Self-adaptive control method and device for wind turbine generator and medium

Abstract

The invention discloses a wind turbine generator self-adaptive control method and device and a medium. Relates to the field of wind power generation, and solves the problems of resonance and the like caused by excursion of the inherent frequency of a tower, and obtains the actual inherent frequency on the basis of the spectral analysis result of the rotating speed signal of an engine by monitoring the rotating speed of a generator in real time and performing spectral analysis. Whether the actual inherent frequency of the tower deviates from the preset inherent frequency or not can be quickly identified. And when the frequency deviation is serious, the system can automatically update the central frequency of the tower frequency notch filter and adjust the grid-connected rotating speed as required, so that the risk of tower vibration is further reduced. The tower is effectively prevented from being subjected to excessive fatigue load due to resonance, and the service life of the tower is prolonged. By dynamically updating the parameters of the frequency notch filter in the control loop, the adaptive control strategy enables the wind turbine generator to maintain the optimal operation state under different operation conditions, and the safety of the generator is improved when the actual inherent frequency of the tower deviates from the preset inherent frequency.

Description

Technical Field

[0001] The present application relates to the field of wind power generation, and in particular to a method, device and medium for adaptive control of a wind turbine generator set. Background Art

[0002] With the rapid development of wind power generation technology, the application of onshore and offshore wind turbines is becoming increasingly widespread. The towers of onshore wind turbines are typically made of reinforced concrete. The actual natural frequency of reinforced concrete towers may differ from the preset natural frequency due to factors such as the material, processing and manufacturing accuracy, and the operating environment. The operating environment of offshore wind turbines is more complex, and the natural frequency of their towers is affected not only by design and manufacturing factors, but also by external factors such as changes in seabed soil, wave impacts, ocean currents, and marine environmental corrosion. These factors may cause changes in the structural characteristics of the tower, resulting in a drift in the natural frequency. When the actual natural frequency of the tower is close to a multiple of the unit's rotational frequency (such as the first or third harmonic), it can easily cause unit resonance problems.

[0003] Mainstream wind turbine control strategies typically employ methods such as grid-connected speed control, torque-speed control loops, and pitch-speed control loops to ensure stable operation. In these control strategies, the center frequency of the tower frequency notch filter is typically set by default to the tower's preset natural frequency. If the tower's actual natural frequency deviates from the designed value, this default setting can render the notch filter ineffective, preventing it from effectively suppressing the resonant frequency and potentially causing resonance between the tower and the rotational frequency.

[0004] It can be seen that how to solve the problem of resonance caused by the deviation of the natural frequency of the tower is a technical problem that needs to be solved urgently by people in this field. Summary of the Invention

[0005] The purpose of this application is to provide a method, device and medium for adaptive control of a wind turbine generator set to solve problems such as resonance caused by the deviation of the natural frequency of the tower.

[0006] To solve the above technical problems, the present application provides a wind turbine adaptive control method, comprising:

[0007] Collect generator speed signal;

[0008] Performing spectrum analysis on the generator speed signal within each preset sliding time window to obtain a spectrum analysis result corresponding to each preset sliding time window;

[0009] Obtaining the actual natural frequency of the tower according to the spectrum analysis results;

[0010] Determining whether the actual natural frequency exceeds a preset natural frequency warning interval;

[0011] If so, the central frequencies of the notch filters of the pitch speed control loop and the torque speed control loop are updated according to the actual natural frequency, and the grid-connected speed correction value is obtained according to the actual natural frequency, so as to adjust the grid-connected speed according to the grid-connected speed correction value.

[0012] As an optional solution, in the above-mentioned wind turbine adaptive control method, obtaining the actual natural frequency of the tower according to the spectrum analysis result includes:

[0013] Get the preset natural frequency;

[0014] Obtaining a floating frequency interval according to the preset natural frequency and the preset floating interval;

[0015] A frequency point with the highest energy amplitude corresponding to the floating frequency interval in the spectrum analysis result is obtained, and the frequency of the frequency point is used as the actual natural frequency.

