Wind power variable pitch control method, device and equipment, storage medium and program product

Abstract

The invention relates to the technical field of fan control, and discloses a wind power variable pitch control method, device and equipment, a storage medium and a program product.The wind power variable pitch control method comprises the steps that when it is detected that a wind power variable pitch control system triggers a fault, fan blades are rotated in the forward direction based on a feathering strategy; monitoring a first pitch angle of a fan blade; when the first pitch angle reaches a preset limiting angle, a brake control loop of the variable-pitch motor is utilized to stop and brake; whether the fan blade continues to rotate or not is monitored, and when the fan blade continues to rotate, the rotating direction and the second pitch angle of the fan blade are monitored; judging whether the second pitch angle is within a safe pitch angle range or not; and when it is judged that the second pitch angle is not within the safe pitch angle range, the fan blades are adjusted based on the second pitch angle and the rotating direction of the fan blades through a driver of the variable pitch motor, and the second pitch angle is adjusted to be within the safe pitch angle range. The safety of the wind turbine generator can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fan control, in particular to a wind power variable pitch control method, device, equipment, storage medium and program product. BACKGROUND

[0002] Wind energy is a new type of renewable and environmentally friendly energy, and wind power generation projects are key projects actively supported by national industrial policies. As one of the core systems of wind turbine generators, the variable pitch system has very high requirements for its reliability, safety, and rationality of fault handling. The service life of the whole wind turbine is generally more than 10 years, and brake failure of the variable pitch motor often occurs during long-term operation. Therefore, it is crucial to adopt appropriate protection measures to deal with this situation to ensure the safety of the unit.

[0003] Nowadays, a limit switch is installed on the wind turbine blade, which is used as a marker signal for the emergency feathering shutdown of the blade. However, the traditional emergency feathering logic cannot deal with the brake failure of the variable pitch motor. When the variable pitch emergency feathering triggers the limit switch to stop and brake, if the motor brake fails or is excessively worn at this time, the blade may continue to run to a large angle or even rotate on the hub due to the external load, which poses a great threat to the safety of the unit. SUMMARY

[0004] Therefore, the present application provides a wind power variable pitch control method, device, equipment, storage medium and program product to solve the problem of uncontrolled rotation of the blade when the brake of the variable pitch motor fails and improve the safety of the wind turbine generator.

[0005] In a first aspect, the present application provides a wind power variable pitch control method, which comprises: when a fault of a wind power variable pitch control system is detected, rotating a wind turbine blade in a forward direction based on a feathering strategy; monitoring a first pitch angle of the wind turbine blade; when the first pitch angle reaches a preset limit angle, stopping and braking the variable pitch motor using a brake control loop; monitoring whether the wind turbine blade continues to rotate, and when the wind turbine blade continues to rotate, monitoring the rotation direction and a second pitch angle of the wind turbine blade; determining whether the second pitch angle is within a safe pitch angle range; and when it is determined that the second pitch angle is not within the safe pitch angle range, adjusting the wind turbine blade based on the second pitch angle and the rotation direction of the wind turbine blade using a driver of the variable pitch motor to adjust the second pitch angle to be within the safe pitch angle range.

[0006] In this implementation, when the wind turbine variable pitch control system triggers a fault, the variable pitch motor operates at a set feathering speed to a preset limit angle limit switch stop and brake. In the event of brake failure, the system can adaptively control according to the rotation direction and angle of the blade, realize intelligent fault handling, and improve the safety of the wind turbine generator.

[0007] In an optional implementation, the rotating direction and the second pitch angle of the wind turbine blade are monitored, and it is determined whether the second pitch angle is within a safe pitch angle range, including: when the rotating direction of the wind turbine blade is reverse rotation, it is determined whether the second pitch angle is less than the minimum safe pitch angle; when the rotating direction of the wind turbine blade is forward rotation, it is determined whether the second pitch angle is greater than the maximum safe pitch angle; wherein the safe pitch angle is greater than or equal to the minimum safe pitch angle and less than or equal to the maximum safe pitch angle.

[0008] In this implementation, a safety determination method is provided considering different rotating directions of the wind turbine blade.

