Wind turbine control method, device, storage medium and electronic equipment

Abstract

The present application provides a wind turbine control method, device, storage medium and electronic equipment, which relate to the field of wind power control technology, including: obtaining scanning data of a laser radar located in front of the hub center of the wind turbine, and determining the wind speed vector of the wind turbine based on the scanning data, wherein the scanning data at least includes the original wind speed measured by the laser radar; according to the wind speed vector, respectively determining the turbulence intensity, gust intensity and wind speed gradient of the wind turbine, predicting whether the wind turbine will have a gust event and determining the arrival time of the gust event; when the arrival time is less than a preset arrival time, determining a given value of the pitch angle of the wind turbine, and triggering feedforward feedback control of the wind turbine based on the given value of the pitch angle, which can not only accurately identify gusts, but also trigger feedforward feedback control of the wind turbine based on the given value of the pitch angle when the arrival time of the gust event is less than the preset arrival time, thereby improving the control accuracy of the wind turbine and reducing the failure rate of the wind turbine.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power control, and in particular to a wind turbine control method, device, storage medium and electronic equipment. Background Art

[0002] Wind power technology has developed rapidly in recent years and has become a vital component of global renewable energy. As the core equipment of wind power systems, the safe and reliable operation of wind turbines is essential for their safe and reliable operation. Influenced by the operating environment, transient load shocks caused by gusts are a major cause of wind turbine failure.

[0003] Data shows that approximately 23% of wind turbine blade failures and 15% of gearbox damage are related to sudden gusts. During the development of this invention, the inventors discovered that existing wind turbine control methods, unable to accurately identify gusts, suffer from poor control accuracy and contribute to high wind turbine failure rates. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a wind turbine control method, device, storage medium and electronic device to solve the problem that the existing wind turbine control method cannot accurately identify gusts, resulting in poor wind turbine control accuracy and a high wind turbine failure rate.

[0005] The first aspect of the present application discloses a wind turbine control method, comprising:

[0006] Obtaining scanning data of a laser radar located in front of a hub center of the wind turbine generator set, and determining a wind speed vector of the wind turbine generator set based on the scanning data, wherein the scanning data includes at least an original wind speed measured by the laser radar;

[0007] determining the turbulence intensity, gust intensity and wind speed gradient of the wind turbine generator system according to the wind speed vector;

[0008] predicting whether a gust event will occur in the wind turbine generator system based on the turbulence intensity, the gust intensity, and the wind speed gradient;

[0009] When a gust event is predicted to occur to the wind turbine generator, determining an arrival time of the gust event;

[0010] When the arrival time is less than the preset arrival time, a pitch angle set value of the wind turbine generator set is determined, and feedforward feedback control of the wind turbine generator set is triggered based on the pitch angle set value.

[0011] Optionally, in the above-mentioned wind turbine control method, determining the wind speed vector of the wind turbine according to the scan data includes:

[0012] Determining a conversion relationship between the polar coordinate system of the laser radar and the Cartesian coordinate system of the wind turbine generator set;

[0013] The original wind speed is converted according to the conversion relationship to obtain the wind speed vector of the wind turbine generator set.

[0014] Optionally, in the above-mentioned wind turbine control method, determining the turbulence intensity of the wind turbine according to the wind speed vector includes:

[0015] Determine each wind speed vector corresponding to a sliding window length;

[0016] Averaging the wind speed vectors corresponding to the sliding window length to obtain an average wind speed vector corresponding to the sliding window length;

[0017] Performing calculations based on the wind speed vectors and the average wind speed vector corresponding to the sliding window length to obtain the turbulence intensity of the wind turbine;

[0018] Determining the gust intensity of the wind turbine generator system according to the wind speed vector includes:

[0019] Determine each of the wind speed vectors corresponding to the sliding window length;

[0020] Determine, according to each of the wind speed vectors corresponding to the sliding window length, an average wind speed vector and an instantaneous wind speed vector corresponding to the sliding window length;

[0021] Calculation is performed based on the average wind speed vector and the instantaneous wind speed vector to obtain the gust intensity of the wind turbine generator set.

[0022] Optionally, in the above-mentioned wind turbine control method, the scanning data further includes: external disturbance data measured by the laser radar; and determining the wind speed gradient of the wind turbine according to the wind speed vector includes:

[0023] Determining a modal matrix of the wind turbine generator set, where the modal matrix is ​​a conversion matrix between a yaw bearing coordinate system and a hub coordinate system of the wind turbine generator set;

[0024] Constructing a low-dimensional dynamic model of the wind turbine generator system according to the wind speed vector, the modal matrix and the external disturbance data;

[0025] The wind speed gradient of the wind turbine generator system is obtained according to the low-dimensional dynamic model.

