A method and device for redundant control of a wind turbine equipped with a laser radar

Abstract

The application provides a wind turbine with a laser radar redundancy control method and device, which optimizes the redundancy control function of the wind turbine by fusing the multi-source wind speed information of the nacelle laser radar, ultrasonic anemometer and mechanical anemometer. The application can improve the operation safety and reliability of the wind turbine under extreme wind conditions, realize fault-tolerant control based on multi-sensor information fusion, reduce the dynamic load of the key components (blades, main shaft, tower) of the wind turbine, and prolong the service life.

Description

Technical Field

[0001] This invention relates to the field of redundancy control technology for wind turbine generators, and in particular to a redundancy control method and device for wind turbine generators equipped with lidar. Background Technology

[0002] Modern wind turbines are typically equipped with mechanical anemometers (such as cup anemometers) and ultrasonic anemometers to measure wind speed and direction at the nacelle. Mechanical anemometers suffer from drawbacks such as slow response, susceptibility to icing, mechanical damage, and the fact that they measure wind speed distorted by the rotor's turbulence. Ultrasonic anemometers, also located at the rear of the nacelle, cannot avoid the effects of flow field distortion, and their accuracy decreases under conditions of vibration and high humidity. These two traditional sensors can only measure wind conditions at a localized point after the incoming air has already interacted with the rotor. The turbine control system relies on this delayed information for passive control, leading to high dynamic loads, severe fatigue damage, and delayed protective actions.

[0003] LiDAR (LiDAR) wind measurement technology, by emitting a laser beam in front of the wind turbine and receiving reflected signals from atmospheric aerosols, can proactively and non-contactly measure undisturbed raw incoming wind speeds, including information such as wind speed, wind direction, wind shear, and turbulence intensity tens to hundreds of meters ahead. This provides a data foundation for shifting turbine protection from "passive response" to "proactive prediction." Currently, the application of lidar in wind turbines is mainly focused on functions such as yaw correction and feedforward control, failing to fully realize its application potential in turbine control systems. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the first objective of this invention is to propose a redundant control method for wind turbines equipped with lidar.

[0006] The second objective of this invention is to propose a redundant control device for wind turbines equipped with lidar.

[0007] The third objective of this invention is to provide an electronic device.

[0008] The fourth objective of this invention is to provide a computer-readable storage medium.

[0009] The fifth objective of this invention is to provide a computer program product.

[0010] To achieve the above objectives, the first embodiment of the present invention proposes a redundancy control method for wind turbine generators equipped with lidar, comprising: S1 monitors the operating status of the cabin's mechanical anemometer, ultrasonic anemometer, and forward-looking LiDAR in real time, and obtains the corresponding operating status identifiers for each sensor. S2, based on the operating status identifier, dynamically select the normally operating sensor combination, perform multi-source data fusion calculation on the wind speed signals of the selected sensors, and generate the current control wind speed signal and the redundant protection wind speed signal. S3, calculate the instantaneous average value, short-term average value, and long-term average value of the control wind speed signal, and the instantaneous average value, short-term average value, and long-term average value of the redundant protection wind speed signal, respectively; S4, execute unit start-up and shutdown control and power regulation according to the average value of the control wind speed signal, and trigger strong wind protection and cut-off judgment logic according to the average value of the redundant protection wind speed signal; S5: When any sensor's operating status indicator is detected to be abnormal, switch to the remaining normal sensor combination to calculate control and protection signals, and simultaneously trigger the corresponding sensor fault alarm signal.

[0011] Optionally, the operating status of the cabin's mechanical anemometer, ultrasonic anemometer, and forward-looking scanning lidar can be monitored in real time to obtain the corresponding operating status indicators for each sensor, including: Data is collected using a mechanical anemometer, an ultrasonic anemometer, and a forward-looking lidar installed on the top of the unit. The mechanical anemometer senses airflow speed through a rotating cup or impeller structure and outputs a voltage signal proportional to the wind speed. The ultrasonic anemometer measures wind speed and direction by measuring the time difference of ultrasonic waves in the air and also outputs corresponding voltage or digital signals. The forward-looking lidar measures the scattering of air particles at different distances and heights in front of it using laser pulses, thereby obtaining wind speed data at multiple measurement points. The system receives the output signals from both the mechanical and ultrasonic anemometers and converts them into corresponding wind speed signals, which are denoted as mechanical wind speed signals. and ultrasonic wind speed signal The lidar measurement results are transmitted to the control system as communication data, and the data analysis program converts them into wind speed signals at different distances and heights ahead. ; The operational status of the mechanical anemometer, ultrasonic anemometer, and forward-looking lidar in the cabin is monitored in real time. Based on equipment self-test signals, communication feedback, power status, or signal continuity detection, operational status indicators for the mechanical anemometer are generated. Ultrasonic anemometer operating status indicator and lidar operating status indicators When the equipment is running normally, its corresponding status identifier is set to 1; when the equipment malfunctions, communication is abnormal, signal is interrupted, or self-test fails, the status identifier is set to 0.