[0009] In an optional implementation, when it is determined that the second pitch angle is not within the safe pitch angle range, the wind turbine blade is adjusted based on the second pitch angle and the rotating direction of the wind turbine blade by using the driver of the pitch motor, so as to adjust the second pitch angle to be within the safe pitch angle range, including: when the wind turbine blade is reverse rotation and the second pitch angle is less than the minimum safe pitch angle, the wind turbine blade is driven to rotate forward to be within the safe pitch angle range by using the driver of the pitch motor; when the wind turbine blade is forward rotation and the second pitch angle is greater than the maximum safe pitch angle, the wind turbine blade is driven to rotate reverse to be within the safe pitch angle range by using the driver of the pitch motor.

[0010] In this implementation, when the brake fails and the load drives the blade to rotate reverse, the feathering logic is triggered; when the brake fails and the load drives the blade to rotate forward, the driver outputs to drive the motor to rotate the blade reverse after the system monitors that the blade angle is greater than the maximum safe pitch angle, so as to fill the safety control blank in the forward large-angle out-of-control scenario.

[0011] In an optional implementation, the wind turbine blade is adjusted based on the second pitch angle and the rotating direction of the wind turbine blade by using the driver of the pitch motor, including: the rotating speed of the wind turbine blade is monitored; the driving power of the driver is determined based on the rotating speed, the second pitch angle and the rotating direction of the wind turbine blade; and the wind turbine blade is adjusted according to the driving power by using the driver.

[0012] In an optional implementation, the rotating direction and the second pitch angle of the wind turbine blade are monitored, and it is determined whether the second pitch angle is within a safe pitch angle range, including: when the rotating direction of the wind turbine blade is forward rotation, it is determined whether the second pitch angle is less than the minimum safe pitch angle; when it is determined that the second pitch angle is not within the safe pitch angle range, the wind turbine blade is adjusted based on the second pitch angle and the rotating direction of the wind turbine blade by using the driver of the pitch motor, so as to adjust the second pitch angle to be within the safe pitch angle range, including: when the wind turbine blade is forward rotation and the second pitch angle is less than the minimum safe pitch angle, the wind turbine blade is adjusted to a preset limit angle by forward rotation based on the feathering strategy.

[0013] In an alternative embodiment, the minimum safe pitch angle is a preset limit angle, and the preset limit angle is 91°, and the maximum safe pitch angle is 110°.

[0014] In this embodiment, the blade is maintained in the safe position interval of 91° to 110° through output control of the driver in different fault conditions, and the safety of the unit in the extreme condition of brake failure is innovatively ensured, and a serious accident caused by out-of-control blade position is avoided.

[0015] In a second aspect, the present application provides a wind power variable pitch control device, comprising: a first control module configured to rotate the wind turbine blade forward based on a feathering strategy when a wind power variable pitch control system trigger fault is detected; a first monitoring module configured to monitor a first pitch angle of the wind turbine blade; a second control module configured to stop the brake of the variable pitch motor when the first pitch angle reaches a preset limit angle; a second monitoring module configured to monitor whether the wind turbine blade continues to rotate; a judging module configured to judge whether a second pitch angle is within a safe pitch angle range when the wind turbine blade continues to rotate; and a third control module configured to adjust the wind turbine blade based on the second pitch angle and the rotating direction of the wind turbine blade to adjust the second pitch angle to be within the safe pitch angle range when it is judged that the second pitch angle is not within the safe pitch angle range.

[0016] In a third aspect, the present application provides a computer device, comprising: a memory and a processor, which are communicatively connected with each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the wind power variable pitch control method of the first aspect or any of the corresponding embodiments thereof.

[0017] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer execute the wind power variable pitch control method of the first aspect or any of the corresponding embodiments thereof.

[0018] In a fifth aspect, the present application provides a computer program product, which comprises computer instructions, and the computer instructions are used to make a computer execute the wind power variable pitch control method of the first aspect or any of the corresponding embodiments thereof. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0020] Figure 1 is a flow chart of a wind power variable pitch control method according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of another wind power variable pitch control method according to an embodiment of the present application;

[0022] Figure 3 is a flow chart of still another wind power variable pitch control method according to an embodiment of the present application;

[0023] Figure 4 is a structural block diagram of a wind power variable pitch control device according to an embodiment of the present application;

[0024] Figure 5 is a hardware structure schematic diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0026] The main fan is equipped with a limit switch near the hub of the blade at 91°, which is used as a mark signal for the emergency pitch stop of the blade, but the traditional emergency pitch logic cannot deal with the brake failure of the variable pitch motor. Therefore, the present application provides a wind power variable pitch control method, which can deal with the problem of uncontrolled rotation of the blade when the brake of the variable pitch motor fails, and improve the safety of the wind turbine.

