Method and device for suppressing multi-modal vibrations of a tower

Abstract

The application relates to the technical field of wind power generation, in particular to a tower vibration suppression method and device, wherein the method comprises the following steps: constructing a vibration second-order dynamic model for describing a tower vibration state, determining a tower vibration influencing factor according to the vibration second-order dynamic model, determining a unified variable pitch loop control component and an independent variable pitch loop control component for suppressing tower vibration and superimposing the two components to generate a total variable pitch loop control quantity, controlling a target wind turbine to execute a variable pitch control instruction corresponding to the total variable pitch loop control quantity, adjusting an actual pitch angle of the target wind turbine to a total pitch angle corresponding to the superposition, and suppressing the tower vibration state to meet a target requirement. The application can effectively suppress the tower first-order natural frequency component in the front and rear vibration of the tower and the low-frequency vibration component synchronized with the wind wheel rotation frequency, and realizes power tracking and vibration suppression of the front and rear directions of the tower.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and in particular to a method and apparatus for suppressing multimodal vibration of a tower. Background Technology

[0002] In related technologies, in order to improve the wind turbine's ability to capture wind energy, the single unit capacity of wind turbines is constantly increasing, the height of the tower is increasing accordingly, and the flexibility is also increasing, which exacerbates the intensity of the tower's front and rear vibration.

[0003] However, there is a lack of effective methods for suppressing tower vibration in related technologies. Tower vibration increases the fatigue load on the tower and its components, and may even reduce its service life, leading to accidents such as wind turbine collapse. This issue urgently needs to be addressed. Summary of the Invention

[0004] This application provides a method and apparatus for suppressing multimodal vibration of a tower, in order to solve the problem that there is a lack of effective methods for suppressing tower vibration in related technologies. Tower vibration increases the fatigue load on the tower and its components, and may even reduce its service life, thereby leading to accidents such as wind turbine collapse.

[0005] The first aspect of this application provides a method for suppressing multimodal vibration of a wind turbine tower, comprising the following steps: based on the stress analysis results of the tower of a target wind turbine, constructing a second-order dynamic model of vibration to describe the vibration state of the tower, and determining the vibration influencing factors of the tower according to the second-order dynamic model of vibration; based on the vibration influencing factors, determining a unified pitch loop control component and an independent pitch loop control component for suppressing the vibration of the tower; superimposing the unified pitch loop control component and the independent pitch loop control component to generate a total pitch loop control quantity, and controlling the target wind turbine to execute the pitch control command corresponding to the total pitch loop control quantity, adjusting the actual pitch angle of the target wind turbine to the total pitch angle corresponding to the pitch control command, so as to suppress the vibration state of the tower to meet the target requirements.

[0006] Optionally, in one embodiment of this application, determining the vibration influencing factors of the tower based on the second-order dynamic model of vibration includes: determining the structural damping influencing factors, axial force influencing factors, and overturning moment influencing factors of the tower in the forward and backward directions based on the second-order dynamic model of vibration; and determining the vibration influencing factors by combining the structural damping influencing factors, the axial force influencing factors, and the overturning moment influencing factors.

[0007] Optionally, in one embodiment of this application, determining the unified pitch loop control component and independent pitch loop control component for suppressing the tower vibration based on the vibration influencing factors includes: obtaining a reference pitch angle value for tracking the generator speed of the target wind turbine based on the target generator speed value and the measured generator speed value of the target wind turbine, and solving for the current aerodynamic thrust of the target wind turbine based on the reference pitch angle value; calculating the equivalent aerodynamic thrust for increasing the equivalent damping of the tower based on the current aerodynamic thrust, so as to determine the unified pitch angle value for suppressing the first-order natural frequency component of the tower based on the pitch angle value corresponding to the equivalent aerodynamic thrust; and determining the unified pitch loop control component for suppressing the tower vibration based on the unified pitch angle value.

[0008] Optionally, in one embodiment of this application, determining the unified pitch loop control component and independent pitch loop control component for suppressing the tower vibration based on the vibration influencing factors includes: converting the bending moment load at the blade root in the flapping direction of the target wind turbine in the blade root rotation coordinate system into overturning moment and yaw moment in the hub fixed coordinate system based on the vibration influencing factors; extracting the low-frequency vibration component synchronized with the rotor rotation frequency in the target wind turbine based on the overturning moment and yaw moment in the hub fixed coordinate system, and generating the additional pitch angle of the target wind turbine; calculating the independent pitch angle for suppressing the excitation source based on the additional pitch angle, so as to determine the independent pitch loop control component for suppressing the low-frequency vibration component synchronized with the rotor rotation frequency based on the independent pitch angle.

[0009] Optionally, in one embodiment of this application, the expression for the second-order dynamic model of vibration is:

[0010]

[0011] in, These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the wind turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the wind turbine speed. Indicates the paddle angle. This indicates the effective wind speed of the wind turbine.

[0012] Optionally, in one embodiment of this application, the expression for the nonlinear model of the target wind turbine is:

[0013]

[0014]

[0015]

[0016] in, It is the equivalent moment of inertia. Indicates the wind turbine speed. Indicates the rate of change of wind turbine speed. and These represent the pneumatic torque and the generator electromagnetic torque, respectively. Indicates the gear ratio of the gearbox. These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the wind turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the paddle angle. Indicates the effective wind speed of the wind turbine. This represents the time constant of the pitch actuator. This indicates the output command value of the pitch controller. This represents the rate of change of the propeller angle.