[0016] As an optional solution, in the above-mentioned wind turbine adaptive control method, the determining whether the actual natural frequency exceeds a preset natural frequency warning interval includes:

[0017] Obtaining a warning interval according to the preset natural frequency, wherein the warning interval is included in the preset floating interval;

[0018] Determining whether the actual natural frequency is within the warning range;

[0019] If not, it is determined whether the actual natural frequency exceeds a preset natural frequency warning interval.

[0020] As an optional solution, in the above-mentioned wind turbine adaptive control method, obtaining the grid-connected speed correction value according to the actual natural frequency further includes:

[0021] Get the current grid-connected speed;

[0022] Determining whether a preset safety condition is met based on the current grid-connected speed and the actual natural frequency;

[0023] If so, a grid-connected speed correction value is obtained according to the actual natural frequency.

[0024] As an optional solution, in the above-mentioned wind turbine adaptive control method, the determining whether a preset safety condition is met based on the current grid-connected speed and the actual natural frequency includes:

[0025] Determining whether the current grid-connected speed and the actual natural frequency satisfy a first formula;

[0026] The first formula is: ;

[0027] in, represents the actual natural frequency; Indicates the current grid-connected speed; represents the gravitational acceleration constant;

[0028] Correspondingly, obtaining a grid-connected speed correction value according to the actual natural frequency includes:

[0029] Obtaining a grid-connected speed correction value according to the second formula and the actual natural frequency;

[0030] The second formula is: ;

[0031] in, Indicates the grid-connected speed correction value.

[0032] As an optional solution, in the above-mentioned wind turbine adaptive control method, after obtaining the actual natural frequency of the tower according to the spectrum analysis result, the method further includes:

[0033] Determining whether the actual natural frequency is the same as the preset natural frequency;

[0034] If not, obtain the wave height and wave period collected by the wave meter;

[0035] Obtaining an updated gain coefficient according to the wave height, the wave period, the actual natural frequency, and a third formula;

[0036] The third formula is: ;

[0037] in, represents the update gain coefficient; represents a constant coefficient; represents the wave height; represents the wave period;

[0038] The tower lateral active resistance controller is adjusted according to the updated gain coefficient.

[0039] As an optional solution, in the above-mentioned wind turbine adaptive control method, a warning interval is obtained according to the preset natural frequency, wherein the warning interval is included in the preset floating interval and includes:

[0040] According to the preset natural frequency The floating range of 20% is the preset floating range. ;

[0041] According to the preset natural frequency A safety range of 5% is obtained as a warning interval .

[0042] To solve the above technical problems, the present application further provides a wind turbine adaptive control device, comprising:

[0043] Acquisition module, used to collect generator speed signal;

[0044] a conversion module, configured to perform spectrum analysis on the generator speed signal within each preset sliding time window to obtain a spectrum analysis result corresponding to each preset sliding time window;

[0045] An analysis module, configured to obtain an actual natural frequency of the tower according to each of the spectrum analysis results;

[0046] A judgment module, configured to judge whether the actual natural frequency exceeds a preset natural frequency warning interval; if so, triggering an update module;

[0047] An updating module, configured to update the central frequencies of the notch filters of the pitch speed control loop and the torque speed control loop according to the actual natural frequency;

[0048] A synchronous updating module, configured to obtain a grid-connected speed correction value according to the actual natural frequency;

[0049] The correction module is used to adjust the grid-connected speed according to the grid-connected speed correction value.

[0050] To solve the above technical problems, the present application further provides a wind turbine adaptive control device, comprising:

[0051] memory for storing computer programs;

[0052] The processor is configured to implement the steps of the above-mentioned wind turbine adaptive control method when executing the computer program.

[0053] To solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned wind turbine adaptive control method are implemented.

