Wind turbine generator variable pitch system identification test method and device and storage medium

Abstract

The invention relates to the technical field of wind turbine generators, in particular to a wind turbine generator variable pitch system identification test method, device and equipment and a computer storage medium. According to the identification test method for the variable pitch system of the wind turbine generator, only part of parameters need to be set in the evaluation process, the evaluation process is automatically completed by the test system according to the set test evaluation steps subsequently, the dispersity of the identification test process of the variable pitch system is reduced, the automation level of the test process is improved, and the test efficiency is improved. The professional requirement of testing work on implementation personnel is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbines, and in particular to a method, device, equipment and computer storage medium for identifying and testing a variable pitch system of a wind turbine. Background Art

[0002] For variable-pitch wind turbines, the purpose of stabilizing the rotor speed is achieved through variable pitch adjustment. During controller design and load simulation calculations, wind turbine manufacturers consider the performance of the variable pitch system to directly affect the wind turbine's safety margins, which in turn affects the overall construction and operating costs. Companies that use wind turbines for power generation operations pay close attention to whether the performance of the variable pitch system meets design requirements and whether significant performance degradation occurs during long-term operation. Failure of the variable pitch system to meet design requirements or performance degradation will lead to poor operational stability of the wind turbine, reduced unit availability, and resulting in power generation losses. Therefore, the performance of the variable pitch system is crucial to both the design and operation stages of wind turbines. It is necessary to perform system identification and performance evaluation of the variable pitch system.

[0003] Pitch system identification is typically performed during wind turbine prototype testing. Professional testers must follow a test outline and complete the process step by step. Much of this work is manual, and the test output is fragmented. After the on-site test, data integration and analysis by professionals are required to generate a pitch system identification report. This entire process is time-consuming, labor-intensive, and inefficient. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the entire process of pitch system identification in the prior art is time-consuming, labor-intensive and relatively inefficient.

[0005] To solve the above technical problems, the present invention provides a wind turbine pitch system identification and testing method, comprising:

[0006] Set the sine test parameters, step test parameters and pitch system transfer model;

[0007] Real-time collection of data timestamps, blade pitch angle requirements, blade pitch angle measurements, and blade pitch rate measurements;

[0008] Setting the pitch control instruction in the test phase to add an offset to the blade pitch angle requirement, and performing the pitch test according to the test outline process based on the pitch control instruction;

[0009] The data from the test phase is input into the pitch system transfer model fitting parameters to obtain the pitch system identification results.

[0010] Preferably, the sinusoidal test parameters include sinusoidal amplitude and period, and the step test parameters include step change amplitude.

[0011] Preferably, the pitch system transfer model is a first-order or second-order transfer function.

[0012] Preferably, the sampling period of the real-time data acquisition timestamp, blade pitch angle requirement, blade pitch angle measured value and blade pitch angular rate measured value is the minimum execution period of the control system.

[0013] Preferably, the pitch control instruction in the test setting phase is to add an offset to the blade pitch angle requirement, and performing the pitch test according to the test outline process according to the pitch control instruction includes:

[0014] Step a: setting an initial blade pitch angle offset, and when the current measured blade pitch angle reaches the sum of the initial blade pitch angle offset and the blade pitch angle requirement and remains stable, updating the blade pitch angle offset according to a sinusoidal variation parameter;

[0015] Step b: When the current measured value of the blade pitch angle reaches the sum of the initial blade pitch angle offset, the blade pitch angle requirement, and the current blade pitch angle offset and remains stable, stop the sine test;

[0016] Step c: Repeat the test process of steps a and b multiple times for the current set of parameters;

[0017] Step d: Adjust the parameters multiple times, and after each adjustment, repeat the test process of steps ac to complete all sinusoidal tests.

[0018] Preferably, after completing all sinusoidal tests, the method further includes:

[0019] Step e: updating the blade pitch angle offset according to the step change parameter;

[0020] Step f: When the current measured value of the blade pitch angle reaches the sum of the initial blade pitch angle offset, the blade pitch angle requirement, and the current blade pitch angle offset and remains stable, stop the step test;

[0021] Step g: Repeat the test process of steps e-f multiple times for the current set of parameters;

[0022] Step h: Adjust the parameters multiple times, and after each adjustment, repeat the test process of step eg to complete all step tests.