[0026] Optionally, in the above-mentioned wind turbine control method, predicting whether a gust event will occur in the wind turbine according to the turbulence intensity, the gust intensity and the wind speed gradient includes:

[0027] Determining whether the duration for which the wind turbine generator simultaneously satisfies the conditions that the turbulence intensity is greater than a preset turbulence intensity, the gust intensity is greater than a preset gust intensity, and the wind speed gradient is greater than a preset wind speed gradient is greater than a preset duration;

[0028] If it is determined that the wind turbine generator system simultaneously satisfies the conditions that the turbulence intensity is greater than the preset turbulence intensity, the gust intensity is greater than the preset gust intensity, and the duration of the wind speed gradient being greater than the preset wind speed gradient is greater than the preset duration, it is predicted that the wind turbine generator system will experience a gust event.

[0029] Optionally, in the above-mentioned wind turbine control method, determining the arrival time of the gust event includes:

[0030] Determine a first distance, a second distance, and a gust movement velocity vector of the wind turbine generator set, respectively, wherein the first distance is the gust distance measured by the laser radar, and the second distance is the distance between the laser radar and the rotor surface of the wind turbine generator set;

[0031] An arrival time of the gust event is obtained by performing a calculation based on the first distance, the second distance, and the gust moving speed vector.

[0032] Optionally, in the above-mentioned wind turbine control method, before determining the wind speed vector of the wind turbine according to the scan data, the method further includes:

[0033] determining abnormal raw wind speed and missing raw wind speed of the lidar;

[0034] The abnormal original wind speed is eliminated, and the missing original wind speed is interpolated.

[0035] The second aspect of the present application discloses a wind turbine control device, comprising:

[0036] a first determining unit, configured to obtain scanning data of a laser radar located in front of a hub center of the wind turbine generator set, and determine a wind speed vector of the wind turbine generator set based on the scanning data, wherein the scanning data includes at least an original wind speed measured by the laser radar;

[0037] a second determining unit, configured to determine the turbulence intensity, gust intensity, and wind speed gradient of the wind turbine generator system according to the wind speed vector;

[0038] a gust event prediction unit, configured to predict whether a gust event occurs in the wind turbine generator system based on the turbulence intensity, the gust intensity, and the wind speed gradient;

[0039] an arrival time determining unit, configured to determine an arrival time of a gust event when a gust event is predicted to occur in the wind turbine generator system;

[0040] A feedforward feedback control unit is used to determine a pitch angle set value of the wind turbine generator set when the arrival time is less than a preset arrival time, and trigger feedforward feedback control of the wind turbine generator set according to the pitch angle set value.

[0041] A third aspect of the present application discloses a storage medium, which includes stored instructions. When the instructions are executed, the device where the storage medium is located is controlled to execute any one of the wind turbine control methods disclosed in the first aspect.

[0042] The fourth aspect of the present application discloses an electronic device comprising a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to implement the wind turbine control method as described in any one of the items disclosed in the first aspect.

[0043] Compared with the prior art, this application has the following advantages:

[0044] The present application provides a wind turbine control method, comprising: acquiring scanning data of a laser radar located in front of the hub center of the wind turbine, and determining a wind speed vector of the wind turbine based on the scanning data, wherein the scanning data includes at least the original wind speed measured by the laser radar; determining the turbulence intensity, gust intensity and wind speed gradient of the wind turbine based on the wind speed vector; predicting whether a gust event will occur to the wind turbine based on the turbulence intensity, gust intensity and wind speed gradient; determining an arrival time of the gust event when it is predicted that the wind turbine will experience a gust event; determining a given pitch angle value of the wind turbine when the arrival time is less than a preset arrival time, and triggering feedforward feedback control of the wind turbine based on the given pitch angle value, which can not only accurately identify gusts, but also trigger feedforward feedback control of the wind turbine based on the given pitch angle value when the arrival time of the gust event is less than the preset arrival time, thereby improving the control accuracy of the wind turbine and reducing the failure rate of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] Figure 1 A flow chart of a wind turbine control method provided in an embodiment of the present application;

[0047] Figure 2A flow chart for determining the wind speed vector of a wind turbine generator system according to an embodiment of the present application;

[0048] Figure 3 A flow chart for determining the turbulence intensity of a wind turbine provided in an embodiment of the present application;

[0049] Figure 4 A flow chart for determining the gust intensity of a wind turbine generator system according to an embodiment of the present application;

[0050] Figure 5 A flow chart for determining the wind speed gradient of a wind turbine generator system according to an embodiment of the present application;

[0051] Figure 6 A flow chart for determining the arrival time of a gust event provided in an embodiment of the present application;

[0052] Figure 7 This is the control block diagram of an existing wind turbine;

[0053] Figure 8 A control block diagram of a wind turbine generator system provided in an embodiment of the present application;

[0054] Figure 9 A flow chart of another wind turbine control method provided in an embodiment of the present application;

[0055] Figure 10 A structural diagram of a wind turbine control device provided in an embodiment of the present application;

[0056] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] 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.

[0058] In this application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list 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 preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0059] In wind turbine control applications, existing gust monitoring and control technologies are highly dependent on wind towers and nacelle anemometers, which in turn lead to large errors in gust monitoring. The inventors have discovered that lidar is underused in wind turbine control and is sensitive to environmental interference. Furthermore, existing algorithms are disconnected from control, and mainstream gust recognition algorithms rely on historical data training, making it difficult to adapt to spatiotemporal mutations in wind speed fields.

