A method and equipment for controlling the clearance of a truss-type tower for a wind turbine generator.

Abstract

This invention provides a method and equipment for controlling the clearance of truss-type towers in wind turbine generators, relating to the fields of truss-type towers and clearance control in wind turbine generators. This invention calculates blade clearance using the ranging values ​​of a three-beam lidar, combined with the radar installation angle, radar installation position, nacelle elevation angle, nacelle displacement, and tower radius. Based on the three-beam blade clearance, blade length, yaw angle, truss-type tower type, and yaw error, the generator set is controlled to enter normal power generation mode, clearance protection mode, yaw protection mode, and shutdown protection mode, respectively. The clearance control method meets the clearance requirements of truss-type towers, is highly flexible, simple, and effective, improving the accuracy of clearance calculation for truss-type towers and the safety of wind turbine generators.

Description

Technical Field

[0001] This application relates to the field of airspace control for truss-type towers of wind turbine generators, specifically to a method and equipment for airspace control of truss-type towers of wind turbine generators. Background Technology

[0002] Wind energy, as a clean and renewable energy source, is receiving increasing attention for its development and utilization. Wind turbine generators (hereinafter referred to as "wind turbines") are the core equipment for realizing wind energy conversion, and their operational safety is paramount. Among these, airspace protection control is one of the key technologies for ensuring the safe operation of wind turbines, aiming to prevent collisions between the turbine blades and the tower (i.e., "tower sweep"). Once a tower sweep accident occurs, it can easily lead to blade breakage and tower structural damage, causing economic losses and safety risks. With the continuous deepening of the wind power industry's demand for cost reduction and efficiency improvement, wind turbines are developing towards larger sizes and higher altitudes, with blade lengths and tower heights constantly increasing. This reduces the airspace margin between the blade tip and the tower, significantly increasing the risk of tower sweep under dynamic loads. Therefore, how to efficiently and accurately achieve airspace protection has become a core element in improving the reliability of wind turbines and ensuring their safe operation.

[0003] Currently, the industry widely uses laser airspace radar systems for airspace monitoring and control. These control methods are primarily designed for traditional cylindrical tower structures (including frustum-shaped steel towers and concrete-concrete composite towers). These tower structures are regular in shape, with a typically circular cross-section. The radius of this cross-section changes continuously and predictably with height, making the airspace calculation model relatively simple. It can usually be simplified to a geometric calculation based on a fixed radius or a linearly varying radius.

[0004] However, with the diversified development of wind power technology, new tower structures, represented by truss towers, are gradually being applied. Truss towers employ a lattice design, exhibiting complex geometric characteristics that are discontinuous and anisotropic in space. Traditional laser-based air clearance radar control methods cannot accurately handle the relative positional relationships between members and blades in truss towers. They struggle to precisely calculate the true clearance distance between blade tips and members, and cannot effectively identify differences in risk points at different azimuth angles, resulting in blind spots and failing to meet the air clearance protection requirements of truss towers. Therefore, there is an urgent need for a safety protection method suitable for the characteristics of truss towers, capable of achieving air clearance monitoring and intelligent control. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a method and device for controlling the airspace clearance of a truss-type tower for wind turbine generators. This method combines traditional tower laser airspace radar control methods, laser beam ranging values, and the yaw status of the generator unit to achieve control of the truss-type tower laser airspace radar wind turbine generator.

[0006] In a first aspect, the present invention provides a method for controlling the clearance of a truss-type tower of a wind turbine generator, comprising:

[0007] S1: Based on the first set of preset monitored conditions, determine whether airspace control is enabled. If not, enter airspace protection mode; otherwise, execute S2.

[0008] S2: Based on the preset second set of monitored conditions, determine whether the airspace radar is available. If not, enter the airspace protection mode; if so, execute the corresponding steps based on the ranging values ​​returned by each beam of the lidar.

[0009] If only the third beam returns a ranging value, then execute S3;

[0010] If only the second and third beams return ranging values ​​simultaneously, then execute S4;

[0011] If the first beam returns a ranging value, then execute S5;

[0012] S3: Calculate the clearance value of the third beam, determine whether the distance measurement value of the third beam is less than or equal to the blade length, and whether the clearance value of the third beam is less than or equal to the minimum clearance value. If so, enter the normal operation mode and issue a clearance alarm; otherwise, enter the normal operation mode.