[0023] Preferably, after inputting the data from the test phase into the pitch system transfer model fitting parameters and obtaining the pitch system identification results, the method further comprises:

[0024] The deviation between the pitch system identification result and the pitch system design parameters is calculated to obtain a pitch system identification analysis report.

[0025] The present invention also provides a wind turbine pitch system identification and testing device, comprising:

[0026] Parameter definition module, used to set sine test parameters, step test parameters and pitch system transfer model;

[0027] A data recording module is used to collect data timestamps, blade pitch angle requirements, blade pitch angle measured values, and blade pitch angular rate measured values ​​in real time;

[0028] A pitch test module, configured to set a pitch control instruction in a test phase to add an offset to the blade pitch angle requirement, and perform a pitch test according to the pitch control instruction and the test outline process;

[0029] The system identification module is used to input the data of the test phase into the pitch system transfer model fitting parameters to obtain the pitch system identification results.

[0030] The present invention also provides a wind turbine pitch system identification and testing device, comprising:

[0031] Memory for storing computer programs;

[0032] The processor is configured to implement the above-mentioned steps of the wind turbine pitch system identification test method when executing the computer program.

[0033] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned wind turbine pitch system identification and testing method are implemented.

[0034] The above technical solution of the present invention has the following advantages over the prior art:

[0035] The wind turbine pitch system identification test method described in the present invention only requires the setting of some parameters during the evaluation process, and the subsequent test evaluation steps are automatically completed by the test system according to the set test evaluation steps, which reduces the dispersion of the pitch system identification test process, improves the automation level of the test process, reduces the professional requirements of the test work for the implementers, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0037] Figure 1This is a flow chart of an implementation method for identifying and testing a wind turbine pitch system provided by the present invention;

[0038] Figure 2 It is a schematic diagram of the pitch test process;

[0039] Figure 3 This is a flow chart of a wind turbine pitch system identification and testing method provided by an embodiment of the present invention;

[0040] Figure 4 This is a structural block diagram of a wind turbine pitch system identification and testing device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The core of the present invention is to provide a wind turbine pitch system identification test method, device, equipment and computer storage medium, which effectively improves work efficiency.

[0042] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0043] Please refer to Figure 1 , Figure 1 This is a flow chart of the implementation of a wind turbine pitch system identification and testing method provided by the present invention; the specific operating steps are as follows:

[0044] S101: Setting sine test parameters, step test parameters and pitch system transfer model;

[0045] Set the required test parameters such as the sine amplitude and period of the pitch test, the step change amplitude, and the pitch system design value.

[0046] The pitch system transfer model is a first-order or second-order transfer function.

[0047] S102: Collecting data timestamp, blade pitch angle requirement, blade pitch angle measured value, and blade pitch angular rate measured value;

[0048] The data required for pitch system identification is collected with the minimum execution cycle of the control system as the sampling cycle, and the recorded information includes at least timestamp, blade pitch angle requirement, blade pitch angle measured value, blade pitch angular rate measured value, etc.

[0049] S103: Setting the pitch control instruction in the test phase to add an offset to the blade pitch angle requirement, and performing a pitch test according to the pitch control instruction and the test outline process;

[0050] The pitch control test is performed according to the test outline process. The pitch control command output during the test phase is to add an offset to the original blade pitch angle demand command of the control system.

[0051] S104: Input the data from the test phase into the pitch system transfer model fitting parameters to obtain the pitch system identification results.

[0052] Using the data recorded during the test, the pitch system identification results are output according to the transfer model used in the design of the wind turbine pitch system.

[0053] The purpose of testing and evaluation is to continuously monitor the performance of the pitch system throughout the life cycle of the wind turbine. First, the system's performance is assessed to determine whether it is consistent with the design and, second, whether the system has experienced performance degradation after long-term operation. The wind turbine pitch system identification test method described in this invention requires only the setting of certain parameters during the evaluation process. The subsequent evaluation steps are then automatically completed by the test system according to the pre-set test and evaluation procedures. This reduces the fragmentation of the pitch system identification test process, improves the automation level of the test process, reduces the professional requirements for test personnel, and improves work efficiency.