[0060] In this regard, the embodiments of the present application provide a wind turbine control method, device, storage medium and electronic device to solve the problem that the existing wind turbine control method cannot accurately identify gusts, resulting in poor wind turbine control accuracy and a high wind turbine failure rate.

[0061] See Figure 1 , the wind turbine control method mainly includes the following steps:

[0062] S101 , obtaining scanning data of a laser radar located in front of a hub center of a wind turbine generator set, and determining a wind speed vector of the wind turbine generator set based on the scanning data.

[0063] The scanning data includes at least the original wind speed measured by the LiDAR. Specifically, because the LiDAR scans multiple locations, the scanning data includes the original wind speeds at multiple locations, and the original wind speeds at different locations may be different.

[0064] In actual applications, a laser radar is set in front of the hub center of the wind turbine, and a conical scanning mode is adopted. The scanning area covers a fixed distance area set in front, and the spatial resolution and temporal resolution of the laser radar are adjusted to the best to obtain scanning data.

[0065] Exemplarily, the scanning area of ​​the laser radar covers a fan-shaped area of ​​0.3D to 3D in front of the wind turbine, where D represents the rotor diameter of the wind turbine. The spatial resolution of the laser radar is ≤10m and the temporal resolution is ≥20Hz.

[0066] In some embodiments, the specific process of determining the wind speed vector of the wind turbine generator system according to the scan data in step S101 is as follows: Figure 2 As shown, it mainly includes steps S201 and S202:

[0067] S201. Determine the conversion relationship between the polar coordinate system of the laser radar and the Cartesian coordinate system of the wind turbine generator.

[0068] Since LiDAR and wind turbines use different coordinate systems, coordinate system conversion is required when applying LiDAR scanning data to wind turbine control.

[0069] Specifically, the conversion relationship between the polar coordinate system of the lidar and the Cartesian coordinate system of the wind turbine can be as follows:

[0070]

[0071] in, represents the ranging of the laser radar, represents the pitch angle of the lidar, represents the azimuth of the lidar, Indicates the hub height of the wind turbine.

[0072] S202: Convert the original wind speed according to the conversion relationship to obtain the wind speed vector of the wind turbine.

[0073] In practical applications, after determining the conversion relationship between the polar coordinate system of the lidar and the Cartesian coordinate system of the wind turbine, the original wind speed can be converted according to the conversion relationship to obtain the wind speed vector of the wind turbine. The specific process is as follows:

[0074]

[0075] in, represents the wind speed vector of the wind turbine, Represents the wind speed in the direction of the four laser radar beams, Represents half of the horizontal angle of the left and right beams of the laser radar, Represents half of the horizontal angle of the upper and lower light beams of the lidar.

[0076] S102. Determine the turbulence intensity, gust intensity, and wind speed gradient of the wind turbine generator system according to the wind speed vector.

[0077] In some embodiments, the specific process of determining the turbulence intensity of the wind turbine generator system according to the wind speed vector in step S102 is as follows: Figure 3 As shown, it mainly includes steps S301 to S303:

[0078] S301: Determine each wind speed vector corresponding to the sliding window length.

[0079] The sliding window length is the time span corresponding to the generation of wind turbine-related data required when implementing the wind turbine control method; the specific value of the sliding window length can be tens of seconds or several minutes, such as 10 minutes, 20 minutes, etc., all within the protection scope of this application.

[0080] For example, assuming that the sliding window length is 5 minutes, each wind speed vector corresponding to the sliding window length is a wind speed vector of a wind turbine generator system corresponding to the previous 5 minutes based on the current time.

[0081] S302: Average the wind speed vectors corresponding to the sliding window length to obtain an average wind speed vector corresponding to the sliding window length.

[0082] In practical applications, after determining the wind speed vectors corresponding to the sliding window length, the wind speed vectors within the sliding window length may be averaged to obtain an average wind speed vector corresponding to the sliding window length.

[0083] S303 , performing calculations based on each wind speed vector and the average wind speed vector corresponding to the sliding window length to obtain the turbulence intensity of the wind turbine generator set.

[0084] In practical applications, the turbulence intensity of a wind turbine can be obtained according to the following formula:

[0085]

[0086] represents the turbulence intensity of the wind turbine, n represents the sliding window length, represents the average wind speed vector corresponding to the sliding window length, Represents the i-th wind speed vector corresponding to the sliding window length.

[0087] In some embodiments, the specific process of determining the gust intensity of the wind turbine generator according to the wind speed vector in step S102 is as follows: Figure 4 As shown, it mainly includes steps S401 to S403:

[0088] S401: Determine each wind speed vector corresponding to the sliding window length.

[0089] For the relevant description of step S401, please refer to step S301, which will not be repeated here.

[0090] S402: Determine an average wind speed vector and an instantaneous wind speed vector corresponding to the sliding window length according to each wind speed vector corresponding to the sliding window length.