[0013] S4: Calculate the clearance value of the second beam and the weighted clearance value of the second and third beams. Determine whether the ranging values ​​of the second and third beams are both less than or equal to the blade length, and whether the weighted clearance value is less than or equal to the minimum clearance value. If so, enter the clearance protection mode; otherwise, enter the normal operation mode.

[0014] S5: Calculate the first beam clearance value, and determine whether the first beam clearance value is less than or equal to the minimum clearance value. If it is, execute S6; otherwise, enter the clearance protection mode.

[0015] S6: Determine whether the blade tip is at the same horizontal position as the round steel section of the truss tower. If so, enter the shutdown protection mode; otherwise, execute S7.

[0016] S7: Determine whether the first beam ranging value is less than or equal to the blade length. If yes, enter the shutdown protection mode; otherwise, execute S8.

[0017] S8: Determine whether the current yaw angle Y satisfies |Y|≤360 / (2N)-X. If yes, enter the shutdown protection mode; otherwise, enter the yaw protection mode and return to S1.

[0018] Where N is the number of foundation supports for the truss tower, and X is the yaw error tolerance value.

[0019] As a further limitation of the technical solution of the present invention, in S1, the first set of monitored conditions for determining whether the airspace control is enabled includes one or more of the following conditions:

[0020] Condition a: Is the current operating state of the wind turbine generator set in power generation mode?

[0021] Condition b: Whether the current output power of the wind turbine generator is greater than the preset power threshold;

[0022] Condition c: Whether the ambient wind speed is within the preset activation wind speed range;

[0023] Condition d: Whether a remote activation command has been received from the wind farm control system;

[0024] Condition e: The unit has no other higher priority faults or protection signals that suppress the airspace control function.

[0025] When all monitored conditions are met, the airspace control is determined to be enabled; otherwise, it is determined to be disabled.

[0026] The activation conditions for the air clearance control function have been clarified, avoiding unnecessary activation of the function under conditions such as unit standby, low power operation, or the presence of higher priority faults. This prevents malfunctions, reduces system losses, and improves the intelligence and reliability of the control.

[0027] As a further limitation of the technical solution of the present invention, in S2, the second set of monitored conditions for determining whether the airspace radar is available includes one or more of the following conditions:

[0028] Condition 1: Whether the radar self-test signal is normal, the self-test signal includes one or more of the following: power status, internal temperature, and communication connection status;

[0029] Condition 2: Within the preset time window, does at least one laser beam continuously return valid ranging data?

[0030] Condition 3: Whether the returned ranging data is within a physically reasonable range, wherein the upper limit of the physically reasonable range is greater than the sum of the blade length and the safety margin, and the lower limit is greater than zero;

[0031] Condition 4: Whether the environmental visibility data is higher than the preset visibility threshold, wherein the environmental visibility data is provided by the radar's own detection data;

[0032] If any of the monitored conditions is not met, the airspace radar is deemed unusable.

[0033] A multi-dimensional, highly reliable radar health status diagnosis mechanism has been established, which not only monitors the hardware status but also assesses the continuity, rationality, and environmental adaptability of the data itself. This ensures that all subsequent control decisions are based on reliable data, fundamentally avoiding system misjudgments or omissions caused by sensor failures or environmental interference.

[0034] As a further limitation of the technical solution of the present invention, the formula for calculating the net clearance value of the third beam is as follows:

[0035]

[0036] In the formula, Represents the clearance value of the third beam; This represents the ranging value returned by the third beam; Represents the cabin pitch angle, unit: deg; Represents the installation angle of the third beam, in degrees (deg). This represents the distance from the third beam source to the center of the tower top; The tower radius corresponding to the distance measurement value of the third beam; This represents the maximum displacement of the cabin.

[0037] The formula for calculating the weighted net clearance of the second and third beams is as follows:

[0038] In the formula, This represents the clearance value of the second beam; This represents the ranging value returned by the second beam; Represents the second beam mounting angle; This represents the distance between the second beam emission source and the center of the tower top; The tower radius corresponding to the second beam ranging value; and These are the weighting coefficients. .