[0012] Optionally, the current control wind speed signal is obtained through the following process: According to mechanical wind speed signal Ultrasonic wind speed signal LiDAR wind speed signal and the operating status indicator of the mechanical anemometer Ultrasonic anemometer operating status indicator LiDAR operating status indicator The current control wind speed signal is calculated comprehensively. , is represented as: ; in, As a fusion function, different calculation methods can be used according to actual needs.

[0013] Optional, current control wind speed signal Calculated using the average or root mean square value, and expressed as:

[0014] or,

[0015] in, For controlling wind speed signals.

[0016] Optionally, the redundant protection wind speed signal is obtained through the following process: According to mechanical wind speed signal Ultrasonic wind speed signal LiDAR wind speed signal and mechanical operating status indicators Ultrasonic anemometer operating status indicator LiDAR operating status indicator The unit's redundant protection wind speed signal was calculated comprehensively. , is represented as: .

[0017] in, It is obtained by taking the maximum value after weighting from the valid wind speed signals.

[0018] Optional, also includes: A consistent preprocessing procedure is performed before each averaging stage. The preprocessing procedure includes amplitude limiting, missing measurement compensation, time alignment, and median filtering.

[0019] To achieve the above objectives, a second aspect of the present invention provides a redundant control device for a wind turbine equipped with a lidar, comprising: The data acquisition module is used to monitor the operating status of the cabin mechanical anemometer, ultrasonic anemometer and forward-looking scanning lidar in real time, and to acquire the corresponding operating status identifiers of each sensor. The first calculation module is used to dynamically select the normally operating sensor combination based on the operating status identifier, perform multi-source data fusion calculation on the wind speed signals of the selected sensors, and generate the current control wind speed signal and the redundant protection wind speed signal. The second calculation module is used to calculate the instantaneous average value, short-time average value, and long-time average value of the control wind speed signal, as well as the instantaneous average value, short-time average value, and long-time average value of the redundant protection wind speed signal. The protection and judgment module is used to perform unit start-up and shutdown control and power regulation based on the average value of the control wind speed signal, and to trigger high wind protection and cut-off judgment logic based on the average value of the redundant protection wind speed signal. The alarm module is used to switch to the remaining normal sensor combination to calculate control and protection signals when any abnormal sensor operating status is detected, and to trigger the corresponding sensor fault alarm signal simultaneously.

[0020] To achieve the above objectives, a third aspect of the present invention provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of the first aspects.

[0021] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of the first aspects.

[0022] To achieve the above objectives, a fifth aspect of the present invention provides a computer program product that, when executed by a processor, implements the method described in any one of the first aspects.

[0023] The technical solutions provided by the embodiments of the present invention bring at least the following beneficial effects: by adding lidar, the shortcomings of existing nacelle anemometers, such as slow response, easy icing, and the fact that they measure wind speed after being distorted by the wind turbine, can be compensated. Furthermore, by introducing the sensor operating status to calculate the comprehensive wind speed as the redundant control signal of the wind turbine, and calculating the protection wind speed as the redundant protection signal of the unit, the redundant control and protection functions of the wind turbine are optimized and improved. This can improve the operational safety and reliability of the unit under extreme wind conditions, realize fault-tolerant control based on multi-sensor information fusion, reduce the dynamic load of key components of the unit (blades, main shaft, tower), and extend service life.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 A flowchart illustrating a redundancy control method for a wind turbine equipped with lidar, provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the redundant control logic provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the redundancy protection logic provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a redundant control logic alternative scheme provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of an alternative scheme for redundant protection logic provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a redundant control device for a wind turbine equipped with a lidar, provided in an embodiment of the present invention. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] Figure 1 This is a flowchart illustrating a redundancy control method for a wind turbine equipped with a lidar, provided in an embodiment of the present invention. (Refer to...) Figure 1 , Figure 2 and Figure 3 The method includes the following steps: S1 monitors the real-time operating status of the cabin's mechanical anemometer, ultrasonic anemometer, and forward-looking scanning lidar, and obtains the corresponding operating status identifiers for each sensor.