[0054] The adaptive control method for wind turbines provided in the present application monitors the generator speed in real time and performs spectrum analysis, obtains the actual natural frequency based on the spectrum analysis results of the engine speed signal, and can quickly identify whether the actual natural frequency of the tower deviates from the preset natural frequency. When the frequency deviation is serious, the system will automatically update the central frequency of the tower frequency notch filter and adjust the grid-connected speed as needed to further reduce the risk of tower vibration. These measures can effectively prevent the tower from being subjected to excessive fatigue loads due to resonance and extend the service life of the tower. By dynamically updating the frequency notch filter parameters in the control loop, this adaptive control strategy enables the wind turbine to maintain the best operating state under different operating conditions, thereby improving the safety of the unit when the actual natural frequency of the tower deviates from the preset natural frequency.

[0055] In addition, the present application also provides a device and a medium, which correspond to the above-mentioned wind turbine adaptive control method and have the same effect as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0057] Figure 1 A flow chart of a wind turbine adaptive control method is provided for an embodiment of the present application;

[0058] Figure 2 A structural diagram of a wind turbine adaptive control device provided in an embodiment of the present application;

[0059] Figure 3 This is a structural diagram of another wind turbine adaptive control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0061] The core of this application is to provide a method, device and medium for adaptive control of a wind turbine generator set.

[0062] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0063] To solve the above problems, the present invention provides a method for adaptive control of a wind turbine generator system. Figure 1 Shown, including:

[0064] S11: Collect generator speed signal;

[0065] S12: performing spectrum analysis on the generator speed signal within each preset sliding time window to obtain a spectrum analysis result corresponding to each preset sliding time window;

[0066] S13: Obtaining the actual natural frequency of the tower according to the results of each spectrum analysis;

[0067] S14: Determine whether the actual natural frequency exceeds the pre-set natural frequency warning range;

[0068] S15: If yes, then update the central frequencies of the notch filters of the pitch speed control loop and the torque speed control loop according to the actual natural frequency, and obtain the grid-connected speed correction value according to the actual natural frequency, so as to adjust the grid-connected speed according to the grid-connected speed correction value.

[0069] This embodiment is applicable to wind turbines, particularly onshore concrete towers and offshore wind turbines. During operation, the actual natural frequency of these towers may deviate from the preset natural frequency due to material properties and environmental factors (such as variations in seabed soil quality and wind speed). Therefore, a control method capable of real-time monitoring and adaptive adjustment is required to ensure safe operation of the turbines.

[0070] In step S11, generator speed signals are collected using speed sensors installed on the generator. These sensors accurately measure the real-time speed of the generator and transmit the data to the control system's data acquisition module. The speed signal collection frequency can be adjusted based on the unit's operating conditions and monitoring requirements, typically ranging from several to dozens of times per second. This can be done in real time or at a set frequency.

[0071] In step S12, presetting a sliding time window involves selecting a fixed-length time period within a continuous time series to analyze the speed signal. For example, each sliding window can be set to 10 seconds, sliding every 5 seconds. This sliding window setting ensures continuous monitoring and analysis of the speed signal, avoiding misjudgments caused by abnormal data at a single time point.

[0072] Spectral analysis of the speed signal within each sliding window typically uses a fast Fourier transform (FFT) algorithm to convert the time-domain signal into a frequency-domain signal, generating the corresponding spectrum analysis results for each sliding window. The spectrum analysis results include the energy amplitude at each frequency point, which is used for subsequent frequency identification. For example, FFT analysis can reveal the energy distribution of the speed signal at different frequencies, thereby identifying the primary frequency components.

[0073] In step S13, the spectrum analysis results are analyzed to identify the frequency point with the highest energy amplitude within the preset natural frequency fluctuation range (e.g., ±20%). This frequency point is considered the current true tower frequency. This process can be automated using a software algorithm to ensure accurate and real-time frequency identification. For example, if the preset natural frequency is 10 Hz and the fluctuation range is ±20%, the frequency point with the highest energy amplitude is found within the range of 8 Hz to 12 Hz.

