Wind turbine generator and variable pitch control method, system and equipment thereof, medium and product

Abstract

The invention provides a wind turbine generator and a variable pitch control method, system and device thereof, a medium and a product. The method comprises the steps that the actual thrust, the power thrust and the pneumatic thrust of blades of the wind turbine generator in the running state are obtained; taking the power thrust or the pneumatic thrust meeting a preset condition as a target thrust; and according to the actual thrust and the target thrust, the pitch angle change value of the blade is determined so as to control the blade to conduct pitch changing, and the pneumatic thrust and the power thrust serve as the target thrust and are set to be compared with the actual thrust. The target thrust can change in real time along with the power constraint and pneumatic conditions of the wind turbine generator, so that the variable pitch control flexibility is higher, the thrust of the wind turbine generator is reduced, the pressure on structures such as a tower is reduced, and energy is captured to the maximum within the safety boundary of the wind turbine generator.

Description

Technical Field

[0001] This disclosure relates to the field of wind power, and in particular to a wind turbine generator and its pitch control method, system, equipment, medium and product. Background Technology

[0002] Wind turbine thrust refers to the resultant force acting on the wind turbine along the wind direction caused by the change in momentum after the airflow passes through the blades. Its magnitude is mainly determined by factors such as the incoming wind speed, blade pitch angle, and tip speed ratio. An abnormal increase in thrust on a wind turbine can negatively impact the overall structure, operational stability, and lifespan of the wind turbine.

[0003] Therefore, thrust reduction of wind turbines is crucial for the safe operation and lifespan extension of wind turbines. Thrust reduction of wind turbines refers to reducing the thrust of the blades by adjusting the operating parameters of the wind turbine under specific wind speed conditions, thereby reducing the pressure of the wind turbine on the tower and foundation.

[0004] However, existing methods for reducing the thrust of wind turbines involve detecting the blade root thrust and triggering an alarm when the detected blade root thrust exceeds a preset value. This approach is not conducive to the steady-state operation of wind turbines. Summary of the Invention

[0005] The technical problem to be solved by this disclosure is that the thrust reduction methods of wind turbines in the prior art are not conducive to the steady-state operation of wind turbines. The disclosure provides a wind turbine and its pitch control method, system, equipment, medium and product.

[0006] This disclosure solves the above-mentioned technical problems through the following technical solution:

[0007] In a first aspect, embodiments of this disclosure provide a pitch control method for a wind turbine generator, the method comprising:

[0008] The actual thrust, power thrust, and aerodynamic thrust of the wind turbine blades under operating conditions are obtained.

[0009] The target thrust is the power thrust or the aerodynamic thrust that meets the preset conditions;

[0010] The pitch angle change value of the blade is determined based on the actual thrust and the target thrust in order to control the blade to perform pitch control.

[0011] Optionally, obtaining the actual thrust, power thrust, and aerodynamic thrust of the wind turbine in operation includes:

[0012] The operating parameters of the wind turbine are obtained during operation, including shaft power, pitch angle, tip speed ratio, and flapping moment.

[0013] The actual thrust is obtained based on the swing moment;

[0014] The power thrust is determined based on the shaft power value, or a preset thrust is determined as the power thrust;

[0015] The aerodynamic thrust is determined based on the blade pitch angle and the blade tip speed ratio.

[0016] Optionally, obtaining the operating parameters of the wind turbine during its operation includes:

[0017] Obtain the measured shaft power value of the wind turbine at various times;

[0018] The measured shaft power values ​​at multiple consecutive moments are processed by moving average to obtain the moving average shaft power value, and the time constant of the moving average is a preset value;

[0019] Determining the power thrust based on the shaft power value includes:

[0020] The power thrust is determined based on the shaft power value after the sliding average and the first preset relationship, which is obtained by fitting the shaft power value and the power thrust.

[0021] Optionally, obtaining the operating parameters of the wind turbine during its operation includes:

[0022] The wind turbine generator speed command value, the transmission ratio between the hub and the generator rotor, the blade length, the measured wind speed, and the blade pitch angle are obtained.

[0023] The tip speed ratio is determined based on the generator speed command value, the transmission ratio, the blade length, and the measured wind speed.

[0024] The step of determining the aerodynamic thrust based on the blade pitch angle and the blade tip speed ratio includes:

[0025] The aerodynamic thrust is obtained by fitting the blade pitch angle and the tip speed ratio to a pre-constructed blade aerodynamic performance model.

