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

Abstract

The embodiment of the invention provides a wind turbine generator control method and device, electronic equipment and a storage medium, and relates to the technical field of wind power generation. The method is applied to the double-machine-head wind turbine generator, the double-machine-head wind turbine generator comprises two impellers, and each impeller corresponds to one converter. The method comprises the following steps: acquiring running states of each impeller and each converter in real time; and if the converter corresponding to one of the two impellers breaks down, the impeller with the converter fault is determined as a fault impeller, and the other impeller is determined as a normal impeller. And respectively calculating the first thrust of the fault impeller and the second thrust of the normal impeller. And determining the generated power of the normal impeller based on the first thrust and the second thrust, and controlling the normal impeller to operate according to the generated power so as to balance the thrust of the faulted impeller and the normal impeller. According to the invention, the thrust of the two impellers can be effectively balanced under the condition that a single converter has a fault.

Description

Technical Field

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

[0002] Floating twin-head wind turbines are non-stationary wind turbines that float on the water. Therefore, when operating, the floating foundation platform will move or deflect relative to the water surface under the combined effects of wind, waves, and currents.

[0003] If the converter corresponding to one of the impellers of a floating twin-head wind turbine fails and cannot operate, it will cause a serious imbalance in the thrust of the two wind rotors, which will cause the floating body of the floating twin-head wind turbine to tilt and pitch when the unit is operating alone, significantly increasing the wind deviation and fatigue load accumulation. Summary of the Invention

[0004] The objectives of the present invention include, for example, providing a wind turbine control method, device, electronic device and storage medium, which can at least partially solve the above-mentioned technical problems.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, an embodiment of the present invention provides a wind turbine control method, which is applied to a twin-head wind turbine, wherein the twin-head wind turbine includes two impellers, each of which corresponds to a converter; the method includes:

[0007] Acquiring the operating status of each impeller and each converter in real time;

[0008] If the converter corresponding to one of the two impellers fails, the impeller with the converter failure is determined as the faulty impeller, and the other impeller is determined as the normal impeller;

[0009] respectively calculating a first thrust of the faulty impeller and a second thrust of the normal impeller;

[0010] The power generation power of the normal impeller is determined based on the thrust magnitudes of the first thrust and the second thrust, and the operation of the normal impeller is controlled according to the power generation power to balance the thrusts of the faulty impeller and the normal impeller.

[0011] Optionally, the dual-head wind turbine generator set further includes a wind vane and an anemometer, and the respectively calculating the first thrust of the faulty impeller and the second thrust of the normal impeller includes:

[0012] For the faulty impeller / normal impeller, determining the impeller surface equivalent wind speed of the faulty impeller / normal impeller based on the wind vane and the anemometer, and obtaining the blade equivalent length of the faulty impeller / normal impeller and the impeller speed of the faulty impeller / normal impeller;

[0013] determining a tip speed ratio of the faulty impeller / normal impeller according to the impeller surface equivalent wind speed of the faulty impeller / normal impeller, the blade equivalent length of the faulty impeller / normal impeller, and the impeller speed of the faulty impeller / normal impeller;

[0014] obtaining a current air density and a pitch angle of the faulty impeller / normal impeller;

[0015] The first thrust / second thrust is determined according to the current air density, the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller, the pitch angle of the faulty impeller / normal impeller, the tip speed ratio of the faulty impeller / normal impeller, the equivalent blade length of the faulty impeller / normal impeller, and the thrust coefficient.

[0016] Optionally, determining the tip speed ratio of the faulty impeller / normal impeller according to the impeller surface equivalent wind speed of the faulty impeller / normal impeller, the blade equivalent length of the faulty impeller / normal impeller, and the impeller speed of the faulty impeller / normal impeller includes:

[0017] Determine the tip speed ratio of the faulty impeller / normal impeller based on a tip speed ratio calculation formula;

[0018] The tip speed ratio calculation formula is:

[0019]

[0020] Wherein, λ is the tip speed ratio, ω is the impeller speed of the faulty impeller / normal impeller, R is the equivalent length of the blade of the faulty impeller / normal impeller, v eff is the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller.