[0074] The accuracy of identifying the actual natural frequency directly impacts the effectiveness of subsequent control strategies. Therefore, filtering and denoising techniques can be introduced in this step to further improve the accuracy of frequency identification. For example, a low-pass filter can be used to remove high-frequency noise, while a high-pass filter can be used to remove low-frequency interference, thereby more accurately identifying the tower's actual natural frequency.

[0075] In step S14, the pre-set natural frequency warning interval defines a safe range within which the pre-set natural frequency fluctuates. For example, the warning interval can be set between ±15% and ±20% of the pre-set natural frequency. If the actual natural frequency exceeds this range, it indicates that the tower frequency deviates significantly from the design value, posing a safety risk. In this case, the system triggers a warning mechanism, sending a warning signal to the operation and maintenance personnel via the Supervisory Control and Data Acquisition (SCADA) system and recording relevant operating parameters.

[0076] The warning signal can include various information, such as the current actual natural frequency value, the degree of frequency deviation, and recommended treatment measures. For example, if the actual natural frequency is 11Hz, the preset natural frequency is 10Hz, and the warning range is ±15% (i.e., 8.5Hz to 11.5Hz), the system will issue a level 1 warning signal, prompting operators to pay attention to tower frequency changes.

[0077] In step S15, if the actual natural frequency exceeds the warning interval, the system updates the center frequency of the notch filters in the pitch speed control loop and the torque speed control loop based on the actual natural frequency. A notch filter effectively suppresses signals of a specific frequency. By updating its center frequency, vibration signals near the tower's natural frequency can be specifically suppressed. For example, if the actual natural frequency is 11 Hz, the system will update the notch filter's center frequency to 11 Hz to suppress vibrations at that frequency.

[0078] At the same time, the system calculates a grid-connected speed correction value based on the actual natural frequency and adjusts the grid-connected speed accordingly to further reduce the risk of tower vibration. The grid-connected speed correction value can be adjusted based on the degree of deviation between the actual natural frequency and the preset natural frequency.

[0079] Through the adaptive control method for wind turbines provided by the present application, by real-time monitoring of the generator speed and performing spectrum analysis, the actual natural frequency is obtained based on the spectrum analysis results of the engine speed signal, and it is possible to quickly identify whether the actual natural frequency of the tower deviates from the preset natural frequency. When the frequency deviation is serious, the system will automatically update the central frequency of the tower frequency notch filter and adjust the grid-connected speed as needed to further reduce the risk of tower vibration. These measures can effectively prevent the tower from being subjected to excessive fatigue loads due to resonance and extend the service life of the tower. By dynamically updating the frequency notch filter parameters in the control loop, this adaptive control strategy enables the wind turbine to maintain the best operating state under different operating conditions, thereby improving the safety of the unit when the actual natural frequency of the tower deviates from the preset natural frequency.

[0080] According to the above embodiment, further, obtaining the actual natural frequency of the tower according to the spectrum analysis result includes:

[0081] Get the preset natural frequency;

[0082] Obtaining a floating frequency range according to a preset natural frequency and a preset floating range;

[0083] Obtain the frequency point with the highest energy amplitude corresponding to the floating frequency interval in the spectrum analysis result, and use the frequency of the frequency point as the actual natural frequency.

[0084] The preset natural frequency refers to the natural frequency determined during tower design, usually provided by the manufacturer and calibrated when the unit is installed.

[0085] The preset floating range is the range within which the preset natural frequency fluctuates, used to determine the search range for the actual natural frequency. For example, the preset floating range can be set to ±20%, resulting in a floating frequency range of 8Hz to 12Hz. The specific ratio of the floating range can be adjusted based on the tower material properties, environmental factors, and unit operating conditions. For example, for offshore wind turbines, due to the large variability in seabed soil, the floating range can be appropriately relaxed to ±25%; while for onshore concrete towers, the floating range can be relatively tightened to ±15%.