[0026] Optionally, obtaining the operating parameters of the wind turbine during its operation includes:

[0027] The flapping moment of multiple blades in the wind turbine is obtained; the flapping moment is acquired by a load sensor installed at the root of each blade.

[0028] The step of obtaining the actual thrust based on the swing moment includes:

[0029] The average value of the flapping moment is obtained by summing the flapping moments of each blade.

[0030] The average waving moment is filtered by at least one of a low-pass filter, a 3P notch filter, and a 6P notch filter to obtain the actual thrust.

[0031] Optionally, determining the pitch angle change value based on the difference between the actual thrust and the target thrust to control the blade pitch includes:

[0032] Based on the actual thrust and the target thrust, PI control is performed to determine the pitch angle change value, so as to control the blade pitch.

[0033] Optionally, the method further includes:

[0034] In the event of a failure of the load sensor used to obtain the actual thrust, the pitch angle change of the blade is determined based on any one of the target thrust, the power thrust, and the aerodynamic thrust, along with the minimum static thrust, in order to control the blade to pitch.

[0035] Optionally, the preset condition includes the smaller of the power thrust and the aerodynamic thrust.

[0036] Secondly, embodiments of this disclosure provide a pitch control system for a wind turbine generator, the system comprising:

[0037] The acquisition module is used to acquire the actual thrust, power thrust, and aerodynamic thrust of the wind turbine blades during operation.

[0038] The determination module is used to take the power thrust or the aerodynamic thrust that meets the preset conditions as the target thrust;

[0039] The first control module is used to determine the pitch angle change value of the blade based on the actual thrust and the target thrust, so as to control the blade to perform pitch control.

[0040] Thirdly, embodiments of this disclosure provide a wind turbine generator set, the wind turbine generator set comprising:

[0041] Multiple blades;

[0042] A controller, which is communicatively connected to each of the blades, is configured to control the pitch of each of the blades in accordance with the pitch control of the wind turbine as described in any one of the first aspects.

[0043] Optionally, the wind turbine generator set further includes:

[0044] Multiple load sensors are provided, each load sensor is located at the root of each blade, and each load sensor is communicatively connected to the controller for collecting the flapping moment of each blade.

[0045] A power sensor is mounted on the drive shaft of the wind turbine and is communicatively connected to the controller for collecting shaft power values.

[0046] A wind speed sensor, which is communicatively connected to the controller, is used to collect data on wind speed.

[0047] Fourthly, embodiments of this disclosure provide an electronic device, including a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein the processor executes the computer program to implement the pitch control method for a wind turbine as described in any of the first aspects.

[0048] Fifthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the pitch control method for a wind turbine as described in any one of the first aspects.

[0049] In a sixth aspect, embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the pitch control method for a wind turbine as described in any one of the first aspects.

[0050] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this disclosure.

[0051] The positive and progressive effects of this disclosure are as follows: by setting aerodynamic thrust and power thrust as the target thrust and actual thrust for comparison, compared with the existing technology, the target thrust can change in real time with the power constraints and aerodynamic conditions of the wind turbine, making the pitch control more flexible. While reducing the thrust of the wind turbine and reducing the pressure on structures such as the tower, it maximizes energy capture within the safety boundary of the wind turbine. Attached Figure Description

[0052] Figure 1 A first structural diagram of a wind turbine generator provided as an exemplary embodiment of this disclosure;

[0053] Figure 2 A flowchart of a pitch control method for a wind turbine provided as an exemplary embodiment of this disclosure;

[0054] Figure 3 A schematic diagram of actual thrust, power thrust, and aerodynamic thrust provided for an exemplary embodiment of this disclosure;

[0055] Figure 4 A flowchart of step S101 of a pitch control method for a wind turbine provided as an exemplary embodiment of this disclosure;

[0056] Figure 5 A block diagram of a pitch control system for a wind turbine provided as an exemplary embodiment of this disclosure;

[0057] Figure 6 A second structural diagram of a wind turbine generator provided as an exemplary embodiment of this disclosure;

[0058] Figure 7 This is a structural diagram of an electronic device provided as an exemplary embodiment of the present disclosure. Detailed Implementation

[0059] The present disclosure is further illustrated below by way of embodiments, but the present disclosure is not limited to the scope of the embodiments described herein.