[0017] A second aspect of this application provides a multimodal vibration suppression device for a tower, comprising: a construction module, configured to construct a second-order dynamic model of vibration describing the vibration state of the tower based on the stress analysis results of the tower of a target wind turbine, so as to determine the vibration influencing factors of the tower according to the second-order dynamic model of vibration; a determination module, configured to determine a unified pitch loop control component and an independent pitch loop control component for suppressing the vibration of the tower based on the vibration influencing factors; and a suppression module, configured to superimpose the unified pitch loop control component and the independent pitch loop control component to generate a total pitch loop control quantity, and control the target wind turbine to execute the pitch control command corresponding to the total pitch loop control quantity, adjusting the actual pitch angle of the target wind turbine to the total pitch angle corresponding to the pitch control command, so as to suppress the vibration state of the tower to meet the target requirements.

[0018] Optionally, in one embodiment of this application, the construction module includes: a first determining unit, configured to determine the structural damping influencing factors, axial force influencing factors, and overturning moment influencing factors of the tower vibration in the forward and backward directions based on the second-order dynamic model of vibration; and a second determining unit, configured to determine the vibration influencing factors by combining the structural damping influencing factors, the axial force influencing factors, and the overturning moment influencing factors.

[0019] Optionally, in one embodiment of this application, the suppression module includes: a solving unit, configured to obtain a reference blade angle value for tracking the generator speed of the target wind turbine based on the target value of the generator speed and the measured value of the generator speed of the target wind turbine, and to solve for the current aerodynamic thrust of the target wind turbine based on the reference blade angle value; a calculation unit, configured to calculate the equivalent aerodynamic thrust for increasing the equivalent damping of the tower based on the current aerodynamic thrust, so as to determine a unified blade angle value for suppressing the first-order natural frequency component of the tower based on the blade angle value corresponding to the equivalent aerodynamic thrust; and a third determining unit, configured to determine a unified pitch loop control component for suppressing the vibration of the tower based on the unified blade angle value.

[0020] Optionally, in one embodiment of this application, the suppression module includes: a conversion unit, configured to convert the bending moment load at the blade root in the flapping direction of the target wind turbine in the blade root rotation coordinate system into overturning moment and yaw moment in the hub fixed coordinate system based on the vibration influencing factors; an extraction unit, configured to extract the low-frequency vibration component synchronized with the wind turbine rotation frequency in the target wind turbine based on the overturning moment and yaw moment in the hub fixed coordinate system, and generate an additional pitch angle of the target wind turbine; and a fourth determination unit, configured to calculate an independent pitch angle for suppressing the excitation source based on the additional pitch angle, and to determine the independent pitch loop control component for suppressing the low-frequency vibration component synchronized with the wind turbine rotation frequency based on the independent pitch angle.

[0021] Optionally, in one embodiment of this application, the expression for the second-order dynamic model of vibration is:

[0022]

[0023] in, These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the wind turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the wind turbine speed. Indicates the paddle angle. This indicates the effective wind speed of the wind turbine.

[0024] Optionally, in one embodiment of this application, the expression for the nonlinear model of the target wind turbine is:

[0025]

[0026]

[0027]

[0028] in, It is the equivalent moment of inertia. Indicates the wind turbine speed. Indicates the rate of change of wind turbine speed. and These represent the pneumatic torque and the generator electromagnetic torque, respectively. Indicates the gear ratio of the gearbox. These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the wind turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the paddle angle. Indicates the effective wind speed of the wind turbine. This represents the time constant of the pitch actuator. This indicates the output command value of the pitch controller. This represents the rate of change of the propeller angle.

[0029] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the multimodal vibration suppression method for towers as described in the above embodiments.

[0030] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for suppressing multimodal vibrations of a tower.

[0031] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, is used to implement the multimodal vibration suppression method for towers as described above.

[0032] Additional aspects and advantages of this application 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 this application.

[0033] The embodiments of this application can construct a second-order dynamic model of vibration to describe the vibration state of the tower, thereby obtaining the vibration influencing factors of the tower, and thus determining the unified pitch loop control component and the independent pitch loop control component used to suppress the tower vibration and superimposing them, adjusting the actual pitch angle of the target wind turbine to the total pitch angle corresponding to the superposition, so as to suppress the vibration state of the tower to meet certain requirements. Therefore, this invention constructs a second-order dynamic model of tower vibration by considering the forward and backward vibration states of the tower, and then establishes a nonlinear model of the wind turbine considering the forward and backward vibration of the tower. This model can effectively analyze the factors affecting tower vibration. Based on these factors, this application can suppress the first-order natural frequency component of the tower and the 1p frequency component of the wind turbine rotor in the forward and backward vibration of the tower by setting a unified pitch circuit and an independent pitch circuit, respectively. This can suppress the forward and backward vibration of the tower while effectively tracking the power of the wind turbine, which helps to reduce the operation and maintenance costs of the wind turbine and extend its service life. Moreover, only a single nonlinear controller needs to be designed to achieve effective control of the entire wind speed operating range, making the controller design simpler and more efficient. This lays a solid theoretical foundation for the suppression of multiple forward and backward vibration modes of the tower, facilitating engineering applications. This solves the problem of the lack of effective methods for tower vibration suppression in related technologies. Tower vibration increases the fatigue load on the tower and its components, and may even reduce its service life, leading to accidents such as wind turbine collapse. Attached Figure Description

[0034] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0035] Figure 1 This is a flowchart of a multimodal vibration suppression method for a tower according to an embodiment of this application;

[0036] Figure 2 This is a schematic diagram illustrating the control principle of a tower front and rear vibration damping method according to an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the structure of the multimodal vibration suppression device for towers provided according to an embodiment of this application;

[0038] Figure 4This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application.

