Hydraulic variable pitch control method and device of wind generating set and electronic equipment

Abstract

The embodiment of the invention provides a hydraulic variable-pitch control method and device of a wind generating set, electronic equipment and a storage medium, the rotating speed difference value of the target rotating speed and the current rotating speed of blades can be determined according to the target rotating speed and the current rotating speed of the blades, and the rotating speed difference value is processed through a feedback control algorithm to generate an opening instruction. And then, the opening degree of a valve port of the flow control valve can be controlled according to the opening degree instruction so as to adjust the flow of the hydraulic execution mechanism, so that the technical effect of controlling the rotating speed of the blades in real time is achieved, the sudden change of the speed in the rotating process of the blades can be effectively inhibited, and the stability of variable-pitch movement is improved.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and in particular to a hydraulic pitch control method, device, electronic equipment, and storage medium for a wind turbine generator set. Background Technology

[0002] In the wind power sector, the hydraulic pitch control system is a key actuator in wind turbine generators used for precisely adjusting the blade pitch angle. This system typically includes a hydraulic power unit, hydraulic actuators, electro-hydraulic proportional valves, mechanical transmission mechanisms (such as crank-slider mechanisms), pitch bearings, and blades. The hydraulic power unit provides a stable source of pressurized oil, while the electro-hydraulic proportional valves act as flow control valves, regulating the direction and flow rate of hydraulic oil entering the hydraulic cylinders.

[0003] During operation, the control system generates an opening command based on pitch adjustment requirements, driving the electro-hydraulic proportional valve to adjust the valve opening, thereby controlling the speed and direction of the hydraulic cylinder piston. The piston drives the blades to rotate around the pitch bearing via a mechanical transmission mechanism, achieving pitch angle adjustment. However, existing technologies typically employ a single-loop position control strategy (e.g., based on PID algorithms), directly generating the valve opening command based on the pitch angle error. This process causes abrupt changes in blade rotation speed, resulting in poor smoothness of the pitch adjustment motion.

[0004] Therefore, how to effectively suppress sudden speed changes during blade rotation and improve the smoothness of pitch motion has become a pressing technical problem to be solved in the field of hydraulic pitch control. Summary of the Invention

[0005] This application provides a hydraulic pitch control method, device, electronic equipment, and storage medium for wind turbine generator sets, which can effectively suppress sudden speed changes during blade rotation and improve the smoothness of pitch motion.

[0006] In a first aspect, embodiments of this application provide a hydraulic pitch control method for a wind turbine generator set. The wind turbine generator set includes blades, a flow control valve, and a hydraulic actuator. The flow control valve is used to adjust the flow rate of the hydraulic actuator to drive the blades to change pitch. The method includes: acquiring a first target pitch angle and a first current pitch angle of the blades, and determining a first pitch angle difference between the two; processing the first pitch angle difference using a feedback control algorithm to determine a first target rotational speed of the blades; acquiring a first current rotational speed of the blades, and determining a first rotational speed difference between the first target rotational speed and the first current rotational speed; processing the first rotational speed difference using a feedback control algorithm to generate a first opening command; and controlling the valve opening of the flow control valve according to the first opening command to control the rotational speed of the blades.

[0007] Optionally, determining the first rotation speed difference between the first target rotation speed and the first current rotation speed includes: determining whether the first target rotation speed is within a preset rotation speed range; if it is not within the preset rotation speed range, adjusting the speed limit of the first target rotation speed so that the adjusted first target rotation speed is within the preset rotation speed range; and determining the first rotation speed difference based on the adjusted first target rotation speed and the first current rotation speed.

[0008] Optionally, the step of processing the first pitch angle difference value using a feedback control algorithm to determine the first target rotational speed of the blade includes: processing the first pitch angle difference value using a feedback control algorithm to generate an initial rotational speed; calculating the change in the initial rotational speed based on the target rotational speed of the previous control cycle; if the acceleration corresponding to the change in the initial rotational speed exceeds a preset acceleration threshold, limiting the change to obtain a limited change; and correcting the initial rotational speed based on the limited change to obtain the first target rotational speed.

[0009] Optionally, obtaining the first target pitch angle and the first current pitch angle of the propeller blade, and determining the first pitch angle difference between the two, includes: obtaining the first target pitch angle and the first current pitch angle of the propeller blade; determining whether the first target pitch angle is within a preset pitch angle range; if it is not within the preset pitch angle range, then limiting the first target pitch angle so that the first target pitch angle after limiting the adjustment is within the preset pitch angle range; and determining the first pitch angle difference between the first target pitch angle after limiting the adjustment and the first current pitch angle.

