monitored that the target critical load meets the preset exit conditions, the entire wind turbine set is controlled to enter the normal operation link.

[0093] It should be noted that in the embodiment of the present application, the load of the entire unit is controlled by the unit controller. Based on the simulated design value of the key load of the wind turbine unit, the threshold value of each key load is set in the unit controller. In a feasible embodiment, the threshold value is recommended to be set to 75% to 90% of the design value. When any key load measured and identified exceeds the set threshold, blade pitch and power limiting measures are taken, and the entire machine enters the load adjustment link to control the load.

[0094] During the load control process, the system monitors whether it can return to normal operation. Specifically, it monitors whether the target critical load meets a preset exit condition. In one embodiment, if the measured critical load falls below 60% of the design value for a period of time, typically 60 seconds, the load control and adjustment phase is exited, and the entire system enters normal operation.

[0095] like Figure 2 The following is a publicly available online intelligent control logic diagram for seven groups of 22 critical loads. After identifying all target critical loads, the wind turbine's operating steps are adjusted by determining whether the target critical loads exceed a threshold.

[0096] The beneficial effect of this application is that by measuring the blade root bending moment, pitch mechanism bending moment, hub center bending moment, nacelle bending moment, rotor thrust, and tower base pitching moment, the target critical loads required for the entire wind turbine are determined. Using these target critical loads, the critical load levels of the entire turbine can be effectively identified and controlled, which helps ensure the safety of the wind turbine tower structure and improve maintenance capabilities.

[0097] Based on the above embodiment, in a feasible implementation method, in order to be able to identify and manage the equivalent fatigue load and remaining life of the key parts of the whole machine, the embodiment of the present application uses the rain flow counting method to process the accumulated measurement and identification load time history to obtain a series of load cycles, each cycle has a corresponding load amplitude and load mean On this basis, the equivalent fatigue load of the critical load It can be calculated as follows:

[0098] ;

[0099] Where, is the load amplitude The number of cycles under the load is n, n is the number of load amplitude intervals, and m is the inverse slope of the material SN curve.

[0100] Remaining life of key parts after load time accumulation It can be calculated by the following formula:

[0101] ;

[0102] Where C is the material fatigue constant, is the total fatigue life.

[0103] Furthermore, based on the identified equivalent fatigue loads and remaining lifespans of key components, appropriate management and maintenance measures are developed. Components with high equivalent fatigue loads and low remaining lifespans can be appropriately protected or replaced to reduce failure risks. Components with low equivalent fatigue loads and high remaining lifespans can be fully utilized to increase unit power generation.

[0104] For example, Figure 3 The present invention is verified by using Bladed, an authoritative software for wind turbine load simulation. The operation process includes:

[0105] Assume that the flapping and shimmying bending moments of the three blade roots in the Bladed simulation are the real-time measurement results of the fiber optic sensor or cantilever sensor, and combine them with the blade pitch angle to obtain the pitch mechanism bending moment;

[0106] Based on the identified pitch mechanism bending moment, the hub center bending moment of the rotating hub coordinate system is obtained by combining the blade cone angle, where the hub torque is as follows: Figure 4 As shown in the figure, the relative error between the simulation maximum value and the identification maximum value is -2.75%; the hub center bending moment of the fixed hub coordinate system is obtained based on the wind rotor azimuth angle;

[0107] Combining the center of gravity and weight of the cabin, the bending moment of the cabin in the tower top coordinate system is obtained, where the bending moment of the cabin in the tower top coordinate system is as follows: Figure 5 As shown, the relative error between the simulation maximum value and the identification maximum value is -6.72%;

[0108] The rotor thrust and the tower base pitching moment of the tower base coordinate system are identified by the blade root flapping moment, where the tower base pitching moment of the tower base coordinate system is as follows: Figure 6 As shown, the relative error between the simulation maximum value and the identification maximum value is 5.56%;

[0109] Combining the key loads identified by real-time measurement with the set load threshold, the machine can be intelligently controlled online for 7 groups of 22 key loads, such as Figure 2 As shown;

[0110] Based on the accumulated measurements and identification of load history, the equivalent fatigue load and remaining life of key parts of the whole machine are identified and managed.