[0091] In practical applications, the wind speed vectors corresponding to the sliding window length can be averaged to obtain the average wind speed vector corresponding to the sliding window length. The instantaneous wind speed vector can be the maximum wind speed vector among the wind speed vectors corresponding to the sliding window length. Specifically, the wind speed vectors corresponding to the sliding window length can be sorted and the maximum value can be selected as the instantaneous wind speed vector.

[0092] S403 , performing calculations based on the average wind speed vector and the instantaneous wind speed vector to obtain the gust intensity of the wind turbine generator set.

[0093] In practical applications, the gust intensity of a wind turbine can be calculated using the following formula:

[0094]

[0095] represents the instantaneous wind speed vector corresponding to the sliding window length, represents the average wind speed vector corresponding to the sliding window length, Indicates the gust strength of the wind turbine.

[0096] In some embodiments, the laser radar scanning data generally also includes external disturbance data measured by the laser radar. The external disturbance data can be noise data measured by the laser radar. The specific process of determining the wind speed gradient of the wind turbine generator according to the wind speed vector in step S102 is as follows: Figure 5 As shown, it mainly includes steps S501 to S503:

[0097] S501. Determine the modal matrix of the wind turbine generator system.

[0098] The modal matrix is ​​the transformation matrix between the yaw bearing coordinate system and the hub coordinate system of the wind turbine.

[0099] The yaw bearing coordinate system of a wind turbine is a key reference system used to describe and analyze the motion and load of the yaw system in the wind turbine. The hub coordinate system of a wind turbine is an important reference system used to describe the motion and force of components such as blades and hubs in the wind turbine.

[0100] It should be noted that, according to the conversion relationship between the yaw bearing coordinate system of the wind turbine and the hub coordinate system of the wind turbine, a conversion matrix between the yaw bearing coordinate system of the wind turbine and the hub coordinate system can be determined.

[0101] S502: Construct a low-dimensional dynamic model of the wind turbine according to the wind speed vector, modal matrix and external disturbance data.

[0102] In practical applications, dynamic modal decomposition can be used to extract the main modes of the wind speed field in which the wind turbine is located and construct a low-dimensional dynamic model of the wind turbine.

[0103] For example, the low-dimensional dynamic model of a wind turbine can be expressed as:

[0104]

[0105] represents the local wind speed acceleration of the wind turbine, represents the modal matrix of the wind turbine, Represents external disturbance data.

[0106] In actual applications, external disturbance data may include: various sensor noises in wind turbines, electromagnetic interference noise, and mechanical vibration noise, etc., which can be determined according to the application environment and user needs, and are all within the protection scope of this application.

[0107] S503. Obtain the wind speed gradient of the wind turbine generator system according to the low-dimensional dynamics model.

[0108] In practical applications, after determining the local wind speed acceleration of the wind turbine according to the low-dimensional dynamic model, the spatial rate of change of the local wind speed acceleration of the wind turbine can be solved. The wind speed gradient of the wind turbine can be obtained by performing calculations based on the spatial rate of change of the local wind speed acceleration of the wind turbine.

[0109] For example, the wind speed gradient of the wind turbine can be obtained by the following formula:

[0110]

[0111] represents the wind speed gradient of the wind turbine, It represents the gradient (rate of change) of the local wind speed acceleration of the wind turbine in the x direction, It represents the gradient (rate of change) of the local wind speed acceleration of the wind turbine in the y direction, It represents the gradient (rate of change) of the local wind speed acceleration of the wind turbine in the z direction.

[0112] S103. Predict whether a wind turbine will experience a gust event based on turbulence intensity, gust intensity, and wind speed gradient.

[0113] In practical applications, a multi-level criterion fusion method can be used to predict whether a wind turbine will experience a gust event based on the turbulence intensity, gust intensity and wind speed gradient of the wind turbine.

[0114] In some embodiments, the specific execution process of step S103, predicting whether a wind turbine will experience a gust event based on turbulence intensity, gust intensity, and wind speed gradient, is as follows, mainly including steps S601 and S602:

[0115] S601 , determining whether the duration for which the wind turbine generator system simultaneously satisfies the conditions that the turbulence intensity is greater than a preset turbulence intensity, the gust intensity is greater than a preset gust intensity, and the wind speed gradient is greater than a preset wind speed gradient is greater than a preset duration.

[0116] Among them, the values ​​of the preset turbulence intensity, preset gust intensity, preset wind speed gradient and preset duration are related to the design parameters of the wind turbine. The corresponding preset turbulence intensity, preset gust intensity, preset wind speed gradient and preset duration can be determined according to the actual design parameters of the wind turbine. In this way, the problem of misjudgment caused by the use of fixed thresholds can be avoided, the gust event prediction criteria are improved to be adaptable to different models and working conditions, and the safety of the wind turbine load is improved.

[0117] If it is determined that the wind turbine generator system simultaneously meets the conditions that the turbulence intensity is greater than the preset turbulence intensity, the gust intensity is greater than the preset gust intensity, and the wind speed gradient is greater than the preset wind speed gradient for a duration greater than the preset duration, step S602 may be executed.

[0118] S602. Predict gust events that may occur in wind turbines.