[0010] Optionally, obtaining the first target pitch angle and the first current pitch angle of the propeller blade and determining the first pitch angle difference between the two includes: in response to a dual-loop control command, obtaining the first target pitch angle and the first current pitch angle of the propeller blade and determining the first pitch angle difference between the two.

[0011] Optionally, the method further includes: in response to a position single-loop control command, acquiring a second target pitch angle and a second current pitch angle of the blade, and determining a second pitch angle difference between the two; processing the second pitch angle difference using a feedback control algorithm to generate a second opening command; and controlling the valve opening of the flow control valve according to the second opening command to control the rotation speed of the blade.

[0012] Optionally, the method further includes: in response to a speed single-loop control command, acquiring a second target rotational speed and a second current rotational speed of the blade, and determining a second rotational speed difference between the two; processing the second rotational speed difference using a feedback control algorithm to generate a third opening command; and controlling the valve opening of the flow control valve according to the third opening command to control the rotational speed of the blade.

[0013] Optionally, the method further includes: in response to an open-loop control command, sending a preset opening command to the flow control valve to control the rotation speed of the blade.

[0014] Secondly, embodiments of this application provide a device for hydraulic pitch control of a wind turbine generator set. The wind turbine generator set includes blades, a flow control valve, and a hydraulic actuator. The flow control valve is used to adjust the flow rate of the hydraulic actuator to drive the blades to change pitch. The device includes: a first acquisition module for acquiring a first target pitch angle and a first current pitch angle of the blades, and determining a first pitch angle difference between the two; a determination module for processing the first pitch angle difference using a feedback control algorithm to determine a first target rotational speed of the blades; a second acquisition module for acquiring a first current rotational speed of the blades, and determining a first rotational speed difference between the first target rotational speed and the first current rotational speed; a generation module for processing the first rotational speed difference using a feedback control algorithm to generate a first opening command; and a control module for controlling the valve opening of the flow control valve according to the first opening command to control the rotational speed of the blades.

[0015] Thirdly, embodiments of this application provide an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device implements any of the methods described in the first aspect.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the methods described in the first aspect.

[0017] This application provides a hydraulic pitch control method, device, electronic equipment, and storage medium for a wind turbine generator set. It determines the speed difference between the target and current rotational speeds of the blades and uses a feedback control algorithm to process this speed difference to generate an opening command. Then, based on the opening command, the valve opening of the flow control valve is controlled to adjust the flow rate of the hydraulic actuator, thereby achieving real-time control of the blade rotational speed. This effectively suppresses sudden speed changes during blade rotation and improves the smoothness of the pitch control motion. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of an implementation environment for the hydraulic pitch control method for a wind turbine generator provided in the embodiments of this application; Figure 2 A schematic flowchart of a hydraulic pitch control method for a wind turbine generator set provided in an embodiment of this application; Figure 3 A flowchart illustrating a method for determining a difference in rotational speed provided in an embodiment of this application; Figure 4 A flowchart illustrating a method for determining a target rotational speed of a blade, provided for an embodiment of this application; Figure 5 A flowchart illustrating a method for determining pitch angle difference provided in an embodiment of this application; Figure 6 A schematic diagram of a hydraulic pitch control device for a wind turbine generator set provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] In this article, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The symbol " / " in this article indicates that the related objects are in an "or" relationship; for example, A / B means A or B.

[0021] The terms "first" and "second," etc., used in the specification and claims herein are used to distinguish different objects, not to describe a specific order of objects. For example, "first response message" and "second response message," etc., are used to distinguish different response messages, not to describe a specific order of response messages.

[0022] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0023] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processors means two or more processors, multiple elements means two or more elements, etc.

[0024] This application provides a hydraulic pitch control method, device, electronic equipment, and storage medium for wind turbine generator sets, which can effectively suppress sudden speed changes during blade rotation and improve the smoothness of pitch motion.

[0025] This application provides a hydraulic pitch control method for a wind turbine generator set. The wind turbine generator set may include a control module 11, a hydraulic power source 12, a flow control valve 13, a hydraulic actuator 14, and blades 15. Figure 1 As shown. The number of blades 15 is generally multiple; for example, the number of blades 15 can be three.