[0021] Optionally, determining the impeller surface equivalent wind speed of the faulty impeller / normal impeller based on the wind vane and the anemometer includes:

[0022] For the faulty impeller / normal impeller, obtaining a wind error based on the wind vane, and obtaining a current wind speed based on the anemometer;

[0023] Based on the impeller surface equivalent wind speed calculation formula, determine the impeller surface equivalent wind speed of the faulty impeller / normal impeller according to the wind error and the current wind speed;

[0024] The calculation formula for the equivalent wind speed on the impeller surface is:

[0025] v eff =vcosε err

[0026] Among them, v eff is the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller, v is the current wind speed, ε err is the wind error;

[0027] Determining the first thrust / the second thrust according to the current air density, the impeller surface equivalent wind speed of the faulty impeller / the normal impeller, the pitch angle of the faulty impeller / the normal impeller, the tip speed ratio of the faulty impeller / the normal impeller, the blade equivalent length of the faulty impeller / the normal impeller, and the thrust coefficient includes:

[0028] Based on a thrust calculation formula, determining the first thrust / second thrust according to the current air density, the impeller surface equivalent wind speed of the faulty impeller / normal impeller, the pitch angle of the faulty impeller / normal impeller, the tip speed ratio of the faulty impeller / normal impeller, the blade equivalent length of the faulty impeller / normal impeller, and the thrust coefficient;

[0029] The thrust calculation formula is:

[0030]

[0031] Among them, F x is the first thrust / second thrust, ρ is the current air density, θ is the pitch angle of the faulty impeller / normal impeller, C t is the thrust coefficient.

[0032] Optionally, determining the power generation power of the normal impeller based on the thrust magnitudes of the first thrust and the second thrust includes:

[0033] comparing the magnitudes of the first thrust and the second thrust;

[0034] If the first thrust is greater than the second thrust, determining the power generation power of the normal impeller to be the current power generation power plus a preset power generation power compensation value;

[0035] If the first thrust is less than the second thrust, determining the power generation power of the normal impeller to be the current power generation power minus the preset power generation power compensation value;

[0036] If the first thrust is equal to the second thrust, it is determined that the power generation power of the normal impeller is the current power generation power.

[0037] Optionally, before respectively calculating the first thrust of the faulty impeller and the second thrust of the normal impeller, the method further includes:

[0038] If the faulty impeller and the normal impeller exist, the current rotational speed of the faulty impeller is adjusted to any value between the preset grid-connected rotational speed and the rated rotational speed.

[0039] Optionally, the method further includes:

[0040] If the faulty impeller and the normal impeller exist, generating a fault signal based on the converter corresponding to the faulty impeller;

[0041] The fault signal is sent to a control terminal.

[0042] In a second aspect, an embodiment of the present invention provides a wind turbine control device, which is applied to a twin-head wind turbine, wherein the twin-head wind turbine includes two impellers, each of which corresponds to a converter; the wind turbine control device includes:

[0043] An operating status acquisition unit, configured to acquire the operating status of each of the impellers and each of the converters in real time;

[0044] an impeller determination unit, configured to, when a converter corresponding to one of the two impellers fails, determine the impeller with the converter failure as a failed impeller and determine the other impeller as a normal impeller;

[0045] a thrust calculation unit, configured to respectively calculate a first thrust of the faulty impeller and a second thrust of the normal impeller;

[0046] A thrust balancing unit is used to determine the power generation power of the normal impeller based on the thrust magnitudes of the first thrust and the second thrust, and control the operation of the normal impeller according to the power generation power to balance the thrust of the faulty impeller and the normal impeller.

[0047] In a third aspect, an embodiment of the present invention provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the program.

[0048] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of any of the above methods.

[0049] The beneficial effects of the embodiments of the present invention include, for example:

[0050] By monitoring the operating status of the two impellers and the corresponding converters in a twin-head wind turbine, the thrust of each impeller is obtained separately when only one converter fails and all impellers are normal. The power generation power of the corresponding impeller of the normal converter is determined based on the thrust size, ultimately achieving the technical effect of balancing the thrust of the two impellers. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention;

[0053] Figure 2 A flow chart of the steps of a wind turbine control method provided by an embodiment of the present invention;

[0054] Figure 3 A flow chart of a wind turbine control method provided by an embodiment of the present invention;

[0055] Figure 4 This is an architectural diagram of a wind turbine control device provided by an embodiment of the present invention.