[0039] Figure label:

[0040] 10 - Multimodal vibration suppression device for tower; 100 - Building module, 200 - Determining module and 300 - Suppression module; 401 - Memory, 402 - Processor and 403 - Communication interface. Detailed Implementation

[0041] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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 this application, and should not be construed as limiting this application.

[0042] The following describes a method and apparatus for suppressing multimodal vibration of a wind turbine tower according to embodiments of this application, with reference to the accompanying drawings. Addressing the lack of effective methods for suppressing tower vibration in the related technologies mentioned in the background section, which increases the fatigue load on the tower and its components and may even reduce its service life, potentially leading to accidents such as wind turbine collapse, this application provides a method for suppressing multimodal vibration of a wind turbine tower. In this method, a second-order dynamic model describing the tower's vibration state can be constructed to obtain the factors influencing the tower's vibration. This allows for the determination and superposition of a unified pitch loop control component and independent pitch loop control components used to suppress tower vibration. The actual pitch angle of the target wind turbine is then adjusted to the corresponding total pitch angle after superposition, thereby suppressing the tower's vibration state to meet certain requirements. Therefore, this invention constructs a second-order dynamic model of tower vibration by considering the forward and backward vibration states of the tower, and then establishes a nonlinear model of the wind turbine considering the forward and backward vibration of the tower. This model can effectively analyze the factors affecting tower vibration. Based on these factors, this application can suppress the first-order natural frequency component of the tower and the 1p frequency component of the wind turbine rotor in the forward and backward vibration of the tower by setting a unified pitch circuit and an independent pitch circuit, respectively. This can suppress the forward and backward vibration of the tower while effectively tracking the power of the wind turbine, which helps to reduce the operation and maintenance costs of the wind turbine and extend its service life. Moreover, only a single nonlinear controller needs to be designed to achieve effective control of the entire wind speed operating range, making the controller design simpler and more efficient. This lays a solid theoretical foundation for the suppression of multiple forward and backward vibration modes of the tower, facilitating engineering applications. This solves the problem of the lack of effective methods for tower vibration suppression in related technologies. Tower vibration increases the fatigue load on the tower and its components, and may even reduce its service life, leading to accidents such as wind turbine collapse.

[0043] Specifically, Figure 1This is a flowchart illustrating a method for suppressing multimodal vibration of a tower, as provided in an embodiment of this application.

[0044] like Figure 1 As shown, the multimodal vibration suppression method for this tower includes the following steps:

[0045] Step S101: Based on the stress analysis results of the target wind turbine tower, construct a second-order dynamic vibration model to describe the vibration state of the tower, so as to determine the vibration influencing factors of the tower according to the second-order dynamic vibration model.

[0046] It is understandable that the target wind turbine unit here can be understood as the specific wind turbine unit whose tower vibration needs to be suppressed. The tower vibration state here can be understood as the vibration situation in the tower in the front-to-back direction.

[0047] In some embodiments, this application can perform stress analysis on the tower of a certain wind turbine, and construct a second-order dynamic vibration model to describe the vibration state of the tower in the forward and backward directions based on the stress analysis results.

[0048] In the stress analysis of the tower, the embodiments of this application may, but are not limited to, regard the vibration of the tower in the front-back direction as a tower front-back vibration system, and simplify the tower front-back vibration system into a cantilever beam model, thereby constructing a second-order dynamic model of vibration (hereinafter referred to as the tower front-back vibration second-order dynamic model) to describe the vibration state of the tower in the front-back direction. This model may, but is not limited to, be represented as follows:

[0049]

[0050] in, These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the wind turbine speed. Indicates the paddle angle. This indicates the effective wind speed of the wind turbine.

[0051] in, The calculation method can be, but is not limited to, expressed as follows:

[0052]

[0053]

[0054]

[0055] in, ， ， ， These refer to the masses of the tower, nacelle, hub, and blades, respectively. Indicates the structural damping ratio of the tower. This represents the natural frequency of the tower's front-to-back vibration.

[0056] From the formula It can be seen that during operation, the tower bears the axial force exerted by the wind turbine on the center of the wind turbine hub. And the overturning moment caused by the imbalance of the wind turbine. Therefore, the factors affecting the vibration of the tower in the front and rear directions include, but are not limited to, structural damping, the axial force exerted by the wind turbine on the center of the wind turbine hub, and the overturning moment generated by the imbalance of the wind turbine.

[0057] Furthermore, in order to determine other influencing factors that may affect the forward and backward vibration of the wind turbine tower, embodiments of this application may, but are not limited to, construct a nonlinear model of the wind turbine tower based on the constructed second-order dynamic model of the forward and backward vibration of the tower, thereby determining the vibration influencing factors of the tower based on the nonlinear model of the wind turbine tower.

[0058] For example, based on the structural characteristics of wind turbines, the nonlinear model of the wind turbine in this application includes, but is not limited to, a first-order dynamic model of the drive shaft, a second-order dynamic model of the tower's forward and backward vibrations, and a dynamic model of the pitch actuator, corresponding to the main structures of the wind turbine: the drive system, the tower, and the pitch angle control system, respectively. The control input of the wind turbine is the pitch angle. The disturbance input is the effective wind speed of the wind turbine. The output of a wind turbine system includes the generator speed. and cabin acceleration In the embodiments of this application, they are all considered to be directly measurable.

[0059] Here, the first-order dynamic model of the drive shaft can be understood as a first-order dynamic model used to describe the wind turbine drive system, and can be represented, but is not limited to, as follows:

[0060]

[0061] in, Indicates the wind turbine speed. and These represent the pneumatic torque and the generator electromagnetic torque, respectively. Indicates the displacement at the top of the tower. Indicates the paddle angle. Indicates the effective wind speed of the wind turbine. Indicates the gear ratio of the gearbox; The cabin speed signal can be, but is not limited to, cabin acceleration. The cabin acceleration was obtained through integration and other technical means. It can be directly measured; the embodiments in this application are only illustrative and do not impose specific limitations; equivalent moment of inertia The moment of inertia is the rotation of the hub, blades, and generator. 、 、 The sum can be expressed, but is not limited to, as follows:

[0062] .

