Pitch angle compensation method and equipment for wind turbine generator blades, medium and product

Abstract

The invention provides a pitch angle compensation method and device for blades of a wind turbine generator, a medium and a product. The method comprises the steps that real-time rotating speed data of a generator are collected in real time according to a sampling period; calculating a real-time rotating speed deviation and a real-time rotating speed deviation change rate according to the real-time rotating speed data; according to the real-time rotating speed deviation and the real-time rotating speed deviation change rate, an optimal compensation variable pitch rate table is inquired, and the corresponding optimal compensation variable pitch rate is found; and if the compensation variable pitch rate is larger than the set threshold value, the compensation variable pitch rate is converted into a compensation pitch angle, the overspeed prevention function of the wind turbine generator is triggered, and the wind turbine generator adjusts the pitch retracting angle according to the compensation pitch angle. Whether the wind turbine generator set faces the problem that the rotating speed of the generator is too large or not is judged through the two aspects of the current generator real-time rotating speed deviation and the real-time rotating speed deviation change rate, the optimal compensation pitch angle is given in advance to command the wind turbine generator set to increase the pitch retracting angle, overspeed of the wind turbine generator set can be effectively prevented, and the rotating speed of the generator is kept stable.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wind power generation, in particular to a pitch angle compensation method, device, medium and product for wind turbine blades. BACKGROUND

[0002] At present, when the wind turbine operates above the rated wind speed, the generator speed is mainly kept stable by controlling the pitch angle to ensure the stable operation and output power of the wind turbine. The commonly used pitch angle control method is to adjust the pitch angle based on the error between the real-time monitored generator speed and the set value. However, due to the great influence of the wind turbine itself by the external environment, the operation has strong randomness and uncertainty, and in some complex terrain or extreme weather conditions, the turbulence degree is large and the wind speed changes dramatically. In this case, due to the large inertia of the pitch angle execution system, the adjustment of the pitch angle has a lag, which may cause the generator speed to exceed the safety protection value of the control system, triggering the overspeed shutdown of the wind turbine. SUMMARY

[0003] Based on the above problems, the present application proposes a pitch angle compensation method, device, medium and product for wind turbine blades, which solves the technical problems in the prior art that the response to dramatic wind speed changes is not fast enough, which may cause large fluctuations in the generator speed; it is difficult to effectively prevent overspeed shutdown in extreme operating conditions; large limit load may be generated during overspeed shutdown, increasing the risk of damage to the wind turbine; the judgment condition of the existing anti-overspeed pitch angle control is single and limited, and it cannot effectively and flexibly cope with complex environments and wind turbine operating conditions. The present application judges whether the wind turbine is facing the problem of excessive generator speed from two aspects of the current generator real-time speed deviation and the real-time speed deviation change rate (i.e. the speed and the speed rise rate), and gives the optimal compensation pitch angle command to increase the pitch angle of the wind turbine in advance, which can effectively prevent the overspeed of the wind turbine and keep the generator speed stable.

[0004] The present application proposes a pitch angle compensation method for wind turbine blades, which comprises:

[0005] Real-time generator speed data is collected according to the sampling period;

[0006] The real-time speed deviation and the real-time speed deviation change rate are calculated according to the real-time speed data;

[0007] The optimal compensation pitch rate table is queried according to the real-time speed deviation and the real-time speed deviation change rate, and the corresponding optimal compensation pitch rate is found;

[0008] If the compensation pitch rate is greater than a set threshold, the compensation pitch rate is converted into a compensation pitch angle, a overspeed protection function of the wind turbine is triggered, and the wind turbine adjusts the pitch angle according to the compensation pitch angle.

[0009] In addition, the calculation of the real-time speed deviation according to the real-time speed data comprises:

[0010] The speed deviation calculation formula is E t = (S t -S0) / S0.

[0011] Wherein, E t is the speed deviation at time t, S t is the speed at time t, and S0 is the rated speed of the generator.

[0012] In addition, the speed deviation change rate calculation formula is:

[0013] Wherein, Edot t is the speed deviation change rate at time t, er t is the difference between the speed at time t and the rated speed, and T is the sampling interval period.