[0060] The prefixes such as "first" and "second" used in this disclosure are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this disclosure does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not be construed as an unnecessary limitation. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0061] In this embodiment of the disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good morals.

[0062] This disclosure provides a wind turbine generator set and its pitch control method, system, equipment, medium, and product. The wind turbine generator set, its control method and system, and computer-readable storage medium of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0063] Wind power generation refers to converting the kinetic energy of wind into mechanical kinetic energy, and then into electrical energy. The device used for wind power generation is usually called a wind turbine. For ease of explanation, let's use... Figure 1As an example of a wind turbine in this embodiment, it includes: a tower 10, a nacelle 11, and a rotor 12. The nacelle 11 is mounted on top of the tower 10. The rotor 12 is mounted on the nacelle 11, specifically either at the front or rear of the nacelle 11. The rotor 12 includes a hub 13 and blades 14 mounted on the hub 13. There are three blades 14; in other examples, the number of blades 14 can be set according to actual conditions. It is understood that the rotor 12 is a crucial component for converting the kinetic energy of wind into mechanical energy. When wind blows towards the blades 14, aerodynamic forces are generated on the blades 14, driving the rotor 12 to rotate. The blades 14 require high strength and light weight, and are often made of fiberglass or other composite materials (such as carbon fiber). The wind turbine provided in this embodiment is only an example; those skilled in the art can further explore its design. Figure 1 Based on the example, devices can be freely added or removed to further optimize the operation of the wind turbine.

[0064] Based on this, see Figure 2 The methods include:

[0065] S201. Obtain the actual thrust, power thrust, and aerodynamic thrust of the wind turbine blades during operation.

[0066] Power thrust characterizes the thrust expected to be borne by the wind turbine under power constraints during operation. Aerodynamic thrust characterizes the thrust expected to be generated under aerodynamic conditions during blade-based operation. Actual thrust characterizes the actual thrust borne by the blade structure during operation. Generally, aerodynamic thrust and power thrust can be derived from relevant parameters during operation, while actual thrust is usually obtained through data acquisition. Operating parameters during operation can be characterized by one or more parameters such as power value, pitch angle, and measured wind speed. The aforementioned thrust can be derived from these parameters characterizing the operating state.

[0067] Even when all blades in a wind turbine are operating under the same overall conditions, differences in instantaneous blade phase and angle of attack can lead to variations in one or more of the following: actual thrust, power thrust, and aerodynamic thrust. Therefore, the method provided in this embodiment allows for independent pitch control for each blade in the wind turbine.

[0068] S202, the target thrust is the power thrust or aerodynamic thrust that meets the preset conditions.

[0069] The preset condition can be set to the smaller of the power thrust and the aerodynamic thrust. The purpose of choosing the smaller of the two is that the power thrust and the aerodynamic thrust are both theoretical thrusts of the wind turbine. When the actual thrust of the blade is greater than either of these two, it may have a negative impact on the structure of the wind turbine. Therefore, in this embodiment, the smallest of the power thrust and the aerodynamic thrust is set as the target thrust to reduce the impact on the structure of the wind turbine.

[0070] S203. Determine the blade pitch angle variation value based on the actual thrust and target thrust in order to control the blade pitch.

[0071] The purpose of controlling the blade pitch is to set the actual thrust of the blade near the target thrust, so as to minimize the negative impact on the structure of the wind turbine.

[0072] The calculation of the pitch angle change value in step S203 can be determined through a model, such as training a pitch angle-thrust model and obtaining the pitch angle change value by inputting the target thrust and actual thrust into the pitch angle-thrust model; alternatively, it can be implemented using PI (Proportional-Integral Control), which typically requires setting two parameters: the proportional coefficient and the integral time. The output of the PI controller consists of two parts: a proportional term and an integral term. The proportional term is a proportional amplification of the current deviation, while the integral term is the accumulation of all past time deviations.

[0073] Generally, increasing the pitch angle during pitch control decreases the actual thrust, while decreasing the pitch angle increases the actual thrust. Therefore, when the actual thrust is less than or equal to the target thrust, the pitch angle change is less than or equal to 0, and the blades are controlled to maintain the original pitch angle or appropriately decrease it, thereby maintaining or increasing the actual thrust. When the actual thrust is greater than the target thrust, the pitch angle change is greater than 0, and the blades are controlled to appropriately increase the pitch angle, thereby reducing the actual thrust. Furthermore, the pitch angle corresponding to the blades after pitch control is the sum of the original pitch angle and the pitch angle change. In this embodiment, the thrust reaches the target value by adjusting the pitch angle, completing closed-loop thrust control.