[0063] Furthermore, in the embodiments of this application, the dynamic model of the variable pitch actuator can be, but is not limited to, equivalent to a first-order inertial element, and can be modeled as follows:

[0064]

[0065] in, This represents the time constant of the pitch actuator. This indicates the output command value of the pitch controller. This represents the rate of change of the propeller angle.

[0066] Therefore, the simplified nonlinear model of the wind turbine can be expressed, but is not limited to, as follows:

[0067]

[0068]

[0069]

[0070] It should be noted that the nonlinearity of the wind turbine model is mainly reflected in the expressions for aerodynamic thrust and aerodynamic torque:

[0071]

[0072]

[0073] in, Indicates air density, Indicates the radius of the wind turbine. This indicates the relative wind speed after taking into account the effects of the tower's forward and backward vibrations. and These represent the aerodynamic torque coefficient and the aerodynamic thrust coefficient, respectively, both of which are... and , a non-affine nonlinear function. The tip speed ratio can be expressed, but is not limited to, as follows:

[0074]

[0075] As can be seen from the nonlinear model of the wind turbine, the wind turbine is actually a very complex nonlinear system, and the time scale differences between the tower front and rear vibration system, the drive shaft system, and the pitch actuator system are very large. Therefore, in the actual analysis of the tower front and rear vibration in this application embodiment, the second-order dynamic model of the tower front and rear vibration can be mainly targeted.

[0076] Optionally, in one embodiment of this application, determining the vibration influencing factors of the tower based on the second-order dynamic model of vibration includes: determining the structural damping influencing factors, axial force influencing factors, and overturning moment influencing factors of the tower vibration in the front-back direction based on the second-order dynamic model of vibration; and determining the vibration influencing factors by combining the structural damping influencing factors, axial force influencing factors, and overturning moment influencing factors.

[0077] Based on the nonlinear model of the wind turbine and the second-order dynamic model of the tower's forward and backward vibrations, it can be seen that the tower's forward and backward vibrations are affected by structural damping. and the excitation source (axial force) and overturning moment The impact of ).

[0078] When the excitation source is the same, the smaller the structural damping of the tower, the more violent the tower vibrates back and forth; when the structural damping of the tower is the same, the larger the amplitude of the excitation source, the more violent the tower vibrates back and forth.

[0079] Therefore, the factors affecting tower vibration include, but are not limited to, structural damping factors and excitation source factors. Among these, the excitation source factors include axial force. Influencing factors and overturning moment Influencing factors. When subsequently suppressing the vibration of the tower in the front-to-back direction, the embodiments of this application can be implemented based on the influencing factors of the tower's vibration.

[0080] Step S102: Based on vibration influencing factors, determine the unified pitch loop control component and the independent pitch loop control component used to suppress tower vibration.

[0081] Based on the descriptions in other embodiments, it is understood that the factors affecting the tower's vibration include, but are not limited to, structural damping factors and excitation source factors (axial force). and overturning moment ).

[0082] In some embodiments, after obtaining the vibration influencing factors of the tower, this application can, but is not limited to, suppressing the vibration of the tower by increasing the structural damping of the tower (enhancing...). Suppressing the excitation source (suppressing axial force) and overturning moment It can be expanded from two aspects.

[0083] Considering that the control input of wind turbine units is generally the pitch angle, the embodiments of this application may, but are not limited to, convert both the structural damping of the tower and the suppression of the excitation source into corresponding pitch angle control, and determine the unified pitch loop control component for improving the structural damping of the tower and the independent pitch loop control component for suppressing the excitation source, both of which are essentially pitch angle control quantities.

[0084] Among them, the unified pitch circuit corresponding to the unified pitch circuit control component can be used to track the engine speed of the wind turbine, thereby improving the equivalent damping of the tower front and rear vibration system at the first natural frequency of the tower, thus suppressing the first natural frequency component of the tower and improving the structural damping of the tower.

[0085] The independent pitch circuit corresponding to the independent pitch circuit control component can be used to suppress the excitation source, thereby suppressing the 1p vibration component of the wind turbine rotor (the low-frequency vibration component synchronized with the wind turbine rotation frequency), thus achieving the effect of suppressing tower vibration.

[0086] Step S103: Superimpose the unified pitch loop control component and the independent pitch loop control component to generate the total pitch loop control quantity, and control the target wind turbine to execute the pitch control command corresponding to the total pitch loop control quantity, so as to adjust the actual pitch angle of the target wind turbine to the total pitch angle corresponding to the pitch control command, so as to suppress the vibration state of the tower to meet the target requirements.

[0087] In actual implementation, the control input of the wind turbine is a pitch angle control quantity. Therefore, after obtaining the unified pitch loop control component used to improve the structural damping of the tower and the independent pitch loop control component used to suppress the excitation source, this application can superimpose the two to obtain the final total pitch loop control quantity input to the wind turbine, that is, the total pitch angle control quantity.

[0088] According to the pitch control command corresponding to the total pitch angle control value, the wind turbine can adjust its actual pitch angle to the total pitch angle corresponding to the pitch control command (corresponding to the total pitch angle control value) until the front and rear vibration state of the tower meets the target requirements.

[0089] Here, the target requirement can be understood as the lowest tower vibration state that the wind turbine can achieve after adjusting the actual pitch angle according to the pitch control command corresponding to the total pitch angle control quantity.