[0028] In this embodiment, step S1 is mainly used to realize real-time status monitoring and data acquisition of various types of wind speed measurement devices for wind turbines. Through this step, it can be ensured that the control system can obtain real-time measurement results and their operational health status from different types of wind speed sensors at any time, providing a reliable foundation for subsequent wind speed fusion calculation and redundant control.

[0029] In this embodiment, the top of the unit is equipped with three types of wind speed measurement devices: a mechanical anemometer, an ultrasonic anemometer, and a forward-looking scanning lidar. The mechanical anemometer senses airflow speed through a rotating cup or impeller structure and outputs a voltage signal proportional to the wind speed; the ultrasonic anemometer measures wind speed and direction by measuring the time difference of ultrasonic waves propagating in the air and also outputs corresponding voltage or digital signals; the forward-looking scanning lidar measures the scattering of air particles at different distances and heights in front of it using laser pulses, thereby obtaining wind speed data at multiple measurement points.

[0030] During unit operation, the output signals from the mechanical anemometer and the ultrasonic anemometer are first received by the acquisition module and converted into corresponding wind speed signals, which are recorded as mechanical wind speed signals respectively. and ultrasonic wind speed signal The lidar measurement results are transmitted to the control system as communication data, and the data analysis program converts them into wind speed signals at different distances and heights ahead. The system can calculate the equivalent wind speed at the nacelle reference position based on the nacelle height, radar installation angle, and distance compensation algorithm, and then fuse it with anemometer data.

[0031] Meanwhile, this embodiment of the invention will monitor the operating status of the three wind speed measuring devices in real time. Operating status indicators for the mechanical anemometers will be generated through methods such as device self-test signals, communication feedback, power status, or signal continuity detection. Ultrasonic anemometer operating status indicator and lidar operating status indicators When the device is operating normally, its corresponding status flag is set to 1; when the device malfunctions, experiences communication abnormalities, signal interruptions, or self-test failures, the status flag is set to 0.

[0032] In embodiments of this application, to further improve reliability, the status identifier can be designed as a continuous weight value between 0 and 1 to reflect the health of the sensor operation. For example, when the device signal experiences slight drift, short-term interference, or delay, its status identifier can be assigned a weight value of 0.5 or other weight values, thereby achieving adaptive weighting in the subsequent wind speed fusion process.

[0033] Through the above steps, this embodiment of the invention achieves synchronous data acquisition and health status identification of mechanical anemometers, ultrasonic anemometers, and lidar, ensuring that the calculation of subsequent control wind speed signals and redundant protection wind speed signals has accurate data sources and a reliable equipment status basis, providing input conditions for subsequent wind turbine start-up and shutdown control, power control, and high wind protection.

[0034] S2, based on the operating status identifier, dynamically select the normally operating sensor combination, perform multi-source data fusion calculation on the wind speed signals of the selected sensors, and generate the current control wind speed signal and the redundant protection wind speed signal.

[0035] In this embodiment, step S2 is used to perform dynamic selection and fusion calculation based on multi-source wind speed information, thereby obtaining the current control wind speed signal for unit start-up and power control, and the redundant protection wind speed signal for unit safe disconnection and high wind protection. This step, by introducing sensor operating status indicators, realizes intelligent switching and adaptive weighting of various types of wind speed measurement devices, making the wind speed signal more stable and reliable.

[0036] In this embodiment of the application, the mechanical anemometer's operating status identifier obtained in step S1 is first used as the basis for the initial step. Ultrasonic anemometer operating status indicator LiDAR operating status indicator The system determines whether each wind speed sensor is in normal working condition. When a sensor is in normal condition (S=1), its corresponding wind speed signal is selected for subsequent fusion calculation; when a sensor is detected to be faulty, has an abnormal signal, or has a data interruption (S=0), the system automatically excludes that channel from the fusion calculation, thereby achieving dynamic selection of normally functioning sensor combinations.

[0037] For a normally functioning sensor combination, this embodiment of the invention will base its calculations on the mechanical wind speed signal. Ultrasonic wind speed signal LiDAR wind speed signal The current control wind speed signal is obtained through comprehensive calculation. Current control wind speed signal It can be represented as:

[0038] in, The fusion function can be calculated using different methods depending on actual needs. In the embodiments of this application, the fusion method for controlling wind speed signals can adopt the form of weighted average or weighted root mean square to adapt to the accuracy requirements under different operating conditions.

[0039] In one implementation, the wind speed signal is controlled. Calculated using the weighted average formula:

[0040] This method is highly representative when wind speed changes are stable and the signal is stable, and it can integrate the wind speed information from various sensors to obtain a smooth average wind speed value.

