Wind power plant fan linkage control method and system based on laser wind finding radar

Abstract

The invention provides a wind power plant fan linkage control method and system based on laser wind measurement radars, and the method comprises the steps: analyzing the wind measurement data of all laser wind measurement radars located at the periphery of a wind power plant, determining the airflow feature information of the periphery of the wind power plant, and dividing all laser wind measurement radars located in the wind power plant into a plurality of radar clusters; wind measurement data of all the laser wind measurement radars subordinate to the radar cluster are analyzed to obtain airflow state information of the cluster in a corresponding wind measurement area in the wind power plant, so that airflow gradient change feature information corresponding to a path area through which the same airflow flow path passes in the wind measurement area is determined; and then wake flow output state information corresponding to all the fans in the path area is determined based on the airflow gradient change characteristic information, so that linkage adjustment of poses and / or operation modes is carried out on the fans in the adjacent relation in the path area, wind energy of wake flow is fully utilized, and the operation adjustment linkage between different fans is improved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine control, and more particularly to a wind farm wind turbine linkage control method and system based on laser wind radar. Background Technology

[0002] Wind power, as a clean energy source, still suffers from relatively low current development efficiency. Wind turbines, the main equipment for wind power generation, generate electricity by rotating the blades as airflow passes through them. Wind farms typically have several turbines arranged in a matrix, each operating independently, meaning each turbine can independently change its operating mode and blade orientation. Each time airflow passes through a turbine, the blades rotate to generate electricity, and the turbine simultaneously outputs a wake behind the blades. This wake is received by other turbines located behind the turbine, driving their operation. However, this wake changes in direction and speed compared to the original airflow. If these other turbines do not adjust their operating modes and / or blade orientation accordingly, they cannot guarantee optimal wind power generation, reducing their operating efficiency and reliability. Summary of the Invention

[0003] The purpose of this invention is to provide a wind turbine linkage control method and system based on laser wind measurement radar. It analyzes the wind measurement data of all laser wind measurement radars located around the wind farm to determine the airflow characteristics of the wind farm periphery. This allows for the division of all laser wind measurement radars inside the wind farm into several radar clusters, facilitating subsequent zoned airflow detection within the wind farm. Furthermore, it analyzes the wind measurement data of each laser wind measurement radar within a radar cluster to obtain the airflow state information of the corresponding wind measurement area within the wind farm. This determines the airflow gradient change characteristics of the path area traversed by the same airflow path within the wind measurement area, providing a global representation of the airflow effects on all wind turbines along the same path. Based on the airflow gradient change characteristics, it determines the wake output state information of each wind turbine within the path area, thereby enabling the linkage adjustment of the pose and / or operating mode of adjacent wind turbines within the path area. This ensures that the wind turbines can fully utilize the wake wind energy and improves the linkage of operation adjustments between different wind turbines.

[0004] This invention is achieved through the following technical solution: A wind farm turbine linkage control method based on laser wind radar includes: The wind measurement data of all laser wind measuring radars located around the wind farm are acquired, and the wind measurement data are analyzed to determine the airflow characteristics around the wind farm. Based on the airflow characteristics, all laser wind measuring radars located inside the wind farm are distinguished and calibrated, and all laser wind measuring radars located inside the wind farm are divided into several radar clusters. The wind measurement data of each of the laser wind measurement radars under the radar cluster are analyzed to obtain the airflow state information of the wind measurement area corresponding to the radar cluster inside the wind farm; based on the airflow state information, the airflow gradient change characteristic information corresponding to the path area through which the same airflow flow path passes within the wind measurement area is determined. Based on the airflow gradient change characteristic information, the wake output state information of each fan within the path region is determined; then, based on the wake output state information, the pose and / or operating mode of adjacent fans within the path region are adjusted in a coordinated manner.

[0005] Optionally, wind measurement data from all laser wind-measuring radars located around the wind farm are acquired, and the wind measurement data are analyzed to determine the airflow characteristics around the wind farm. Based on the airflow characteristics, all laser wind-measuring radars located inside the wind farm are differentiated and calibrated, and all laser wind-measuring radars located inside the wind farm are divided into several radar clusters, including: The wind measurement data of each of the laser wind measuring radars located around the wind farm are analyzed to obtain the airflow direction distribution information of the wind measuring space corresponding to each of the laser wind measuring radars around the wind farm; the airflow direction distribution information of all the laser wind measuring radars around the wind farm is integrated to obtain the main airflow transmission direction characteristic information when the airflow around the wind farm is about to enter the wind farm. The main airflow transmission direction characteristic information and the distribution location information of all laser wind measuring radars inside the wind farm are compared. All laser wind measuring radars located inside the wind farm are distinguished and calibrated, and all laser wind measuring radars located inside the wind farm are divided into several radar clusters. Among them, all laser wind measuring radars under each radar cluster are located on the same main airflow transmission path, and different radar clusters correspond to different main airflow transmission paths.

[0006] Optionally, the wind measurement data of each of the laser wind-measuring radars under the radar cluster are analyzed to obtain the airflow state information of the wind measurement area corresponding to the radar cluster within the wind farm; based on the airflow state information, the airflow gradient change characteristic information corresponding to the path area traversed by the same airflow path within the wind measurement area is determined, including: By analyzing the wind measurement data of each of the laser wind measurement radars under the radar cluster, the airflow velocity information of each of the laser wind measurement radars under the radar cluster in each wind measurement area within the wind farm is obtained. Based on the airflow velocity information of each of the wind measurement areas, a characterization model of airflow flow change for the main airflow transmission path corresponding to the radar cluster is constructed; then, based on the airflow flow change characterization model, the characteristic information of airflow flow and pressure gradient change along the corresponding path extension direction of the path area corresponding to the path area traversed by the main airflow transmission path within the wind measurement area is determined.