[0039] A precise formula for calculating clearance value is provided, taking into account dynamic factors such as nacelle elevation angle and nacelle displacement. A lookup table method is used to obtain the effective radius of the tower, improving the accuracy of clearance distance calculation. The weighted clearance value judgment strategy adopted can comprehensively utilize information from the remaining beams when some beams fail, enhancing the system's redundancy and fault tolerance under partial failure conditions and improving availability.

[0040] As a further limitation of the technical solution of the present invention, the method also includes:

[0041] A table of correspondences between different distance measurement values ​​and the effective radius of the truss tower is established in advance using engineering algorithms. The tower radius corresponding to the distance measurement value is obtained by querying the corresponding table based on the real-time distance measurement value and interpolating.

[0042] By using pre-calculation and table lookup, the complex and difficult-to-calculate three-dimensional geometric collision problem is transformed into an efficient real-time table lookup operation, which solves the technical problem of calculating the clearance of non-circular truss structures and meets the real-time requirements of wind turbine control while ensuring calculation accuracy.

[0043] As a further limitation of the technical solution of the present invention, in S5, the airspace protection mode refers to: calling the predefined power-pitch angle limit table, controlling the blades to pitch in advance in the feathering direction to increase the airspace distance, while reducing the unit power output.

[0044] The predefined power-pitch angle limit table is a two-dimensional lookup table, with the generator power value on the horizontal axis and the corresponding maximum allowable pitch angle value on the vertical axis. The function of the table is configured such that as the generator power value increases, the maximum allowable pitch angle value decreases non-linearly. Thus, in the airspace protection mode, the aerodynamic thrust is actively reduced by controlling the blades to rotate in the feathering direction, thereby increasing the airspace distance and smoothly reducing the unit load and power output.

[0045] The specific implementation method of the clearance protection mode (early pitch adjustment based on the power-pitch angle limit table) is defined, which is a load reduction operation strategy. It can proactively and smoothly reduce the load and increase the clearance when potential risks are identified, rather than shutting down the unit directly, thus minimizing power generation loss while ensuring safety.

[0046] As a further limitation of the technical solution of the present invention, in S8, entering the yaw protection mode specifically includes:

[0047] S81. Calculate the target yaw safety angle range, wherein the target yaw safety angle range is: |Y|<360 / (2N)-X;

[0048] S82. Control the unit to perform a yaw action so that the current yaw angle Y enters the target yaw safe angle range;

[0049] S83. During the yaw maneuver, the blades are controlled to perform an advance pitch maneuver in sync to increase the clearance between the blade tip and the tower. The advance pitch maneuver is performed according to a predefined power-pitch angle limit table.

[0050] S84. After the yaw maneuver is completed, return to S1 to restart the airspace control procedure.

[0051] When the wind turbine is at a dangerous angle, it is not shut down immediately, but its yaw is first controlled to a safe area. At the same time, the control strategy of yaw and pitch linkage ensures that the clearance is always within a safe range throughout the adjustment process, which greatly avoids the risk of secondary accidents during the adjustment process. Finally, the closed-loop design of returning to the re-judgment ensures the thoroughness of the control.

[0052] This invention calculates blade clearance using ranging values ​​from a three-beam lidar, combined with the radar installation angle, radar installation position, nacelle elevation angle, nacelle displacement, and tower radius. Based on the three-beam blade clearance, blade length, yaw angle, truss tower type, and yaw error control, the turbine enters normal power generation mode, clearance protection mode, yaw protection mode, and shutdown protection mode, respectively. This improves the accuracy of truss tower clearance calculation and the safety of wind turbine generators.

[0053] As a further limitation of the technical solution of the present invention, in S8, entering the shutdown protection mode means: controlling the unit to execute the normal shutdown sequence, including retracting the propeller, reducing speed and activating the mechanical brake.

[0054] The execution content of the shutdown protection mode is clarified, indicating that it is the final safety barrier taken when the angle is safe or the risk is extremely high, ensuring that the unit can be shut down safely according to standard and reliable procedures, and preventing the further expansion of the fault.

[0055] Thirdly, the present invention also provides an electronic device, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; the memory storing computer program instructions executable by the at least one processor, the computer program instructions being executed by the at least one processor to enable the at least one processor to perform the wind turbine truss tower clearance control method as described in the first aspect.