[0026] The hydraulic power source 12 is an energy supply device that provides controllable pressure oil to the hydraulic actuator. It typically includes a hydraulic pump, drive motor, oil tank, accumulator, and control valve group. Its core function is to establish and maintain the working pressure and flow required by the system, and drive the hydraulic actuator 14 to operate during normal operation, which in turn drives the blade 15 to rotate.

[0027] The hydraulic actuator 14 is a device that converts pressurized oil supplied by a hydraulic power source into mechanical motion. It mainly includes a hydraulic cylinder or hydraulic motor, a piston and piston rod, and a sealing system. Its basic function is to drive the piston to move linearly or the motor to rotate through pressurized oil, thereby driving the blades 15 of the wind turbine generator to rotate.

[0028] The flow control valve 13 can be, for example, an electro-hydraulic proportional valve, used to regulate the flow of the hydraulic actuator. The control module 11 (e.g., a programmable logic controller or a dedicated pitch controller) can send opening commands to the flow control valve to control the valve opening, thereby regulating the flow of the hydraulic actuator and thus controlling the rotation speed of the blade 15.

[0029] This hydraulic pitch control method can be executed by the control module 11, such as... Figure 2 As shown, the hydraulic pitch control method for this wind turbine generator set may specifically include the following steps: S11, obtain the first target pitch angle and the first current pitch angle of the propeller blade, and determine the first pitch angle difference between the two.

[0030] During wind power generation, the main control system of the wind turbine can comprehensively determine the target pitch angle (i.e., the first target pitch angle) of the blades based on various factors such as wind speed, generator speed, active power output, grid dispatch instructions, unit operating status (e.g., startup, shutdown, or fault), and structural loads. For example, in low-wind-speed scenarios, to maximize wind energy capture, the first target pitch angle can be set to a smaller pitch angle. Conversely, in high-wind-speed scenarios, to reduce the output power of the wind turbine, the first target pitch angle can be set to a larger pitch angle.

[0031] The control module 11 can obtain the current pitch angle (i.e., the first current pitch angle) through an angle sensor installed at the root of the blade 15. Alternatively, the first current pitch angle of the blade 15 can be obtained through other means, which is not limited in this embodiment. Next, the control module 11 can calculate the difference between the first target pitch angle and the first current pitch angle of the blade 15 (i.e., the first pitch angle difference).

[0032] S12, a feedback control algorithm is used to process the first pitch angle difference value to determine the first target rotation speed of the blade.

[0033] In this step, the control module 11 can employ a proportional-integral-derivative (PID) control algorithm to process the aforementioned first pitch angle difference value to generate the target rotational speed (i.e., the first target rotational speed) that the blade 15 should achieve. Specifically, the rotational speed here is the rotational angular velocity. Furthermore, this feedback control algorithm can also be an adaptive control algorithm or a fuzzy control algorithm, etc., and this embodiment does not impose any limitations on this.

[0034] S13, obtain the first current rotational speed of the blade, and determine the first rotational speed difference between the first target rotational speed and the first current rotational speed.

[0035] In this step, the control module 11 can obtain the current rotation speed (i.e., the first current rotation speed) of the blade 15 through the speed sensor installed on the output shaft of the hydraulic actuator, and calculate the difference between the first target rotation speed and the first current rotation speed (i.e., the first rotation speed difference).

[0036] S14, a feedback control algorithm is used to process the first rotation speed difference to generate a first opening command.

[0037] In this step, the control module 11 can employ a PID control algorithm to process the aforementioned first rotational speed difference to generate an opening command (i.e., a first opening command). The first opening command characterizes the opening degree of the flow control valve 13. The opening degree can range from -100% to 100%. Furthermore, the feedback control algorithm can also be an adaptive control algorithm or a fuzzy control algorithm, etc., and this embodiment does not impose any limitations on this.

[0038] S15, according to the first opening command, control the valve opening of the flow control valve to control the rotation speed of the blade.

[0039] In this step, the control module 11 can control the opening of the flow control valve 13 according to the first opening command, thereby changing the flow rate of hydraulic oil flowing into or out of the hydraulic actuator. The change in flow rate can directly drive the action of the hydraulic actuator, which in turn can drive the blade 15 to rotate towards the first target pitch angle at the desired speed.

[0040] Throughout the pitch control process, the control module 11 continuously executes the above steps in a loop, constructing a dual closed-loop feedback control structure consisting of an outer loop and an inner loop. The outer loop is a position loop (also called an angle loop), used to generate the desired first target rotational speed based on the deviation between the first target pitch angle and the first current pitch angle, thereby ensuring that the blade 15 rotates accurately to the first target pitch angle. The inner loop is a speed loop, which compares the first target rotational speed with the first current rotational speed and uses a feedback control algorithm based on the obtained first rotational speed difference to generate a first opening command, precisely controlling the rotational speed of the blade 15.