[0086] In the spectrum analysis results, find the frequency point with the highest energy amplitude within the floating frequency range. For example, if the spectrum analysis results show that the energy amplitude is highest at 11 Hz within the range of 8 Hz to 12 Hz, use 11 Hz as the current actual natural frequency.

[0087] In addition, to improve the accuracy of frequency identification, filtering and denoising techniques can be introduced to further process the spectrum analysis results. For example, a low-pass filter can be used to remove high-frequency noise, and a high-pass filter can be used to remove low-frequency interference, thereby more accurately identifying the actual natural frequency of the tower.

[0088] According to the above embodiment, further determining whether the actual natural frequency exceeds a preset natural frequency warning interval includes:

[0089] Obtaining a warning interval according to a preset natural frequency, wherein the warning interval is included in a preset floating interval;

[0090] Determine whether the actual natural frequency is within the warning range;

[0091] If not, it is determined whether the actual natural frequency exceeds a preset natural frequency warning interval.

[0092] The warning interval is a safe range within which the tower frequency fluctuates above and below the preset natural frequency. It's used to determine whether the tower frequency deviates from the design value. For example, the warning interval can be set to ±15% of the preset natural frequency, meaning 8.5Hz to 11.5Hz. The warning interval is included in the preset floating range, ensuring more precise monitoring and warning within the floating range. For example, if the preset floating range is ±20% (8Hz to 12Hz), the warning interval is ±15% (8.5Hz to 11.5Hz).

[0093] Determining whether the actual natural frequency is within the warning range involves comparing the actual natural frequency with the upper and lower limits of the warning range. For example, if the actual natural frequency is 11 Hz, the preset natural frequency is 10 Hz, and the warning range is 8.5 Hz to 11.5 Hz, then 11 Hz is within the warning range. If the actual natural frequency is within the warning range, it indicates that while the tower frequency deviates from the design value, it is still within the safe range. The system can then record the relevant operating parameters and continue monitoring.

[0094] If the actual natural frequency is not within the warning range, the system further determines whether it exceeds the upper or lower limit of the warning range. For example, if the actual natural frequency is 12 Hz, the preset natural frequency is 10 Hz, and the warning range is 8.5 Hz to 11.5 Hz, then 12 Hz exceeds the upper limit of the warning range.

[0095] If the actual natural frequency exceeds the warning range, it means that the tower frequency deviates significantly from the design value, posing a safety risk. At this point, the system triggers the warning mechanism, sends a warning signal to the operation and maintenance personnel through the SCADA system, and records relevant operating parameters.

[0096] By monitoring tower frequency in real time and issuing timely warning signals, we can effectively prevent increased tower vibration caused by frequency resonance, reducing the risk of structural damage or even collapse. In the event of severe frequency deviation, the system automatically updates control parameters and adjusts the grid-connected speed to further reduce the risk of tower vibration and ensure safe operation of the unit. Based on real-time tower frequency changes, the system dynamically adjusts control parameters to adapt to varying operating conditions and environmental changes.

[0097] According to the above embodiment, further, a grid-connected speed correction value is obtained according to the actual natural frequency, which also includes:

[0098] Get the current grid-connected speed;

[0099] Determine whether the preset safety conditions are met based on the current grid-connected speed and actual natural frequency;

[0100] If so, the grid-connected speed correction value is obtained according to the actual natural frequency.

[0101] The current grid-connected speed refers to the grid-connected speed of the wind turbine during its current operation, and is typically monitored and recorded in real time by the control system. The preset safety condition refers to whether the actual natural frequency of the tower is within a safe range at the current grid-connected speed. For example, the preset safety condition could be that the ratio of the actual natural frequency to the current grid-connected speed is within a certain range. If the preset safety condition is met, a grid-connected speed correction value is calculated based on the actual natural frequency. The correction value can be adjusted based on the degree of deviation between the actual natural frequency and the preset natural frequency. For example, if the actual natural frequency is 10% higher than the preset natural frequency, the grid-connected speed can be reduced by 10% to reduce the possibility of frequency resonance. The corrected grid-connected speed can be automatically adjusted by the control system to ensure that the unit operates at the new speed, further reducing the risk of tower vibration.