[0007] Optionally, based on the airflow gradient change characteristic information, the wake output state information corresponding to each of the fans within the path region is determined; then, based on the wake output state information, the pose and / or operating mode of the fans that are adjacent within the path region are adjusted in a coordinated manner, including: The distribution location information of all fans within the path region is compared with the airflow pressure gradient change characteristic information to determine the wake output direction and output speed information of each fan within the path region. Based on the wake output direction and speed information, it is determined whether the fan outputting the wake is in its limit operating state. If the fan outputting the wake is in its limit operating state, the yaw angle of the main shaft of the fan outputting the wake and the fan receiving the wake are adjusted so that the main shaft of the fan receiving the wake and the wake have the same yaw angle. If the fan outputting the wake is not in its limit operating state, the maximum allowable rotational speed of the fan outputting the wake and the yaw angle of the main shaft of the fan outputting the wake and the fan receiving the wake are adjusted so that the main shaft of the fan receiving the wake and the wake have the same yaw angle.

[0008] Optionally, during the process of adjusting the maximum permissible rotational speed of the fan outputting the wake and adjusting the yaw angles of the main shafts of the fans outputting and receiving the wake, when the yaw angle of the wake is close to the yaw angle of the main shaft of the fan receiving the wake, it is necessary to reduce the rotational speed of the fan outputting the wake to avoid overshooting the yaw angle of the main shaft of the fan receiving the wake, while ensuring that it can be adjusted back in time after overshooting. Specific steps include... Step S1: Using the following formula (1), based on the yaw attitude angle of the wake and the numerical state of the yaw attitude angle of the rotating main shaft of the fan receiving the wake, control the rotation speed of the fan in the wake. (1) In the above formula (1), This indicates the control rotational speed of the fan in the wake at the current moment; Indicates the current moment; This indicates the maximum permissible rotational speed of the fan in the wake; This represents the angle value of the yaw attitude angle of the rotating main shaft of the wind turbine that receives the wake; This represents the angle value of the yaw attitude angle of the wake at the current moment; This indicates taking the absolute value; Represents the natural constant; Step S2: After the yaw attitude angle of the wake passes through the yaw attitude angle of the main rotating shaft of the fan receiving the wake, the rotational speed of the fan is controlled for the second time based on the angle value using the following formula (2). (2) In the above formula (2), This indicates that if secondary control of the rotational speed of the wake fan is performed, the rotational speed of the wake fan will be controlled at the current moment. This represents the yaw angle of the wake at the current moment when the rotational speed of the fan in the wake is controlled a second time. Step S3: If, after controlling the rotational speed of the wake fan for the second time, it still rotates past the yaw angle of the main shaft of the receiving wake fan, then immediately stop controlling the rotation of the wake fan. Using the formula (3) below, based on the current yaw angle of the wake and the yaw angle of the main shaft of the receiving wake fan, perform multiple single-pulse control rotations until the main shaft of the receiving wake fan and the wake have the same yaw angle. (3) In the above formula (3), This represents the number of single-pulse control operations performed until the main rotating shaft of the wind turbine receiving the wake and the wake have the same yaw attitude angle. The yaw angle of the wake is the angle at which the rotation of the fan controlling the wake is immediately stopped. This represents the rotation angle value of the wake's yaw attitude angle after a single pulse control. This indicates rounding down to the nearest integer.

[0009] The wind farm turbine linkage control system based on laser wind radar includes: The peripheral airflow identification module is used to acquire the wind measurement data of all laser wind measurement radars located around the wind farm, analyze the wind measurement data, and determine the airflow characteristic information around the wind farm. The radar cluster division module is used to distinguish and calibrate all laser wind measuring radars located inside the wind farm based on the airflow characteristic information, and divide all laser wind measuring radars located inside the wind farm into several radar clusters. An internal airflow identification module is used to analyze the wind measurement data of all laser wind measurement radars under the radar cluster to obtain the airflow status information of the wind measurement area corresponding to the radar cluster inside the wind farm. The airflow gradient change identification module is used to determine the airflow gradient change feature information corresponding to the path area traversed by the same airflow flow path within the wind measurement area based on the airflow state information. The wake output status identification module is used to determine the wake output status information of each wind turbine within the path area based on the airflow gradient change feature information. The fan linkage adjustment module is used to determine the wake output status information of each fan within the path area based on the airflow gradient change characteristic information.

[0010] Optionally, the peripheral airflow identification module is used to acquire wind measurement data from all laser wind measuring radars located around the wind farm, analyze the wind measurement data, and determine the airflow characteristic information around the wind farm, including: The wind measurement data of all laser wind measuring radars located around the wind farm are acquired. The wind measurement data are analyzed to obtain the airflow direction distribution information of the wind measurement space corresponding to each laser wind measuring radar around the wind farm. The airflow direction distribution information of all laser wind measuring radars around the wind farm is integrated to obtain the main airflow transmission direction characteristic information when the airflow around the wind farm is about to enter the wind farm. The radar cluster division module is used to distinguish and calibrate all laser wind-measuring radars located within the wind farm based on the airflow characteristic information, dividing all laser wind-measuring radars located within the wind farm into several radar clusters, including: The main airflow transmission direction characteristic information and the distribution location information of all laser wind measuring radars inside the wind farm are compared. All laser wind measuring radars located inside the wind farm are distinguished and calibrated, and all laser wind measuring radars located inside the wind farm are divided into several radar clusters. Among them, all laser wind measuring radars under each radar cluster are located on the same main airflow transmission path, and different radar clusters correspond to different main airflow transmission paths.