[0054] like Figure 2 As shown, based on the above embodiment, this embodiment describes step S103 in detail:

[0055] Step a: setting an initial blade pitch angle offset, and when the current measured blade pitch angle reaches the sum of the initial blade pitch angle offset and the blade pitch angle requirement and remains stable, updating the blade pitch angle offset according to a sinusoidal variation parameter;

[0056] Step b: When the current measured value of the blade pitch angle reaches the sum of the initial blade pitch angle offset, the blade pitch angle requirement, and the current blade pitch angle offset and remains stable, stop the sine test;

[0057] Step c: Repeat the test process of steps a and b multiple times for the current set of parameters;

[0058] Step d: Adjust the parameters multiple times, and after each adjustment, repeat the test process of steps ac to complete all sinusoidal tests.

[0059] Step e: updating the blade pitch angle offset according to the step change parameter;

[0060] Step f: When the current measured value of the blade pitch angle reaches the sum of the initial blade pitch angle offset, the blade pitch angle requirement, and the current blade pitch angle offset and remains stable, stop the step test;

[0061] Step g: Repeat the test process of steps e-f multiple times for the current set of parameters;

[0062] Step h: Adjust the parameters multiple times, and after each adjustment, repeat the test process of step eg to complete all step tests.

[0063] It should be noted that the blade pitch angle test of the present invention is not limited to a sine curve or a step curve, but may also be a test curve in other forms such as a ramp.

[0064] Based on the above embodiment, after obtaining the pitch system identification result, the following steps are further included:

[0065] The deviation between the pitch system identification result and the pitch system design parameters is calculated, and an evaluation conclusion is output based on the expert experience library to form a pitch system identification analysis report.

[0066] like Figure 3 Based on the above embodiments, this embodiment provides a complete wind turbine pitch system identification test, and the specific steps are as follows:

[0067] The wind turbine is in normal power generation state and can continue to operate below the rated power for a period of time in the future:

[0068] 1) Set the amplitude period of the sine test, the amplitude of the step test, and the pitch system transfer model (first-order or second-order transfer function)

[0069] 2) Start data collection and record the data timestamp, blade pitch angle requirement, blade pitch angle measured value, blade pitch angular rate measured value

[0070] 3) Adjust the initial offset of the blade pitch angle β o , wait for the measured value of the blade pitch angle to reach β c +β o , continuously stable and unchanged 4) Set the pitch angle offset β according to the sinusoidal variation parameter s , the control system sends the pitch angle demand β c +β o +β s

[0071] 5) Stop the sine test, the pitch angle offset β s Set to 0, the blade pitch angle of the pitch system remains stable and does not change

[0072] 6) Test the process from 4) to 5) multiple times with the same set of parameters

[0073] 7) Adjust the parameters and execute the process from 4) to 6) again until all sine tests are completed.

[0074] 8) Set the pitch angle offset β according to the step change parameterj , the control system sends the pitch angle demand β c +β o +β j

[0075] 9) Stop the step test, the pitch angle offset β j Set to 0, the blade pitch angle of the pitch system remains stable and does not change

[0076] 10) Test the same set of parameters multiple times in the process of 8)-9)

[0077] 11) Adjust the parameters and execute the process from 8) to 10) again until all step tests are completed.

[0078] 12) Stop data collection

[0079] 13) The system identification module reads the test data and fits the parameters according to the set transfer function model

[0080] 14) The analysis report module compares the fitting results with the design parameter deviations and draws the test conclusions.

[0081] Please refer to Figure 4 , Figure 4 This is a structural block diagram of a wind turbine pitch system identification and testing device provided by an embodiment of the present invention; the specific device may include:

[0082] Parameter definition module, used to set sine test parameters, step test parameters and pitch system transfer model;

[0083] A data recording module is used to collect data timestamps, blade pitch angle requirements, blade pitch angle measured values, and blade pitch angular rate measured values;

[0084] A pitch test module, configured to set a pitch control instruction in a test phase to add an offset to the blade pitch angle requirement, and perform a pitch test according to the pitch control instruction and the test outline process;

[0085] The system identification module is used to input the data of the test phase into the pitch system transfer model fitting parameters to obtain the pitch system identification results.