[0102] According to the above embodiment, further determining whether a preset safety condition is met based on the current grid-connected speed and the actual natural frequency includes:

[0103] Determine whether the current grid-connected speed and actual natural frequency satisfy the first formula;

[0104] The first formula for the preset natural frequency is: ;

[0105] in, Indicates the preset natural frequency and the actual natural frequency; Indicates the current grid-connected speed at the preset natural frequency; represents the gravitational acceleration constant;

[0106] Correspondingly, the grid-connected speed correction value is obtained according to the preset natural frequency and the actual natural frequency, including:

[0107] The grid-connected speed correction value is obtained according to the second formula, the preset natural frequency and the actual natural frequency;

[0108] The second formula for the preset natural frequency is: ;

[0109] in, Indicates the preset natural frequency grid-connected speed correction value.

[0110] The first formula is used to determine whether the current grid-connected speed and the actual natural frequency are within a safe range. Specifically, it checks whether the product of the actual natural frequency and the gravitational acceleration constant G is greater than 0.9 times the current grid-connected speed. This ensures that the actual natural frequency of the tower will not cause resonance due to the current grid-connected speed. If the ratio of the actual natural frequency to the grid-connected speed is too low, it may cause the tower vibration to intensify, thereby increasing the risk of structural damage. This is an empirical coefficient used to normalize the frequency and speed for comparison. 0.9 is a safety factor to ensure a certain safety margin in actual operation and can be set according to specific needs.

[0111] The second formula adjusts the grid-connected speed based on the actual natural frequency to prevent tower vibration. The correction factor of 1.12 ensures that the ratio of the tower's natural frequency to speed remains within a safe range at the adjusted speed. This correction factor is an empirical factor and can be set based on specific requirements.

[0112] According to the above embodiment, further, after obtaining the actual natural frequency of the tower according to the spectrum analysis result, the method further includes:

[0113] Determine whether the actual natural frequency is the same as the preset natural frequency;

[0114] If not, obtain the wave height and wave period collected by the wave meter;

[0115] According to the wave height, wave period, actual natural frequency and the third formula, the updated gain coefficient is obtained;

[0116] The third formula for the preset natural frequency is: ;

[0117] in, Indicates the preset natural frequency update gain coefficient; represents a constant coefficient; Indicates the preset natural frequency wave height; Indicates the preset natural frequency wave period;

[0118] The tower lateral active resistance controller is adjusted according to the updated gain coefficient.

[0119] The third formula dynamically adjusts the gain factor based on the current wave height and period, combined with the actual natural frequency. Changes in wave height and period affect the tower's vibration characteristics, so the gain factor needs to be adjusted based on these parameters to better suppress tower vibration.

[0120] By comparing the actual natural frequency with the preset natural frequency, the updated gain coefficient of the tower's lateral active damping controller is determined to be adjusted. The tower's lateral active damping controller suppresses lateral vibration and reduces fatigue loads by adding additional damping. Furthermore, a certain error range can be set to increase control flexibility.

[0121] By integrating wave measurement equipment and dynamically adjusting the gain coefficient, the system can operate more stably, reducing performance degradation caused by environmental changes. By effectively suppressing tower vibration, the vibration interference and noise pollution to the surrounding environment during wind turbine operation are reduced, helping to protect the ecological environment.

[0122] According to the above embodiment, further, a warning interval is obtained according to a preset natural frequency, wherein the warning interval is included in the preset floating interval and includes:

[0123] Preset natural frequency according to preset natural frequency The floating range of 20% is the preset floating range. ;

[0124] Preset natural frequency according to preset natural frequency A safety range of 5% is obtained as a warning interval .