[0011] Optionally, the internal airflow identification module is used to analyze the wind measurement data of each of the laser wind-measuring radars under the radar cluster to obtain the airflow state information of the wind-measuring area corresponding to the radar cluster inside the wind farm, including: By analyzing the wind measurement data of each of the laser wind measurement radars under the radar cluster, the airflow velocity information of each of the laser wind measurement radars under the radar cluster in each wind measurement area within the wind farm is obtained. The airflow gradient change identification module is used to determine, based on the airflow state information, the airflow gradient change characteristic information corresponding to the path area traversed by the same airflow flow path within the wind measurement area, including: Based on the airflow velocity information of each of the wind measurement areas, a characterization model of airflow flow change for the main airflow transmission path corresponding to the radar cluster is constructed; then, based on the airflow flow change characterization model, the characteristic information of airflow flow and pressure gradient change along the corresponding path extension direction of the path area corresponding to the path area traversed by the main airflow transmission path within the wind measurement area is determined.

[0012] Optionally, the wake output state identification module is used to determine the wake output state information of each wind turbine within the path region based on the airflow gradient change feature information, including: The distribution location information of all fans within the path region is compared with the airflow pressure gradient change characteristic information to determine the wake output direction and output speed information of each fan within the path region. The wind turbine linkage adjustment module is used to determine the wake output state information of each wind turbine within the path region based on the airflow gradient change characteristic information, including: Based on the wake output direction and output speed information, it is determined whether the fan outputting the wake is in a limit operating state. If the fan outputting the wake is in a limit operating state, the yaw angle of the main rotation axis of both the fan outputting the wake and the fan receiving the wake is adjusted so that the main rotation axis of the fan receiving the wake and the wake have the same yaw angle. If the fan outputting the wake is not in a limit operating state, the maximum allowable rotation speed of the fan outputting the wake and the yaw angle of the main rotation axis of both the fan outputting the wake and the fan receiving the wake are adjusted so that the main rotation axis of the fan receiving the wake and the wake have the same yaw angle.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The wind turbine linkage control method and system based on laser wind measuring radar provided in this application analyzes the wind measurement data of all laser wind measuring radars located on the periphery of the wind farm to determine the airflow characteristics of the periphery of the wind farm. This allows for the division of all laser wind measuring radars located inside the wind farm into several radar clusters, facilitating subsequent zoned airflow detection within the wind farm. Furthermore, the method analyzes the wind measurement data of each laser wind measuring radar within a radar cluster to obtain the airflow state information of the corresponding wind measuring area within the wind farm. This determines the airflow gradient change characteristics of the path area traversed by the same airflow flow path within the wind measuring area, providing a global representation of the airflow effects on all wind turbines along the same path. Based on the airflow gradient change characteristics, the method determines the wake output state information of each wind turbine within the path area, enabling the linkage adjustment of the pose and / or operating mode of adjacent wind turbines within the path area. This ensures that the wind turbines can fully utilize the wake wind energy and improves the linkage of operation adjustments between different wind turbines. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a flowchart illustrating the wind turbine linkage control method for wind farms based on laser wind radar provided by the present invention.

[0015] Figure 2 A schematic diagram of the wind turbine linkage control system for wind farms based on laser wind measurement radar provided by the present invention. Detailed Implementation

[0016] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0017] The terms “comprising” and “having”, and any variations thereof, used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0018] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0019] Please see Figure 1 As shown in the figure, an embodiment of this application provides a wind farm turbine linkage control method based on laser wind measurement radar. This wind farm turbine linkage control method based on laser wind measurement radar includes: The wind measurement data of all laser wind measuring radars located around the wind farm are acquired and analyzed to determine the airflow characteristics around the wind farm. Based on the airflow characteristics, all laser wind measuring radars located inside the wind farm are distinguished and calibrated, and the laser wind measuring radars located inside the wind farm are divided into several radar clusters. By analyzing the wind measurement data of each of the laser wind measurement radars under the radar cluster, the airflow state information of the wind measurement area corresponding to the radar cluster within the wind farm is obtained; based on the airflow state information, the airflow gradient change characteristic information corresponding to the path area through which the same airflow flow path passes within the wind measurement area is determined. Based on the airflow gradient change characteristics, the wake output status information of each fan within the path region is determined; then, based on the wake output status information, the pose and / or operating mode of adjacent fans within the path region are adjusted in a coordinated manner.

[0020] The beneficial effects of the above embodiments are as follows: This wind farm turbine linkage control method based on laser wind measuring radar analyzes the wind measurement data of all laser wind measuring radars located on the periphery of the wind farm to determine the airflow characteristic information of the periphery of the wind farm. This allows all laser wind measuring radars located inside the wind farm to be divided into several radar clusters, facilitating subsequent zoned airflow detection within the wind farm. Furthermore, it analyzes the wind measurement data of each laser wind measuring radar within a radar cluster to obtain the airflow state information of the corresponding wind measuring area within the wind farm. This determines the airflow gradient change characteristic information of the path area traversed by the same airflow flow path within the wind measuring area, providing a global representation of the airflow effect on all wind turbines along the same path. Based on the airflow gradient change characteristic information, it determines the wake output state information of each wind turbine within the path area, thereby enabling the linkage adjustment of the pose and / or operating mode of adjacent wind turbines within the path area. This ensures that the wind turbines can fully utilize the wake wind energy and improves the linkage of operation adjustment between different wind turbines.

[0021] In another embodiment, wind measurement data from all laser wind-measuring radars located around the wind farm are acquired, and the wind measurement data is analyzed to determine the airflow characteristics around the wind farm. Based on the airflow characteristics, all laser wind-measuring radars located inside the wind farm are differentiated and calibrated, and the laser wind-measuring radars located inside the wind farm are divided into several radar clusters, including: The wind measurement data of all laser wind measuring radars located around the wind farm are acquired and analyzed to obtain the airflow direction distribution information of the wind measurement space corresponding to each laser wind measuring radar around the wind farm. The airflow direction distribution information of all laser wind measuring radars around the wind farm is integrated to obtain the main airflow transmission direction characteristic information when the airflow around the wind farm is about to enter the wind farm. The main airflow transmission direction characteristic information is compared with the distribution location information of all laser wind measuring radars inside the wind farm. All laser wind measuring radars located inside the wind farm are distinguished and calibrated, and all laser wind measuring radars located inside the wind farm are divided into several radar clusters. Among them, all laser wind measuring radars under each radar cluster are located on the same main airflow transmission path, and different radar clusters correspond to different main airflow transmission paths.