[0086] The wind turbine pitch system identification and testing device of this embodiment is used to implement the aforementioned wind turbine pitch system identification and testing method. Therefore, the specific implementation method of the wind turbine pitch system identification and testing device can be seen in the embodiment part of the wind turbine pitch system identification and testing method in the previous text. For example, the parameter definition module, the data recording module, the pitch test module, and the system identification module are respectively used to implement steps S101, S102, S103, and S104 in the aforementioned wind turbine pitch system identification and testing method. Therefore, its specific implementation method can refer to the description of the corresponding embodiments of each part and will not be repeated here.

[0087] A specific embodiment of the present invention further provides a wind turbine pitch system identification and testing device, comprising: a memory for storing a computer program; and a processor for implementing the steps of the above-mentioned wind turbine pitch system identification and testing method when executing the computer program.

[0088] A specific embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned wind turbine pitch system identification and testing method are implemented.

[0089] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0090] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0091] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0093] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A wind turbine pitch system identification and testing method, characterized in that: include: Set the sine test parameters, step test parameters and pitch system transfer model; Real-time collection of data timestamps, blade pitch angle requirements, blade pitch angle measurements, and blade pitch rate measurements; Setting the pitch control instruction in the test phase to add an offset to the blade pitch angle requirement, and performing the pitch test according to the test outline process based on the pitch control instruction; The data from the test phase is input into the pitch system transfer model fitting parameters to obtain the pitch system identification results.

2. The wind turbine pitch system identification and testing method according to claim 1, characterized in that: The sine test parameters include sine amplitude and period, and the step test parameters include step change amplitude.

3. The wind turbine pitch system identification and testing method according to claim 1, characterized in that: The pitch system transfer model is a first-order or second-order transfer function.

4. The wind turbine pitch system identification and testing method according to claim 1, characterized in that: The sampling period of the real-time data acquisition timestamp, blade pitch angle requirement, blade pitch angle measured value and blade pitch angular rate measured value is the minimum execution period of the control system.

5. The wind turbine pitch system identification and testing method according to claim 1, characterized in that: The pitch control instruction in the test setting phase is to add an offset to the blade pitch angle requirement. According to the pitch control instruction, the pitch test is performed according to the test outline process, including: Step a: setting an initial blade pitch angle offset, and when the current measured blade pitch angle reaches the sum of the initial blade pitch angle offset and the blade pitch angle requirement and remains stable, updating the blade pitch angle offset according to a sinusoidal variation parameter; Step b: When the current measured value of the blade pitch angle reaches the sum of the initial blade pitch angle offset, the blade pitch angle requirement, and the current blade pitch angle offset and remains stable, stop the sine test; Step c: Repeat the test process of steps a and b multiple times for the current set of parameters; Step d: Adjust the parameters multiple times, and after each adjustment, repeat the test process of steps ac to complete all sinusoidal tests.

6. The wind turbine pitch system identification and testing method according to claim 1, characterized in that: After completing all the sinusoidal tests, the following steps are also included: Step e: updating the blade pitch angle offset according to the step change parameter; Step f: When the current measured value of the blade pitch angle reaches the sum of the initial blade pitch angle offset, the blade pitch angle requirement, and the current blade pitch angle offset and remains stable, stop the step test; Step g: Repeat the test process of steps e-f multiple times for the current set of parameters; Step h: Adjust the parameters multiple times, and after each adjustment, repeat the test process of step eg to complete all step tests.

7. The wind turbine pitch system identification and testing method according to claim 1, characterized in that: After inputting the data from the test phase into the pitch system transfer model fitting parameters to obtain the pitch system identification results, the method further includes: The deviation between the pitch system identification result and the pitch system design parameters is calculated to obtain a pitch system identification analysis report.

8. A wind turbine pitch system identification and testing device, characterized in that: include: Parameter definition module, used to set sine test parameters, step test parameters and pitch system transfer model; A data recording module is used to collect data timestamps, blade pitch angle requirements, blade pitch angle measured values, and blade pitch angular rate measured values ​​in real time; A pitch test module, configured to set a pitch control instruction in a test phase to add an offset to the blade pitch angle requirement, and perform a pitch test according to the pitch control instruction and the test outline process; The system identification module is used to input the data of the test phase into the pitch system transfer model fitting parameters to obtain the pitch system identification results.

9. A wind turbine pitch system identification and testing device, characterized in that: include: Memory for storing computer programs; A processor is configured to implement the steps of a wind turbine pitch system identification and testing method as claimed in any one of claims 1 to 7 when executing the computer program.

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

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