[0111] Correspondingly, the embodiment of the present application also discloses a device for identifying and controlling the load of the entire machine, see Figure 7 As shown, the device includes:

[0112] A first load identification module 11 is configured to measure the blade root bending moments of the three blades of the wind turbine in real time, and determine the pitch mechanism bending moment based on the blade root bending moments and the real-time pitch angles of the three blades;

[0113] a second load identification module 12, configured to determine the blade cone angles and the rotor azimuth angles of the three blades, and determine the hub center bending moments in different hub coordinate systems based on the blade cone angles, the rotor azimuth angles, and the pitch mechanism bending moments;

[0114] a third load identification module 13, configured to determine the center of gravity and weight of the nacelle of the wind turbine generator, and determine the nacelle bending moment in the tower top coordinate system based on the center of gravity, weight and hub center bending moment of the nacelle;

[0115] a fourth load identification module 14, configured to determine a rotor thrust of the wind turbine generator system using the blade root bending moment, and determine a tower bottom pitching moment in a tower bottom coordinate system based on the rotor thrust and the nacelle bending moment;

[0116] The load control module 15 is used to determine the target critical load of the wind turbine generator set by using the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the wind rotor thrust and the tower base pitching moment, and control the entire wind turbine generator set to enter an adjustment phase to control the target critical load when it is detected that the target critical load triggers a pre-set load control strategy.

[0117] Among them, for more specific working processes of the above modules, please refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0118] It can be seen that the above scheme of this embodiment includes: measuring the root bending moment of the three blades of the wind turbine in real time, and determining the bending moment of the pitch mechanism based on the root bending moment and the real-time pitch angle of the three blades; determining the blade cone angle and the rotor azimuth of the three blades, and determining the hub center bending moment in different hub coordinate systems based on the blade cone angle, the rotor azimuth and the pitch mechanism bending moment; determining the center of gravity and the weight of the nacelle of the wind turbine, and determining the tower top coordinate system based on the center of gravity, the nacelle weight and the hub center bending moment the nacelle bending moment under the blade root; the rotor thrust of the wind turbine is determined by using the blade root bending moment, and the tower bottom pitching moment in the tower bottom coordinate system is determined based on the rotor thrust and the nacelle bending moment; the target critical load of the wind turbine is determined by using the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the rotor thrust and the tower bottom pitching moment, and when it is monitored that the target critical load triggers a preset load control strategy, the wind turbine is controlled to enter an adjustment link to control the target critical load.

[0119] The beneficial effect of this application is that by measuring the blade root bending moment, pitch mechanism bending moment, hub center bending moment, nacelle bending moment, rotor thrust, and tower base pitching moment, the target critical loads required for the entire wind turbine are determined. Using these target critical loads, the critical load levels of the entire turbine can be effectively identified and controlled, which helps ensure the safety of the wind turbine tower structure and improve maintenance capabilities.

[0120] Furthermore, the embodiment of the present application also discloses an electronic device, Figure 8 This is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the diagram cannot be considered as any limitation to the scope of use of the present application.

[0121] Figure 8 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the method for identifying and controlling the entire machine load disclosed in any of the aforementioned embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be a computer.

[0122] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0123] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, a magnetic disk, or an optical disk. The resources stored thereon may include an operating system 221, a computer program 222, and data 223. The data 223 may include various data. The storage method can be temporary storage or permanent storage.

[0124] The operating system 221 is used to manage and control the hardware devices on the electronic device 20 and the computer program 222, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of implementing the method for identifying and controlling the entire machine load executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program capable of performing other specific tasks.

[0125] Furthermore, the embodiments of the present application also disclose a computer-readable storage medium, where the computer-readable storage medium includes random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, magnetic disk or optical disk or any other form of storage medium known in the technical field. Wherein, when the computer program is executed by the processor, the aforementioned method for identifying and controlling the whole machine load is implemented. For the specific steps of the method, please refer to the corresponding content disclosed in the aforementioned embodiment, and no further details will be given here.