[0119] In practical applications, when a wind turbine simultaneously meets the following conditions: turbulence intensity is greater than a preset turbulence intensity, gust intensity is greater than a preset gust intensity, and wind speed gradient is greater than a preset wind speed gradient for a duration greater than a preset duration, it indicates that a gust event will occur in the wind turbine.

[0120] S104: When a gust event is predicted to occur in the wind turbine generator system, an arrival time of the gust event is determined.

[0121] The arrival time of a gust event refers to the time when the gust actually reaches the wind turbine.

[0122] In some embodiments, the specific process of determining the arrival time of the gust event in step S104 is as follows: Figure 6 As shown, it mainly includes steps S701 and S702:

[0123] S701 : Determine a first distance, a second distance, and a gust moving speed vector of a wind turbine generator set respectively.

[0124] The first distance is the gust distance measured by the lidar, and the second distance is the distance between the lidar and the wind rotor surface of the wind turbine.

[0125] Since the scanning data of the lidar generally includes the original wind speeds at multiple locations, the wind speed vector of the wind turbine at a certain moment also corresponds to a wind speed vector at each location. In this way, the wind speed vectors of any two locations can be selected from all the wind speed vectors of the wind turbine at a certain moment for moving vector calculation to obtain the gust moving speed vector of the wind turbine.

[0126] S702: Perform calculations based on the first distance, the second distance, and the gust moving speed vector to obtain an arrival time of the gust event.

[0127] For example, the arrival time of the gust event can be obtained by the following formula:

[0128]

[0129] represents the arrival time of the gust event, represents the gust distance measured by the lidar, Indicates the distance between the lidar and the wind turbine rotor surface, Represents the gust moving velocity vector of the wind turbine.

[0130] S105 : When the arrival time is less than the preset arrival time, determine a given pitch angle value of the wind turbine generator set, and trigger feedforward feedback control of the wind turbine generator set based on the given pitch angle value.

[0131] In actual applications, when the arrival time of a gust event is less than the preset arrival time, it means that the gust propagates quickly and the wind turbine needs to respond as quickly as possible by controlling the wind turbine to change its pitch, thereby controlling the wind turbine to change its engine speed.

[0132] For example, the pitch angle of the wind turbine generator set can be obtained by the following formula:

[0133]

[0134] Indicates the given value of the pitch angle of the wind turbine. Indicates the speed error of the wind turbine, represents the proportional control gain, represents the integral control gain, represents the differential control gain, Represents the global pitch angle of the wind turbine.

[0135] Specifically, the global pitch angle of the wind turbine The arrival time of the gust event can be and gust intensity of wind turbines Obtained by table lookup.

[0136] The control block diagram of the existing wind turbine is as follows: Figure 7 As shown, the control block diagram corresponding to the feedforward feedback control of the wind turbine generator system triggered by the pitch angle given value provided in this application is as follows Figure 8 As shown in the figure, compared with the control block diagram of the existing wind turbine, the present application introduces a feedforward feedback control of the wind turbine based on the given value of the pitch angle to control the wind turbine to change the pitch, and finally change the generator speed of the wind turbine. represents the original wind speed of the lidar, Indicates the generator speed setting value of the wind turbine. Indicates the generator speed of the wind turbine. Represents the transfer function from the wind speed vector of the wind turbine to the generator speed, Represents the transfer function from the pitch angle of the wind turbine to the generator speed, represents the feedback pitch controller, Represents the conversion function from the original wind speed of the lidar to the wind speed vector of the wind turbine.

[0137] The wind turbine achieves its control purpose by adjusting the engine speed of the wind turbine through pitch control. In the above process of determining the pitch angle given value of the wind turbine to trigger the feedforward feedback control of the wind turbine, in order to reduce the interference of noise data during the pitch control of the wind turbine, an atmospheric optical sensor can be added in front of the hub center of the wind turbine to monitor the refractive index structure constant in real time. and background light intensity, and based on the refractive index structure constant and background light intensity for interference suppression.

[0138] Specifically, wavelet packet decomposition can be combined with the signal-to-noise ratio (SNR) criterion and the refractive index structure constant. Denoise the external disturbance data, determine the number of decomposition layers and basis functions, and then compare the processed data with the noise threshold to distinguish the interference noise from the usable data, so as to determine the pitch angle set value and pitch control based on the usable data. The noise threshold can be dynamically adjusted based on the SURE criterion. The specific adjustment formula is:

[0139]

[0140] , represents the noise standard deviation, Indicates the signal length.

[0141] It should be noted that the number of decomposition layers can be determined by the target frequency band resolution of the lidar, and the basis function can match the gust waveform characteristics. By applying the above-mentioned interference suppression algorithm, the real gust characteristics can be separated from the noisy signal to ensure that the pitch change process of the wind turbine control method provided in this application is more reasonable and accurate during implementation. Noise can include noise from atmospheric optical sensors, electromagnetic interference noise, mechanical vibration noise, etc., which can be determined according to the application environment and user needs, and are all within the scope of protection of this application.