[0056] Icons: 100 - electronic device; 110 - memory; 120 - processor; 130 - communication module; 300 - wind turbine control device; 301 - operating status acquisition unit; 302 - impeller determination unit; 303 - thrust calculation unit; 304 - thrust balancing unit. DETAILED DESCRIPTION

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0060] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0061] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0062] Currently, when floating twin-head wind turbines experience tilt and bow pitch, the primary solution is to add an additional underwater propulsion system. However, this significantly increases the design cost of the float.

[0063] Another approach is to actively balance the thrust of the twin rotors of a floating wind turbine by calculating thrust-compensating pitch commands and applying them to the rotors. However, if the converter on one rotor fails, a single turbine head cannot provide sufficient yaw torque or pitch control to balance the floating structure. Therefore, this control approach becomes ineffective if the converter on one rotor fails.

[0064] Based on the above situation, the embodiments of the present invention provide a wind turbine control method, device, electronic device and storage medium, which can effectively alleviate the above technical problems.

[0065] Please refer to Figure 1 , is a block diagram of an electronic device 100 provided in this application. The electronic device 100 can be a device capable of data processing, which is not limited in this embodiment. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines.

[0066] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0067] The processor 120 is used to read / write data or programs stored in the memory and execute corresponding functions.

[0068] The communication module 130 is used to establish a communication connection between the server and other communication terminals through the network, and to send and receive data through the network.

[0069] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown. Figure 1 The components shown in the figure can be implemented by hardware, software or a combination thereof. The electronic device 100 can be installed in other devices or as an independent device. For example, the electronic device 100 can be installed inside a twin-head wind turbine, or the electronic device 100 can be installed separately.

[0070] Corresponding to the electronic device 100, an embodiment of the present invention provides a wind turbine control method, which is applied to a twin-head wind turbine, wherein the twin-head wind turbine includes two impellers, each of which corresponds to a converter. The method includes: Figure 2 The following steps are shown:

[0071] Step S110: acquiring the operating status of each impeller and each converter in real time.

[0072] Step S120: If the converter corresponding to one of the two impellers fails, the impeller with the converter failure is determined as a failed impeller, and the other impeller is determined as a normal impeller.

[0073] Step S130: Calculate the first thrust of the faulty impeller and the second thrust of the normal impeller respectively.

[0074] Step S140: determining the power generation power of the normal impeller based on the magnitudes of the first thrust and the second thrust, and controlling the operation of the normal impeller according to the power generation power to balance the thrust of the faulty impeller and the normal impeller.

[0075] In step S110 , the operating status of each impeller and each converter is acquired in real time.

[0076] When a twin-engine wind turbine is operating, the operating status of each module can be monitored in real time by a controller that is in communication with each module. In an embodiment of the present invention, the controller primarily monitors the operating status of the twin-engine wind turbine's two impellers and the two converters corresponding to the impellers. If the impellers and converters are operating normally, the controller can repeatedly monitor the operating status of the impellers and converters through polling or other means.

[0077] In step S120, if the converter corresponding to one of the two impellers fails, the impeller with the converter failure is determined as a failed impeller, and the other impeller is determined as a normal impeller.

[0078] If the controller detects that both impellers are operating normally, but one of the converters corresponding to the two impellers is faulty and the other is operating normally, the controller will identify the impeller corresponding to the faulty converter as the faulty impeller and the impeller corresponding to the normal converter as the normal impeller.

[0079] If the controller detects that one or more impellers or two converters have failed, it can directly generate an alarm signal and send it to the control terminal, while controlling the dual-head wind turbine to shut down for inspection.

[0080] Optionally, before respectively calculating the first thrust of the faulty impeller and the second thrust of the normal impeller, the method further includes:

[0081] If the faulty impeller and the normal impeller exist, the current rotational speed of the faulty impeller is adjusted to any value between the preset grid-connected rotational speed and the rated rotational speed.

[0082] After the faulty impeller is identified, the operating mode of the faulty impeller can be adjusted to a balanced no-load mode (i.e., an operating mode with no power output, in which the pitch control loop operates normally but the converter does not operate), and the speed of the faulty impeller can be adjusted to any value between the grid-connected speed (e.g., 4.5 rpm) and the rated speed (e.g., 7.5 rpm) so that the faulty impeller generates a certain thrust, and then the normal impeller is controlled to balance the thrust generated by the faulty impeller. It should be noted that in order to obtain the maximum balanced thrust, the rated speed can be selected to be the current speed of the faulty impeller for adjustment.