[0090] Optionally, in one embodiment of this application, determining the unified pitch loop control component and the independent pitch loop control component for suppressing tower vibration based on vibration influencing factors includes: obtaining a reference pitch angle value for tracking the generator speed of the target wind turbine based on the target value of the generator speed and the measured value of the generator speed of the target wind turbine, and solving for the current aerodynamic thrust of the target wind turbine based on the reference pitch angle value; calculating the equivalent aerodynamic thrust for increasing the equivalent damping of the tower based on the current aerodynamic thrust, so as to determine the unified pitch angle value for suppressing the first-order natural frequency component of the tower based on the pitch angle value corresponding to the equivalent aerodynamic thrust; and determining the unified pitch loop control component for suppressing tower vibration based on the unified pitch angle value.

[0091] In some embodiments, when determining the unified pitch loop control component for suppressing the forward and backward vibration of the tower based on vibration influencing factors, the input data is mainly the nacelle speed of the target wind turbine. With generator speed The output is a uniform pitch angle. (Unified pitch loop control components).

[0092] Specifically, the unified pitch circuit corresponding to the unified pitch circuit control component may consist of, but is not limited to, two parts: the first part is used to track the speed of the wind turbine, and the second part is used to suppress the first-order natural frequency component of the tower.

[0093] Figure 2 This is a schematic diagram illustrating the control principle of a tower front and rear vibration damping method according to an embodiment of this application. Figure 2 As shown, for the first part, this application can first determine the reference blade angle value used to track the generator speed of the wind turbine, and then solve the current aerodynamic thrust of the target wind turbine based on the reference blade angle value.

[0094] For example, this application may first calculate the target value of the generator speed of the wind turbine. Compared with the current actual measurement value The speed difference between them, and the corresponding speed error signal. Inputting the pitch PI control circuit yields the reference pitch angle value used to track the wind turbine generator speed. Among them, the target value of generator speed. This can be understood as the optimal generator speed (ideal generator speed) of the wind turbine under the current operating state. It can be calculated using existing calculation methods, but is not limited to this. The embodiments in this application are only illustrative and are not specifically limited.

[0095] Furthermore, the reference propeller angle value Combined with tip speed ratio And the relative wind speed after considering the impact of tower front and rear vibration. Substitute into the formula The corresponding forward system of the wind turbine can be used to calculate the current aerodynamic thrust of the wind turbine. .

[0096] Regarding the second part, the embodiments of this application can be based on the current aerodynamic thrust of the wind turbine. The equivalent aerodynamic thrust used to increase the equivalent damping of the tower is calculated, and then the uniform blade angle used to suppress the first-order natural frequency component of the tower is determined based on the blade angle value corresponding to the equivalent aerodynamic thrust.

[0097] In simple terms, the reference blade angle for controlling the speed can be obtained based on the difference between the target value and the measured value (actual speed) of the wind turbine generator. Based on the reference propeller angle value Find the current aerodynamic thrust of the wind turbine. The next step is to change the equivalent aerodynamic thrust of the wind turbine's forward system, which can effectively increase the equivalent structural damping corresponding to the first mode of the tower, thereby suppressing the vibration of the first mode of the tower.

[0098] The relationship between the equivalent aerodynamic thrust of the wind turbine's forward system before and after adding the equivalent structural damping corresponding to the first-order mode of the tower can be expressed, but is not limited to, as follows:

[0099]

[0100] in, This represents the total aerodynamic thrust after drag is applied. The additional aerodynamic thrust used to increase the first-order modal equivalent structural damping of the tower can be, but is not limited to, expressed as follows:

[0101]

[0102] in, Typically, the nacelle velocity contains only the first-order natural vibration frequency component of the tower, and can be obtained through filtering methods such as bandpass filters and notch filters; the equivalent damping coefficient added to the tower system. By utilizing the generator speed of the wind turbine at different operating points... With cabin speed Obtain the data through offline calculations.

[0103] The equivalent aerodynamic thrust of the tower system after drag is obtained Afterwards, Input fan reverse system This allows us to determine the rotor angle value corresponding to the equivalent aerodynamic thrust at this point. This refers to the uniform pitch angle value used to suppress the first-order natural frequency component of the tower, which is the uniform pitch loop control component in the embodiments of this application.

[0104] in, nonlinear function The inverse function of can be, but is not limited to, expressed as follows:

[0105]

[0106] In summary, substituting the current nacelle speed of the wind turbine into... That is, the equivalent aerodynamic thrust of the system can be obtained. ,Will Input fan reverse system This allows us to determine the rotor angle value corresponding to the equivalent aerodynamic thrust at this point. .

[0107] Optionally, in one embodiment of this application, determining the unified pitch loop control component and independent pitch loop control component for suppressing tower vibration based on vibration influencing factors includes: converting the bending moment load at the blade root in the flapping direction of the target wind turbine in the blade root rotating coordinate system into overturning moment and yaw moment in the hub fixed coordinate system based on vibration influencing factors; extracting the low-frequency vibration component synchronized with the rotor rotation frequency in the target wind turbine based on the overturning moment and yaw moment in the hub fixed coordinate system to generate the additional pitch angle of the target wind turbine in the fixed coordinate system; calculating the independent pitch angle for suppressing the excitation source in the rotating coordinate system based on the additional pitch angle in the fixed coordinate system, so as to determine the independent pitch loop control component for suppressing the low-frequency vibration component synchronized with the rotor rotation frequency based on the independent pitch angle.