[0041] In one application scenario, when using the traditional single-loop position control method, if the flow control valve 13 is within the dead zone (e.g., -5% to +5%), there is no effective flow output from the valve port despite a deviation between the target pitch angle and the current pitch angle, causing the blade 15 to fail to rotate. As the position error continues to accumulate, the final output opening command may cause the flow control valve 13 to open rapidly to a large value, resulting in a large flow surge in the hydraulic actuator. This causes a sudden change in the speed of the blade 15, severely affecting the smoothness of the pitch motion.

[0042] In contrast, when using the dual-loop control method of this application embodiment, the outer loop converts the position error into a smooth first target rotation speed, while the inner loop adjusts the valve opening in real time based on the first rotation speed difference. This allows for precise control of the rotation speed of the blade 15, driving the blade 15 to rotate continuously and smoothly, avoiding sudden starts after a long period of stagnation, thereby effectively suppressing sudden speed changes of the blade 15 and improving the stability of the pitch motion.

[0043] In detail, when the rotational speed of the blade 15 changes abruptly, the system's demand for hydraulic fluid flow increases non-linearly; for example, the system's demand for hydraulic fluid flow is proportional to the square of the rotational speed of the blade 15. This surge in flow can easily lead to a lag in the response of the oil supply system, which in turn causes an exponential decrease in the working pressure of the hydraulic cylinder, resulting in excessively low oil pressure and significantly increasing the risk of system instability and underpressure failure. This embodiment of the application achieves precise control of the rotational speed of the blade 15 through a speed closed-loop feedback regulation mechanism, thereby dynamically adjusting the hydraulic fluid flow required by the hydraulic cylinder, suppressing the sudden drop in cylinder pressure caused by a sudden increase in flow, and thus avoiding underpressure failure.

[0044] In some embodiments of this application, in order to further improve the smoothness of the pitch motion of the blade 15 during the execution of the aforementioned hydraulic pitch control method, the control module 11 can perform speed limiting processing on the first target rotation speed before calculating the first rotation speed difference, so that the first target rotation speed is within the desired range.

[0045] Specifically, such as Figure 3 As shown, the aforementioned determination of the first rotational speed difference between the first target rotational speed and the first current rotational speed (part of step S13) may include the following sub-steps: S131, determine whether the rotation speed of the first target is within the preset rotation speed range.

[0046] In this step, the control module 11 can pre-set the rotation speed range (i.e., the preset rotation speed range) based on the mechanical structural strength of the wind turbine generator set, the response capability of the hydraulic system, the pitch drive power, and safety regulations. Then, the control module 11 can determine whether the first target rotation speed is within the preset rotation speed range.

[0047] S132, if it is not within the preset rotation speed range, then the first target rotation speed is adjusted by speed limit adjustment so that the first target rotation speed after speed limit adjustment is within the preset rotation speed range.

[0048] If the rotational speed of the first target is not within the preset rotational speed range, it indicates that the rotational speed of the first target is too high or too low. The control module 11 limits the rotational speed of the first target to ensure that the adjusted rotational speed falls within the preset rotational speed range. For example, the preset rotational speed range is (ω... min , ω max ), at the first target rotational speed ω target Greater than ω max In this case, the rotational speed ω of the first target can be modified. target Make the size equal to ω max At the first target's rotational speed ω target Less than ω min In this case, the rotational speed ω of the first target can be modified. target Make the size equal to ω min .

[0049] S133, based on the first target rotational speed after the speed limit adjustment and the first current rotational speed, determine the difference between the first rotational speed and the first target rotational speed.

[0050] In this step, the control module 11 can calculate the first rotational speed difference between the first target rotational speed after speed limit adjustment and the first current rotational speed. It should be noted that this embodiment can be applied to one blade 15, or simultaneously to multiple blades 15; this embodiment is not limited in this respect.

[0051] In this way, the embodiment of this application can limit the first target rotation speed of the blade 15 to a preset rotation speed range, thereby avoiding the blade 15 from rotating too high or too low, and further improving the smoothness of the blade 15 rotation.

[0052] In some embodiments of this application, such as Figure 4 As shown, step S12 may include the following sub-steps: S121, a feedback control algorithm is used to process the first pitch angle difference value to generate an initial rotation speed.