[0027] According to the embodiments of the present application, a wind power variable pitch control method embodiment is provided. It should be noted that the steps shown in the flow chart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flow chart, in some cases, the steps shown or described herein can be executed in a different order.

[0028] In the present embodiment, a wind power variable pitch control method is provided, which can be used for a wind turbine, Figure 1 is a flow chart of a wind power variable pitch control method according to an embodiment of the present application, it should be noted that the present embodiment is not limited to the flow order shown in Figure 1 . As shown in Figure 1 , the flow includes the following steps:

[0029] Step S101, when detecting that the wind turbine variable pitch control system triggers a fault, the wind turbine blades are rotated forward based on the feathering strategy.

[0030] The wind turbine variable pitch control system fault includes power grid outage, converter fault, main controller communication interruption, and other electrical faults, gearbox overheating, generator bearing over-temperature, vibration exceeding the standard, and other mechanical faults, emergency stop button pressing, safety circuit disconnection, and other safety chain triggering faults, variable pitch main controller downtime, variable pitch angle feedback anomaly, and other control system failures.

[0031] When detecting that the wind turbine variable pitch control system triggers a fault, the feathering strategy is triggered, and the wind turbine blades are rotated forward by using the driver of the variable pitch motor.

[0032] Understandably, the blade pitch angle of the wind turbine blades in normal operation is a dynamic value, usually between 0° and 30°, and the specific angle depends on the real-time wind speed and the operating stage of the wind turbine. When the blade pitch angle is 0°, the wind turbine blades are in a high-lift state, and the wind energy conversion efficiency is maximum. When the blade pitch angle is between 0° and 30°, the power is limited to the rated value.

[0033] When the wind turbine encounters an extreme situation and fails, in order to ensure the safety of the blades, the pitch angle of the three blades needs to be increased and rotated to the limit switch, and in the process of increasing the pitch angle, the aerodynamic efficiency is sharply reduced, so that the blades lose aerodynamic lift and the wind turbine stops rotating.

[0034] When the wind turbine blades are rotated to the limit switch, the pitch angle of the wind turbine blades is a preset limit angle. Generally, the preset limit angle is 91°, and the process of rotating the pitch angle of the wind turbine blades from 0° to 91° is forward rotation.

[0035] Step S102, the first pitch angle of the wind turbine blades is monitored.

[0036] The first pitch angle is the pitch angle of the wind turbine blades during the adjustment of the wind turbine blades by using the feathering strategy.

[0037] During the rotation of the wind turbine blades, the monitoring module continuously monitors the first pitch angle of the wind turbine blades, and judges whether the wind turbine blades reach the limit switch, i.e., whether the first pitch angle of the wind turbine blades reaches the preset limit angle during the increasing process.

[0038] Step S103, when the first pitch angle reaches the preset limit angle, the brake control loop of the variable pitch motor is used to stop and brake.

[0039] When the first pitch angle is less than the preset limit angle, the wind turbine blades continue to be rotated forward by using the feathering strategy, and when the first pitch angle reaches the preset limit angle, the brake control loop of the variable pitch motor is used to control the wind turbine blades to stop rotating, thereby achieving stopping and braking.

[0040] When the brake control loop of the variable pitch motor is effective, the wind turbine blade is stopped, and the pitch angle of the wind turbine blade is fixed at the preset limit angle. When the brake control loop of the variable pitch motor is ineffective, the wind turbine blade cannot be fixed, and when there is an external load, the wind turbine blade may continue to rotate.

[0041] Specifically, when the brake control loop of the variable pitch motor fails or is excessively worn, causing the brake to fail, the driver has stopped outputting, and the wind turbine blade may continue to run to a large or small angle under the influence of an external load, or even spin on the hub. At this time, the pitch angle of the wind turbine blade cannot be fixed at the preset limit angle.

[0042] The external load includes an external wind load.

[0043] Step S104, monitoring whether the wind turbine blade continues to rotate, when the wind turbine blade continues to rotate, monitoring the rotation direction of the wind turbine blade and the second pitch angle.

[0044] The second pitch angle is the pitch angle of the wind turbine blade after the brake control loop fails.

[0045] After the brake control loop of the variable pitch motor is stopped and the brake is engaged, the wind turbine blade continues to be monitored for rotation. If the wind turbine blade continues to rotate, it indicates that the brake control loop of the variable pitch motor has failed. At this time, the rotation direction of the wind turbine blade and the second pitch angle after rotation are continuously monitored.