[0014] In addition, the process of establishing the optimal compensation pitch rate table comprises:

[0015] Collecting the historical data of the speed and the pitch angle pitch rate of the generator, calculating the speed deviation and the speed deviation change rate corresponding to the speed according to the historical data of the speed;

[0016] Establishing a scatter plot of the speed deviation-pitch angle pitch rate;

[0017] Establishing a scatter plot of the speed deviation change rate-pitch angle pitch rate;

[0018] Selecting a plurality of speed deviations meeting the conditions as the horizontal table header of the table according to the scatter plot of the speed deviation-pitch angle pitch rate;

[0019] Selecting a plurality of speed deviation change rates meeting the conditions as the vertical table header according to the scatter plot of the speed deviation change rate-pitch angle pitch rate;

[0020] Calculating the optimal compensation pitch rate by using the improved particle swarm algorithm according to the speed deviation and the speed deviation change rate, and filling the optimal compensation pitch rate into the optimal compensation pitch rate table.

[0021] In addition, the calculation of the optimal compensation pitch rate according to the speed deviation and the speed deviation change rate by using the improved particle swarm algorithm comprises:

[0022] Training and constructing a neural network model through historical data;

[0023] The rotational speed deviation E of the fan at time t t , the rate of change of rotational speed deviation Edot t , and the pitch angle change rate are input into the neural network model, and the E t+1 and Edot t+1 at time t+1 are output as the subsequent optimization target;

[0024] With the goal of minimizing the E t+1 and Edot t+1 at time t+1, the improved particle swarm optimization algorithm is used to find the optimal compensation pitch angle change rate R t , Edot t corresponding to E t at time t. The improved particle swarm optimization algorithm introduces system entropy on the basis of the original particle swarm optimization algorithm.

[0025] In addition, the method of querying the optimal compensation pitch angle change rate table according to the real-time rotational speed deviation and the real-time rate of change of rotational speed deviation to find the corresponding optimal compensation pitch angle change rate includes:

[0026] When the optimal compensation pitch angle change rate cannot be directly queried according to the real-time rotational speed deviation and the real-time rate of change of rotational speed deviation, the interpolation look-up table method is used to calculate the corresponding optimal compensation pitch angle change rate.

[0027] Let the current real-time rotational speed deviation be E t (E1 < E t < E2), and the real-time rate of change of rotational speed deviation be Edot t (Edot2 < Edot t < Edot3). The compensation pitch angle change rate R tt corresponding to the current moment is calculated according to the following formula:

[0028]

[0029] where the subscript naming method is: Edot t is the rate of change of rotational speed deviation at time t, E t is the rotational speed deviation at time t, and R 2t is the compensation pitch angle change rate corresponding to Edot2 and E t .

[0030] In addition, the conversion of the compensation pitch angle change rate to the compensation pitch angle includes:

[0031] P t = R t ×T

[0032] where P t is the compensation pitch angle at time t, R t is the compensation pitch angle change rate, and T is the sampling interval period.

[0033] The application also provides an electronic device, comprising:

[0034] at least one processor; and,

[0035] a memory connected with the at least one processor; wherein,

[0036] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the pitch angle compensation method for wind turbine blades as any one of the above.

[0037] The application also provides a storage medium storing computer instructions for executing the pitch angle compensation method for wind turbine blades as any one of the above when the computer executes the computer instructions.

[0038] The application also provides a computer program product comprising computer program / instructions, which, when executed by a processor, implement the pitch angle compensation method for wind turbine blades as any one of the above.

[0039] The application solves the technical problems in the prior art that the control method for controlling wind turbines by using pitch angles has insufficient response to rapid wind speed changes, easily causes excessive generator speed fluctuation, is difficult to effectively prevent overspeed shutdown in extreme working conditions, may generate large limit load during overspeed shutdown, increases the risk of damage to wind turbines, and the judgment condition of the pitch angle control for preventing overspeed is relatively single and limited, and cannot effectively and flexibly cope with complex environments and wind turbine working conditions. The application determines whether the wind turbine faces the problem of excessive generator speed from two aspects of a current generator real-time speed deviation and a real-time speed deviation change rate (i.e., the speed size and the speed rising rate), and gives an optimal compensation pitch angle command to increase the pitch angle of the wind turbine in advance, which can effectively prevent the wind turbine from overspeeding and keep the generator speed stable. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 A flowchart of the pitch angle compensation method for wind turbine blades provided by an embodiment of the application;

[0041] Figure 2 A flowchart of the establishment process of the optimal compensation variable pitch rate table provided by an embodiment of the application;

[0042] Figure 3 A speed deviation-pitch angle variable pitch rate scatter plot provided by an embodiment of the application;

[0043] Figure 4 A speed deviation-pitch angle variable pitch rate scatter plot provided by another embodiment of the application;

[0044] Figure 5 A rotational speed deviation-pitch angle variable pitch rate scatter diagram is provided for another embodiment of the present application.