[0022] The beneficial effects of the above embodiments are that the airflow generated by the natural environment will change in airflow speed and direction after passing through the wind turbine. In order to differentiate and detect the airflow state outside and inside the wind farm, the wind measurement data of all laser wind measuring radars located outside the wind farm are acquired and analyzed to obtain the airflow direction distribution information of the wind measurement space corresponding to each of the laser wind measuring radars located outside the wind farm. Then, the airflow direction distribution information of all laser wind measuring radars located outside the wind farm is integrated to obtain the main airflow transmission direction characteristic information when the airflow outside the wind farm is about to enter the interior of the wind farm, so as to accurately distinguish the laser wind measuring radars inside the wind farm in the future. The system also compares the main airflow transmission direction characteristics with the distribution location information of all laser wind measuring radars within the wind farm. All laser wind measuring radars located within the wind farm are distinguished and calibrated, and divided into several radar clusters. This ensures that all laser wind measuring radars under each radar cluster are located on the same main airflow transmission path, and that different radar clusters correspond to different main airflow transmission paths. In this way, all laser wind measuring radars under each radar cluster can continuously detect the airflow status along the same main airflow transmission path.

[0023] In another embodiment, the wind measurement data of each of the laser wind-measuring radars under the radar cluster are analyzed to obtain the airflow state information of the wind-measuring area corresponding to the radar cluster within the wind farm; based on the airflow state information, the airflow gradient change characteristic information corresponding to the path area traversed by the same airflow path within the wind-measuring area is determined, including: By analyzing the wind measurement data of each of the laser wind measurement radars under the radar cluster, the airflow velocity information of each of the laser wind measurement radars under the radar cluster in each wind measurement area within the wind farm is obtained. Based on the airflow velocity information of each of the wind measurement areas, a characterization model of airflow flow change of the main airflow transmission path corresponding to the radar cluster is constructed; then, based on the airflow flow change characterization model, the characteristic information of airflow flow and pressure gradient change of the path area corresponding to the path extension direction of the main airflow transmission path within the wind measurement area is determined.

[0024] The beneficial effects of the above embodiments are that by analyzing the wind measurement data of all laser wind-measuring radars under the radar cluster, the airflow velocity information of each wind-measuring area corresponding to each laser wind-measuring radar under the radar cluster within the wind farm can be obtained. This enables global detection of the airflow state within the wind farm after the action of the wind turbines. Furthermore, based on the airflow velocity information of each wind-measuring area, an airflow flow rate variation characterization model for the main airflow transmission path corresponding to the radar cluster is constructed. This allows for accurate prediction of the airflow flow rate variation trend in each wind-measuring area within the wind farm. Based on this airflow flow rate variation characterization model, the airflow flow rate and pressure gradient variation characteristics along the corresponding path extension direction of the path region within the wind-measuring area corresponding to the main airflow transmission path are determined, providing a reliable basis for subsequently determining the wake state of the wind turbine output.

[0025] In another embodiment, based on the airflow gradient change characteristic information, the wake output state information corresponding to each of the fans within the path region is determined; then, based on the wake output state information, the pose and / or operating mode of the fans that are adjacent within the path region are adjusted in a coordinated manner, including: By comparing the distribution location information of all fans within the path area with the air pressure gradient change characteristics of the airflow, the wake output direction and output velocity information of each fan within the path area are determined. Based on the wake output direction and speed information, it is determined whether the fan outputting the wake is in its limit operating state. If the fan outputting the wake is in its limit operating state, the yaw angle of the main shaft of the fan outputting the wake and the fan receiving the wake are adjusted so that the main shaft of the fan receiving the wake and the wake have the same yaw angle. If the fan outputting the wake is not in its limit operating state, the maximum allowable rotational speed of the fan outputting the wake and the yaw angle of the main shaft of the fan outputting the wake and the fan receiving the wake are adjusted so that the main shaft of the fan receiving the wake and the wake have the same yaw angle.

[0026] The beneficial effects of the above embodiments are that by comparing the distribution location information of all fans within the path region with the airflow pressure gradient change characteristic information, the wake output direction and output velocity information of each fan within the path region can be determined, thus enabling a quantitative characterization of the wake output state of each fan. Furthermore, based on the wake output direction and output velocity information, it can be determined whether the fan outputting the wake is in a limit operating state, that is, whether the real-time operating load of the fan outputting the wake exceeds the preset maximum allowable operating load of the fan. When the wind turbine outputting the wake is operating at its limit, the yaw angles of the main shafts of both the wind turbine outputting and receiving the wake are adjusted, so that the main shaft of the wind turbine receiving the wake has the same yaw angle as the wake. When the wind turbine outputting the wake is not operating at its limit, the maximum permissible rotational speed of the wind turbine outputting the wake and the yaw angles of the main shafts of both the wind turbine outputting and receiving the wake are adjusted, so that the main shaft of the wind turbine receiving the wake has the same yaw angle as the wake. This ensures that the wind turbine can fully utilize the wind energy of the wake output by the wind turbine located upstream, and improves the operational adjustment linkage between different wind turbines.