[0046] It can be understood that the rotation direction of the wind turbine blade can be forward rotation and reverse rotation, and the second pitch angle can be greater than, equal to, or less than the preset limit angle.

[0047] For example, after the brake control loop fails, the wind turbine blade first reversely rotates under the influence of an external load. At this time, the rotation direction of the wind turbine blade is reverse rotation, and the second pitch angle is less than the preset limit angle. Again, under the influence of different external loads, the wind turbine blade rotates forward. At this time, the rotation direction of the wind turbine blade is forward rotation, and the second pitch angle is still less than the preset limit angle.

[0048] Step S105, determining whether the second pitch angle is within the safe pitch angle range.

[0049] Based on the preset limit angle, the full pitch angle range is set, and it is determined whether the second pitch angle is within the safe pitch angle range.

[0050] When the second pitch angle is within the safe pitch angle range, it indicates that the current wind turbine blade is relatively safe and does not need to be controlled. When the second pitch angle is not within the safe pitch angle range, it indicates that the current wind turbine blade is relatively unsafe and needs to be controlled by the drive of the variable pitch motor.

[0051] In step S106, when it is determined that the second pitch angle is not within the safe pitch angle range, the drive of the variable pitch motor is used to adjust the wind turbine blade based on the second pitch angle and the rotation direction of the wind turbine blade, so that the second pitch angle is adjusted to be within the safe pitch angle range.

[0052] When the second pitch angle is not within the safe pitch angle range, the second pitch angle and the rotation direction of the wind turbine blade are further determined.

[0053] The second pitch angle of the wind turbine blade is used to determine which side of the safe pitch angle range the wind turbine blade is currently in, which is used to determine the direction of controlling the rotation of the wind turbine blade.

[0054] Specifically, when the second pitch angle is less than the safe pitch angle, the wind turbine blade is controlled to rotate forward, and when the second pitch angle is greater than the safe pitch angle, the wind turbine blade is controlled to rotate reversely.

[0055] Further, the power of the wind turbine blade is determined in combination with the rotation direction of the wind turbine blade.

[0056] Specifically, when the wind turbine blade rotates forward and needs to be controlled to rotate forward according to the second pitch angle, the wind turbine blade is controlled to rotate forward with a smaller output power; when the wind turbine blade rotates forward and needs to be controlled to rotate reversely according to the second pitch angle, the wind turbine blade is controlled to rotate reversely with a larger output power. When the wind turbine blade rotates reversely and needs to be controlled to rotate reversely according to the second pitch angle, the wind turbine blade is controlled to rotate reversely with a smaller output power; when the wind turbine blade rotates reversely and needs to be controlled to rotate forward according to the second pitch angle, the wind turbine blade is controlled to rotate forward with a larger output power.

[0057] The above control method is used until the second pitch angle of the wind turbine blade is controlled to be within the safe pitch angle range.

[0058] The wind power variable pitch control method provided in the embodiment can be used for a wind turbine,

[0059] In the embodiment, a wind power variable pitch control method is provided, which can be used for a wind turbine, Figure 2is a flow chart of another wind power variable pitch control method according to an embodiment of the present application, it is to be noted that the present embodiment is not limited to the flow order shown in Figure 2 As shown in Figure 2 The flow includes the following steps:

[0060] Step S201, when detecting that the wind power variable pitch control system triggers a fault, rotating the wind turbine blade in a forward direction based on a feathering strategy.

[0061] Step S202, monitoring a first pitch angle of the wind turbine blade.

[0062] Step S203, when the first pitch angle reaches a preset limit angle, stopping the brake control loop of the variable pitch motor to brake.

[0063] Step S204, monitoring whether the wind turbine blade continues to rotate, and when the wind turbine blade continues to rotate, monitoring a rotating direction of the wind turbine blade and a second pitch angle.

[0064] For details of steps S201-S204, please refer to steps S101-S104 of the embodiment shown in Figure 1 Here, no further description is given.

[0065] Step S205, judging whether the second pitch angle is within a safe pitch angle range.

[0066] In a possible implementation, the minimum safe pitch angle is the preset limit angle, which is 91°, and the maximum safe pitch angle is 110°.

[0067] Specifically, the above step S205 includes:

[0068] Step S2051, when the rotating direction of the wind turbine blade is reverse rotation, judging whether the second pitch angle is less than the minimum safe pitch angle.