[0045] Figure 6 A hardware structure schematic diagram of an electronic device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0046] The present application is further described in detail below with specific embodiments and accompanying drawings. It is intended to illustrate the specific embodiments of the present application only and not to limit the present application in any way, and the protection scope of the present application is subject to the claims.

[0047] Reference Figure 1 The present application proposes a pitch angle compensation method for a wind turbine blade, comprising:

[0048] In step S001, real-time generator speed data is collected according to a sampling period;

[0049] In step S002, real-time speed deviation and real-time speed deviation change rate are calculated according to the real-time speed data;

[0050] In step S003, the optimal compensation variable pitch rate table is queried according to the real-time speed deviation and the real-time speed deviation change rate, and the corresponding optimal compensation variable pitch rate is found;

[0051] In step S004, if the compensation variable pitch rate is greater than a set threshold, the compensation variable pitch rate is converted into a compensation pitch angle, the overspeed protection function of the wind turbine is triggered, and the wind turbine adjusts the pitch angle according to the compensation pitch angle.

[0052] The main problems of the control method for controlling the wind turbine by using the pitch angle in the prior art are:

[0053] 1. The response to the drastic wind speed change is not fast enough, which easily causes the generator speed fluctuation to be too large.

[0054] 2. It is difficult to effectively prevent overspeed shutdown under extreme working conditions.

[0055] 3. A large limit load may be generated during overspeed shutdown, which increases the risk of damage to the wind turbine.

[0056] 4. The pitch angle control judgment condition of the existing overspeed protection is relatively single and limited, and cannot effectively and flexibly cope with complex environments and wind turbine operating conditions.

[0057] The present application provides a pitch angle compensation method for a wind turbine blade, which solves the technical problems in the prior art. The present application determines whether the wind turbine is facing the problem of excessive generator speed from two aspects of the current generator real-time speed deviation and the real-time speed deviation change rate (i.e. the speed size and the speed rising rate), and gives the optimal compensation pitch angle command to increase the pitch angle of the wind turbine in advance, which can effectively prevent the wind turbine from overspeeding and keep the generator speed stable.

[0058] Compared with the existing overspeed prevention control, the present application analyzes the operating state of the wind turbine from two aspects of the real-time speed deviation and the real-time speed deviation change rate (i.e. the speed size and the speed rising change rate), which has good adaptability and inclusiveness to the complex operating state of the wind turbine. Meanwhile, different compensation pitch angles are obtained by optimization for different operating states of the wind turbine to prevent overspeeding, which greatly enhances the control effect and avoids unnecessary control or insufficient control.

[0059] In step S001, the generator real-time speed data is collected in real time according to a sampling period;

[0060] For example, the generator real-time speed data of the wind turbine can be collected according to a sampling period of 10-20 ms, and the pitch angle pitch rate data can be collected at the same time as an option for subsequent use.

[0061] In step S002, the real-time speed deviation and the real-time speed deviation change rate are calculated according to the real-time speed data;

[0062] Optionally, the following formula is installed for calculation:

[0063] The speed deviation calculation formula is E t =(S t -S0) / S0.

[0064] Wherein, E t is the speed deviation at time t, S t is the speed at time t, and S0 is the rated speed of the generator.

[0065] The speed deviation change rate calculation formula is Edot

[0066] Wherein, Edot t is the speed deviation change rate at time t, er t is the difference between the speed at time t and the rated speed, and T is the sampling interval period.

[0067] In step S003, the optimal compensation pitch rate table is queried according to the real-time speed deviation and the real-time speed deviation change rate, and the corresponding optimal compensation pitch rate is found;

[0068] Referring toFigure 2 The process of establishing the optimal compensation variable pitch rate table includes:

[0069] In step S201, historical data of the rotational speed and the pitch angle variable pitch rate of the generator are collected, and the rotational speed deviation and the rotational speed deviation change rate corresponding to the rotational speed are calculated according to the historical data of the rotational speed.