[0027] In another embodiment, during the process of adjusting the maximum permissible rotational speed of the fan outputting the wake and adjusting the yaw angles of the main shafts of both the fan outputting and receiving the wake, when the yaw angle of the wake is close to the yaw angle of the main shaft of the fan receiving the wake, the rotational speed of the fan outputting the wake needs to be reduced to avoid turning past the yaw angle of the main shaft of the fan receiving the wake, while ensuring that it can be adjusted back in time after turning past the yaw angle. The specific steps include... Step S1: Using the formula (1) below, based on the yaw attitude angle of the wake and the numerical state of the yaw attitude angle of the rotating main shaft of the fan receiving the wake, control the rotation speed of the fan in the wake. (1) In the above formula (1), This indicates the control rotational speed of the fan in the wake at the current moment; Indicates the current moment; This indicates the maximum permissible rotational speed of the fan in the wake; This represents the angle value of the yaw attitude angle of the rotating main shaft of the wind turbine that receives the wake; This represents the angle value of the yaw attitude angle of the wake at the current moment; This indicates taking the absolute value; Represents the natural constant; Step S2: After the yaw attitude angle of the wake passes through the yaw attitude angle of the rotating main shaft of the fan receiving the wake, the rotation speed of the fan in the wake is controlled for the second time according to the angle value passed by the following formula (2). (2) In the above formula (2), This indicates that if secondary control of the fan speed of the wake is performed, the secondary control of the fan speed of the wake will be performed at the current moment. This indicates the yaw angle of the wake at the current moment when the rotational speed of the wind turbine in the wake is controlled a second time. Step S3: If, after controlling the rotational speed of the wake fan for the second time, it still turns past the yaw angle of the main shaft of the receiving wake fan, then immediately stop controlling the rotation of the wake fan. Using the formula (3) below, based on the current yaw angle of the wake and the yaw angle of the main shaft of the receiving wake fan, perform multiple single-pulse control rotations until the main shaft of the receiving wake fan and the wake have the same yaw angle. (3) In the above formula (3), This represents the number of single-pulse control operations performed until the main shaft of the wind turbine receiving the wake and the wake have the same yaw attitude angle. This indicates the yaw angle of the wake when the rotation of the fan controlling the wake is immediately stopped; This represents the rotation angle value of the wake's yaw attitude angle after a single pulse control. This indicates rounding down to the nearest integer.

[0028] The beneficial effects of the above embodiments are as follows: Using the above formula (1), the rotational speed of the wake fan is controlled according to the yaw angle of the wake and the numerical state of the yaw angle of the main shaft of the fan receiving the wake. This results in a lower speed as the final target angle approaches, minimizing the risk of turning past the yaw angle of the main shaft of the fan receiving the wake. Furthermore, using the above formula (2), the rotational speed of the wake fan is controlled a second time based on the angle value, further restricting the speed change near the yaw angle of the main shaft of the fan receiving the wake, resulting in a more stable and faster final speed. This ensures that the rotating shaft of the wind turbine receiving the wake and the wake have the same yaw attitude angle, thereby ensuring that it can be adjusted back in time and at a lower speed after turning; then, using the above formula (3), multiple single-pulse control rotations are performed according to the current yaw attitude angle of the wake and the yaw attitude angle of the rotating shaft of the wind turbine receiving the wake, until the rotating shaft of the wind turbine receiving the wake and the wake have the same yaw attitude angle, so that slow adjustment is performed in the case of two failed adjustments, thereby ensuring that the rotating shaft of the wind turbine receiving the wake and the wake have the same yaw attitude angle to the greatest extent possible.

[0029] Please see Figure 2 As shown in this embodiment, a wind farm turbine linkage control system based on laser wind measurement radar is provided. This wind farm turbine linkage control system based on laser wind measurement radar includes: The peripheral airflow identification module is used to acquire the wind measurement data of all laser wind measurement radars located around the wind farm, analyze the wind measurement data, and determine the airflow characteristic information around the wind farm. The radar cluster division module is used to distinguish and calibrate all laser wind measuring radars located inside the wind farm based on the airflow characteristic information, and to divide all laser wind measuring radars located inside the wind farm into several radar clusters. The internal airflow identification module is used to analyze the wind measurement data of all the laser wind measurement radars under the radar cluster to obtain the airflow status information of the corresponding wind measurement area of ​​the radar cluster inside the wind farm. The airflow gradient change identification module is used to determine the airflow gradient change characteristic information corresponding to the path area traversed by the same airflow flow path within the wind measurement area based on the airflow state information. The wake output status identification module is used to determine the wake output status information of each fan in the path area based on the airflow gradient change feature information. The fan linkage adjustment module is used to determine the wake output status information of each fan in the path area based on the airflow gradient change characteristics.

[0030] The beneficial effects of the above embodiments are as follows: The wind farm turbine linkage control system based on laser wind measuring radar analyzes the wind measurement data of all laser wind measuring radars located around the wind farm to determine the airflow characteristics around the wind farm. This allows all laser wind measuring radars located inside the wind farm to be divided into several radar clusters, facilitating subsequent zoned airflow detection within the wind farm. Furthermore, the system analyzes the wind measurement data of each laser wind measuring radar within a radar cluster to obtain the airflow state information of the corresponding wind measuring area within the wind farm. This determines the airflow gradient change characteristics of the path area traversed by the same airflow path within the wind measuring area, providing a global representation of the airflow effects on all wind turbines along the same path. Based on the airflow gradient change characteristics, the system determines the wake output state information of each wind turbine within the path area. This allows for the coordinated adjustment of the pose and / or operating mode of adjacent wind turbines within the path area, ensuring that the wind turbines can fully utilize the wake wind energy and improving the linkage of operation adjustments between different wind turbines.

[0031] In another embodiment, the peripheral airflow identification module is used to acquire wind measurement data from all laser wind radars located around the wind farm, analyze the wind measurement data, and determine the airflow characteristic information around the wind farm, including: The wind measurement data of all laser wind measuring radars located around the wind farm are acquired and analyzed to obtain the airflow direction distribution information of the wind measurement space corresponding to each laser wind measuring radar around the wind farm. The airflow direction distribution information of all laser wind measuring radars around the wind farm is integrated to obtain the main airflow transmission direction characteristic information when the airflow around the wind farm is about to enter the wind farm. This radar cluster segmentation module is used to differentiate and calibrate all laser wind-measuring radars located within the wind farm based on the airflow characteristic information, dividing all laser wind-measuring radars within the wind farm into several radar clusters, including: The main airflow transmission direction characteristic information is compared with the distribution location information of all laser wind measuring radars inside the wind farm. All laser wind measuring radars located inside the wind farm are distinguished and calibrated, and all laser wind measuring radars located inside the wind farm are divided into several radar clusters. Among them, all laser wind measuring radars under each radar cluster are located on the same main airflow transmission path, and different radar clusters correspond to different main airflow transmission paths.