[0041] In another implementation, the wind speed signal is controlled. Calculated based on the weighted root mean:

[0042] This method better reflects the actual level of wind energy intensity under conditions such as gusts or strong turbulence, and is suitable for power control scenarios sensitive to energy characteristics. This application does not impose specific limitations on the fusion calculation method, which can be flexibly set according to the algorithm configuration of the unit control system, measurement accuracy, and field conditions.

[0043] While performing the calculation of the control wind speed signal, the system also uses the same sensor signals and their operating status to redundantly protect the wind speed signal with the computer group. The redundant protection wind speed signal is used for the unit's high wind protection, cut-off determination, and overspeed safety control. Its calculation formula is:

[0044] That is, the maximum value after weighting among the valid wind speed signals is taken as the reference wind speed for unit protection. When any one or two wind speed sensors fail, this embodiment of the invention will automatically use the signal from the remaining normal channels for protection control, so as to ensure that the unit still has reliable wind speed monitoring and protection capabilities under any single-point or multi-point failure.

[0045] It should be noted that, in the embodiments of this application, channel selection can be implemented not only based on binary status identifiers (0 or 1), but also extended to a continuously weighted form based on health status. When a sensor exhibits partial anomalies, such as signal drift or increased noise, it can be assigned a lower weight to participate in fusion, thereby further improving the stability and accuracy of the overall wind speed signal.

[0046] Through the dynamic selection and multi-source fusion calculation in step S2, this embodiment of the invention ensures full utilization of measurement data while possessing strong fault redundancy and data self-recovery capabilities. This provides accurate, stable, and safe wind speed input for subsequent start-up / stop logic, power regulation, and high-wind cut-off judgment. S3, calculate the instantaneous average value, short-term average value, and long-term average value of the control wind speed signal, and the instantaneous average value, short-term average value, and long-term average value of the redundant protection wind speed signal, respectively.

[0047] In this embodiment, step S3 is used to perform multi-time-scale processing on the control wind speed signal and the redundant protection wind speed signal obtained in step S2 to obtain instantaneous average value, short-time average value, and long-time average value, respectively. Through multi-scale averaging, measurement noise and jitter caused by gusts can be suppressed while ensuring fast response, thereby providing stable, usable, and time-consistent input for start-stop control, power regulation, and high wind protection.

[0048] In this embodiment of the application, the wind speed signal is controlled. Mainly used for start / stop and power control, and redundant protection of wind speed signals. Primarily used for high wind protection and cut-off determination. Considering the different dynamic requirements of the control loop, three types of average values ​​are calculated for each wind speed signal: instantaneous average (emphasizing speed), short-time average (balancing response and smoothness), and long-time average (emphasizing robustness and hysteresis), denoted as: instantaneous average value of the control wind speed signal. Short-term average and long-term average Instantaneous average value of redundant protection wind speed signal Short-term average and long-term average .

[0049] In one embodiment of this application, the sampling period can be set from 50ms to 200ms, preferably 100ms. The window lengths of the instantaneous averaging window, short-term averaging window, and long-term averaging window can be set through a parameter configuration file according to the turbine model, wind conditions, and site characteristics, and are not limited to fixed values. This invention does not impose specific limitations on these values.

[0050] Furthermore, in this embodiment, to avoid the impact of abnormal spikes on the average value calculation, a consistent preprocessing procedure is performed before entering each averaging stage, including but not limited to: amplitude limiting, missing measurement compensation, time alignment, and median filtering. Specifically: Limit: To and The instantaneous value is subject to a physically reasonable range constraint, such as truncation based on the upper and lower limits obtained from historical statistics or model calculations; a dynamic threshold method can also be used, such as based on the mean of short-term statistics ± 3 times the standard deviation.

[0051] Missing measurement compensation: When a single sampling point is missing or the timestamp is discontinuous, the last valid value is retained or linear interpolation is used; when the consecutive missing measurements exceed the preset time threshold, the segment is set to unavailable and an alarm count is triggered, but the normal update of the averager is not interrupted.

[0052] Time alignment: for data fused from different sensors and the result based on the maximum value strategy If there are time delay differences, in this embodiment of the application, they are mapped to a unified time axis by timestamp alignment, interpolation or extrapolation to ensure the temporal consistency of the average result.

[0053] Median filtering: For each time scale, a small window median filter (e.g., 5 or 7 points) is first performed on the sliding window to suppress isolated spikes before proceeding to the mean or exponential average calculation.

[0054] In this application's embodiments, instantaneous averaging emphasizes rapid response. It can be implemented using a small-window sliding mean or an equivalent first-order exponential weighting. In one embodiment of this application, and All implementations use EWMA to achieve lower computational latency; when the site prioritizes noise resistance over extreme speed, the small window averaging method can also be used.