[0083] Step S130 is executed to respectively calculate the first thrust of the faulty impeller and the second thrust of the normal impeller.

[0084] When calculating the first thrust of a faulty impeller and the second thrust of a healthy impeller, the same or different thrust calculation methods can be used. First, the tip speed ratios of the faulty and healthy impellers are calculated separately. For example, by constructing a transmission chain observer and using a Kalman observer to determine the true state of the original transmission chain system from the observation results, sensors are then used to obtain the impeller hub speeds of the faulty and healthy impellers, as well as the generator torque of the twin-head wind turbine. This allows the actual aerodynamic torque absorbed by the impellers to be determined. A mapping relationship between the aerodynamic torque of the twin-head wind turbine and the tip speed ratio is then established. By fitting a polynomial function to the scattered points of a quadratic surface, the tip speed ratios of the faulty and healthy impellers are ultimately determined.

[0085] After obtaining the tip speed ratio, the first thrust and the second thrust are calculated using the tip speed ratios, impeller speeds, and pitch angles of the faulty impeller and the normal impeller, respectively.

[0086] Optionally, the dual-head wind turbine generator set further includes a wind vane and an anemometer, and the respectively calculating the first thrust of the faulty impeller and the second thrust of the normal impeller includes:

[0087] For the faulty impeller / normal impeller, the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller is determined based on the wind vane and the anemometer, and the equivalent length of the blade of the faulty impeller / normal impeller and the impeller speed of the faulty impeller / normal impeller are obtained.

[0088] The tip speed ratio of the faulty impeller / normal impeller is determined according to the impeller surface equivalent wind speed of the faulty impeller / normal impeller, the blade equivalent length of the faulty impeller / normal impeller, and the impeller speed of the faulty impeller / normal impeller.

[0089] The current air density and the pitch angle of the faulty impeller / normal impeller are obtained.

[0090] The first thrust / second thrust is determined according to the current air density, the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller, the pitch angle of the faulty impeller / normal impeller, the tip speed ratio of the faulty impeller / normal impeller, the equivalent blade length of the faulty impeller / normal impeller, and the thrust coefficient.

[0091] In another optional embodiment, the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller can be first calculated using data obtained from a wind vane and anemometer. At the same time, the controller can obtain the equivalent blade lengths of the faulty impeller and the normal impeller by querying a database, etc., and obtain the impeller speeds of the faulty impeller and the normal impeller through a sensor or a motor.

[0092] Furthermore, the tip speed ratios of the faulty impeller and the normal impeller are obtained respectively through the equivalent blade lengths, impeller rotation speeds, and impeller surface equivalent wind speeds of the faulty impeller / normal impeller.

[0093] Optionally, determining the tip speed ratio of the faulty impeller / normal impeller according to the impeller surface equivalent wind speed of the faulty impeller / normal impeller, the blade equivalent length of the faulty impeller / normal impeller, and the impeller speed of the faulty impeller / normal impeller includes:

[0094] The tip speed ratio of the faulty impeller / normal impeller is determined based on a tip speed ratio calculation formula.

[0095] The tip speed ratio calculation formula is:

[0096]

[0097] Wherein, λ is the tip speed ratio, ω is the impeller speed of the faulty impeller / normal impeller, R is the equivalent length of the blade of the faulty impeller / normal impeller, v eff is the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller.

[0098] Specifically, the above-mentioned tip speed ratio calculation formula can be used to calculate the tip speed ratio of the faulty impeller / normal impeller by dividing the product of the impeller speed and the equivalent blade length by the equivalent wind speed on the impeller surface, and finally obtaining the tip speed ratio of the faulty impeller and the normal impeller.

[0099] Optionally, determining the impeller surface equivalent wind speed of the faulty impeller / normal impeller based on the wind vane and the anemometer includes:

[0100] For the faulty impeller / normal impeller, a wind error is obtained based on the wind vane, and a current wind speed is obtained based on the anemometer.

[0101] Based on the impeller surface equivalent wind speed calculation formula, the impeller surface equivalent wind speed of the faulty impeller / normal impeller is determined according to the wind error and the current wind speed.

[0102] The calculation formula for the equivalent wind speed on the impeller surface is:

[0103] v eff =vcosε err

[0104] Among them, v eff is the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller, v is the current wind speed, ε err is the wind error.