[0056] As can be seen from the above technical solutions, this application has the following advantages: The control process provided by this application solves the problem that traditional clearance control methods based on cylindrical tower designs cannot be applied to discontinuous, anisotropic truss structures. Based on the combination data of different radar beams, different levels of response are triggered (including normal alarms, load reduction operation, yaw adjustment, and shutdown), greatly reducing unnecessary power generation losses while ensuring safety. A safety criterion for yaw angle is introduced, coupling clearance protection with the wind turbine yaw system, effectively avoiding tower sweep accidents that may be caused by shutdown at dangerous angles. Attached Figure Description

[0057] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a flowchart illustrating the method provided in an embodiment of the present invention.

[0059] Figure 2 This is a diagram illustrating the application scenario of a three-beam lidar on a truss-type tower. Detailed Implementation

[0060] To make the purpose, features, and advantages of this application more apparent and understandable, specific embodiments and accompanying drawings will be used to clearly and completely describe the technical solution protected by this application. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0061] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this application and in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0062] Figure 1 This is a schematic flowchart illustrating a method for controlling the clearance of a truss-type tower of a wind turbine generator, provided as an embodiment of the present invention. Figure 1 The executing entity can be a wind turbine truss tower clearance control system. The wind turbine truss tower clearance control method provided in this embodiment is executed by computer equipment; correspondingly, the wind turbine truss tower clearance control system runs within the computer equipment. For example... Figure 1 As shown, the method includes the following steps.

[0063] S1: Based on the first set of preset monitored conditions, determine whether airspace control is enabled. If not, enter airspace protection mode; otherwise, execute S2.

[0064] In this embodiment of the invention, the first set of monitored conditions for determining whether airspace control is enabled includes one or more of the following conditions:

[0065] Condition a: Is the current operating state of the wind turbine generator set in power generation mode?

[0066] Condition b: Whether the current output power of the wind turbine generator is greater than the preset power threshold;

[0067] Condition c: Whether the ambient wind speed is within the preset activation wind speed range;

[0068] Condition d: Whether a remote activation command has been received from the wind farm control system;

[0069] Condition e: The unit has no other higher priority faults or protection signals that suppress the airspace control function.

[0070] When all monitored conditions are met, the airspace control is determined to be enabled; otherwise, it is determined to be disabled.

[0071] S2: Based on the preset second set of monitored conditions, determine whether the airspace radar is available. If not, enter the airspace protection mode; if so, execute the corresponding steps based on the ranging values ​​returned by each beam of the lidar.

[0072] If only the third beam returns a ranging value, then execute S3;

[0073] If only the second and third beams return ranging values ​​simultaneously, then execute S4;

[0074] If the first beam returns a ranging value, then execute S5;

[0075] The second set of monitored conditions for determining whether the clearance radar is available includes one or more of the following conditions:

[0076] Condition 1: Whether the radar self-test signal is normal, the self-test signal includes one or more of the following: power status, internal temperature, and communication connection status;

[0077] Condition 2: Within the preset time window, does at least one laser beam continuously return valid ranging data?

[0078] Condition 3: Whether the returned ranging data is within a physically reasonable range, wherein the upper limit of the physically reasonable range is greater than the sum of the blade length and the safety margin, and the lower limit is greater than zero;

[0079] Condition 4: Whether the environmental visibility data is higher than the preset visibility threshold, wherein the environmental visibility data is provided by the radar's own detection data;

[0080] If any of the monitored conditions is not met, the airspace radar is deemed unusable.

[0081] S3: Calculate the clearance value of the third beam, determine whether the distance measurement value of the third beam is less than or equal to the blade length, and whether the clearance value of the third beam is less than or equal to the minimum clearance value. If so, enter the normal operation mode and issue a clearance alarm; otherwise, enter the normal operation mode.

[0082] The formula for calculating the clearance value of the third beam is:

[0083]

[0084] In the formula, Represents the clearance value of the third beam; This represents the ranging value returned by the third beam; Represents the cabin pitch angle, unit: deg; Represents the installation angle of the third beam, in degrees (deg). This represents the distance from the third beam source to the center of the tower top; The tower radius corresponding to the distance measurement value of the third beam; This represents the maximum displacement of the cabin.

[0085] S4: Calculate the clearance value of the second beam and the weighted clearance value of the second and third beams. Determine whether the ranging values ​​of the second and third beams are both less than or equal to the blade length, and whether the weighted clearance value is less than or equal to the minimum clearance value. If so, enter the clearance protection mode; otherwise, enter the normal operation mode.