[0055] In this embodiment, short-time averaging is used for power limiting, feedforward scheduling, and start-stop assistance, requiring a balance between response speed and noise suppression. In this embodiment, a moving average or a dual filter chain (moving average followed by the median of the small window) is preferred. For wind conditions with significant gusts, a double exponential filter structure can also be used to suppress the impact of periodic disturbances on the control loop. The output of the short-time average is denoted as... as well as .

[0056] In this embodiment, long-term averaging is used for start / stop determination and hysteresis design for handover / handover, emphasizing robustness and anti-jitter capability. In this embodiment, a long-window sliding average or a low-pass IIR structure is used. The long-term averaging window can be set to approximately 300 seconds, and a hold time and anti-jitter logic can be configured. For example, after the average value crosses a threshold, it must be held for more than a preset duration before triggering a state switch. The output of the long-term averaging is denoted as... as well as .

[0057] Through the multi-timescale averaging process in step S3 above, the stability and reliability of wind speed input can be significantly improved in this embodiment of the application, so that the start-stop control, power control and high wind protection links can still maintain good dynamic performance and safety redundancy under complex wind conditions and sensor uncertainties.

[0058] S4, execute unit start-up and shutdown control and power regulation according to the average value of the control wind speed signal, and trigger high wind protection and cut-off judgment logic according to the average value of the redundant protection wind speed signal.

[0059] In this embodiment, step S4 is used to incorporate the multi-timescale average wind speed obtained in step S3 into the unit start-up and shutdown control, power regulation, and high wind protection and cut-off determination logic, thereby achieving a closed loop from measurement fusion to control execution. By dividing the use of control wind speed signals and redundant protection wind speed signals at three time scales—instantaneous, short-term, and long-term—a unified approach of rapid response, stable control, and safety redundancy is achieved.

[0060] I. Start-stop control strategy.

[0061] In this embodiment, the unit start-up and shutdown control is used to control the long-term average value of the wind speed signal. The primary criterion is used in conjunction with short-term average values. As an auxiliary confirmation, a start / stop determination with hysteresis and hold time is constructed.

[0062] The trigger criterion is: when If the threshold is continuously exceeded and the duration is not less than the set startup hold time, the grid connection startup conditions are considered met; to avoid false startups, it can be required that... If the value exceeds the entry threshold or the entry threshold minus a small tolerance value within a short time window, the system will execute the grid connection startup process after the conditions are met. This process includes blade pitch preset, generator excitation preparation, and pre-grid connection synchronization checks.

[0063] The shutdown criterion is: when If the system remains below the exit threshold for an extended period of time and the duration of this period is not less than the shutdown hold time, it is deemed that economical operating conditions are not met, and an orderly shutdown procedure is executed. To prevent frequent start-stops, a hysteresis band exists between the entry and exit thresholds, and the start hold time and shutdown hold time can be configured to different values.

[0064] In addition, under special circumstances, when all sensors fail, resulting in the unavailability or insufficient reliability of the control wind speed signal, the start-stop logic enters a fail-safe mode, maintaining or executing a conservative state (such as power-limited operation or shutdown) until the wind speed measurement recovers to meet the minimum reliability conditions.

[0065] II. Power Regulation Strategy.

[0066] In this embodiment, the power regulation employs a feedforward and feedback cooperative control structure to control the instantaneous average value of the wind speed signal. and short-term average As the primary input, it enables rapid response to gusts and smooth tracking of short- to medium-term fluctuations. Specifically: First, based on the unit's power curve or aerodynamic model, Use the reference value mapped to the target power or target speed and pitch combination; to suppress over-adjustment caused by high-frequency noise, adjustments can be made before mapping. Apply a speed limiter or a small hysteresis.

[0067] Then, with As a steady-state reference, a PI controller or a wind speed-adaptive controller is used to perform closed-loop correction of the pitch angle and generator torque, thereby maintaining stable output power under gust and turbulent conditions. If necessary, anti-saturation and anti-integral saturation measures are introduced, and ramp rate and rate of change limits are imposed on the pitch and torque commands to avoid actuator impact.

[0068] Furthermore, embodiments of the present invention also set the rated upper limit of the unit and grid-side constraints for the target power, prioritizing safety and grid connection requirements when necessary. According to The changes in wind conditions are dynamically adjusted to improve the controllability and consistency of the mechanism when the wind conditions change abruptly.

[0069] In addition, embodiments of the present invention introduce a small dead zone and output hold time into the control loop to avoid back-and-forth adjustments near the boundary; and adaptively tune the feedforward gain and PI parameters based on historical errors, turbulence intensity and wind shear characteristics to improve adaptability under different wind fields and seasonal conditions.