[0108] In other embodiments, when determining the independent pitch loop control components for suppressing the tower's forward and backward vibrations based on vibration influencing factors, this application may, but is not limited to, use Coleman transform and PR control, with the input from the three-blade root... The measured value (bending moment load at the blade root in the flapping direction) is used to obtain the output additional blade angle (output additional blade angle is the independent pitch control component), thereby suppressing the 1p vibration component of the wind turbine rotor, and thus suppressing the vibration of the tower in the front and rear directions.

[0109] In the independent pitch control circuit corresponding to this independent pitch circuit control component, the input is at the root of the three blades. The measured value is output as an additional blade angle used to suppress the 1p vibration component of the wind turbine rotor. 。

[0110] For example, this application can first, based on vibration influencing factors, determine the location of the wind turbine at the blade root in the blade root rotation coordinate system. The measured values ​​are converted into overturning moment and yaw moment in the fixed coordinate system of the wheel hub.

[0111] Specifically, embodiments of this application can use Coleman transformation to transform the leaf root coordinate system in the leaf root rotation coordinate system. Converted to overturning moment in the hub fixed coordinate system With yaw moment In this context, the Coleman transform can be understood as converting a physical quantity in a rotating coordinate system to a physical quantity in a stationary coordinate system. Its expression can be, but is not limited to, the following:

[0112]

[0113] in, The physical quantities in the rotating coordinate system before the transformation. These are the equilibrium components, d-axis components, and q-axis components in the transformed stationary coordinate system. For the first The azimuth angle of each blade.

[0114] set up Let be the initial azimuth angle of the first blade, and the blades be 120 degrees apart. It can be expressed as, but is not limited to:

[0115]

[0116] According to the Coleman transform, the overturning moment in the hub fixed coordinate system , yaw moment At the base of the leaf The relationship between them can be, but is not limited to, expressed as:

[0117]

[0118] Then, in this embodiment of the application, the low-frequency vibration component (wind turbine rotor 1P vibration component) that is synchronized with the wind turbine rotation frequency can be extracted from the target wind turbine based on the overturning moment and yaw moment in the hub fixed coordinate system.

[0119] Specifically, the overturning moment is obtained. With yaw moment After obtaining the expression matrix, embodiments of this application can, but are not limited to, extract the 1P vibration component of the wind turbine rotor through PR control, and thereby output the additional dragged blade angle in a fixed coordinate system. First, the bandpass filtering property of the R controller in PR control is used to extract the 1P component from the torque input signal. Then, it is multiplied by the proportional gain of the R controller to obtain the additional propeller angle used to suppress the 1P component. The procedure expression can be, but is not limited to, represented as follows:

[0120]

[0121]

[0122] in, The proportional gain of the P controller, For the proportional gain of the R controller, For the cutoff frequency, The value of 1P represents the rotor speed at various wind speeds.

[0123] Furthermore, in this embodiment, the physical quantities in the stationary coordinate system are transformed back to the physical quantities in the rotating coordinate system, which is the inverse Coleman transform. Its expression can be, but is not limited to, as follows:

[0124]

[0125] Through the inverse Coleman transformation, it is possible to obtain the coordinates from the fixed coordinate system. and Obtain the independent pitch angle of the three blades in the rotating coordinate system. The formula can be, but is not limited to, expressed as follows:

[0126]

[0127] The independent pitch angle obtained at this time This refers to the independent pitch loop control component in the embodiments of this application.

[0128] Finally, the independent pitch angle will be adjusted. (Independent pitch control loop components) and unified pitch angle Adding the control components of the unified pitch loop together yields the final total control quantity of the pitch loop, which can be expressed, but is not limited to, as follows:

[0129]

[0130] By controlling the wind turbine to execute the pitch control command corresponding to the total control quantity of the pitch control circuit, the actual pitch angle is adjusted to the total pitch angle corresponding to the pitch control command, which can suppress the tower vibration to the minimum. No changes are required to the mechanical structure of the wind turbine itself or the electromagnetic torque controller, which has good economic benefits.

[0131] According to the multimodal vibration suppression method for towers proposed in this application, a second-order dynamic model of vibration can be constructed to describe the vibration state of the tower, so as to obtain the vibration influencing factors of the tower. Then, the unified pitch loop control component and the independent pitch loop control component used to suppress the tower vibration can be determined and superimposed. The actual pitch angle of the target wind turbine is adjusted to the total pitch angle corresponding to the superposition, so as to suppress the vibration state of the tower to meet certain requirements. Therefore, this invention constructs a second-order dynamic model of tower vibration by considering the forward and backward vibration states of the tower, and then establishes a nonlinear model of the wind turbine considering the forward and backward vibration of the tower. This model can effectively analyze the factors affecting tower vibration. Based on these factors, this application can suppress the first-order natural frequency component of the tower and the 1p frequency component of the wind turbine rotor in the forward and backward vibration of the tower by setting a unified pitch circuit and an independent pitch circuit, respectively. This can suppress the forward and backward vibration of the tower while effectively tracking the power of the wind turbine, which helps to reduce the operation and maintenance costs of the wind turbine and extend its service life. Moreover, only a single nonlinear controller needs to be designed to achieve effective control of the entire wind speed operating range, making the controller design simpler and more efficient. This lays a solid theoretical foundation for the suppression of multiple forward and backward vibration modes of the tower, facilitating engineering applications. This solves the problem of the lack of effective methods for tower vibration suppression in related technologies. Tower vibration increases the fatigue load on the tower and its components, and may even reduce its service life, leading to accidents such as wind turbine collapse.

[0132] Next, referring to the accompanying drawings, a multimodal vibration suppression device for a tower according to an embodiment of this application is described.

[0133] Figure 3 This is a schematic diagram of the structure of the multimodal vibration suppression device for a tower according to an embodiment of this application.