[0125] This embodiment further refines how to obtain the warning interval based on the preset natural frequency. This range indicates that the actual natural frequency of the tower is allowed to be within ±20% of the design value, that is, between 8Hz and 12Hz. It means that the actual natural frequency of the tower is safe within the range of ±5% of the design value. If the actual natural frequency exceeds this range but is still within the preset floating range, the system will issue a warning signal.

[0126] In the above embodiments, a method for adaptive control of a wind turbine generator set is described in detail. This application also provides corresponding embodiments of an adaptive control device for a wind turbine generator set. It should be noted that this application describes the embodiments of the device from two perspectives: one from the perspective of functional modules and the other from the perspective of hardware.

[0127] Based on the perspective of functional modules, Figure 2 This is a structural diagram of a wind turbine adaptive control device provided in an embodiment of the present application, such as Figure 2As shown, a wind turbine adaptive control device includes:

[0128] Acquisition module, used to collect generator speed signal;

[0129] A conversion module is used to perform spectrum analysis on the generator speed signal within each preset sliding time window to obtain a spectrum analysis result corresponding to each preset sliding time window;

[0130] An analysis module is used to obtain the actual natural frequency of the tower based on the results of each spectrum analysis;

[0131] A judgment module is used to judge whether the actual natural frequency exceeds the pre-set natural frequency warning interval; if so, the update module is triggered;

[0132] The update module is used to update the central frequency of the notch filter of the variable pitch speed control loop and the torque speed control loop according to the actual natural frequency, and obtain the grid-connected speed correction value according to the actual natural frequency, so as to adjust the grid-connected speed according to the grid-connected speed correction value.

[0133] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, and they will not be repeated here.

[0134] Figure 3 This is a structural diagram of another wind turbine adaptive control device provided in an embodiment of the present application, such as Figure 3 As shown, the wind turbine adaptive control device includes: a memory 30 for storing computer programs;

[0135] The processor 31 is configured to implement the steps of the method for obtaining user operation habit information in the above embodiment (wind turbine adaptive control method) when executing the computer program.

[0136] The wind turbine adaptive control device provided in this embodiment may include but is not limited to a mobile terminal, a personal computer, a workstation, and the like.

[0137] The processor 31 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 31 may be implemented in at least one of the following hardware forms: a digital signal processor (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 31 may also include a main processor and a coprocessor. The main processor is used to process data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 31 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing content required to be displayed on the display screen. In some embodiments, the processor 31 may also include an artificial intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0138] The memory 30 may include one or more computer-readable storage media, which may be non-transitory. The memory 30 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 30 is at least used to store the following computer program 301, wherein, after the computer program is loaded and executed by the processor 31, it can implement the relevant steps of the wind turbine adaptive control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 30 may also include an operating system 302 and data 303, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 302 may include Windows, Unix, Linux, etc. The data 303 may include but is not limited to data involved in implementing the wind turbine adaptive control method, etc.

[0139] In some embodiments, the wind turbine adaptive control device may further include a display screen 32 , an input / output interface 33 , a communication interface 34 , a power supply 35 , and a communication bus 36 .

[0140] Those skilled in the art will understand that Figure 3 The structure shown in the figure does not constitute a limitation on the adaptive control device for a wind turbine generator set, and may include more or fewer components than those shown in the figure.

[0141] The wind turbine adaptive control device provided in the embodiment of the present application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: wind turbine adaptive control method.

[0142] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the embodiment of the wind turbine adaptive control method.

[0143] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and executes all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0144] The computer-readable storage medium provided in this embodiment stores a computer program. When a processor executes the program, the following method can be implemented: a wind turbine adaptive control method.

[0145] The above is a detailed introduction to the adaptive control method, device and medium for wind turbines provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0146] It should also be noted that, in this specification, 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 such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus comprising the element.