[0070] III. Logic for Strong Wind Protection and Cut-off Judgment.

[0071] In this embodiment, the high wind protection and cut-off determination are based on the redundant protection wind speed signal, emphasizing the balance between rapid triggering and stable maintenance, and utilizing... , and Implement layered actions. Specifically: First, execute the quick trigger. Used for rapid wind identification and initial triggering. When When the cut-out threshold is exceeded and the duration reaches the brief confirmation time, the system enters the protection standby state. To avoid false triggering by single-point spikes, a small window median consistency check can be performed before entering the standby state.

[0072] After entering the preparation state, if If the temperature remains above the cut-out threshold and a brief confirmation period is reached, a cut-out or high wind protection action will be executed. Priorities include power limiting, increasing pitch angle, reducing speed, and, if necessary, disconnecting and shutting down the unit. Rate of change limits will continue to be applied to pitch and torque commands before and after the action is executed.

[0073] when When the power level drops below the cut-in threshold and the duration reaches the brief confirmation time, the system is allowed to exit the protection state and gradually restore power output. A hysteresis design with a cut-out threshold larger than the cut-in threshold is employed to prevent frequent switching near the boundary.

[0074] In addition, due to The weighted maximum value strategy derived from multiple sensors makes it difficult for single-channel anomalies to cause protection failure. For instantaneous false highs caused by suspected anomalies, this embodiment of the invention uses dual protection of instantaneous layer descrambling and short-time layer confirmation. Protection is maintained or deactivated only when both short-time and long-time layer conditions are met, thereby improving security and stability.

[0075] Through the coordinated design of start-stop control, power regulation, and high wind protection cut-off determination, this embodiment of the application utilizes the advantages of the division of labor between the control wind speed signal and the redundant protection wind speed signal at different time scales to achieve agile response to rapid changes in wind conditions, stable suppression of short- and medium-term fluctuations, and reliable protection against extreme wind conditions, thus balancing power generation efficiency and operational safety.

[0076] S5: When any sensor's operating status indicator is detected to be abnormal, switch to the remaining normal sensor combination to calculate control and protection signals, and simultaneously trigger the corresponding sensor fault alarm signal.

[0077] In this embodiment, step S5 is used to realize fault detection, channel switching, and alarm processing of the wind speed measurement system, so as to ensure that the unit can continue to operate stably even if some sensors fail or malfunction. By real-time monitoring of the operating status indicators of each sensor, the control system can automatically switch to the remaining normal sensor combination to continue calculating the control wind speed signal and the redundant protection wind speed signal after detecting an anomaly, and simultaneously trigger the corresponding fault alarm signal, thereby realizing the system's adaptive redundancy and safety protection.

[0078] In one embodiment of this application, the sensor status monitoring section of the wind turbine continuously monitors the operating status of the mechanical anemometer, ultrasonic anemometer, and forward-looking LiDAR. When the operating status indicator of any sensor changes from 1 to 0, it is determined that the sensor has malfunctioned or is abnormal, including but not limited to the following situations: signal loss, communication interruption, measurement drift exceeding limits, self-test failure, abnormal power consumption, or unreasonable output value. Once an abnormality is determined, the system immediately executes channel switching logic.

[0079] Specifically, when the mechanical anemometer in the cabin malfunctions or is damaged, its corresponding status indicator... Set to 0, and the control system will automatically exclude it. The channel retains only the signals from the ultrasonic anemometer and lidar for fusion calculation, and recalculates the control wind speed signal. and redundant protection wind speed signal This ensures the continuity of start-stop control, power regulation, and high-wind protection functions. Simultaneously, the system outputs a "unit anemometer malfunction" alarm signal through the control module and records the fault information to the unit log and remote monitoring platform for maintenance personnel to locate and repair.

[0080] In another embodiment, when the lidar malfunctions, its corresponding status indicator... Set to 0, the system excludes The channel retains data from both mechanical and ultrasonic anemometers for control and protection calculations. At this time, the control wind speed signal... With redundant protection wind speed signal All calculations are based solely on the normal channel to ensure the continuity and reliability of wind speed input. Simultaneously, the system generates a "unit lidar fault" alarm signal and stores information such as alarm time, duration, and recovery status for subsequent maintenance analysis.

[0081] In this embodiment, if two sensor failures are detected simultaneously, the system automatically degrades to a minimum operating state with only one normal channel maintained, and executes safety constraint logic, such as power limiting or speed limiting. In this state, both control and protection signals originate from the output of a single sensor. The system reduces the risk of single-channel measurement errors by increasing time smoothing and protection redundancy thresholds. If all three channels are detected to be abnormal, the system immediately enters fail-safe mode, triggering an emergency shutdown command or power-limited operation, and sends a high-level alarm, "Wind speed measurement system failure," to the upper-level monitoring system.