[0069] Specifically, when the rotating direction of the wind turbine blade is reverse rotation, judging whether the second pitch angle is less than 91°. When the second pitch angle is less than 91°, it indicates that the current wind turbine blade has low safety, and the wind turbine blade needs to be controlled by using the driver of the variable pitch motor.

[0070] Step S2052, when the rotating direction of the wind turbine blade is forward rotation, judging whether the second pitch angle is greater than the maximum safe pitch angle.

[0071] Specifically, when the rotating direction of the wind turbine blade is forward rotation, judging whether the second pitch angle is greater than 110°. When the second pitch angle is greater than 110°, it indicates that the current wind turbine blade has low safety, and the wind turbine blade needs to be controlled by using the driver of the variable pitch motor.

[0072] Step S206, when judging that the second pitch angle is not in the safe pitch angle range, adjusting the wind turbine blade based on the second pitch angle and the rotating direction of the wind turbine blade by using the driver of the pitch motor to adjust the second pitch angle to the safe pitch angle range.

[0073] Specifically, the above step S206 includes:

[0074] Step S2061, when the wind turbine blade rotates reversely and the second pitch angle is less than the minimum safe pitch angle, driving the wind turbine blade to rotate forwardly to the safe pitch angle range by using the driver of the pitch motor.

[0075] Specifically, when the wind turbine blade rotates reversely due to the external load and the second pitch angle is less than 91°, driving the wind turbine blade to rotate forwardly to the 91° limit switch by using the driver of the pitch motor.

[0076] Exemplarily, when the second pitch angle of the wind turbine blade rotating reversely is less than 91°, the disconnection of the limit switch signal will trigger the system pitch logic, and the driver continues to control the motor to rotate forwardly at the pitch speed until the 91° limit switch is triggered again.

[0077] Step S2062, when the wind turbine blade rotates forwardly and the second pitch angle is greater than the maximum safe pitch angle, driving the wind turbine blade to rotate reversely to the safe pitch angle range by using the driver of the pitch motor.

[0078] Specifically, when the wind turbine blade rotates forwardly due to the external load and the second pitch angle is greater than 110°, driving the wind turbine blade to rotate reversely to the 91° limit switch by using the driver of the pitch motor.

[0079] Exemplarily, when the second pitch angle of the wind turbine blade rotating forwardly is greater than 110°, the driver outputs, and the motor drags the blade to rotate reversely at the set speed until the 91° limit switch is triggered, and the step S204 is continuously executed.

[0080] By using the above method, in the case of the motor brake failure, the blade can be maintained in the safe position interval of 91° to 110° by the driver output, so as to ensure the safety of the unit.

[0081] In the embodiment, another wind power pitch control method is provided, which can be used for a wind turbine, Figure 3 is a flowchart of another wind power pitch control method according to the embodiment of the application. It should be noted that, if there is substantially the same result, the embodiment does not limit Figure 3 the flow sequence as shown. As Figure 3 shown, the flow includes the following steps:

[0082] Step S301, when detecting that the wind power variable pitch control system triggers a fault, rotating the wind turbine blade in a forward direction based on a feathering strategy.

[0083] For details, please refer to Figure 1 Step S103 of the embodiment shown will not be repeated here.

[0084] Step S302, monitoring a first pitch angle of the wind turbine blade.

[0085] Step S303, when the first pitch angle reaches a preset limit angle, stopping the brake control loop of the variable pitch motor.

[0086] Step S304, monitoring whether the wind turbine blade continues to rotate, and when the wind turbine blade continues to rotate, monitoring the rotation direction of the wind turbine blade and a second pitch angle.

[0087] For details of steps S301-S304, please refer to Figure 1 Steps S101-S104 of the embodiment shown will not be repeated here.

[0088] Step S305, determining whether the second pitch angle is within a safe pitch angle range.

[0089] In an implementation, when the wind turbine blade rotates in a reverse direction, determining whether the second pitch angle is less than 91°, and when the second pitch angle is less than 91°, it indicates that the current wind turbine blade rotates in a direction away from the safe pitch angle range, and the wind turbine blade needs to be controlled by using the driver of the variable pitch motor.

[0090] In an implementation, when the wind turbine blade rotates in a reverse direction, determining whether the second pitch angle is greater than 110°, and when the second pitch angle is greater than 110°, it indicates that the current wind turbine blade rotates in a direction close to the safe pitch angle range, and the rotation direction of the wind turbine blade and the second pitch angle are continuously monitored, and the wind turbine blade is controlled by using the driver of the variable pitch motor.