[0142] Based on the above principles, the wind turbine control method provided in this embodiment includes: obtaining scanning data of a laser radar located in front of the hub center of the wind turbine, and determining the wind speed vector of the wind turbine based on the scanning data, wherein the scanning data includes at least the original wind speed measured by the laser radar; according to the wind speed vector, respectively determining the turbulence intensity, gust intensity and wind speed gradient of the wind turbine; according to the turbulence intensity, gust intensity and wind speed gradient, predicting whether a gust event will occur in the wind turbine; when it is predicted that a gust event will occur in the wind turbine, determining the arrival time of the gust event; when the arrival time is less than a preset arrival time, determining a pitch angle set value of the wind turbine, and triggering feedforward feedback control of the wind turbine based on the pitch angle set value. This method can not only accurately identify gusts, but also trigger feedforward feedback control of the wind turbine based on the pitch angle set value when the arrival time of the gust event is less than the preset arrival time, thereby improving the control accuracy of the wind turbine and reducing the failure rate of the wind turbine.

[0143] In addition, the wind turbine control method provided in this application also uses lidar to identify gusts based on real-time data, which is applicable to wind speed fields in any environment. It also solves the problem that existing gust identification relies on historical data training and is difficult to adapt to sudden changes in the wind speed field in time and space.

[0144] Optionally, in another embodiment of the present application, in the wind turbine control method provided, before executing step S101 and determining the wind speed vector of the wind turbine according to the scan data, refer to Figure 9 , further comprising steps S801 and S802:

[0145] S801. Determine abnormal original wind speed and missing original wind speed of the laser radar.

[0146] Abnormal raw wind speed refers to the raw wind speed in which the lidar data shows abnormalities due to hardware failure, environmental interference, or data processing errors; missing raw wind speed refers to the raw wind speed that the lidar cannot obtain due to signal obstruction, communication interruption, or scanning blind spots.

[0147] In practical applications, the abnormal raw wind speed and missing raw wind speed of the lidar can be determined in the raw wind speed of the lidar by data filtering.

[0148] Specifically, it can be based on 3 The data is filtered according to the criteria to determine the abnormal original wind speed of the lidar; of course, it is not limited to this, and data filtering can also be performed according to other existing criteria, all of which are within the scope of protection of this application.

[0149] S802: Eliminate abnormal original wind speeds and perform interpolation processing on missing original wind speeds.

[0150] In practical applications, after determining the abnormal original wind speed and missing original wind speed of the lidar, the abnormal original wind speed of the lidar can be eliminated, and the missing original wind speed can be interpolated using the Kriging spatial interpolation algorithm.

[0151] The wind turbine control method provided in this embodiment can avoid interference of abnormal data and missing data on wind turbine control by eliminating abnormal original wind speed of the lidar and interpolating and supplementing missing original wind speed of the lidar before determining the wind speed vector of the wind turbine based on scanning data, thereby further improving the control accuracy of the wind turbine.

[0152] Corresponding to the wind turbine control method provided in the above embodiment, the present application also provides a wind turbine control device, see Figure 10 , the wind turbine control device may include:

[0153] The first determining unit 101 is configured to obtain scanning data of a laser radar located in front of the hub center of the wind turbine generator set, and determine the wind speed vector of the wind turbine generator set based on the scanning data, wherein the scanning data at least includes the original wind speed measured by the laser radar.

[0154] The second determining unit 102 is configured to determine the turbulence intensity, gust intensity and wind speed gradient of the wind turbine generator system according to the wind speed vector.

[0155] The gust event prediction unit 103 is used to predict whether a gust event will occur in the wind turbine generator system based on the turbulence intensity, gust intensity and wind speed gradient.

[0156] The arrival time determination unit 104 is configured to determine the arrival time of a gust event when a gust event is predicted to occur in the wind turbine.

[0157] The feedforward feedback control unit 105 is configured to determine a given pitch angle value of the wind turbine generator set when the arrival time is less than a preset arrival time, and trigger feedforward feedback control of the wind turbine generator set according to the given pitch angle value.

[0158] Optionally, in one embodiment, the process of determining the wind speed vector of the wind turbine generator set according to the scan data by the first determining unit 101 includes:

[0159] Determine the conversion relationship between the polar coordinate system of the lidar and the Cartesian coordinate system of the wind turbine;

[0160] The original wind speed is converted according to the conversion relationship to obtain the wind speed vector of the wind turbine.

[0161] Optionally, in one embodiment, the process of determining the turbulence intensity of the wind turbine generator set according to the wind speed vector by the second determining unit 102 includes:

[0162] Determine each wind speed vector corresponding to a sliding window length;

[0163] The wind speed vectors corresponding to the sliding window length are averaged to obtain the average wind speed vector corresponding to the sliding window length;

[0164] The turbulence intensity of the wind turbine is obtained by performing calculations based on the wind speed vectors and the average wind speed vector corresponding to the sliding window length.

[0165] Optionally, in one embodiment, the process of determining the gust intensity of the wind turbine generator set according to the wind speed vector by the second determining unit 102 includes:

[0166] Determine each wind speed vector corresponding to the sliding window length;

[0167] According to each wind speed vector corresponding to the sliding window length, determine the average wind speed vector and the instantaneous wind speed vector corresponding to the sliding window length;

[0168] The gust intensity of the wind turbine is obtained by performing calculations based on the average wind speed vector and the instantaneous wind speed vector.