[0105] Determining the first thrust / the second thrust according to the current air density, the impeller surface equivalent wind speed of the faulty impeller / the normal impeller, the pitch angle of the faulty impeller / the normal impeller, the tip speed ratio of the faulty impeller / the normal impeller, the blade equivalent length of the faulty impeller / the normal impeller, and the thrust coefficient includes:

[0106] Based on the thrust calculation formula, the first thrust / second thrust is determined according to the current air density, the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller, the pitch angle of the faulty impeller / normal impeller, the tip speed ratio of the faulty impeller / normal impeller, the equivalent blade length of the faulty impeller / normal impeller, and the thrust coefficient.

[0107] The thrust calculation formula is:

[0108]

[0109] Among them, F x is the first thrust / second thrust, ρ is the current air density, θ is the pitch angle of the faulty impeller / normal impeller, C t is the thrust coefficient.

[0110] The thrust coefficient can be a nonlinear function of the tip speed ratio and the pitch angle. In actual practice, a nonlinear function relationship table of the tip speed ratio and the pitch angle can be set in advance. When obtaining the thrust coefficient, the controller can directly obtain the thrust coefficient under the current tip speed ratio and pitch angle by looking up the table.

[0111] After obtaining the tip speed ratio of the faulty and normal impellers, the wind error and current wind speed can be substituted into the equivalent wind speed calculation formula to obtain the equivalent wind speed of the faulty and normal impellers. The controller then obtains the current air density and the pitch angles of the faulty and normal impellers and substitutes them into the thrust calculation formula to obtain the first and second thrusts.

[0112] In step S140, the power generation power of the normal impeller is determined based on the thrust magnitudes of the first thrust and the second thrust, and the operation of the normal impeller is controlled according to the power generation power to balance the thrust of the faulty impeller and the normal impeller.

[0113] After obtaining the first and second thrusts, the magnitudes of the first and second thrusts can be compared to determine whether the power generation of the normal impeller needs to be increased or decreased. By changing the power generation of the normal impeller, the corresponding second thrust of the normal impeller is changed, thereby achieving thrust balance between the faulty impeller and the normal impeller.

[0114] Optionally, determining the power generation power of the normal impeller based on the thrust magnitudes of the first thrust and the second thrust includes:

[0115] The first thrust is compared with the second thrust. If the first thrust is greater than the second thrust, the power generation of the normal impeller is determined to be the current power generation plus a preset power generation compensation value.

[0116] If the first thrust is less than the second thrust, the power generation power of the normal impeller is determined to be the current power generation power minus the preset power generation power compensation value.

[0117] If the first thrust is equal to the second thrust, it is determined that the power generation power of the normal impeller is the current power generation power.

[0118] The preset power generation compensation value can be a power value set by the developer, such as 100kW. After obtaining the first and second thrusts, the first and second thrusts can be compared. If the first thrust is greater than the second thrust, the normal impeller's power generation is determined to be the current power generation plus the preset power generation compensation value. If the first thrust is less than the second thrust, the normal impeller's current power generation is subtracted from the preset power generation compensation value, and the power generation after deducting the preset power generation compensation value is used as the normal impeller's power generation. If the first thrust is equal to the second thrust, the normal impeller's current power generation remains unchanged.

[0119] By changing the power generation power of the normal impeller to change the second thrust corresponding to the normal impeller, the controller will repeat the thrust calculation of the faulty impeller and the normal impeller, and continue to adjust the second thrust of the normal impeller according to the calculation results until the faulty impeller and the normal impeller reach thrust balance.

[0120] Optionally, the method further includes: if the faulty impeller and the normal impeller exist, generating a fault signal based on the converter corresponding to the faulty impeller, and sending the fault signal to a control terminal.

[0121] During the thrust balancing process, the controller can also generate a fault signal based on the converter corresponding to the faulty impeller and send it to the control terminal to notify relevant staff to conduct fault troubleshooting and processing.

[0122] In order to better explain the solution of the present invention, the embodiment of the present invention further provides the following Figure 3 The solution of the present invention is described with reference to the flow chart of the wind turbine control method shown in FIG.

[0123] See Figure 3 The controller obtains the operating status of the impeller and the corresponding converter of the dual-head wind turbine in real time. If the impeller operates normally and one of the converters fails, the impeller corresponding to the faulty converter is determined as the faulty impeller, and the impeller corresponding to the normal converter is determined as the normal impeller. At the same time, a fault signal is generated and sent to the control terminal for staff to handle.