Claims

1. A wind turbine adaptive control method, characterized in that: include: Collect generator speed signal; Performing spectrum analysis on the generator speed signal within each preset sliding time window to obtain a spectrum analysis result corresponding to each preset sliding time window; Obtaining the actual natural frequency of the tower according to the spectrum analysis results; Determining whether the actual natural frequency exceeds a preset natural frequency warning interval; If so, the central frequencies of the notch filters of the pitch speed control loop and the torque speed control loop are updated according to the actual natural frequency, and the grid-connected speed correction value is obtained according to the actual natural frequency, so as to adjust the grid-connected speed according to the grid-connected speed correction value.

2. The wind turbine adaptive control method according to claim 1, characterized in that: Obtaining the actual natural frequency of the tower according to the spectrum analysis result includes: Get the preset natural frequency; Obtaining a floating frequency interval according to the preset natural frequency and the preset floating interval; A frequency point with the highest energy amplitude corresponding to the floating frequency interval in the spectrum analysis result is obtained, and the frequency of the frequency point is used as the actual natural frequency.

3. The wind turbine adaptive control method according to claim 2, characterized in that: The determining whether the actual natural frequency exceeds a preset natural frequency warning interval includes: Obtaining a warning interval according to the preset natural frequency, wherein the warning interval is included in the preset floating interval; Determining whether the actual natural frequency is within the warning range; If not, it is determined whether the actual natural frequency exceeds a preset natural frequency warning interval.

4. The wind turbine adaptive control method according to claim 1, characterized in that: The method further includes obtaining a grid-connected speed correction value according to the actual natural frequency and: Get the current grid-connected speed; Determining whether a preset safety condition is met according to the current grid-connected speed and the actual natural frequency; If so, a grid-connected speed correction value is obtained according to the actual natural frequency.

5. The wind turbine adaptive control method according to claim 4, characterized in that: The determining whether a preset safety condition is met according to the current grid-connected speed and the actual natural frequency includes: Determining whether the current grid-connected speed and the actual natural frequency satisfy a first formula; The first formula is: ; in, represents the actual natural frequency; Indicates the current grid-connected speed; represents the gravitational acceleration constant; Correspondingly, obtaining a grid-connected speed correction value according to the actual natural frequency includes: Obtaining a grid-connected speed correction value according to the second formula and the actual natural frequency; The second formula is: ; in, Indicates the grid-connected speed correction value.

6. The wind turbine adaptive control method according to claim 1, characterized in that: After obtaining the actual natural frequency of the tower according to the spectrum analysis result, the following steps are further included: Determining whether the actual natural frequency is the same as the preset natural frequency; If not, obtain the wave height and wave period collected by the wave meter; Obtaining an updated gain coefficient according to the wave height, the wave period, the actual natural frequency, and a third formula; The third formula is: ; in, represents the update gain coefficient; represents a constant coefficient; represents the wave height; represents the wave period; The tower lateral active resistance controller is adjusted according to the updated gain coefficient.

7. The wind turbine adaptive control method according to claim 3, characterized in that: Obtaining a warning interval according to the preset natural frequency, wherein the warning interval is included in the preset floating interval includes: According to the preset natural frequency The floating range of 20% is the preset floating range. ; According to the preset natural frequency A safety range of 5% is obtained as a warning interval .

8. A wind turbine adaptive control device, characterized in that: include: Acquisition module, used to collect generator speed signal; a conversion module, configured to perform spectrum analysis on the generator speed signal within each preset sliding time window to obtain a spectrum analysis result corresponding to each preset sliding time window; An analysis module, configured to obtain an actual natural frequency of the tower according to each of the spectrum analysis results; A judgment module, configured to judge whether the actual natural frequency exceeds a preset natural frequency warning interval; If so, the update module is triggered; An updating module is used to update the central frequency of the notch filter of the pitch speed control loop and the torque speed control loop according to the actual natural frequency, and to obtain a grid-connected speed correction value according to the actual natural frequency, so as to adjust the grid-connected speed according to the grid-connected speed correction value.

9. A wind turbine adaptive control device, characterized in that: include: memory for storing computer programs; A processor is configured to implement the steps of the wind turbine adaptive control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the wind turbine adaptive control method according to any one of claims 1 to 7 are implemented.

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