[0169] Optionally, in one embodiment, the scanning data further includes external disturbance data measured by a laser radar, and the process of determining the wind speed gradient of the wind turbine generator according to the wind speed vector by the second determining unit 102 includes:

[0170] Determine the modal matrix of the wind turbine. The modal matrix is ​​the transformation matrix between the yaw bearing coordinate system and the hub coordinate system of the wind turbine.

[0171] Construct a low-dimensional dynamic model of the wind turbine based on wind speed vector, modal matrix and external disturbance data;

[0172] According to the low-dimensional dynamic model, the wind speed gradient of the wind turbine is obtained.

[0173] Optionally, in one embodiment, the process of the gust event prediction unit 103 predicting whether a gust event will occur in a wind turbine according to the turbulence intensity, the gust intensity and the wind speed gradient includes:

[0174] Determine whether the duration for which the wind turbine generator system simultaneously satisfies the conditions that the turbulence intensity is greater than a preset turbulence intensity, the gust intensity is greater than a preset gust intensity, and the wind speed gradient is greater than a preset wind speed gradient is greater than a preset duration;

[0175] If it is determined that the wind turbine generator system simultaneously meets the following conditions: the turbulence intensity is greater than the preset turbulence intensity, the gust intensity is greater than the preset gust intensity, and the wind speed gradient is greater than the preset wind speed gradient for a duration greater than the preset duration, then it is predicted that the wind turbine generator system will experience a gust event.

[0176] Optionally, in one embodiment, the process of determining the arrival time of the gust event by the arrival time determination unit 104 includes:

[0177] Determine a first distance, a second distance, and a gust movement velocity vector of the wind turbine respectively, wherein the first distance is the gust distance measured by the laser radar, and the second distance is the distance between the laser radar and the rotor surface of the wind turbine;

[0178] An arrival time of the gust event is obtained by performing calculations based on the first distance, the second distance, and the gust moving speed vector.

[0179] Optionally, in one embodiment, the wind turbine control device further includes:

[0180] a third determining unit, configured to determine abnormal original wind speed and missing original wind speed of the laser radar;

[0181] The processing unit is used to remove abnormal original wind speeds and perform interpolation processing on missing original wind speeds.

[0182] The wind turbine control device provided in the embodiment of the present application includes: a first determination unit 101 for acquiring scanning data of a laser radar located in front of the hub center of the wind turbine, and determining a wind speed vector of the wind turbine based on the scanning data, wherein the scanning data includes at least the original wind speed measured by the laser radar; a second determination unit 102 for determining the turbulence intensity, gust intensity, and wind speed gradient of the wind turbine based on the wind speed vector; a gust event prediction unit 103 for predicting whether a gust event will occur in the wind turbine based on the turbulence intensity, gust intensity, and wind speed gradient; a gust arrival time determination unit 104 for determining the arrival time of the gust event when a gust event is predicted to occur in the wind turbine; and a feedforward feedback control unit for determining a pitch angle set value of the wind turbine when the arrival time is less than a preset arrival time, and triggering feedforward feedback control of the wind turbine based on the pitch angle set value. The device can not only accurately identify gusts, but also trigger feedforward feedback control of the wind turbine based on the pitch angle set value when the arrival time of the gust event is less than the preset arrival time, thereby improving the control accuracy of the wind turbine and reducing the failure rate of the wind turbine.

[0183] Optionally, an embodiment of the present invention further provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned wind turbine control method.

[0184] Optionally, an embodiment of the present invention further provides an electronic device, the structural diagram of which is as follows: Figure 11As shown, the system specifically includes a memory 601 and one or more instructions 602, wherein the one or more instructions 602 are stored in the memory 601 and are configured to be executed by one or more processors 603 to perform the following operations:

[0185] Obtaining scanning data from a laser radar located in front of a hub center of the wind turbine generator set, and determining a wind speed vector of the wind turbine generator set based on the scanning data, wherein the scanning data includes at least an original wind speed measured by the laser radar;

[0186] According to the wind speed vector, the turbulence intensity, gust intensity and wind speed gradient of the wind turbine are determined respectively;

[0187] Predict whether a wind turbine will experience a gust event based on turbulence intensity, gust intensity, and wind speed gradient;

[0188] When a gust event is predicted for a wind turbine, determine the arrival time of the gust event;

[0189] When the arrival time is less than the preset arrival time, a pitch angle set value of the wind turbine generator set is determined, and feedforward feedback control of the wind turbine generator set is triggered based on the pitch angle set value.

[0190] It should be noted that, for the relevant description of the wind turbine control method, reference can be made to the above embodiments, which will not be repeated here.

[0191] It should be noted that the information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of the relevant regions.

[0192] The specific implementation processes and derivative methods of the above embodiments are all within the protection scope of the present invention.