[0074] See also Figure 3The diagram illustrates the process of controlling blade pitch adjustment by combining power thrust, aerodynamic thrust, and actual thrust. In the diagram, red represents power thrust, blue represents aerodynamic thrust, and black represents actual thrust. It can be seen that at time point T1, aerodynamic thrust is greater than power thrust, and power thrust is used as the target thrust. At this time, actual thrust is less than the target thrust, so the pitch angle can be appropriately reduced or maintained at the original pitch angle. At time point T2, aerodynamic thrust is less than power thrust, and aerodynamic thrust is used as the target thrust. At this time, actual thrust is greater than the target thrust, so the pitch angle can be appropriately increased. Figure 2 This is for illustrative purposes only and does not limit any pitch control process or thrust value to this.

[0075] Existing technologies that compare preset values ​​with actual thrust suffer from limitations. Because the preset values ​​are fixed, they cannot differentiate between different wind conditions and turbine power levels in practical applications. These preset values ​​are either significantly higher or lower than the actual values, resulting in insufficient flexibility and lower safety for actual wind turbine pitch control. In this embodiment, however, aerodynamic thrust and power thrust are used as the target thrust for comparison with the actual thrust. Compared to existing technologies, the target thrust can change in real-time according to the wind turbine's power constraints and aerodynamic conditions, making pitch control more flexible. This reduces the wind turbine's thrust and the pressure on structures such as the tower, while maximizing energy capture within the wind turbine's safety boundaries. Furthermore, this embodiment effectively reduces the load on key components and increases the turbine's power generation.

[0076] In some embodiments, step S203 specifically includes:

[0077] When the difference between the actual thrust and the target thrust is greater than or equal to the preset threshold for a duration that is greater than the preset duration, the pitch angle change value is determined based on the thrust difference between the actual thrust and the target thrust in order to control the blades to pitch.

[0078] The preset threshold is set based on the inference safety line, and the preset duration can be selected according to the actual situation. In this embodiment, thrust reduction can be performed to different degrees depending on the extent to which the preset threshold is exceeded. In this mode, thrust is quickly reduced to a safe level by decreasing the speed and power, ensuring the safe operation of the unit. The determination of the pitch angle change value is to reduce deviation, form a closed-loop control, and ensure that the actual thrust of the blades always remains near the control target thrust under different operating conditions.

[0079] In one embodiment, taking PI control as an example, step S203 specifically includes: performing PI control based on the actual thrust and the target thrust to determine the pitch angle change value, thereby controlling the blade pitch. Further, it includes: calculating the thrust difference based on the target thrust and the actual thrust, and inputting the thrust difference value into the PI controller to obtain the pitch angle change value. The formula for the PI controller is as follows:

[0080]

[0081] in, This represents the change in pitch angle. This is the proportionality coefficient. For integration time, The thrust difference, where t is the time node corresponding to the current cycle.

[0082] Existing technologies using preset values ​​often result in the actual thrust fluctuating around these values ​​during wind turbine pitch control, leading to frequent pitch maneuvers. The PI control scheme combined with power thrust and aerodynamic thrust provided in this embodiment effectively suppresses peak thrust and structural load fluctuations while meeting power operation constraints, reducing pitch frequency and improving wind turbine operational stability and lifespan. By controlling blade pitch to control the actual blade thrust, the mechanical load on the blades and the entire drivetrain can be reduced, thereby lowering fatigue loads, extending equipment life, and helping to maintain wind turbine stability under varying wind speeds, reducing vibration, and preventing resonance. In extreme weather conditions, controlling blade thrust allows for safe shutdown or yaw of the wind turbine, protecting the equipment from damage.

[0083] In one embodiment, see Figure 4 Step S201 includes:

[0084] S2011. Obtain the operating parameters of the wind turbine unit under operating conditions.

[0085] The operating parameters include, but are not limited to, shaft power, pitch angle of each blade, tip speed ratio of each blade, and flapping moment of each blade. These operating parameters can be obtained through feedback from the internal components of the wind turbine during operation, or they can be collected by setting corresponding sensors at appropriate locations.