[0134] like Figure 3 As shown, the multimodal vibration suppression device 10 for the tower includes: a construction module 100, a determination module 200, and a suppression module 300.

[0135] The construction module 100 is used to construct a second-order dynamic model of vibration to describe the vibration state of the tower based on the stress analysis results of the tower of the target wind turbine, so as to determine the vibration influencing factors of the tower according to the second-order dynamic model of vibration.

[0136] The determination module 200 is used to determine the unified pitch loop control component and the independent pitch loop control component for suppressing tower vibration based on vibration influencing factors.

[0137] The suppression module 300 is used to superimpose the unified pitch loop control component and the independent pitch loop control component to generate the total pitch loop control quantity, and control the target wind turbine to execute the pitch control command corresponding to the total pitch loop control quantity, so as to adjust the actual pitch angle of the target wind turbine to the total pitch angle corresponding to the pitch control command, so as to suppress the vibration state of the tower to meet the target requirements.

[0138] Optionally, in one embodiment of this application, the construction module 100 includes: a first determining unit, used to determine the structural damping influencing factors, axial force influencing factors, and overturning moment influencing factors of the tower vibration in the forward and backward directions based on a second-order dynamic model of vibration; and a second determining unit, used to determine the vibration influencing factors by combining the structural damping influencing factors, axial force influencing factors, and overturning moment influencing factors.

[0139] Optionally, in one embodiment of this application, the suppression module 300 includes: a solving unit, configured to obtain a reference blade angle value for tracking the generator speed of the target wind turbine based on the target value of the generator speed and the measured value of the generator speed of the target wind turbine, and to solve for the current aerodynamic thrust of the target wind turbine based on the reference blade angle value; a calculation unit, configured to calculate the equivalent aerodynamic thrust for increasing the equivalent damping of the tower based on the current aerodynamic thrust, so as to determine the unified blade angle value for suppressing the first-order natural frequency component of the tower based on the blade angle value corresponding to the equivalent aerodynamic thrust; and a third determining unit, configured to determine the unified pitch loop control component for suppressing tower vibration based on the unified blade angle value.

[0140] Optionally, in one embodiment of this application, the suppression module 300 includes: a conversion unit, configured to convert the bending moment load at the blade root in the flapping direction of the target wind turbine in the blade root rotation coordinate system into overturning moment and yaw moment in the hub fixed coordinate system based on vibration influencing factors; an extraction unit, configured to extract the low-frequency vibration component synchronized with the wind turbine rotation frequency in the target wind turbine based on the overturning moment and yaw moment in the hub fixed coordinate system, so as to generate an additional pitch angle of the target wind turbine; and a fourth determination unit, configured to calculate the independent pitch angle for suppressing the excitation source based on the additional pitch angle, so as to determine the independent pitch loop control component for suppressing the low-frequency vibration component synchronized with the wind turbine rotation frequency based on the independent pitch angle.

[0141] Optionally, in one embodiment of this application, the expression for the second-order dynamic model of vibration may, but is not limited to, be expressed as:

[0142]

[0143] in, These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the wind turbine speed. Indicates the paddle angle. This indicates the effective wind speed of the wind turbine.

[0144] Optionally, in one embodiment of this application, the expression of the nonlinear model of the target wind turbine may, but is not limited to, be expressed as:

[0145]

[0146]

[0147]

[0148] in, It is the equivalent moment of inertia. Indicates the wind turbine speed. Indicates the rate of change of wind turbine speed. and These represent the pneumatic torque and the generator electromagnetic torque, respectively. Indicates the gear ratio of the gearbox. These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the wind turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the paddle angle. Indicates the effective wind speed of the wind turbine. This represents the time constant of the pitch actuator. This indicates the output command value of the pitch controller. This represents the rate of change of the propeller angle.

[0149] It should be noted that the foregoing explanation of the multimodal vibration suppression method for towers also applies to the multimodal vibration suppression device for towers in this embodiment, and will not be repeated here.

[0150] According to the multimodal vibration suppression device for towers proposed in the embodiments of this application, a second-order dynamic model of vibration describing the vibration state of the tower can be constructed to obtain the vibration influencing factors of the tower, thereby determining the unified pitch loop control component and the independent pitch loop control component used to suppress tower vibration and superimposing them, adjusting the actual pitch angle of the target wind turbine to the total pitch angle corresponding to the superposition, so as to suppress the vibration state of the tower to meet certain requirements. Therefore, this invention constructs a second-order dynamic model of tower vibration by considering the forward and backward vibration states of the tower, and then establishes a nonlinear model of the wind turbine considering the forward and backward vibration of the tower. This model can effectively analyze the factors affecting tower vibration. Based on these factors, this application can suppress the first-order natural frequency component of the tower and the 1p frequency component of the wind turbine rotor in the forward and backward vibration of the tower by setting a unified pitch circuit and an independent pitch circuit, respectively. This can suppress the forward and backward vibration of the tower while effectively tracking the power of the wind turbine, which helps to reduce the operation and maintenance costs of the wind turbine and extend its service life. Moreover, only a single nonlinear controller needs to be designed to achieve effective control of the entire wind speed operating range, making the controller design simpler and more efficient. This lays a solid theoretical foundation for the suppression of multiple forward and backward vibration modes of the tower, facilitating engineering applications. This solves the problem of the lack of effective methods for tower vibration suppression in related technologies. Tower vibration increases the fatigue load on the tower and its components, and may even reduce its service life, leading to accidents such as wind turbine collapse.

[0151] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0152] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0153] When the processor 402 executes the program, it implements the multimodal vibration suppression method for towers provided in the above embodiments.