[0193] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0194] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0195] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wind turbine control method, characterized in that: include: Obtaining scanning data of a laser radar located in front of a hub center of the wind turbine generator set, and determining a wind speed vector of the wind turbine generator set based on the scanning data, wherein the scanning data includes at least an original wind speed measured by the laser radar; determining the turbulence intensity, gust intensity and wind speed gradient of the wind turbine generator system according to the wind speed vector; predicting whether a gust event will occur in the wind turbine generator system based on the turbulence intensity, the gust intensity, and the wind speed gradient; When a gust event is predicted to occur to the wind turbine generator, determining an arrival time of the gust event; When the arrival time is less than the preset arrival time, a pitch angle set value of the wind turbine generator set is determined, and feedforward feedback control of the wind turbine generator set is triggered based on the pitch angle set value.

2. The wind turbine control method according to claim 1, characterized in that: Determining the wind speed vector of the wind turbine generator set according to the scan data includes: Determining a conversion relationship between the polar coordinate system of the laser radar and the Cartesian coordinate system of the wind turbine generator set; The original wind speed is converted according to the conversion relationship to obtain the wind speed vector of the wind turbine generator set.

3. The wind turbine control method according to claim 1, characterized in that: Determining the turbulence intensity of the wind turbine generator system according to the wind speed vector includes: Determine each wind speed vector corresponding to a sliding window length; Averaging the wind speed vectors corresponding to the sliding window length to obtain an average wind speed vector corresponding to the sliding window length; Performing calculations based on the wind speed vectors and the average wind speed vector corresponding to the sliding window length to obtain the turbulence intensity of the wind turbine; Determining the gust intensity of the wind turbine generator system according to the wind speed vector includes: Determine each of the wind speed vectors corresponding to the sliding window length; Determine, according to each of the wind speed vectors corresponding to the sliding window length, an average wind speed vector and an instantaneous wind speed vector corresponding to the sliding window length; Calculation is performed based on the average wind speed vector and the instantaneous wind speed vector to obtain the gust intensity of the wind turbine generator set.

4. The wind turbine control method according to claim 1, characterized in that: The scanning data also includes: external disturbance data measured by the laser radar; determining the wind speed gradient of the wind turbine generator according to the wind speed vector, including: Determining a modal matrix of the wind turbine generator set, where the modal matrix is ​​a conversion matrix between a yaw bearing coordinate system and a hub coordinate system of the wind turbine generator set; Constructing a low-dimensional dynamic model of the wind turbine generator system according to the wind speed vector, the modal matrix and the external disturbance data; The wind speed gradient of the wind turbine generator system is obtained according to the low-dimensional dynamic model.

5. The wind turbine control method according to claim 1, characterized in that: Predicting whether a gust event will occur in the wind turbine generator set according to the turbulence intensity, the gust intensity, and the wind speed gradient, including: Determining whether the duration for which the wind turbine generator simultaneously satisfies the conditions that the turbulence intensity is greater than a preset turbulence intensity, the gust intensity is greater than a preset gust intensity, and the wind speed gradient is greater than a preset wind speed gradient is greater than a preset duration; If it is determined that the wind turbine generator system simultaneously satisfies the conditions that the turbulence intensity is greater than the preset turbulence intensity, the gust intensity is greater than the preset gust intensity, and the duration of the wind speed gradient being greater than the preset wind speed gradient is greater than the preset duration, it is predicted that the wind turbine generator system will experience a gust event.

6. The wind turbine control method according to claim 1, characterized in that: Determining the arrival time of the gust event, including: Determine a first distance, a second distance, and a gust movement velocity vector of the wind turbine generator set, respectively, wherein the first distance is the gust distance measured by the laser radar, and the second distance is the distance between the laser radar and the rotor surface of the wind turbine generator set; An arrival time of the gust event is obtained by performing a calculation based on the first distance, the second distance, and the gust moving speed vector.

7. The wind turbine control method according to claim 1, characterized in that: Before determining the wind speed vector of the wind turbine generator set according to the scan data, the method further includes: determining abnormal raw wind speed and missing raw wind speed of the lidar; The abnormal original wind speed is eliminated, and the missing original wind speed is interpolated.

8. A wind turbine control device, characterized in that: include: a first determining unit, configured to obtain scanning data of a laser radar located in front of a hub center of the wind turbine generator set, and determine a wind speed vector of the wind turbine generator set based on the scanning data, wherein the scanning data includes at least an original wind speed measured by the laser radar; a second determining unit, configured to determine the turbulence intensity, gust intensity, and wind speed gradient of the wind turbine generator system according to the wind speed vector; a gust event prediction unit, configured to predict whether a gust event occurs in the wind turbine generator system based on the turbulence intensity, the gust intensity, and the wind speed gradient; an arrival time determining unit, configured to determine an arrival time of a gust event when a gust event is predicted to occur in the wind turbine generator system; A feedforward feedback control unit is used to determine a pitch angle set value of the wind turbine generator set when the arrival time is less than a preset arrival time, and trigger feedforward feedback control of the wind turbine generator set according to the pitch angle set value.

9. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the wind turbine control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The system comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured so that one or more processors execute the one or more instructions to implement the wind turbine control method according to any one of claims 1 to 7.

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