[0086] S2012. Obtain the actual thrust based on the swing moment.

[0087] The flapping moment refers to the bending moment generated at the blade root when the blade bends in a direction perpendicular to the plane of rotation. The flapping moment is a combined result of the actual thrust, centrifugal effect, and inertial force on the blade. During normal steady-state operation, the dominant factor of the flapping moment is the actual thrust; therefore, the actual thrust can be deduced from the flapping moment. In some applications, the out-of-plane bending moment at the blade root can be used instead of the flapping moment mentioned in this embodiment. In conventional wind turbines, the out-of-plane bending moment at the blade root is equivalent to the flapping moment.

[0088] In an alternative implementation, the determination of the actual thrust is further explained:

[0089] Step S2011 specifically includes: obtaining the flapping moment of multiple blades in the wind turbine.

[0090] The flapping moment is acquired by a load sensor located at the root of each blade. In addition to the flapping moment, the load sensor can also acquire the oscillation moment (i.e., the in-plane bending moment at the blade root). The flapping moment reflects the load on the blade root in the impeller thrust direction, while the oscillation moment reflects the load on the blade root in the impeller rotation direction. Therefore, the flapping moment reflects the actual thrust experienced by the blade. Although the oscillation moment is also acquired in this embodiment, its specific application is not specifically described here.

[0091] Step S2012 specifically includes: accumulating the flapping moments of each blade and averaging them to obtain the average flapping moment value; filtering the average flapping moment value using at least one of a low-pass filter, a 3P (per revolution) notch filter, and a 6P (per revolution) notch filter to obtain the actual thrust.

[0092] The purpose of averaging the flapping moments of all blades is to avoid misleading pitch control due to transient or periodic loads on a single blade. Filtering the average flapping moment using a notch filter or other filters aims to suppress periodic components near specific frequencies in the average flapping moment, thereby improving the accuracy of the actual thrust.

[0093] S2013. Determine the power thrust based on the shaft power value, or set the preset thrust as the power thrust.

[0094] Among them, the shaft power value is the mechanical power output of the rotor of the wind turbine through the main shaft transmission chain.

[0095] As mentioned above, the power thrust can be determined based on the shaft power value, or a preset thrust can be directly specified as the power thrust, which can be configured according to requirements. Typically, under most normal operating conditions, the power thrust is determined by the shaft power value. However, in some situations (such as when the tower is at risk of fatigue, during commissioning, or in safe operating modes), regardless of the shaft power value, the power thrust must not exceed a certain fixed level. In such cases, a preset thrust can be set and used as the power thrust for subsequent pitch control. The magnitude of the preset thrust is set according to the actual situation.

[0096] In an alternative implementation, the determination of power thrust is further explained:

[0097] Step S2011 specifically includes: obtaining the measured shaft power value of the wind turbine at various times, and applying a moving average to the measured shaft power values ​​at multiple consecutive times to obtain the moving average shaft power value.

[0098] The measured shaft power value is acquired by a power sensor installed on the drive shaft of the wind turbine. The time constant of the moving average is a preset value, which can be set according to requirements. For example, if the moving average time constant for the current period is T, then the shaft power measurement values ​​at each time point within the adjacent time period T before the current period are averaged to obtain the moving average shaft power value. By setting the moving average time constant for filtering, not only can a timely response be achieved, but also the fluctuating measured shaft power value can be stabilized.

[0099] Step S2013 specifically includes: determining the power thrust based on the shaft power value after sliding average and the first preset relationship.

[0100] The first preset relationship is obtained by fitting the shaft power value and the power thrust. The first preset relationship may include a first lookup table T_My for the shaft power value and the power thrust. The shaft power value after the sliding average is input into the lookup table to obtain the power thrust.

[0101] In addition, whether the first lookup table T_My is enabled or disabled depends on the desired power thrust of the wind turbine. When the first lookup table T_My is enabled, the power thrust can be obtained directly from the shaft power value after sliding average; when the first lookup table T_My is disabled, the preset thrust can be set as the power thrust.

[0102] S2014. Determine the aerodynamic thrust based on the blade pitch angle and tip speed ratio.

[0103] Among them, the aerodynamic thrust tip speed ratio is related to the blade pitch angle, and the aerodynamic thrust usually increases monotonically with the increase of wind speed.