[0086] The formula for calculating the clearance value of the second beam is:

[0087]

[0088] The formula for calculating the weighted net clearance of the second and third beams is as follows:

[0089] In the formula, This represents the clearance value of the second beam; This represents the ranging value returned by the second beam; Represents the second beam mounting angle; This represents the distance between the second beam emission source and the center of the tower top; The tower radius corresponding to the second beam ranging value; and These are the weighting coefficients. .

[0090] In this embodiment of the invention, the method for obtaining the tower radius is as follows: a correspondence table between different distance measurement values ​​and the effective radius of the truss tower is established in advance through engineering algorithms; the corresponding relationship table is queried according to the real-time distance measurement value, and the tower radius corresponding to the distance measurement value is obtained by interpolation calculation.

[0091] In this embodiment of the invention, the airspace protection mode refers to: calling a predefined power-pitch angle limit table, controlling the blades to pitch in advance in the feathering direction to increase the airspace distance, while reducing the unit's power output.

[0092] The predefined power-pitch angle limit table is a two-dimensional lookup table, with the generator power value on the horizontal axis and the corresponding maximum allowable pitch angle value on the vertical axis. The function of the table is configured such that as the generator power value increases, the maximum allowable pitch angle value decreases non-linearly. Thus, in the airspace protection mode, the aerodynamic thrust is actively reduced by controlling the blades to rotate in the feathering direction, thereby increasing the airspace distance and smoothly reducing the unit load and power output.

[0093] When the control system decides to enter "air clearance protection mode", the pitch system no longer follows the curve with optimal power generation efficiency, but switches to follow this power-pitch angle limit table.

[0094] The generator's power output is monitored in real time. Based on the current power value, a lookup is performed in the power-pitch angle limit table (usually requiring interpolation calculations) to immediately obtain a maximum permissible pitch angle command. Upon receiving this command, the pitch system controls the blades to rotate to this larger pitch angle.

[0095] Increasing the pitch angle means reducing the blade's angle of attack, thereby reducing the blade's aerodynamic thrust. Specifically:

[0096] a. Reduced load: The forces and bending moments acting on the blades, hub, and tower are significantly reduced, and tower top sway (maximum nacelle displacement) is minimized. () decrease.

[0097] b. Increase headroom: Reduced tower top sway directly increases the static and dynamic distance (i.e., headroom) between the blade tip and the tower.

[0098] c. Reduced power output: As less wind energy is captured, generator power will gradually decrease, a necessary price to pay for safety.

[0099] S5: Calculate the first beam clearance value, and determine whether the first beam clearance value is less than or equal to the minimum clearance value. If it is, execute S6; otherwise, enter the clearance protection mode.

[0100] The formula for calculating the clearance value of the first beam is:

[0101]

[0102] in, This represents the clearance value of the second beam; This represents the distance measured by the first beam. Represents the second beam mounting angle; This represents the distance between the second beam emission source and the center of the tower top; The tower radius corresponding to the second beam ranging value;

[0103] S6: Determine whether the blade tip is at the same horizontal position as the round steel section of the truss tower. If so, enter the shutdown protection mode; otherwise, execute S7.

[0104] S7: Determine whether the first beam ranging value is less than or equal to the blade length. If yes, enter the shutdown protection mode; otherwise, execute S8.

[0105] S8: Determine whether the current yaw angle Y satisfies |Y|≤360 / (2N)-X. If yes, enter the shutdown protection mode; otherwise, enter the yaw protection mode and return to S1.

[0106] Where N is the number of foundation supports for the truss tower, and X is the yaw error tolerance value.

[0107] Entering the shutdown protection mode means controlling the unit to execute the normal shutdown sequence, including retracting the propeller, reducing speed, and activating the mechanical brake.

[0108] Entering yaw protection mode specifically includes:

[0109] S81. Calculate the target yaw safety angle range, wherein the target yaw safety angle range is: |Y|<360 / (2N)-X;

[0110] S82. Control the unit to perform a yaw action so that the current yaw angle Y enters the target yaw safe angle range;

[0111] S83. During the yaw maneuver, the blades are controlled to perform an advance pitch maneuver in sync to increase the clearance between the blade tip and the tower. The advance pitch maneuver is performed according to a predefined power-pitch angle limit table.