[0070] The rotational speed deviation and the rotational speed deviation change rate corresponding to the rotational speed are calculated through the historical data.

[0071] In step S202, a scatter plot of the rotational speed deviation-pitch angle variable pitch rate is established, and the rotational speed deviation corresponding to a representative point is taken as a table header according to Figures 3-5 ;

[0072] According to the scatter plot of the rotational speed deviation-pitch angle variable pitch rate, the rotational speed deviation corresponding to a representative point is taken as a table header. When selecting, the degree of dispersion of the scatter plot is selected. The dense scatter plot represents that the wind turbine often operates at this rotational speed deviation, and this situation requires higher accuracy for subsequent table lookup, so multiple points at the dense part are selected as table headers. The points with low density represent the operating state or error points that do not often occur in the wind turbine, so only a few representative points are selected as table headers.

[0073] In step S203, a scatter plot of the rotational speed deviation change rate-pitch angle variable pitch rate is established.

[0074] In step S204, multiple rotational speed deviations meeting the conditions are selected as the horizontal table headers of the table according to the scatter plot of the rotational speed deviation-pitch angle variable pitch rate.

[0075] In step S205, multiple rotational speed deviation change rates meeting the conditions are selected as the vertical table headers according to the scatter plot of the rotational speed deviation change rate-pitch angle variable pitch rate.

[0076] Since the rotational speed deviation and the rotational speed deviation change rate correspond to the same working condition, they have a natural corresponding relationship and do not need to be aligned in time.

[0077] In step S206, the optimal compensation variable pitch rate is calculated by using the improved particle swarm algorithm according to the rotational speed deviation and the rotational speed deviation change rate, and the optimal compensation variable pitch rate is filled into the optimal compensation variable pitch rate table.

[0078] The calculation of the optimal compensation variable pitch rate according to the rotational speed deviation and the rotational speed deviation change rate by using the improved particle swarm algorithm includes:

[0079] The neural network model is constructed by training the historical data;

[0080] The rotational speed deviation E t of the wind turbine at time t and the rotational speed deviation change rate Edot t, the pitch angle variation rate is input into the neural network model, and the E t+1 and Edot t+1 as a subsequent optimization target;

[0081] E t+1 and Edot t+1 values are minimized as the optimization target, and the improved particle swarm algorithm is used to find the optimal compensation pitch rate R t , Edot t corresponding to the E t of the t moment.

[0082] On the basis of the original particle swarm algorithm, the concept of system entropy is added, which can better judge whether the algorithm has a local optimal problem and improve it. In the improved algorithm, when the number of times that the individual optimal value of a particle stops updating exceeds the threshold value in the population iteration process, the active position updating mechanism is implemented to increase the degree of confusion and system entropy, allowing the particle to move in the opposite direction of the historical position vector and re-optimize. Thus, local optimization is avoided.

[0083] In step S003, the optimal compensation pitch rate table is established first, and the table lookup method is used when actual compensation is needed, which greatly shortens the time to obtain the optimal compensation pitch rate. If the optimal compensation pitch rate is calculated on site, the acquisition time will increase, the work efficiency will be reduced, and the compensation response will be slow.

[0084] In step S004, if the compensation pitch rate is greater than the set threshold value, the compensation pitch rate is converted into a compensation pitch angle, triggering the overspeed protection function of the wind turbine, and the wind turbine adjusts the pitch angle according to the compensation pitch angle.

[0085] If the compensation pitch rate is greater than or equal to 1.2 deg / s, the overspeed protection function of the wind turbine is triggered, and if it is less than 1.2 deg / s, the function is not triggered, and the compensation pitch rate is assigned a value of 0. Here, the threshold value is set to 1.2 deg / s.

[0086] The formula for converting the compensation pitch rate into a compensation pitch angle is:

[0087] P t = R t × T

[0088] where P t is the compensation pitch angle at the t moment, R t is the compensation pitch rate, and T is the sampling interval period.

[0089] In one embodiment, the calculation of the real-time speed deviation based on the real-time speed data includes:

[0090] Speed deviation calculation formula: E t = (S t -S0) / S0;

[0091] Wherein, E t is the speed deviation at time t, S t is the speed at time t, and S0 is the rated speed of the generator.