[0104] In an alternative implementation, the determination of aerodynamic thrust is further explained:

[0105] Step S2011 specifically includes: acquiring the generator speed command value, the transmission ratio between the hub and the generator rotor, the blade length, the measured wind speed, and the blade pitch angle of the wind turbine; and determining the tip speed ratio based on the generator speed command value, the transmission ratio, the blade length, and the measured wind speed. Specifically, dividing the generator speed command value by the transmission ratio and then multiplying it by the blade length yields the tip linear velocity; dividing the tip linear velocity by the measured wind speed yields the tip speed ratio.

[0106] The generator speed command value and blade pitch angle are obtained based on feedback from the internal components of the wind turbine during operation. The wind speed can be measured by the wind speed sensor installed on the wind turbine. The transmission ratio between the hub and the generator rotor and the blade length are fixed parameters in the design process of the wind turbine.

[0107] Step S2014 specifically includes: fitting the blade pitch angle and tip speed ratio to obtain the aerodynamic thrust based on the pre-constructed blade aerodynamic performance model.

[0108] The blade aerodynamic performance model can be constructed based on GH Bladed software (a software for aerodynamic simulation). GH Bladed software can simulate wind force and blade aerodynamic performance. By inputting the tip speed ratio and pitch angle into the software, the software can look up the second lookup table T_Ct related to the tip speed ratio, pitch angle and aerodynamic thrust to obtain the aerodynamic thrust.

[0109] In one embodiment, the method further includes:

[0110] In the event of a failure of the load sensor used to obtain the actual thrust, the blade pitch angle change value is determined based on any one of the target thrust, power thrust, and aerodynamic thrust, along with the minimum static thrust, in order to control the blade to pitch.

[0111] To avoid the inability to determine the actual thrust due to load sensor failure, which could lead to turbine malfunction, this embodiment also includes additional thrust reduction protection to ensure the safe operation of the wind turbine. As described in the above embodiment, during blade operation, both power thrust and aerodynamic thrust can reflect the thrust impact received by the blades under operating conditions to a certain extent and can substitute for the actual thrust. Therefore, this embodiment sets a minimum static thrust to ensure safe turbine operation. Any one of the target thrust, power thrust, and aerodynamic thrust can be selected, and the pitch angle change value is determined by comparing it with the minimum static thrust. This allows for real-time control of blade pitch adjustment, thereby reducing thrust as an additional protection in case of load sensor failure. Generally, the pitch angle under minimum static thrust reduction is smaller than the pitch angle under aerodynamic or power thrust reduction under the same operating conditions.

[0112] Corresponding to the aforementioned embodiments of the pitch control method for wind turbines, this disclosure also provides an embodiment of a pitch control system for wind turbines.

[0113] Figure 5 A schematic diagram of a pitch control system for a wind turbine generator provided as an exemplary embodiment of this disclosure, the system comprising:

[0114] The acquisition module 51 is used to acquire the actual thrust, power thrust, and aerodynamic thrust of the wind turbine blades during operation.

[0115] The determination module 52 is used to determine the target thrust as the power thrust or aerodynamic thrust that meets the preset conditions.

[0116] The first control module 53 is used to determine the pitch angle change value of the blades based on the actual thrust and the target thrust, so as to control the blades to perform pitch control.

[0117] In one embodiment, the acquisition module 51 is further configured to:

[0118] The operating parameters of the wind turbine are obtained during operation, including shaft power, pitch angle, tip speed ratio, and flapping moment.

[0119] The actual thrust is obtained from the swing moment.

[0120] The power thrust is determined based on the shaft power value, or the preset thrust is determined as the power thrust.

[0121] Aerodynamic thrust is determined based on the blade pitch angle and tip speed ratio.

[0122] In one embodiment, the acquisition module 51 is further configured to:

[0123] Obtain the measured shaft power value of the wind turbine at various times.

[0124] The measured shaft power values ​​at multiple consecutive moments are processed by moving average to obtain the moving average shaft power value. The time constant of the moving average is a preset value.

[0125] The power thrust is determined based on the shaft power value after sliding average and the first preset relationship, which is obtained by fitting the shaft power value and the power thrust.

[0126] In one embodiment, the acquisition module 51 is further configured to:

[0127] The system obtains the generator speed command value, the transmission ratio between the hub and the generator rotor, the blade length, the wind speed, and the blade pitch angle of the wind turbine.