[0082] In this embodiment, to avoid erroneous handovers caused by momentary communication jitter or short-term anomalies, the system can set a fault confirmation delay threshold. A fault is confirmed and a handover is executed only when the operating status flag of a sensor remains at 0 for more than the delay threshold (e.g., 5 seconds). If the status briefly recovers, it is considered temporary interference and no handover is triggered. For recovered sensors, once their status flag stabilizes at 1 and remains so for a certain period, the system can automatically re-include them in the fusion calculation, achieving self-recovery.

[0083] Furthermore, in a further embodiment of this application, the system can manage alarm levels of different sensors in a hierarchical manner. For example, a mechanical anemometer fault can be defined as a "major alarm," and a lidar fault as a "minor alarm," so that different response strategies can be adopted under different maintenance levels. Alarm signals are not only displayed on the local controller but can also be uploaded to a remote monitoring system via a communication network, enabling centralized monitoring and maintenance early warning.

[0084] Through the above design, in this embodiment of the application, when any one or more wind speed sensors malfunction, the system can automatically switch to the remaining normal channels to calculate the control wind speed and the redundant protection wind speed, and issue a corresponding fault alarm signal. This method ensures the operational safety and control continuity of the wind turbine in the event of sensor failure, improves the system's redundancy and fault resistance, and significantly reduces the risk of downtime caused by single-point failure.

[0085] It should be noted that, in the embodiments of the present invention, the operating status identifier of each sensor can be a digital quantity uploaded or fed back by each sensor through communication, or it can be a feedback signal of abnormality of each sub-unit such as power supply, lightning protection, heating, etc. in the sensor.

[0086] Furthermore, the redundant control and redundant protection design in this embodiment of the invention can also select at least two sensors to operate simultaneously, based on the unit design requirements and operating environment; otherwise, the unit will issue a wind speed sensor fault and shut down. Figure 4 and Figure 5 As shown, the present invention will not repeat the description.

[0087] To achieve the above embodiments, the present invention also proposes a redundant control device for wind turbine generators equipped with lidar. Figure 6 This is a schematic diagram of a redundant control device for a wind turbine equipped with a lidar, provided as an embodiment of the present invention. Figure 6 As shown, the device includes: The data acquisition module 100 is used to monitor the operating status of the cabin mechanical anemometer, ultrasonic anemometer and forward-looking scanning lidar in real time, and to acquire the corresponding operating status identifiers of each sensor. The first calculation module 200 is used to dynamically select a normally operating sensor combination based on the operating status identifier, perform multi-source data fusion calculation on the wind speed signals of the selected sensors, and generate the current control wind speed signal and the redundant protection wind speed signal. The second calculation module 300 is used to calculate the instantaneous average value, short-time average value and long-time average value of the control wind speed signal, as well as the instantaneous average value, short-time average value and long-time average value of the redundant protection wind speed signal. The protection and judgment module 400 is used to perform unit start-up and shutdown control and power regulation based on the average value of the control wind speed signal, and to trigger strong wind protection and cut-off judgment logic based on the average value of the redundant protection wind speed signal. The alarm module 500 is used to switch to the remaining normal sensor combination to calculate control and protection signals when any sensor's operating status indicator is detected to be abnormal, and to simultaneously trigger the corresponding sensor fault alarm signal.

[0088] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0089] To implement the above embodiments, the present invention also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method provided in the foregoing embodiments.

[0090] To implement the above embodiments, the present invention also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods provided in the foregoing embodiments.

[0091] To implement the above embodiments, the present invention also proposes a computer program product, including a computer program that, when executed by a processor, implements the methods provided in the foregoing embodiments.

[0092] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in this invention all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0093] It should be noted that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. Furthermore, such collection / sharing should only be conducted after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes authorization of relevant user information before the user uses the function. In addition, any necessary steps must be taken to protect and safeguard access to such personal information data and ensure that others with access to personal information data comply with their privacy policies and procedures.

[0094] This invention is intended to provide implementation schemes for users to selectively prevent the use or access to personal information data. That is, this disclosure is intended to provide hardware and / or software to prevent or block access to such personal information data. Once personal information data is no longer needed, risks can be minimized by restricting data collection and deleting data. Furthermore, where applicable, such personal information can be de-identified to protect user privacy.