[0126] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0127] The steps of the whole-machine load identification and control method or algorithm described in conjunction with the embodiments disclosed herein can be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module can be stored in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0128] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0129] The above is a detailed introduction to the method, device, equipment and medium for identifying and controlling the whole machine load provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for identifying and controlling the load of a whole machine, characterized in that: include: measuring the blade root bending moments of the three blades of the wind turbine in real time, and determining the pitch mechanism bending moment based on the blade root bending moments and the real-time pitch angles of the three blades; Determining blade cone angles and rotor azimuth angles of the three blades, and determining hub center bending moments in different hub coordinate systems based on the blade cone angles, the rotor azimuth angle, and the pitch mechanism bending moment; Determining the center of gravity and weight of a nacelle of the wind turbine generator system, and determining a nacelle bending moment in a tower top coordinate system based on the center of gravity, weight, and hub center bending moment of the nacelle; Determining a rotor thrust of the wind turbine generator system using the blade root bending moment, and determining a tower bottom pitching moment in a tower bottom coordinate system based on the rotor thrust and the nacelle bending moment; determining a target critical load of the wind turbine generator set by using the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the rotor thrust, and the tower base pitching moment; and controlling the entire wind turbine generator set to enter an adjustment phase to control the target critical load when it is detected that the target critical load triggers a preset load control strategy; The real-time measurement of the blade root bending moment of the three blades of the wind turbine generator set and determination of the pitch mechanism bending moment based on the blade root bending moment and the real-time pitch angles of the three blades include: The blade root flapping moment and blade root shimmy bending moment of the three blades of the wind turbine are measured in real time through optical fiber sensors or cantilever sensors; Determining the in-plane bending moment and out-of-plane bending moment of the pitch mechanism based on the blade root flapping bending moment, the blade root shimmy bending moment, and the real-time pitch angles of the three blades; The calculation formulas for the in-plane bending moment and the out-of-plane bending moment are: ； is the in-plane bending moment, is the out-of-plane bending moment; is the blade root shimmying bending moment, Swing the bending moment for the blade root; is the real-time pitch angle of the three blades; Characterize the three blades of the wind turbine; Determining the blade cone angles and the rotor azimuth angles of the three blades, and determining the hub center bending moments in different hub coordinate systems based on the blade cone angles, the rotor azimuth angles, and the pitch mechanism bending moments, includes: determining blade cone angles of the three blades, and determining a first hub center bending moment in a rotating hub coordinate system based on the pitch mechanism bending moment; Determining the rotor azimuth angles of the three blades, and determining a second hub center bending moment in a fixed hub coordinate system based on the rotor azimuth angles and the first hub center bending moment; The calculation formula of the first hub center bending moment is: ； 、 、 are the first hub center bending moment components on the x-axis, y-axis and z-axis in the rotating hub coordinate system respectively; 、 are the in-plane bending moment and out-of-plane bending moment of the pitch mechanism, Characterize the three blades of the wind turbine; is the blade cone angle of the three blades; The calculation formula of the second hub center bending moment is: ； 、 、 are the components of the second hub center bending moment on the x-axis, y-axis and z-axis in the fixed hub coordinate system respectively; is the rotor azimuth, defined as the orientation angle of the first blade.

2. The method for identifying and controlling the whole machine load according to claim 1, characterized in that: The calculation formula for the cabin bending moment in the tower top coordinate system is: ； in, 、 、 are the cabin bending moment components on the x-axis, y-axis and z-axis in the tower top coordinate system respectively; 、 、 is the hub center bending moment in the fixed hub coordinate system; is the transmission chain inclination angle; is the cabin weight, is the center of gravity of the cabin, g is the acceleration due to gravity, is the weight of the wind wheel, is the wind wheel thrust, is the front-to-back distance between the hub center and the tower top center, It is the vertical distance between the hub center and the tower top center.

3. The method for identifying and controlling the whole machine load according to claim 1, characterized in that: The method of determining the rotor thrust of the wind turbine generator set by using the blade root bending moment, and determining the tower bottom pitching moment in a tower bottom coordinate system based on the rotor thrust and the nacelle bending moment, includes: The blade root flapping moment is used to determine the rotor thrust of the wind turbine. The calculation formula of the rotor thrust is: ; where a and b are the least squares linearization coefficients obtained based on the simulation data of blade root flapping moment and blade root thrust load, Swing the bending moment for the blade root; The tower bottom pitching moment in the tower bottom coordinate system is determined based on the wind rotor thrust and the nacelle bending moment. The calculation formula of the tower bottom pitching moment is: ; is the transmission chain inclination angle, h is the tower height, is the cabin bending moment component on the y-axis in the tower top coordinate system, is the cabin weight, is the measured cabin fore-aft acceleration.