[0128] The tip speed ratio is determined based on the generator speed command, transmission ratio, blade length, and measured wind speed.

[0129] Aerodynamic thrust is obtained by fitting the blade pitch angle and tip speed ratio to a pre-constructed blade aerodynamic performance model.

[0130] In one embodiment, the acquisition module 51 is further configured to:

[0131] The flapping moment of multiple blades in the wind turbine is obtained; the flapping moment is collected by a load sensor installed at the root of each blade.

[0132] The average value of the flapping moment is obtained by averaging the sum of the flapping moments of each blade.

[0133] The average flapping moment is filtered by at least one of a low-pass filter, a 3P notch filter, or a 6P notch filter to obtain the actual thrust.

[0134] In one embodiment, the first control module 53 is further configured to:

[0135] PI control is performed based on the actual thrust and the target thrust to determine the pitch angle change value in order to control the blade pitch.

[0136] In one embodiment, the system further includes:

[0137] The second control module is used to determine the blade pitch angle change value based on any one of the target thrust, power thrust, and aerodynamic thrust, along with the minimum static thrust, in order to control the blade to pitch in the event that the load sensor for obtaining the actual thrust fails.

[0138] In one embodiment, the preset condition includes the smaller of power thrust and aerodynamic thrust.

[0139] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The system embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs.

[0140] An exemplary embodiment of this disclosure provides a wind turbine generator, see [link to example]. Figure 6 Wind turbine units include:

[0141] Multiple blades 61.

[0142] The controller 62 is communicatively connected to each blade and is used to control the pitch of each blade according to the pitch control of the wind turbine in the above embodiment.

[0143] It should be noted that, in addition to the blades and controller, some components of a wind turbine can be found in [reference needed]. Figure 1 As shown, this embodiment will not be described in detail. Regardless of whether the above components are described in this embodiment, those skilled in the art can determine the structure and components of the wind turbine.

[0144] In one embodiment, the wind turbine also includes:

[0145] Multiple load sensors are installed at the root of each blade, and each load sensor is connected to the controller to collect the flapping moment of each blade.

[0146] The power sensor is installed on the drive shaft of the wind turbine. The power sensor is connected to the controller and is used to collect the shaft power value.

[0147] The wind speed sensor communicates with the controller and is used to collect data on wind speed.

[0148] This disclosure provides an example embodiment of an electronic device, which includes a memory, a processor, and a computer program stored in the memory and used to run on the processor. When the processor executes the computer program, it implements the pitch control method for a wind turbine generator according to any of the above embodiments. Figure 7 The electronic device 70 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0149] like Figure 7As shown, the electronic device 70 can be manifested as a general-purpose computing device, such as a server device. The components of the electronic device 70 may include, but are not limited to: at least one processor 71, at least one memory 72, and a bus 73 connecting different system components (including memory 72 and processor 71).

[0150] Bus 73 includes a data bus, an address bus, and a control bus.

[0151] The memory 72 may include volatile memory, such as random access memory (RAM) 721 and / or cache memory 722, and may further include read-only memory (ROM) 723.

[0152] The memory 72 may also include a program tool 725 (or utility) having a set (at least one) program module 724, such program module 724 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0153] The processor 71 executes various functional applications and data processing by running computer programs stored in the memory 72, such as the pitch control method for wind turbines provided in any of the above embodiments.

[0154] Electronic device 70 can also communicate with one or more external devices 74 (e.g., keyboard, pointing device, etc.). This communication can be performed via input / output (I / O) interface 75. Furthermore, electronic device 70 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) via network adapter 76. As shown, network adapter 76 communicates with other modules of electronic device 70 via bus 73. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with electronic device 70, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0155] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0156] An exemplary embodiment of this disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the pitch control method for wind turbines provided in any of the above embodiments.

[0157] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0158] An exemplary embodiment of this disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the pitch control method for wind turbines as described in any of the preceding claims.

[0159] The program code for executing the computer program product of this disclosure can be written in any combination of one or more programming languages, and the program code can be executed entirely on a user device, partially on a user device, as a stand-alone software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0160] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.

Claims

1. A pitch control method for a wind turbine generator, characterized in that, The method includes: The actual thrust, power thrust, and aerodynamic thrust of the wind turbine blades under operating conditions are obtained. The target thrust is the power thrust or the aerodynamic thrust that meets the preset conditions; The pitch angle change value of the blade is determined based on the actual thrust and the target thrust in order to control the blade to perform pitch control.