[0154] Furthermore, electronic devices also include:

[0155] Communication interface 403 is used for communication between memory 401 and processor 402.

[0156] The memory 401 is used to store computer programs that can run on the processor 402.

[0157] Memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0158] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0159] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0160] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0161] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for suppressing multimodal vibrations of a tower.

[0162] This application also provides a computer program product, including a computer program that can run computer instructions. When the computer instructions are executed by a processor, they implement the multimodal vibration suppression method for towers provided in this application.

[0163] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. 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.

[0164] 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 application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0165] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application 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 this application pertain.

[0166] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced 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 by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0167] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: 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.

[0168] 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.

[0169] Furthermore, the functional units in the various embodiments of this application 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.

[0170] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for suppressing multimodal vibration of a tower, characterized in that, Includes the following steps: Based on the stress analysis results of the target wind turbine tower, a second-order dynamic model of vibration is constructed to describe the vibration state of the tower, so as to determine the vibration influencing factors of the tower according to the second-order dynamic model of vibration. Based on the vibration influencing factors, a unified pitch loop control component and an independent pitch loop control component are determined to suppress the tower vibration. The unified pitch loop control component and the independent pitch loop control component are superimposed to generate a total pitch loop control quantity. The target wind turbine is then controlled to execute the pitch control command corresponding to the total pitch loop control quantity, adjusting the actual pitch angle of the target wind turbine to the total pitch angle corresponding to the pitch control command, so as to suppress the vibration state of the tower to meet the target requirements. The expression for the second-order dynamic model of vibration is as follows: in, These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the wind turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the wind turbine speed. Indicates the paddle angle. This indicates the effective wind speed of the wind turbine.

2. The method according to claim 1, characterized in that, The determination of vibration influencing factors of the tower based on the second-order dynamic vibration model includes: Based on the second-order dynamic model of vibration, the structural damping influencing factors, axial force influencing factors, and overturning moment influencing factors of the tower vibration in the front-back direction are determined. The vibration influencing factors are determined by combining the structural damping influencing factors, the axial force influencing factors, and the overturning moment influencing factors.

3. The method according to claim 1, characterized in that, The determination of the unified pitch loop control component and independent pitch loop control component for suppressing the tower vibration based on the vibration influencing factors includes: Based on the target value of the generator speed of the target wind turbine and the measured value of the generator speed, a reference blade angle value for tracking the generator speed of the target wind turbine is obtained, and the current aerodynamic thrust of the target wind turbine is solved based on the reference blade angle value. Based on the current aerodynamic thrust, calculate the equivalent aerodynamic thrust to increase the equivalent damping of the tower, and determine the uniform blade angle value to suppress the first-order natural frequency component of the tower according to the blade angle value corresponding to the equivalent aerodynamic thrust. Based on the unified pitch angle value, a unified pitch loop control component for suppressing tower vibration is determined.

4. The method according to claim 1, characterized in that, The determination of the unified pitch loop control component and independent pitch loop control component for suppressing the tower vibration based on the vibration influencing factors includes: Based on the aforementioned vibration influencing factors, the bending moment load at the blade root in the flapping direction of the target wind turbine in the blade root rotation coordinate system is converted into the overturning moment and yaw moment in the hub fixed coordinate system. Based on the overturning moment and yaw moment in the hub fixed coordinate system, the low-frequency vibration component that is synchronized with the wind turbine rotation frequency in the target wind turbine is extracted to generate the additional blade angle of the target wind turbine. Based on the additional pitch angle, an independent pitch angle for suppressing the excitation source is calculated, and based on the independent pitch angle, the independent pitch loop control component for suppressing the low-frequency vibration component synchronized with the wind turbine rotation frequency is determined.

5. The method according to claim 1, characterized in that, The expression for the nonlinear model of the target wind turbine is: in, It is the equivalent moment of inertia. Indicates the wind turbine speed. Indicates the rate of change of wind turbine speed. and These represent the pneumatic torque and the generator electromagnetic torque, respectively. Indicates the gear ratio of the gearbox. These represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Indicates the displacement at the top of the tower. Indicates cabin speed signal, Indicates cabin acceleration Indicates the tower height, This indicates that the tower bears the axial force exerted by the wind turbine on the center of the wind turbine hub. This represents the overturning moment caused by the imbalance of the wind turbine. Indicates the paddle angle. Indicates the effective wind speed of the wind turbine. This represents the time constant of the pitch actuator. This indicates the output command value of the pitch controller. This represents the rate of change of the propeller angle.

6. A multimodal vibration suppression device for a tower, characterized in that, The multimodal vibration suppression method for towers as described in any one of claims 1-5 is adopted, wherein the device comprises: The module is used to construct a second-order dynamic model of vibration to describe the vibration state of the tower based on the stress analysis results of the target wind turbine tower, so as to determine the vibration influencing factors of the tower according to the second-order dynamic model of vibration. The determination module is used to determine, based on the vibration influencing factors, the unified pitch loop control component and the independent pitch loop control component for suppressing the tower vibration; The suppression module is used to superimpose the unified pitch loop control component and the independent pitch loop control component to generate a total pitch loop control quantity, and control the target wind turbine to execute the pitch control command corresponding to the total pitch loop control quantity, so as to adjust the actual pitch angle of the target wind turbine to the total pitch angle corresponding to the pitch control command, so as to suppress the vibration state of the tower to meet the target requirements.

7. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the processor executing the program to implement the multimodal vibration suppression method for a tower as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the multimodal vibration suppression method for towers as described in any one of claims 1-5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed, it is used to implement the multimodal vibration suppression method for towers as described in any one of claims 1-5.

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