[0091] In an implementation, when the wind turbine blade rotates in a forward direction, determining whether the second pitch angle is greater than 110°, and when the second pitch angle is greater than 110°, it indicates that the current wind turbine blade rotates in a direction away from the safe pitch angle range, and the wind turbine blade needs to be controlled by using the driver of the variable pitch motor.

[0092] In an implementation, when the wind turbine blade rotates in a reverse direction, determining whether the second pitch angle is less than 91°, and when the second pitch angle is less than 91°, it indicates that the current wind turbine blade rotates in a direction close to the safe pitch angle range, and the rotation direction of the wind turbine blade and the second pitch angle are continuously monitored, and the wind turbine blade is controlled by using the driver of the variable pitch motor.

[0093] Step S306, when judging that the second pitch angle is not in the safe pitch angle range, adjusting the wind turbine blade based on the second pitch angle and the rotating direction of the wind turbine blade by using the driver of the pitch motor to adjust the second pitch angle to the safe pitch angle range.

[0094] Specifically, the above step S306 includes:

[0095] Step S3061, when judging that the second pitch angle is not in the safe pitch angle range, monitoring the rotating speed of the wind turbine blade.

[0096] Specifically, when judging that the second pitch angle is not in the safe pitch angle range [91°, 110°], monitoring the rotating speed of the wind turbine blade by using the rotating speed installed on the wind wheel shaft or the generator shaft.

[0097] It can be understood that the rotating speed of the wind turbine blade is a core parameter reflecting the running state of the wind turbine, which directly affects the driving power demand when adjusting the pitch angle. When the rotating speed is too high, the air resistance, i.e. the aerodynamic load, on the blade increases, and a larger driving power is required to overcome the resistance when adjusting the pitch angle. When the rotating speed is too low, the aerodynamic load is small, and the required driving power is correspondingly reduced. At this time, it is necessary to avoid that the output power of the driver is too large to cause over-adjustment or equipment loss.

[0098] Step S3062, determining the driving power of the driver based on the rotating speed of the wind turbine blade, the second pitch angle and the rotating direction.

[0099] Specifically, the rotating speed of the wind turbine blade, the rotating direction and whether the control direction is consistent are used as a feedback parameter compensation, and an initial driving power is set.

[0100] Wherein, the control direction is the rotating direction of adjusting the wind turbine blade to the limit angle of 91°.

[0101] It can be understood that when the rotating direction is the same as the control direction, the greater the rotating speed of the wind turbine blade, the smaller the initial driving power; when the rotating direction is opposite to the control direction, the greater the rotating speed of the wind turbine blade, the greater the initial driving power.

[0102] The difference between the second pitch angle and the preset limit angle is used as a feedback, and the driving power is dynamically adjusted by using a PID algorithm.

[0103] It can be understood that the greater the difference between the second pitch angle and the preset limit angle, the greater the driving power, and the smaller the difference between the second pitch angle and the preset limit angle, the smaller the driving power.

[0104] Step S3063, adjusting the wind turbine blade by using the driver according to the driving power.

[0105] The driver is used to adjust the fan blade according to the driving power output, until the fan blade rotates to the 91° limit angle, and then step S304 is executed.

[0106] The wind power variable pitch control method provided in the embodiment realizes fault adaptive feathering control: when the wind turbine variable pitch control system triggers a fault, the variable pitch motor operates at a set feathering speed to the 91° limit switch stop brake, and when the brake fails, the system can adaptively control according to the rotation direction of the blade. If it rotates in the opposite direction, the feathering logic is triggered through the limit switch signal to ensure that the blade is not less than 91°, and intelligent fault response is realized.

[0107] The wind power variable pitch control method provided in the embodiment realizes positive rotation angle protection: when the brake fails and the load drives the blade to rotate positively, the system monitors that the blade angle is greater than 110°, and then the driver outputs to drive the motor to rotate the blade in the opposite direction to trigger the 91° limit switch, filling the safety control blank in the positive large angle out-of-control scenario.

[0108] The wind power variable pitch control method provided in the embodiment realizes a safety position interval maintenance mechanism: through the output control of the driver in different fault conditions, the blade is maintained in the safety position interval of 91° to 110°, which innovatively guarantees the safety of the unit in the brake failure extreme case, and avoids serious accidents caused by out-of-control of the blade position.