[0112] S84. After the yaw maneuver is completed, return to S1 to restart the airspace control procedure.

[0113] In some embodiments, the step of pre-establishing a correspondence table between different distance measurement values ​​and the effective radius of the truss tower using engineering algorithms includes:

[0114] a) Obtain a three-dimensional digital model of the truss tower of the wind turbine generator set; typically, a mesh composed of elements such as vertices, edges, and faces (usually triangular patches) is used to accurately describe the surface shape and structure of the object.

[0115] b) Determine the installation parameters of each laser radar beam emitter in the tower coordinate system, including installation position and installation angle;

[0116] The installation position refers to the three-dimensional coordinates of the lidar emitter (or reference point) in the tower coordinate system (usually with the center of the tower top as the origin), and is the starting point for beam projection calculation. The installation angle refers to the angle between the axes of each lidar beam and the reference axis of the tower coordinate system (usually the vertical axis or the nacelle axis). This typically includes: the pitch angle, i.e., the angle between the beam and the horizontal plane. This is the installation angle β1, β2, β3 in this application. The azimuth angle is the angle between the projection of the beam onto the horizontal plane and the reference direction (e.g., directly in front of the nacelle). It defines whether the beam is facing forward, to the side, or backward of the tower.

[0117] c) Based on the three-dimensional digital model and installation parameters, the three-dimensional coordinates of the intersection points of each beam with the surface of the three-dimensional digital model are simulated and calculated using a ray projection algorithm;

[0118] d) Based on the three-dimensional coordinates of the intersection point, calculate the corresponding distance value L and the effective radius of the tower. ,in The horizontal distance between the intersection point and the central axis of the tower;

[0119] e) Compile all calculation results and generate a query key using the distance measurement value L and the effective radius of the tower. A mapping table for values.

[0120]

[0121] in, and The coordinates of the intersection point in a plane coordinate system perpendicular to the central axis of the tower are given.

[0122] This embodiment takes a 5MW wind turbine generator set as an example, with a rotor diameter of 195m and a quadrilateral truss tower structure (N=4), combined with a three-beam lidar system (specific application scenario as follows). Figure 2 (As shown) This achieves clearance protection control for the truss-type tower. The following will explain in detail, combining the structural characteristics of the truss-type tower and the arrangement of the lidar.

[0123] Compared with traditional cylindrical towers, truss-type towers have the following structural features:

[0124] The tower is a lattice structure consisting of multiple main columns and lateral supports. The tower cross-section is quadrilateral or triangular. The top of the tower is usually equipped with a transition round steel section to connect to the nacelle. There are open spaces on each side of the tower, and the blades may approach the tower from multiple directions.

[0125] This embodiment uses a three-beam lidar system, and the specific layout parameters are as follows:

[0126] The first beam installation angle β1 = 6°

[0127] The second beam mounting angle β2 = 4.5°

[0128] The third beam installation angle β3 = 3°

[0129] The distances from each beam source to the center of the tower top are D1=D2=D3=4m

[0130] Cabin pitch angle α = 5°

[0131] Maximum displacement of the cabin =1.5m (calculated using Bladed software simulation)

[0132] Step 1: Determine whether airspace control is enabled / enabled. In this embodiment, airspace control is enabled by default, so proceed to Step 2.

[0133] Step 2: Check the working status of the airspace radar. In this embodiment, the radar is working normally. Based on the returned beam signal:

[0134] When only the third beam returns the ranging value, proceed to step 3;

[0135] When the second beam and the third beam simultaneously return the ranging value, proceed to step 4;

[0136] When the first beam returns the ranging value, proceed to step 5;

[0137] Step 3: When only the third beam returns the ranging value L3, calculate the clearance value T3:

[0138]

[0139] In this embodiment, L3 was measured to be 98m (less than the blade length of 97.5m), and the value was obtained by interpolation from a table. =2.8m, calculated T3=3.2m, which is greater than the minimum clearance value. =3m, therefore it enters normal operation mode and issues an air clearance alarm.

[0140] Step 4: When the second and third beams simultaneously return distance measurements, a weighted average is used to calculate the clearance value.