[0032] The beneficial effects of the above embodiments are that the airflow generated by the natural environment will change in airflow speed and direction after passing through the wind turbine. In order to differentiate and detect the airflow state outside and inside the wind farm, the wind measurement data of all laser wind measuring radars located outside the wind farm are acquired and analyzed to obtain the airflow direction distribution information of the wind measurement space corresponding to each of the laser wind measuring radars located outside the wind farm. Then, the airflow direction distribution information of all laser wind measuring radars located outside the wind farm is integrated to obtain the main airflow transmission direction characteristic information when the airflow outside the wind farm is about to enter the interior of the wind farm, so as to accurately distinguish the laser wind measuring radars inside the wind farm in the future. The system also compares the main airflow transmission direction characteristics with the distribution location information of all laser wind measuring radars within the wind farm. All laser wind measuring radars located within the wind farm are distinguished and calibrated, and divided into several radar clusters. This ensures that all laser wind measuring radars under each radar cluster are located on the same main airflow transmission path, and that different radar clusters correspond to different main airflow transmission paths. In this way, all laser wind measuring radars under each radar cluster can continuously detect the airflow status along the same main airflow transmission path.

[0033] In another embodiment, the internal airflow identification module is used to analyze the wind measurement data of each of the laser wind-measuring radars under the radar cluster to obtain the airflow state information of the wind-measuring area corresponding to the radar cluster within the wind farm, including: By analyzing the wind measurement data of each of the laser wind measurement radars under the radar cluster, the airflow velocity information of each of the laser wind measurement radars under the radar cluster in each wind measurement area within the wind farm is obtained. The airflow gradient change identification module is used to determine the airflow gradient change characteristic information corresponding to the path area traversed by the same airflow path within the wind measurement area, based on the airflow state information, including: Based on the airflow velocity information of each of the wind measurement areas, a characterization model of airflow flow change of the main airflow transmission path corresponding to the radar cluster is constructed; then, based on the airflow flow change characterization model, the characteristic information of airflow flow and pressure gradient change of the path area corresponding to the path extension direction of the main airflow transmission path within the wind measurement area is determined.

[0034] The beneficial effects of the above embodiments are that by analyzing the wind measurement data of all laser wind-measuring radars under the radar cluster, the airflow velocity information of each wind-measuring area corresponding to each laser wind-measuring radar under the radar cluster within the wind farm can be obtained. This enables global detection of the airflow state within the wind farm after the action of the wind turbines. Furthermore, based on the airflow velocity information of each wind-measuring area, an airflow flow rate variation characterization model for the main airflow transmission path corresponding to the radar cluster is constructed. This allows for accurate prediction of the airflow flow rate variation trend in each wind-measuring area within the wind farm. Based on this airflow flow rate variation characterization model, the airflow flow rate and pressure gradient variation characteristics along the corresponding path extension direction of the path region within the wind-measuring area corresponding to the main airflow transmission path are determined, providing a reliable basis for subsequently determining the wake state of the wind turbine output.

[0035] In another embodiment, the wake output state identification module is used to determine the wake output state information of each wind turbine within the path region based on the airflow gradient change feature information, including: By comparing the distribution location information of all fans within the path area with the air pressure gradient change characteristics of the airflow, the wake output direction and output velocity information of each fan within the path area are determined. This fan linkage adjustment module is used to determine the wake output status information of each fan within the path region based on the airflow gradient change characteristic information, including: Based on the wake output direction and speed information, it is determined whether the fan outputting the wake is in its limit operating state. If the fan outputting the wake is in its limit operating state, the yaw angle of the main shaft of both the fan outputting and the fan receiving the wake is adjusted so that the main shaft of the fan receiving the wake has the same yaw angle as the wake. If the fan outputting the wake is not in its limit operating state, the maximum permissible rotational speed of the fan outputting the wake and the yaw angle of the main shaft of both the fan outputting and the fan receiving the wake are adjusted so that the main shaft of the fan receiving the wake has the same yaw angle as the wake.

[0036] The beneficial effects of the above embodiments are that by comparing the distribution location information of all fans within the path region with the airflow pressure gradient change characteristic information, the wake output direction and output velocity information of each fan within the path region can be determined, thus enabling a quantitative characterization of the wake output state of each fan. Furthermore, based on the wake output direction and output velocity information, it can be determined whether the fan outputting the wake is in a limit operating state, that is, whether the real-time operating load of the fan outputting the wake exceeds the preset maximum allowable operating load of the fan. When the wind turbine outputting the wake is operating at its limit, the yaw angles of the main shafts of both the wind turbine outputting and receiving the wake are adjusted, so that the main shaft of the wind turbine receiving the wake has the same yaw angle as the wake. When the wind turbine outputting the wake is not operating at its limit, the maximum permissible rotational speed of the wind turbine outputting the wake and the yaw angles of the main shafts of both the wind turbine outputting and receiving the wake are adjusted, so that the main shaft of the wind turbine receiving the wake has the same yaw angle as the wake. This ensures that the wind turbine can fully utilize the wind energy of the wake output by the wind turbine located upstream, and improves the operational adjustment linkage between different wind turbines.