[0109] In the embodiment, a wind power variable pitch control device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0110] The embodiment provides a wind power variable pitch control device, as shown in the figure, comprising: Figure 4

[0111] The first control module 401 is used to rotate the fan blade positively based on the feathering strategy when it is detected that the wind power variable pitch control system triggers a fault.

[0112] The first monitoring module 402 is used to monitor the first pitch angle of the fan blade.

[0113] The second control module 403 is used to stop the brake of the variable pitch motor when the first pitch angle reaches the preset limit angle.

[0114] The second monitoring module 404 is used to monitor whether the fan blade continues to rotate; when the fan blade continues to rotate, the rotation direction and the second pitch angle of the fan blade are monitored. ​

[0115] The judging module 405 is configured to judge whether the second pitch angle is within the safe pitch angle range.

[0116] The third control module 406 is configured to, when judging that the second pitch angle is not within the safe pitch angle range, adjust the second pitch angle to be within the safe pitch angle range by using the driver of the pitch motor based on the second pitch angle and the rotating direction of the wind turbine blade.

[0117] In some optional embodiments, the judging module 405 includes:

[0118] The first judging unit is configured to, when the rotating direction of the wind turbine blade is the reverse rotating direction, judge whether the second pitch angle is less than the minimum safe pitch angle.

[0119] The second judging unit is configured to, when the rotating direction of the wind turbine blade is the forward rotating direction, judge whether the second pitch angle is greater than the maximum safe pitch angle. The safe pitch angle is greater than or equal to the minimum safe pitch angle and less than or equal to the maximum safe pitch angle.

[0120] The third control module 406 includes:

[0121] The first control unit is configured to, when the wind turbine blade is rotating in the reverse direction and the second pitch angle is less than the minimum safe pitch angle, drive the wind turbine blade to rotate in the forward direction to be within the safe pitch angle range by using the driver of the pitch motor.

[0122] The second control unit is configured to, when the wind turbine blade is rotating in the forward direction and the second pitch angle is greater than the maximum safe pitch angle, drive the wind turbine blade to rotate in the reverse direction to be within the safe pitch angle range by using the driver of the pitch motor.

[0123] In some optional embodiments, the third control module 406 includes:

[0124] The monitoring unit is configured to monitor the rotating speed of the wind turbine blade.

[0125] The determining unit is configured to determine the driving power of the driver based on the rotating speed of the wind turbine blade, the second pitch angle, and the rotating direction.

[0126] The adjusting unit is configured to adjust the wind turbine blade by using the driver according to the driving power.

[0127] In some optional embodiments, the judging module 405 includes:

[0128] The third judging unit is configured to, when the rotating direction of the wind turbine blade is the forward rotating direction, judge whether the second pitch angle is less than the minimum safe pitch angle.

[0129] The third control module 406 includes:

[0130] The third control unit is configured to rotate the wind turbine blades forward based on a feathering strategy and adjust the second pitch angle to a preset limit angle when the wind turbine blades rotate forward and the second pitch angle is less than a minimum safe pitch angle.

[0131] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0132] The wind turbine pitch control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0133] The embodiment of the present invention also provides a computer device having the above Figure 4 The wind turbine pitch control device shown.

[0134] See also Figure 5 , Figure 5 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of a GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0135] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0136] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0137] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system, application programs required for at least one function, and the like. The data storage area can store data created according to usage of the computer device, and the like. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-transitory memory such as at least one of a magnetic disk storage device, a flash memory device, or other non-transitory solid state memory device. In some alternative embodiments, the memory 20 can optionally include a memory disposed remotely from the processor 10, which can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0138] The memory 20 can include a volatile memory such as a random access memory, and can further include a non-volatile memory such as a flash memory, a hard disk, or a solid state disk. The memory 20 can also include a combination of the above-mentioned types of memory.

[0139] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected through a bus or other means, Figure 5 The connection through the bus is taken as an example.