4. The method for identifying and controlling the whole machine load according to claim 1, characterized in that: When it is detected that the target critical load triggers a preset load control strategy, controlling the entire wind turbine generator set to enter an adjustment phase to control the target critical load includes: Determining design values ​​corresponding to the target critical loads for the entire wind turbine generator set through simulation, and setting load thresholds for each of the target critical loads in a turbine controller of the wind turbine generator set according to the design values; When it is monitored that any of the target critical loads exceeds the load threshold, blade pitch change measures and power limitation measures are taken, and when it is monitored that the target critical load meets the preset exit condition, the wind turbine generator set is controlled to enter the normal operation link.

5. The method for identifying and controlling the whole machine load according to any one of claims 1 to 4, characterized in that: After controlling the wind turbine generator set to enter the adjustment phase to control the target critical load, the method further includes: Processing the load time history of the target critical load by a rain flow counting method to determine the equivalent fatigue load and the remaining life of the target component in the entire wind turbine; Formulate corresponding operation and maintenance measures for the target component according to the equivalent fatigue load and the remaining life; The calculation formula of the equivalent fatigue load is: ; is the load amplitude The number of cycles under the load amplitude is n, the number of load amplitude intervals is m, and the inverse slope of the material SN curve is m. The calculation formula for the remaining life is: ; C is the material fatigue constant, is the total fatigue life.

6. A device for identifying and controlling the load of a whole machine, characterized in that: include: A first load identification module is used to measure the blade root bending moment of the three blades of the wind turbine in real time, and determine the pitch mechanism bending moment based on the blade root bending moment and the real-time pitch angle of the three blades; a second load identification module, configured to determine the blade cone angles and the rotor azimuth angles of the three blades, and determine the hub center bending moments in different hub coordinate systems based on the blade cone angles, the rotor azimuth angles, and the pitch mechanism bending moments; a third load identification module, configured to determine the center of gravity and weight of a nacelle of the wind turbine generator, and determine a nacelle bending moment in a tower top coordinate system based on the center of gravity, weight and hub center bending moment of the nacelle; a fourth load identification module, configured to determine a rotor thrust of the wind turbine generator system using the blade root bending moment, and determine a tower bottom pitching moment in a tower bottom coordinate system based on the rotor thrust and the nacelle bending moment; a load control module, configured to determine a target critical load of the wind turbine generator set using the blade root bending moment, the pitch mechanism bending moment, the hub center bending moment, the nacelle bending moment, the rotor thrust, and the tower base pitching moment, and control the entire wind turbine generator set to enter an adjustment phase to control the target critical load when detecting that the target critical load triggers a preset load control strategy; The first load identification module is specifically configured to: The blade root flapping moment and blade root shimmy bending moment of the three blades of the wind turbine are measured in real time through optical fiber sensors or cantilever sensors; Determining the in-plane bending moment and out-of-plane bending moment of the pitch mechanism based on the blade root flapping bending moment, the blade root shimmy bending moment, and the real-time pitch angles of the three blades; The calculation formulas for the in-plane bending moment and the out-of-plane bending moment are: ； is the in-plane bending moment, is the out-of-plane bending moment; is the blade root shimmying bending moment, Swing the bending moment for the blade root; is the real-time pitch angle of the three blades; Characterize the three blades of the wind turbine; The second load identification module is specifically configured to: determining blade cone angles of the three blades, and determining a first hub center bending moment in a rotating hub coordinate system based on the pitch mechanism bending moment; Determining the rotor azimuth angles of the three blades, and determining a second hub center bending moment in a fixed hub coordinate system based on the rotor azimuth angles and the first hub center bending moment; The calculation formula of the first hub center bending moment is: ； 、 、 are the first hub center bending moment components on the x-axis, y-axis and z-axis in the rotating hub coordinate system respectively; 、 are the in-plane bending moment and out-of-plane bending moment of the pitch mechanism, Characterize the three blades of the wind turbine; is the blade cone angle of the three blades; The calculation formula of the second hub center bending moment is: ； 、 、 are the components of the second hub center bending moment on the x-axis, y-axis and z-axis in the fixed hub coordinate system respectively; is the rotor azimuth, defined as the orientation angle of the first blade.

7. An electronic device, characterized in that: The electronic device includes a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the method for identifying and controlling the whole machine load as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that Used to store computer programs; wherein when the computer program is executed by a processor, the method for identifying and controlling the whole machine load as described in any one of claims 1 to 5 is implemented.

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