[0037] In summary, this wind farm turbine linkage control method and system based on laser wind radar analyzes the wind measurement data of all laser wind radars located around the wind farm to determine the airflow characteristics of the wind farm periphery. This allows for the division of all laser wind radars inside the wind farm into several radar clusters, facilitating subsequent zoned airflow detection within the wind farm. Furthermore, the system analyzes the wind measurement data of each laser wind radar within a radar cluster to obtain the airflow state information of the corresponding wind measurement area within the wind farm. This determines the airflow gradient change characteristics of the path area traversed by the same airflow path within the wind measurement area, providing a global representation of the airflow effects on all wind turbines along the same path. Based on the airflow gradient change characteristics, the system determines the wake output state information of each wind turbine within the path area. This enables the linkage adjustment of the pose and / or operating mode of adjacent wind turbines within the path area, ensuring that the wind turbines can fully utilize the wake wind energy and improving the linkage between different wind turbines in operation adjustment.

[0038] The above is only one specific embodiment of the present invention, and any improvements made based on the concept of the present invention shall be considered within the scope of protection of the present invention.

Claims

1. A wind turbine linkage control method for wind farms based on laser wind measurement radar, characterized in that, include: The wind measurement data of all laser wind measuring radars located around the wind farm are acquired, and the wind measurement data are analyzed to determine the airflow characteristics around the wind farm. Based on the airflow characteristics, all laser wind measuring radars located inside the wind farm are distinguished and calibrated, and all laser wind measuring radars located inside the wind farm are divided into several radar clusters. The wind measurement data of each of the laser wind measurement radars under the radar cluster are analyzed to obtain the airflow state information of the wind measurement area corresponding to the radar cluster inside the wind farm; based on the airflow state information, the airflow gradient change characteristic information corresponding to the path area through which the same airflow flow path passes within the wind measurement area is determined. Based on the airflow gradient change characteristic information, the wake output state information of each fan within the path region is determined; then, based on the wake output state information, the pose and / or operating mode of adjacent fans within the path region are adjusted in a coordinated manner.

2. The wind turbine linkage control method for wind farms based on laser wind measurement radar as described in claim 1, characterized in that: The system acquires wind measurement data from all laser wind-measuring radars located around the wind farm, analyzes the data to determine the airflow characteristics around the wind farm, and, based on these airflow characteristics, distinguishes and calibrates all laser wind-measuring radars located inside the wind farm, dividing them into several radar clusters, including: The wind measurement data of all laser wind measuring radars located around the wind farm are acquired. The wind measurement data are analyzed to obtain the airflow direction distribution information of the wind measurement space corresponding to each laser wind measuring radar around the wind farm. The airflow direction distribution information of all laser wind measuring radars around the wind farm is integrated to obtain the main airflow transmission direction characteristic information when the airflow around the wind farm is about to enter the wind farm. The main airflow transmission direction characteristic information and the distribution location information of all laser wind measuring radars inside the wind farm are compared. All laser wind measuring radars located inside the wind farm are distinguished and calibrated, and all laser wind measuring radars located inside the wind farm are divided into several radar clusters. Among them, all laser wind measuring radars under each radar cluster are located on the same main airflow transmission path, and different radar clusters correspond to different main airflow transmission paths.

3. The wind turbine linkage control method for wind farms based on laser wind radar as described in claim 2, characterized in that: By analyzing the wind measurement data of each laser wind measurement radar under the radar cluster, the airflow state information of the wind measurement area corresponding to the radar cluster inside the wind farm is obtained. Based on the airflow state information, the airflow gradient change characteristic information corresponding to the path area traversed by the same airflow path within the wind measurement area is determined, including: By analyzing the wind measurement data of each of the laser wind measurement radars under the radar cluster, the airflow velocity information of each of the laser wind measurement radars under the radar cluster in each wind measurement area within the wind farm is obtained. Based on the airflow velocity information of each of the wind measurement areas, a characterization model of airflow flow change for the main airflow transmission path corresponding to the radar cluster is constructed; then, based on the airflow flow change characterization model, the characteristic information of airflow flow and pressure gradient change along the corresponding path extension direction of the path area corresponding to the path area traversed by the main airflow transmission path within the wind measurement area is determined.

4. The wind turbine linkage control method for wind farms based on laser wind radar as described in claim 3, characterized in that: Based on the airflow gradient change characteristic information, the wake output state information of each fan within the path region is determined; then, based on the wake output state information, the pose and / or operating mode of adjacent fans within the path region are adjusted in a coordinated manner, including: The distribution location information of all fans within the path region is compared with the airflow pressure gradient change characteristic information to determine the wake output direction and output speed information of each fan within the path region. Based on the wake output direction and speed information, it is determined whether the fan outputting the wake is in its limit operating state. If the fan outputting the wake is in its limit operating state, the yaw angle of the main shaft of the fan outputting the wake and the fan receiving the wake are adjusted so that the main shaft of the fan receiving the wake and the wake have the same yaw angle. If the fan outputting the wake is not in its limit operating state, the maximum allowable rotational speed of the fan outputting the wake and the yaw angle of the main shaft of the fan outputting the wake and the fan receiving the wake are adjusted so that the main shaft of the fan receiving the wake and the wake have the same yaw angle.