[0140] The input device 30 can receive input digital or character information, and generate key signal input with respect to user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, and the like. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), a tactile feedback device (e.g., a vibration motor), and the like. The display device includes, but is not limited to, a liquid crystal display, a light emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0141] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded to a local storage medium through network, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned memories. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0142] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, through the operation of the computer, the method and / or technical solutions according to the present application can be called or provided. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source file, executable file, installation package file, etc. Correspondingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0143] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A wind turbine pitch control method, characterized in that: The method comprises: When a fault is detected in the wind turbine pitch control system, the wind turbine blades are rotated forward based on the feathering strategy; monitoring a first pitch angle of the wind turbine blades; When the first pitch angle reaches a preset limit angle, the pitch motor is stopped and braked using a brake control circuit; monitoring whether the fan blades continue to rotate, and when the fan blades continue to rotate, monitoring the rotation direction and the second pitch angle of the fan blades; determining whether the second pitch angle is within a safe pitch angle range; When it is determined that the second pitch angle is not within the safe pitch angle range, the driver of the variable pitch motor is used to adjust the wind turbine blades based on the second pitch angle and the rotation direction of the wind turbine blades to adjust the second pitch angle to within the safe pitch angle range.

2. The wind turbine pitch control method according to claim 1, characterized in that: The monitoring of the rotation direction and the second pitch angle of the wind turbine blades and determining whether the second pitch angle is within a safe pitch angle range includes: When the rotation direction of the fan blade is reverse rotation, determining whether the second pitch angle is less than a minimum safe pitch angle; When the rotation direction of the fan blade is forward rotation, determining whether the second pitch angle is greater than a maximum safe pitch angle; The safe pitch angle is greater than or equal to the minimum safe pitch angle and less than or equal to the maximum safe pitch angle.

3. The wind turbine pitch control method according to claim 2, characterized in that: When it is determined that the second pitch angle is not within the safe pitch angle range, adjusting the wind blades based on the second pitch angle and the rotation direction of the wind turbine blades by using the driver of the variable pitch motor to adjust the second pitch angle to within the safe pitch angle range includes: When the fan blades rotate in the reverse direction and the second pitch angle is less than the minimum safe pitch angle, the fan blades are driven by the driver of the pitch motor to rotate forward to within the safe pitch angle range; When the wind turbine blades rotate in the forward direction and the second pitch angle is greater than the maximum safe pitch angle, the driver of the pitch motor is used to drive the wind turbine blades to rotate in the reverse direction to within the safe pitch angle range.

4. The wind turbine pitch control method according to claim 2, characterized in that: The method of adjusting the wind blades based on the second pitch angle and the rotation direction of the wind blades by using the driver of the pitch motor includes: monitoring the rotational speed of the fan blades; determining a driving power of the driver based on the rotational speed, the second pitch angle, and the rotational direction of the fan blades; The fan blades are adjusted according to the driving power by using the driver.

5. The wind turbine pitch control method according to claim 2, characterized in that: The monitoring of the rotation direction and the second pitch angle of the wind turbine blades and determining whether the second pitch angle is within a safe pitch angle range includes: When the rotation direction of the fan blade is forward rotation, determining whether the second pitch angle is less than a minimum safe pitch angle; When it is determined that the second pitch angle is not within the safe pitch angle range, adjusting the wind blades based on the second pitch angle and the rotation direction of the wind turbine blades by using the driver of the variable pitch motor to adjust the second pitch angle to within the safe pitch angle range includes: When the wind turbine blades rotate forward and the second pitch angle is less than the minimum safe pitch angle, the wind turbine blades are rotated forward based on a feathering strategy, and the second pitch angle is adjusted to the preset limit angle.

6. The wind turbine pitch control method according to any one of claims 2 to 5, characterized in that: The minimum safe pitch angle is the preset limit angle, the preset limit angle is 91°, and the maximum safe pitch angle is 110°.

7. A wind turbine pitch control device, characterized in that: The device comprises: The first control module is configured to rotate the wind turbine blades in a forward direction based on a feathering strategy when a fault is detected in the wind turbine pitch control system; A first monitoring module, configured to monitor a first pitch angle of the wind turbine blades; a second control module, configured to, when the first pitch angle reaches a preset limit angle, use a brake control circuit of the pitch motor to stop the motor; a second monitoring module, configured to monitor whether the fan blades continue to rotate; and when the fan blades continue to rotate, monitor the rotation direction and the second pitch angle of the fan blades; a judging module, configured to judge whether the second pitch angle is within a safe pitch angle range; The third control module is used to, when it is determined that the second pitch angle is not within the safety pitch angle range, use the driver of the variable pitch motor to adjust the wind turbine blades based on the second pitch angle and the rotation direction of the wind turbine blades, so as to adjust the second pitch angle to within the safety pitch angle range.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the wind turbine pitch control method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the wind turbine pitch control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are used to enable a computer to execute the wind turbine pitch control method according to any one of claims 1 to 6.

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