[0124] After determining the normal impeller and the faulty impeller, the speed of the faulty impeller is adjusted to be between the grid-connected speed and the rated speed, and then the first thrust corresponding to the faulty impeller and the second thrust corresponding to the normal impeller are calculated respectively.

[0125] If the first thrust is equal to the second thrust, the current power of the normal impeller is kept unchanged; if the first thrust is greater than the second thrust, a preset power generation compensation value is added to the current power of the normal impeller, and the normal impeller is controlled to operate at the increased power generation power; if the first thrust is less than the second thrust, a preset power generation compensation value is subtracted from the current power of the normal impeller, and the normal impeller is controlled to operate at the power generation power after the preset power generation compensation value is subtracted, so as to achieve the effect of balancing the thrust of the two impellers.

[0126] Based on the same inventive concept, Figure 4 As shown, the embodiment of the present invention provides a wind turbine control device 300, which is applied to a twin-head wind turbine. The twin-head wind turbine includes two impellers, each of which corresponds to a converter. The wind turbine control device 300 includes:

[0127] The operating status acquiring unit 301 is configured to acquire the operating status of each impeller and each converter in real time.

[0128] The impeller determining unit 302 is configured to, when a converter corresponding to one of the two impellers fails, determine the impeller with the converter failure as a failed impeller and determine the other impeller as a normal impeller.

[0129] The thrust calculation unit 303 is used to calculate the first thrust of the faulty impeller and the second thrust of the normal impeller respectively.

[0130] The thrust balancing unit 304 is used to determine the power generation power of the normal impeller based on the thrust magnitudes of the first thrust and the second thrust, and control the operation of the normal impeller according to the power generation power to balance the thrust of the faulty impeller and the normal impeller.

[0131] Regarding the above-mentioned wind turbine control device 300 , the specific functions of each unit therein have been described in detail in the embodiment of the wind turbine control method provided in this specification, and will not be elaborated on here.

[0132] Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above-mentioned wind turbine control methods when executed by a processor.

[0133] The present invention has at least the following beneficial effects:

[0134] The present invention monitors the operating status of the two impellers and the corresponding converters in a dual-head wind turbine set. When only one converter fails and all impellers are normal, the thrust of each impeller is obtained respectively, and the power generation power of the impeller corresponding to the normal converter is determined according to the thrust size, ultimately achieving the technical effect of balancing the thrust of the two impellers.

[0135] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the devices, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or actions, or can be implemented using a combination of dedicated hardware and computer instructions.

[0136] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0137] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the 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 includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0138] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A wind turbine control method, characterized in that: Applicable to a twin-head wind turbine generator set, the twin-head wind turbine generator set includes two impellers, each of the impellers corresponds to a converter; the method includes: Acquiring the operating status of each impeller and each converter in real time; If the converter corresponding to one of the two impellers fails, the impeller with the converter failure is determined as the faulty impeller, and the other impeller is determined as the normal impeller; respectively calculating a first thrust of the faulty impeller and a second thrust of the normal impeller; The power generation power of the normal impeller is determined based on the thrust magnitudes of the first thrust and the second thrust, and the operation of the normal impeller is controlled according to the power generation power to balance the thrusts of the faulty impeller and the normal impeller.

2. The wind turbine control method according to claim 1, wherein: The dual-head wind turbine set further includes a wind vane and an anemometer, and the respectively calculating the first thrust of the faulty impeller and the second thrust of the normal impeller includes: For the faulty impeller / normal impeller, determining the impeller surface equivalent wind speed of the faulty impeller / normal impeller based on the wind vane and the anemometer, and obtaining the blade equivalent length of the faulty impeller / normal impeller and the impeller speed of the faulty impeller / normal impeller; determining a tip speed ratio of the faulty impeller / normal impeller according to the impeller surface equivalent wind speed of the faulty impeller / normal impeller, the blade equivalent length of the faulty impeller / normal impeller, and the impeller speed of the faulty impeller / normal impeller; obtaining a current air density and a pitch angle of the faulty impeller / normal impeller; The first thrust / second thrust is determined according to the current air density, the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller, the pitch angle of the faulty impeller / normal impeller, the tip speed ratio of the faulty impeller / normal impeller, the equivalent blade length of the faulty impeller / normal impeller, and the thrust coefficient.