[0092] The speed deviation is calculated to prepare for subsequent table lookup.

[0093] In one embodiment, the speed deviation change rate calculation formula is:

[0094] Wherein, Edot t is the speed deviation change rate at time t, er t is the difference between the speed at time t and the rated speed, and T is the sampling interval period.

[0095] The speed deviation change rate is calculated to prepare for subsequent table lookup.

[0096] Referring to Figure 2 , in one embodiment, the process of establishing the optimal compensation pitch rate table includes:

[0097] Step S201, collect the speed and pitch angle pitch rate history data of the generator, and calculate the speed deviation and speed deviation change rate corresponding to the speed according to the speed history data;

[0098] Step S202, establish a scatter plot of speed deviation-pitch angle pitch rate, and refer to Figures 3-5 ;

[0099] Step S203, establish a scatter plot of speed deviation change rate-pitch angle pitch rate;

[0100] Step S204, select multiple speed deviations meeting the conditions as the horizontal table header of the table according to the scatter plot of speed deviation-pitch angle pitch rate;

[0101] Step S205, select multiple speed deviation change rates meeting the conditions as the vertical table header according to the scatter plot of speed deviation change rate-pitch angle pitch rate;

[0102] Since the speed deviation and the speed deviation change rate correspond to the same working condition, they have a natural corresponding relationship and do not need to be aligned in time.

[0103] Step S206, calculate the optimal compensation pitch rate by using an improved particle swarm algorithm according to the speed deviation and the speed deviation change rate, and fill the optimal compensation pitch rate into the optimal compensation pitch rate table.

[0104] Through this process, the optimal compensation pitch rate is calculated to prepare for real-time compensation of the pitch angle.

[0105] In one of the embodiments, the calculation of the optimal compensation pitch rate according to the rotational speed deviation and the rotational speed deviation change rate includes:

[0106] The neural network model is constructed by training historical data;

[0107] The rotational speed deviation E t of the wind turbine at time t, the rotational speed deviation change rate Edot t , and the pitch angle pitch rate are input into the neural network model, and the E t+1 and Edot t+1 at time t+1 are output as the subsequent optimization target;

[0108] The values of E t+1 and Edot t+1 at time t+1 are minimized as the optimization target, and the improved particle swarm algorithm is used to find the optimal compensation pitch rate R t corresponding to E t and Edot t at time t, and the improved particle swarm algorithm introduces system entropy on the basis of the original particle swarm algorithm.

[0109] On the basis of the original particle swarm algorithm, the concept of system entropy is added, which can better judge whether the algorithm has a local optimal problem and improve it. In the improved algorithm, when the number of times that the individual optimal value of a particle stops updating exceeds the threshold value in the population iteration process, the active position updating mechanism is implemented to increase the degree of confusion and the system entropy, so that the particle moves in the opposite direction of the historical position vector to re-optimize, thereby avoiding local optimization.

[0110] In the above process, the neural network model constructed first optimizes the direction and gives the optimal values of E t+1 and Edot t+1 at time t+1. The improved particle swarm algorithm is used to find the optimal parameters required at time t according to the optimal values, and the optimal parameters can guarantee the optimal values at time t+1.

[0111] In one of the embodiments, the query of the optimal compensation pitch rate table according to the real-time rotational speed deviation and the real-time rotational speed deviation change rate to find the corresponding optimal compensation pitch rate includes:

[0112] When the optimal compensation pitch rate cannot be directly queried according to the real-time rotational speed deviation and the real-time rotational speed deviation change rate, an interpolation table lookup method is used to calculate the corresponding optimal compensation pitch rate,

[0113] Let the current real-time rotational speed deviation be E t (E1<E t <E2), the real-time rotational speed deviation change rate be Edot t (Edot2<Edot t <Edot3), the compensation variable pitch rate R corresponding to the current time is obtained according to the following formula tt :

[0114]

[0115] Wherein the subscript naming manner is: Edot t is the rotational speed deviation change rate at t, E t is the rotational speed deviation at t, R 2t is the compensation variable pitch rate corresponding to Edot2 and E t .