[0095] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0097] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0098] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0099] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0100] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0101] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0102] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0103] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0104] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A redundancy control method for wind turbine generators equipped with lidar, characterized in that, Includes the following steps: S1 monitors the real-time operating status of the cabin's mechanical anemometer, ultrasonic anemometer, and forward-looking LiDAR, acquiring the corresponding operating status indicators for each sensor, including: Data is collected using a mechanical anemometer, an ultrasonic anemometer, and a forward-looking lidar installed on the top of the unit. The mechanical anemometer senses airflow speed through a rotating cup or impeller structure and outputs a voltage signal proportional to the wind speed. The ultrasonic anemometer measures wind speed and direction by measuring the time difference of ultrasonic waves in the air and also outputs corresponding voltage or digital signals. The forward-looking lidar measures the scattering of air particles at different distances and heights in front of it using laser pulses, thereby obtaining wind speed data at multiple measurement points. The system receives the output signals from both the mechanical and ultrasonic anemometers and converts them into corresponding wind speed signals, which are denoted as mechanical wind speed signals. and ultrasonic wind speed signal The lidar measurement results are transmitted to the control system as communication data, and the data analysis program converts them into wind speed signals at different distances and heights ahead. ; The operational status of the mechanical anemometer, ultrasonic anemometer, and forward-looking lidar in the cabin is monitored in real time. Based on equipment self-test signals, communication feedback, power status, or signal continuity detection, operational status indicators for the mechanical anemometer are generated. Ultrasonic anemometer operating status indicator and lidar operating status indicators When the equipment is running normally, its corresponding status flag is set to 1; when the equipment malfunctions, has communication problems, signal interruption, or self-test failure, the status flag is set to 0. S2, based on the operating status identifier, dynamically select the normally operating sensor combination, perform multi-source data fusion calculation on the wind speed signals of the selected sensors, and generate the current control wind speed signal and the redundant protection wind speed signal. The current control wind speed signal is obtained through the following process: According to mechanical wind speed signal Ultrasonic wind speed signal LiDAR wind speed signal and the operating status indicator of the mechanical anemometer Ultrasonic anemometer operating status indicator LiDAR operating status indicator The current control wind speed signal is calculated comprehensively. , is represented as: ； in, As a fusion function, different calculation methods can be adopted according to actual needs; Current control wind speed signal Calculated using the average or root mean square value, and expressed as: or, in, To control wind speed signals; The redundant protection wind speed signal is obtained through the following process: According to mechanical wind speed signal Ultrasonic wind speed signal LiDAR wind speed signal and the operating status indicator of the mechanical anemometer Ultrasonic anemometer operating status indicator LiDAR operating status indicator The unit's redundant protection wind speed signal was calculated comprehensively. , is represented as: in, It is obtained by taking the maximum weighted value from the valid wind speed signals; S3, calculate the instantaneous average value, short-term average value, and long-term average value of the control wind speed signal, and the instantaneous average value, short-term average value, and long-term average value of the redundant protection wind speed signal, respectively; S4, execute unit start-up and shutdown control and power regulation according to the average value of the control wind speed signal, and trigger strong wind protection and cut-off judgment logic according to the average value of the redundant protection wind speed signal; S5: When any sensor's operating status indicator is detected to be abnormal, switch to the remaining normal sensor combination to calculate control and protection signals, and simultaneously trigger the corresponding sensor fault alarm signal.

2. The method according to claim 1, characterized in that, Also includes: A consistent preprocessing procedure is performed before each averaging stage. The preprocessing procedure includes amplitude limiting, missing measurement compensation, time alignment, and median filtering.

3. A redundant control device for a wind turbine equipped with lidar, characterized in that, The apparatus implements the method as described in claim 1, the apparatus comprising: The data acquisition module is used to monitor the operating status of the cabin mechanical anemometer, ultrasonic anemometer and forward-looking scanning lidar in real time, and to acquire the corresponding operating status identifiers of each sensor. The first calculation module is used to dynamically select the normally operating sensor combination based on the operating status identifier, perform multi-source data fusion calculation on the wind speed signals of the selected sensors, and generate the current control wind speed signal and the redundant protection wind speed signal. The second calculation module is used to calculate the instantaneous average value, short-time average value, and long-time average value of the control wind speed signal, as well as the instantaneous average value, short-time average value, and long-time average value of the redundant protection wind speed signal. The protection and judgment module is used to perform unit start-up and shutdown control and power regulation based on the average value of the control wind speed signal, and to trigger high wind protection and cut-off judgment logic based on the average value of the redundant protection wind speed signal. The alarm module is used to switch to the remaining normal sensor combination to calculate control and protection signals when any abnormal sensor operating status is detected, and to trigger the corresponding sensor fault alarm signal simultaneously.

4. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-2.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-2.

6. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-2.

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