3. The wind turbine control method according to claim 2, wherein: The determining of the tip speed ratio of the faulty impeller / normal impeller according to the impeller surface equivalent wind speed of the faulty impeller / normal impeller, the blade equivalent length of the faulty impeller / normal impeller, and the impeller speed of the faulty impeller / normal impeller comprises: Determine the tip speed ratio of the faulty impeller / normal impeller based on a tip speed ratio calculation formula; The tip speed ratio calculation formula is: Wherein, λ is the tip speed ratio, ω is the impeller speed of the faulty impeller / normal impeller, R is the equivalent length of the blade of the faulty impeller / normal impeller, v eff is the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller.

4. The wind turbine control method according to claim 3, wherein: The determining of the impeller surface equivalent wind speed of the faulty impeller / normal impeller based on the wind vane and the anemometer includes: For the faulty impeller / normal impeller, obtaining a wind error based on the wind vane, and obtaining a current wind speed based on the anemometer; Based on the impeller surface equivalent wind speed calculation formula, determine the impeller surface equivalent wind speed of the faulty impeller / normal impeller according to the wind error and the current wind speed; The calculation formula for the equivalent wind speed on the impeller surface is: v eff =vcosε err Among them, v eff is the equivalent wind speed of the impeller surface of the faulty impeller / normal impeller, v is the current wind speed, ε err is the wind error; Determining the first thrust / the second thrust according to the current air density, the impeller surface equivalent wind speed of the faulty impeller / the normal impeller, the pitch angle of the faulty impeller / the normal impeller, the tip speed ratio of the faulty impeller / the normal impeller, the blade equivalent length of the faulty impeller / the normal impeller, and the thrust coefficient includes: Based on a thrust calculation formula, determining the first thrust / second thrust according to the current air density, the impeller surface equivalent wind speed of the faulty impeller / normal impeller, the pitch angle of the faulty impeller / normal impeller, the tip speed ratio of the faulty impeller / normal impeller, the blade equivalent length of the faulty impeller / normal impeller, and the thrust coefficient; The thrust calculation formula is: Among them, F x is the first thrust / second thrust, ρ is the current air density, θ is the pitch angle of the faulty impeller / normal impeller, C t is the thrust coefficient.

5. The wind turbine control method according to claim 1, wherein: The determining the power generation power of the normal impeller based on the thrust magnitudes of the first thrust and the second thrust includes: comparing the first thrust and the second thrust; If the first thrust is greater than the second thrust, determining the power generation power of the normal impeller to be the current power generation power plus a preset power generation power compensation value; If the first thrust is less than the second thrust, determining the power generation power of the normal impeller to be the current power generation power minus the preset power generation power compensation value; If the first thrust is equal to the second thrust, it is determined that the power generation power of the normal impeller is the current power generation power.

6. The wind turbine control method according to claim 1, wherein: Before respectively calculating the first thrust of the faulty impeller and the second thrust of the normal impeller, the method further includes: If the faulty impeller and the normal impeller exist, the current rotational speed of the faulty impeller is adjusted to any value between the preset grid-connected rotational speed and the rated rotational speed.

7. The wind turbine control method according to claim 1, wherein: The method further comprises: If the faulty impeller and the normal impeller exist, generating a fault signal based on the converter corresponding to the faulty impeller; The fault signal is sent to a control terminal.

8. A wind turbine control device, characterized in that: Applicable to a twin-head wind turbine generator set, the twin-head wind turbine generator set includes two impellers, each of which corresponds to a converter; the wind turbine generator set control device includes: An operating status acquisition unit, configured to acquire the operating status of each impeller and each converter in real time; an impeller determination unit, configured to, when a converter corresponding to one of the two impellers fails, determine the impeller with the converter failure as a failed impeller and determine the other impeller as a normal impeller; a thrust calculation unit, configured to respectively calculate a first thrust of the faulty impeller and a second thrust of the normal impeller; A thrust balancing unit is used to determine the power generation power of the normal impeller based on the thrust magnitudes of the first thrust and the second thrust, and control the operation of the normal impeller according to the power generation power to balance the thrust of the faulty impeller and the normal impeller.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when executing the program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a computer program, and when the computer program is executed, the server where the computer-readable storage medium is located is controlled to implement the steps of the method according to any one of claims 1 to 7.

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