[0116] Since the values in the optimal compensation variable pitch rate table are obtained by sampling, all the rotational speed deviation and rotational speed deviation change rate corresponding values cannot be included, so when the optimal compensation variable pitch rate cannot be directly queried according to the real-time rotational speed deviation and the real-time rotational speed deviation change rate, the corresponding optimal compensation variable pitch rate is calculated by using the interpolation table lookup method, so as to obtain the compensation variable pitch rate.

[0117] For example, the optimal compensation variable pitch rate table is shown in the following table:

[0118]

[0119] In one embodiment, the conversion of the compensation variable pitch rate into the compensation pitch angle comprises:

[0120] P t =R t ×T

[0121] Wherein P t is the compensation pitch angle at t, R t is the compensation variable pitch rate, and T is the sampling interval period.

[0122] After obtaining the compensation pitch angle, the pitch angle of the wind turbine can be compensated.

[0123] Referring to Figure 6 , the application further provides a hardware structure schematic diagram of an electronic device, comprising:

[0124] at least one processor 301; and

[0125] a memory 302 in communication connection with the at least one processor 301; wherein

[0126] The memory 302 stores instructions executable by the at least one processor, and the at least one processor executes the instructions to enable the at least one processor to perform the pitch angle compensation method for a wind turbine blade as described above.

[0127] Figure 6 The processor 301 is taken as an example.

[0128] The electronic device is preferably a controller of a vehicle. The electronic device can further include an input device 303 and a display device 304.

[0129] The processor 301, the memory 302, the input device 303 and the display device 304 can be connected through a bus or other means, and are taken as an example of being connected through a bus.

[0130] The memory 302 is a non-volatile computer readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the pitch angle compensation method for a wind turbine blade in the embodiments of the present application, for example, Figure 1 The processor 301 performs various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 302, that is, implements the pitch angle compensation method for a wind turbine blade in the embodiments described above.

[0131] The memory 302 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the pitch angle compensation method for a wind turbine blade, etc. In addition, the memory 302 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 302 can optionally include a memory remotely arranged with respect to the processor 301, and these remote memories can be connected to the device performing the pitch angle compensation method for a wind turbine blade through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0132] The input device 303 can receive input user clicks and generate signal inputs related to user settings and function control of the pitch angle compensation method for a wind turbine blade. The display device 304 can include a display screen and other display devices.

[0133] When one or more modules are stored in the memory 302 and are run by the one or more processors 301, the pitch angle compensation method for a wind turbine blade in any of the method embodiments described above is performed.

[0134] The present application provides a wind turbine blade pitch angle compensation method, which solves the technical problems in the prior art. The present application determines whether the wind turbine is facing the problem of excessive generator speed through the current generator real-time speed deviation and the real-time speed deviation change rate (i.e. the speed size and the speed rising rate), and gives the optimal compensation pitch angle command to increase the pitch angle of the wind turbine in advance, which can effectively prevent the wind turbine from overspeeding and keep the generator speed stable.

[0135] An embodiment of the present application provides a storage medium, which stores computer instructions, when the computer executes the computer instructions, all steps of the wind turbine blade pitch angle compensation method as described above are executed.

[0136] In the context of the present disclosure, the storage medium can be a tangible medium, which can contain or store programs for use by or in connection with an instruction execution system, apparatus or device. The storage medium can be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium can be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk and an optical data storage device, etc.

[0137] The present application provides a wind turbine blade pitch angle compensation method, which solves the technical problems in the prior art. The present application determines whether the wind turbine is facing the problem of excessive generator speed through the current generator real-time speed deviation and the real-time speed deviation change rate (i.e. the speed size and the speed rising rate), and gives the optimal compensation pitch angle command to increase the pitch angle of the wind turbine in advance, which can effectively prevent the wind turbine from overspeeding and keep the generator speed stable.

[0138] The above only describes the principles and preferred embodiments of the present application. It should be noted that, for those skilled in the art, on the basis of the principles of the present application, a number of other variations can also be made, which should also be considered as the protection scope of the present application.

Claims

1. A method of pitch angle compensation for a wind turbine blade, characterized by, The method comprises: real-time generator speed data is collected according to a sampling period; real-time speed deviation and real-time speed deviation change rate are calculated according to real-time speed data; optimal compensation pitch rate corresponding to the optimal compensation pitch rate is found by querying the optimal compensation pitch rate table according to the real-time speed deviation and the real-time speed deviation change rate; if the compensation pitch rate is greater than a set threshold, the compensation pitch rate is converted into a compensation pitch angle, and an overspeed protection function of the wind turbine is triggered to make the wind turbine adjust the pitch angle according to the compensation pitch angle.