5. The wind turbine linkage control method for wind farms based on laser wind radar as described in claim 4, characterized in that: In adjusting the maximum permissible rotational speed of the fan outputting the wake and the yaw angle of the main shaft of both the fan outputting and receiving the wake, when the yaw angle of the wake is close to the yaw angle of the main shaft of the fan receiving the wake, the rotational speed of the fan outputting the wake needs to be reduced to avoid overshooting the yaw angle of the main shaft of the fan receiving the wake. Simultaneously, it ensures that the speed can be adjusted back promptly after overshooting. The specific steps include... Step S1: Using the following formula (1), based on the yaw attitude angle of the wake and the numerical state of the yaw attitude angle of the rotating main shaft of the fan receiving the wake, control the rotation speed of the fan in the wake. （1） In the above formula (1), This indicates the control rotational speed of the fan in the wake at the current moment; Indicates the current moment; This indicates the maximum permissible rotational speed of the fan in the wake; This represents the angle value of the yaw attitude angle of the rotating main shaft of the wind turbine that receives the wake; This represents the angle value of the yaw attitude angle of the wake at the current moment; This indicates taking the absolute value; Represents the natural constant; Step S2: After the yaw attitude angle of the wake passes through the yaw attitude angle of the main rotating shaft of the fan receiving the wake, the rotational speed of the fan is controlled for the second time based on the angle value using the following formula (2). （2） In the above formula (2), This indicates that if secondary control of the rotational speed of the wake fan is performed, the rotational speed of the wake fan will be controlled at the current moment. This represents the yaw angle of the wake at the current moment when the rotational speed of the fan in the wake is controlled a second time. Step S3: If, after controlling the rotational speed of the wake fan for the second time, it still rotates past the yaw angle of the main shaft of the receiving wake fan, then immediately stop controlling the rotation of the wake fan. Using the formula (3) below, based on the current yaw angle of the wake and the yaw angle of the main shaft of the receiving wake fan, perform multiple single-pulse control rotations until the main shaft of the receiving wake fan and the wake have the same yaw angle. （3） In the above formula (3), This represents the number of single-pulse control operations performed until the main rotating shaft of the wind turbine receiving the wake and the wake have the same yaw attitude angle. The yaw angle of the wake is the angle at which the rotation of the fan controlling the wake is immediately stopped. This represents the rotation angle value of the wake's yaw attitude angle after a single pulse control. This indicates rounding down to the nearest integer.

6. A wind farm turbine linkage control system based on laser wind measurement radar, characterized in that, include: The peripheral airflow identification module is used to acquire the wind measurement data of all laser wind measurement radars located around the wind farm, analyze the wind measurement data, and determine the airflow characteristic information around the wind farm. The radar cluster division module is used to distinguish and calibrate all laser wind measuring radars located inside the wind farm based on the airflow characteristic information, and divide all laser wind measuring radars located inside the wind farm into several radar clusters. An internal airflow identification module is used to analyze the wind measurement data of all laser wind measurement radars under the radar cluster to obtain the airflow status information of the wind measurement area corresponding to the radar cluster inside the wind farm. The airflow gradient change identification module is used to determine the airflow gradient change feature information corresponding to the path area traversed by the same airflow flow path within the wind measurement area based on the airflow state information. The wake output status identification module is used to determine the wake output status information of each wind turbine within the path area based on the airflow gradient change feature information. The fan linkage adjustment module is used to determine the wake output status information of each fan within the path area based on the airflow gradient change characteristic information.

7. The wind farm turbine linkage control system based on laser wind radar as described in claim 6, characterized in that: The peripheral airflow identification module is used to acquire wind measurement data from all laser wind radars located around the wind farm, analyze the wind measurement data, and determine the airflow characteristic information around the wind farm, including: The wind measurement data of all laser wind measuring radars located around the wind farm are acquired. The wind measurement data are analyzed to obtain the airflow direction distribution information of the wind measurement space corresponding to each laser wind measuring radar around the wind farm. The airflow direction distribution information of all laser wind measuring radars around the wind farm is integrated to obtain the main airflow transmission direction characteristic information when the airflow around the wind farm is about to enter the wind farm. The radar cluster division module is used to distinguish and calibrate all laser wind-measuring radars located within the wind farm based on the airflow characteristic information, dividing all laser wind-measuring radars located within the wind farm into several radar clusters, including: The main airflow transmission direction characteristic information and the distribution location information of all laser wind measuring radars inside the wind farm are compared. All laser wind measuring radars located inside the wind farm are distinguished and calibrated, and all laser wind measuring radars located inside the wind farm are divided into several radar clusters. Among them, all laser wind measuring radars under each radar cluster are located on the same main airflow transmission path, and different radar clusters correspond to different main airflow transmission paths.

8. The wind farm turbine linkage control system based on laser wind radar as described in claim 7, characterized in that: The internal airflow identification module is used to analyze the wind measurement data of all laser wind-measuring radars under the radar cluster to obtain the airflow state information of the corresponding wind-measuring area of ​​the radar cluster within the wind farm, including: By analyzing the wind measurement data of each of the laser wind measurement radars under the radar cluster, the airflow velocity information of each of the laser wind measurement radars under the radar cluster in each wind measurement area within the wind farm is obtained. The airflow gradient change identification module is used to determine, based on the airflow state information, the airflow gradient change characteristic information corresponding to the path area traversed by the same airflow flow path within the wind measurement area, including: Based on the airflow velocity information of each of the wind measurement areas, a characterization model of airflow flow change for the main airflow transmission path corresponding to the radar cluster is constructed; then, based on the airflow flow change characterization model, the characteristic information of airflow flow and pressure gradient change along the corresponding path extension direction of the path area corresponding to the path area traversed by the main airflow transmission path within the wind measurement area is determined.

9. The wind farm turbine linkage control system based on laser wind radar as described in claim 8, characterized in that: The wake output state identification module is used to determine the wake output state information of each wind turbine within the path region based on the airflow gradient change feature information, including: The distribution location information of all fans within the path region is compared with the airflow pressure gradient change characteristic information to determine the wake output direction and output speed information of each fan within the path region. The wind turbine linkage adjustment module is used to determine the wake output state information of each wind turbine within the path region based on the airflow gradient change characteristic information, including: Based on the wake output direction and output speed information, it is determined whether the fan outputting the wake is in a limit operating state. If the fan outputting the wake is in a limit operating state, the yaw angle of the main rotation axis of both the fan outputting the wake and the fan receiving the wake is adjusted so that the main rotation axis of the fan receiving the wake and the wake have the same yaw angle. If the fan outputting the wake is not in a limit operating state, the maximum allowable rotation speed of the fan outputting the wake and the yaw angle of the main rotation axis of both the fan outputting the wake and the fan receiving the wake are adjusted so that the main rotation axis of the fan receiving the wake and the wake have the same yaw angle.

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