2. The pitch control method as described in claim 1, characterized in that, The process of obtaining the actual thrust, power thrust, and aerodynamic thrust of the wind turbine in operation includes: The operating parameters of the wind turbine are obtained during operation, including shaft power, pitch angle, tip speed ratio, and flapping moment. The actual thrust is obtained based on the swing moment; The power thrust is determined based on the shaft power value, or a preset thrust is determined as the power thrust; The aerodynamic thrust is determined based on the blade pitch angle and the blade tip speed ratio.

3. The pitch control method as described in claim 2, characterized in that, The acquisition of operating parameters of the wind turbine during operation includes: Obtain the measured shaft power value of the wind turbine at various times; The measured shaft power values ​​at multiple consecutive moments are processed by moving average to obtain the moving average shaft power value, and the time constant of the moving average is a preset value; Determining the power thrust based on the shaft power value includes: The power thrust is determined based on the shaft power value after the sliding average and the first preset relationship, which is obtained by fitting the shaft power value and the power thrust.

4. The pitch control method as described in claim 2, characterized in that, The acquisition of operating parameters of the wind turbine during operation includes: The wind turbine generator speed command value, the transmission ratio between the hub and the generator rotor, the blade length, the measured wind speed, and the blade pitch angle are obtained. The tip speed ratio is determined based on the generator speed command value, the transmission ratio, the blade length, and the measured wind speed. The step of determining the aerodynamic thrust based on the blade pitch angle and the blade tip speed ratio includes: The aerodynamic thrust is obtained by fitting the blade pitch angle and the tip speed ratio to a pre-constructed blade aerodynamic performance model.

5. The pitch control method as described in claim 2, characterized in that, The acquisition of operating parameters of the wind turbine during operation includes: The flapping moment of multiple blades in the wind turbine is obtained; the flapping moment is acquired by a load sensor installed at the root of each blade. The step of obtaining the actual thrust based on the swing moment includes: The average value of the flapping moment is obtained by summing the flapping moments of each blade. The average waving moment is filtered by at least one of a low-pass filter, a 3P notch filter, and a 6P notch filter to obtain the actual thrust.

6. The pitch control method as described in claim 1, characterized in that, The step of determining the pitch angle change value based on the difference between the actual thrust and the target thrust to control the blade pitch includes: Based on the actual thrust and the target thrust, PI control is performed to determine the pitch angle change value, so as to control the blade pitch.

7. The pitch control method as described in claim 1, characterized in that, The method further includes: In the event of a failure of the load sensor used to obtain the actual thrust, the pitch angle change of the blade is determined based on any one of the target thrust, the power thrust, and the aerodynamic thrust, along with the minimum static thrust, in order to control the blade to pitch.

8. The pitch control method as described in claim 1, characterized in that, The preset condition includes the smaller of the power thrust and the aerodynamic thrust.

9. A pitch control system for a wind turbine generator, characterized in that, The system includes: The acquisition module is used to acquire the actual thrust, power thrust, and aerodynamic thrust of the wind turbine blades during operation. The determination module is used to take the power thrust or the aerodynamic thrust that meets the preset conditions as the target thrust; The first control module is used to determine the pitch angle change value of the blade based on the actual thrust and the target thrust, so as to control the blade to perform pitch control.

10. A wind turbine generator set, characterized in that, The wind turbine unit includes: Multiple blades; A controller, which is communicatively connected to each of the blades, is configured to control the pitch of each of the blades in accordance with the pitch control of the wind turbine as described in any one of claims 1-8.

11. The wind turbine generator set as described in claim 10, characterized in that, The wind turbine also includes: Multiple load sensors are provided, each load sensor is located at the root of each blade, and each load sensor is communicatively connected to the controller for collecting the flapping moment of each blade. A power sensor is mounted on the drive shaft of the wind turbine and is communicatively connected to the controller for collecting shaft power values. A wind speed sensor, which is communicatively connected to the controller, is used to collect data on wind speed.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and for running on the processor, characterized in that, When the processor executes the computer program, it implements the pitch control method for the wind turbine generator as described in any one of claims 1-8.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the pitch control method for the wind turbine generator as described in any one of claims 1-8.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the pitch control method for wind turbines as described in any one of claims 1-8.

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