2. The pitch angle compensation method of the wind turbine blade according to claim 1, wherein the calculation of the real-time speed deviation according to the real-time speed data comprises: Rotation speed deviation calculation formula: E t = (S t -S0) / S0; Wherein, E t is the speed deviation at time t, S t is the speed at time t, and S0 is the rated speed of the generator.

3. The pitch angle compensation method of the wind turbine blade according to claim 1, wherein The rotational speed deviation change rate calculation formula is: where Edot t is the rotational speed deviation change rate at time t, er t is the difference between the rotational speed at time t and the rated rotational speed, and T is the sampling interval period.

4. The pitch angle compensation method of the wind turbine blade according to claim 1, wherein the establishment process of the optimal compensation pitch rate table comprises: historical data of the speed and the pitch angle pitch rate of the generator is collected, and the speed deviation corresponding to the speed and the speed deviation change rate are calculated according to the historical data of the speed; a scatter plot of the speed deviation-pitch angle pitch rate is established; a scatter plot of the speed deviation change rate-pitch angle pitch rate is established; a plurality of speed deviations meeting the conditions are selected as the horizontal table header of the table according to the scatter plot of the speed deviation-pitch angle pitch rate; a plurality of speed deviation change rates meeting the conditions are selected as the vertical table header according to the scatter plot of the speed deviation change rate-pitch angle pitch rate; the optimal compensation pitch rate is calculated by using the improved particle swarm algorithm according to the speed deviation and the speed deviation change rate, and the optimal compensation pitch rate is filled into the optimal compensation pitch rate table.

5. The pitch angle compensation method of the wind turbine blade according to claim 4, wherein the calculation of the optimal compensation pitch rate by using the improved particle swarm algorithm according to the speed deviation and the speed deviation change rate comprises: a neural network model is constructed by training the historical data; The rotational speed deviation E of the fan at time t is calculated t The rotational speed deviation change rate Edot t The pitch angle change rate is input into the neural network model, and the E t+1 and Edot t+1 at time t+1 are output as the subsequent optimization targets; At time t+1, E t+1 and Edot t+1 The goal is to minimize the value, and the improved particle swarm algorithm is used to find E at time t. t , Edot t The corresponding optimal compensation pitch rate R t ,The improved particle swarm algorithm is to introduce system entropy on the basis of the original particle swarm algorithm.

6. The pitch angle compensation method of the wind turbine blade according to claim 1, wherein the querying of the optimal compensation pitch rate table according to the real-time speed deviation and the real-time speed deviation change rate to find the optimal compensation pitch rate corresponding to the optimal compensation pitch rate comprises: when the optimal compensation pitch rate cannot be directly queried according to the real-time speed deviation and the real-time speed deviation change rate, an interpolation table lookup method is used to calculate the optimal compensation pitch rate corresponding to the optimal compensation pitch rate, Let the current real-time rotational speed deviation be E t (E1<E t <E2), the real-time rotational speed deviation change rate be Edot t (Edot2<Edot t <Edot3), the compensation variable pitch rate R corresponding to the current moment is calculated according to the following formula tt : Where the subscript is named as follows: Edot t is the rate of change of the speed deviation at time t, E t is the speed deviation at time t, R 2t is Edot2and E t corresponding to the compensation variable pitch rate.

7. The pitch angle compensation method of the wind turbine blade according to claim 1, wherein the conversion of the compensation pitch rate into the compensation pitch angle comprises: P t = R t x T where P t is the compensated pitch angle at time t, R t is the compensated rate of pitch change, and T is the sampling interval period.

8. An electronic device, comprising: The method comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the pitch angle compensation method of the wind turbine blade according to any one of claims 1 to 7.

9. A storage medium, characterized by The storage medium stores computer instructions, and when the computer executes the computer instructions, the wind turbine blade pitch angle compensation method according to any one of claims 1 to 7 is executed.

10. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instructions, when executed by the processor, implement the method for pitch angle compensation of a wind turbine blade according to any one of claims 1 to 7.

Images