[0141] The measured values ​​are L2 = 96m and L3 = 97m. From the table, we can find... =2.7m, =2.8m, here, , The calculated weighted net clearance is 2.9m, which is less than... =3m, therefore it enters the airspace protection mode.

[0142] Step 5: When the first beam returns to the ranging value, calculate the clearance value T1:

[0143]

[0144] The measured value of L1 is 95m. From the table, we get... =2.6m, calculated T1=2.8m, which is less than =3m, therefore proceed to step 6.

[0145] Step 6: Determine whether the blade tip is at the same horizontal level as the round steel section. In this embodiment, a position sensor confirms that the blade tip is not aligned with the round steel section, then proceed to step 7.

[0146] Step 7: Check that the first beam distance measurement value L1=95m is less than the blade length of 97.5m, and enter the unit shutdown protection mode.

[0147] Step 8: When the shutdown conditions in Step 7 are not met, check the yaw angle Y. In this embodiment, the current yaw angle Y is measured to be 50°. The threshold is calculated as 360 / 2 / 4-8=37°. Since 50°>37°, the yaw protection mode is entered, and the yaw angle is adjusted to within 37°. At the same time, the blades synchronously adjust the pitch in advance. After completion, return to Step 1 to re-judge.

[0148] This invention also provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, communication interface, and memory communicate with each other via the communication bus. The communication bus can be used for information transmission between the electronic device and a sensor. The processor can call logical instructions in the memory to execute the following method: S1: Based on a preset first set of monitored conditions, determine whether the clearance control is enabled; otherwise, enter the clearance protection mode; if so, execute S2; S2: Based on a preset second set of monitored conditions, determine whether the clearance radar is available; otherwise, enter the clearance protection mode; if so, execute the corresponding steps based on the ranging values ​​returned by each beam of the lidar: if only the third beam returns a ranging value, execute S3; if only the second and third beams return ranging values ​​simultaneously, execute S4; if the first beam returns a ranging value, execute S5; S3: Calculate the clearance value of the third beam, determine whether the ranging value of the third beam is less than or equal to the blade length, and whether the clearance value of the third beam is less than or equal to the minimum clearance value; if so, enter the normal operation mode and issue a clearance alarm; otherwise, enter the normal operation mode; S4: Calculate the clearance value of the second beam... S5: Calculate the first beam's clearance value and determine if the distance measurement values ​​of the second and third beams are both less than or equal to the blade length, and whether the weighted clearance value is less than or equal to the minimum clearance value. If so, enter the clearance protection mode; otherwise, enter the normal operation mode. S6: Calculate the first beam's clearance value and determine if the first beam's clearance value is less than or equal to the minimum clearance value. If so, execute S6; otherwise, enter the clearance protection mode. S7: Determine if the blade tip is at the same horizontal position as the truss tower's round steel section. If so, enter the shutdown protection mode; otherwise, execute S8. S8: Determine if the current yaw angle Y satisfies |Y|≤360 / (2N)-X. If so, enter the shutdown protection mode; otherwise, enter the yaw protection mode and return to S1. Wherein, N is the number of truss tower foundation supports, and X is the yaw error tolerance value.

[0149] Furthermore, the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0150] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wind turbine tower clearance control method, characterized in that, Comprise: S1: According to the first set of preset monitored conditions, judge whether the clearance control is enabled, if not, enter the clearance protection mode, if yes, execute S2; S2: According to the second set of preset monitored conditions, judge whether the clearance radar is available, if not, enter the clearance protection mode, if yes, execute corresponding steps according to the ranging value returned by each beam of the laser radar: If only the third beam returns the ranging value, execute S3; If only the second beam and the third beam return the ranging value at the same time, execute S4; If the first beam returns the ranging value, execute S5; S3: Calculate the third beam clearance value, judge whether the third beam ranging value is less than or equal to the blade length, and whether the third beam clearance value is less than or equal to the minimum clearance value, if yes, enter the normal operation mode and issue a clearance warning, otherwise, enter the normal operation mode; S4: Calculate the second beam clearance value and the weighted clearance value of the second beam and the third beam, judge whether the ranging values of the second beam and the third beam are both less than or equal to the blade length, and whether the weighted clearance value is less than or equal to the minimum clearance value, if yes, enter the clearance protection mode, otherwise, enter the normal operation mode; S5: Calculate the first beam clearance value, judge whether the first beam clearance value is less than or equal to the minimum clearance value, if yes, execute S6, otherwise, enter the clearance protection mode; S6: Judge whether the blade tip is at the same horizontal position as the round steel section of the truss tower, if yes, enter the shutdown protection mode, otherwise, execute S7; S7: Judge whether the first beam ranging value is less than or equal to the blade length, if yes, enter the shutdown protection mode, otherwise, execute S8; S8: Judge whether the current yaw angle Y satisfies |Y|≤360 / (2N)-X, if yes, enter the shutdown protection mode, otherwise, enter the yaw protection mode, and return to S1; Wherein, N is the number of truss tower foundation support points, X is the yaw error tolerance value; The corresponding relationship table of different ranging values and effective radius of truss tower is established in advance through engineering algorithm, the corresponding relationship table is queried according to real-time ranging value, and the tower radius corresponding to the ranging value is calculated through interpolation; The entering clearance protection mode refers to: calling the predefined power-pitch angle limit table, controlling the blade to advance pitch in the feathering direction to increase the clearance distance, and at the same time, reducing the power output of the unit; The entering yaw protection mode specifically includes: S81, calculate the target yaw safety angle range, which is: |Y|< 360 / (2N)-X; S82, control the unit to execute yaw action to make the current yaw angle Y enter the target yaw safety angle range; S83, during the yaw action, control the blade to execute the advance pitch action synchronously to increase the clearance distance between the blade tip and the tower; The advance pitch action is executed according to the predefined power-pitch angle limit table; S84, after the yaw action is completed, return to S1 to start the clearance control process again; The entering shutdown protection mode refers to: controlling the unit to execute the normal shutdown sequence, including feathering, speed reduction and starting mechanical brake.

2. The wind turbine generator system truss tower clearance control method according to claim 1, characterized by, In S1, the first set of monitored conditions for judging whether the clearance control is enabled includes one or more of the following conditions: Condition a: whether the current operating state of the wind turbine generator set is a power generation state; Condition b: whether the current output power of the wind turbine generator set is greater than a preset power threshold; Condition c: whether the ambient wind speed is within a preset enabling wind speed interval; Condition d: whether a remote enabling instruction from a wind farm control system is received; Condition e: whether the set has no other higher priority fault or protection signal to inhibit the clearance control function; When all the monitored conditions are met, it is determined that the clearance control is enabled, otherwise it is determined that it is not enabled.

3. The wind turbine generator system truss tower clearance control method according to claim 2, characterized by, In S2, the second set of monitored conditions for judging whether the clearance radar is available includes one or more of the following conditions: Condition one: whether the radar self-check signal is normal, the self-check signal including one or more of power supply state, internal temperature, communication connection state; Condition two: whether at least one laser beam continuously returns valid ranging data within a preset time window; Condition three: whether the returned ranging data is within a physically reasonable range, the upper limit of the physically reasonable range being greater than the sum of the blade length and a safety margin, and the lower limit being greater than zero; Condition four: whether the ambient visibility data is higher than a preset visibility threshold, the ambient visibility data being provided by the radar itself detection data; When any of the monitored conditions is not met, it is determined that the clearance radar is not available.

4. The wind turbine generator system truss tower clearance control method according to claim 3, characterized by, The formula for calculating the third beam clearance value is: In the formula, represents the third light beam clearance value; represents the third light beam return ranging value; represents the cabin elevation angle, unit: deg; represents the third light beam installation angle, unit: deg; represents the distance from the third light beam emission source to the top center of the tower; represents the tower radius corresponding to the third light beam ranging value; represents the maximum displacement amount of the cabin.

5. The wind turbine generator system truss tower clearance control method according to claim 4, characterized by, The formula for calculating the weighted clearance value of the second beam and the third beam is: wherein, represents the second beam clearance value; represents the second beam return ranging value; represents the second beam installation angle; represents the distance of the second beam emitter from the tower center; represents the tower radius corresponding to the second beam ranging value; and is a weight coefficient, .

6. An electronic device, comprising: The electronic device includes at least one processor and a memory connected with the at least one processor in communication; the memory stores computer program instructions executable by the at least one processor, and the computer program instructions are executed by the at least one processor to enable the at least one processor to execute the wind turbine generator set truss tower clearance control method according to any one of claims 1 to 5.

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