[0053] In this step, the control module 11 can use a feedback control algorithm (such as a PID control algorithm) to process the first pitch angle difference value to generate the corresponding initial rotation speed.

[0054] S122, calculate the change in the initial rotation speed based on the target rotation speed of the previous control cycle.

[0055] In this step, the control module 11 can read the target rotation speed determined in the previous control cycle and calculate the change between the current initial rotation speed and the target rotation speed in the previous cycle.

[0056] S123, if the acceleration corresponding to the change in the initial rotation speed exceeds a preset acceleration threshold, then the change is limited to obtain the limited change.

[0057] In this step, the control module 11 can determine the acceleration corresponding to the aforementioned change in magnitude and duration. If the acceleration exceeds a preset acceleration threshold, the change in magnitude is limited to obtain a limited change in magnitude.

[0058] S124, the initial rotation speed is corrected according to the change after the limit is set, so as to obtain the first target rotation speed.

[0059] In this step, the control module 11 can correct the initial rotation speed based on the amount of change after limiting, thereby obtaining the first target rotation speed. Specifically, the first target rotation speed is obtained by adding the amount of change after limiting to the initial rotation speed.

[0060] The embodiments of this application, through the aforementioned limiting mechanism, can effectively limit the acceleration of the blade 15 during rotation, avoid the phenomenon of unstable rotation of the blade 15 due to sudden speed changes, and thus further improve the stability of the blade 15 rotation.

[0061] In some embodiments of this application, such as Figure 5 As shown, the aforementioned step S11 may include the following sub-steps: S111, obtain the first target pitch angle and the first current pitch angle of the propeller blade; S112, determine whether the first target pitch angle is within the preset pitch angle range; S113, if it is not within the preset pitch angle range, then the first target pitch angle is limited and adjusted so that the first target pitch angle after the limit adjustment is within the preset pitch angle range. S114, determine the first pitch angle difference between the first target pitch angle after the amplitude limit adjustment and the first current pitch angle.

[0062] In this embodiment, the control module 11 does not directly calculate the difference between the first target pitch angle and the first current pitch angle. Instead, it first determines whether the first target pitch angle is within the preset pitch angle range. If it is not within the preset pitch angle range, the first target pitch angle is limited and adjusted so that the first target pitch angle after the limit adjustment is within the preset pitch angle range, thereby avoiding the first target pitch angle of the blade 15 being too large or too small.

[0063] For example, if the first target pitch angle is 100°, and the preset pitch angle range is -2° to 95°, then the first target pitch angle can be limited and adjusted, resulting in a first target pitch angle of 95°. As another example, if the first target pitch angle is -10°, and the preset pitch angle range is -2° to 95°, then the first target pitch angle can be limited and adjusted, resulting in a first target pitch angle of -2°.

[0064] It should be noted that the preset pitch angle range is usually determined by the mechanical structure limitations, aerodynamic performance requirements, and safety protection strategies of the wind turbine generator set.

[0065] By introducing the above-mentioned limiting mechanism, it is possible to effectively prevent the hydraulic pitch system from performing illegal or dangerous actions due to the first target pitch angle exceeding the limit, avoid overload damage to the hydraulic actuator 14, and significantly improve the safety and robustness of the wind turbine generator set.

[0066] In some embodiments of this application, the wind turbine generator set can operate in different working modes when the control module 11 receives different instructions, in order to adapt to different application scenarios. Specifically, when the control module 11 receives a dual-loop control instruction, the control module 11 can control the wind turbine generator set to operate in a dual-loop control mode. The specific details of the dual-loop control mode have been described in detail above and will not be repeated here.

[0067] When the control module 11 receives a position single-loop control command, it can acquire the target pitch angle (i.e., the second target pitch angle) and the current pitch angle (i.e., the second current pitch angle) of the propeller blade 15, and determine the pitch angle difference between the two (i.e., the second pitch angle difference). Subsequently, the control module 11 can use a feedback control algorithm (e.g., a PID algorithm) to process the second pitch angle difference and generate a corresponding opening command (i.e., the second opening command). Next, the control module 11 can adjust the valve opening of the flow control valve 13 according to the second opening command, thereby changing the amount of oil flowing into or out of the hydraulic actuator 14, thus controlling the rotational speed of the propeller blade 15 and ultimately achieving the second target pitch angle position.

[0068] Furthermore, in some implementations, when using single-loop position control for pitch, the control module 11 can divide the angle difference between the current pitch angle and the target pitch angle into multiple sub-intervals. For example, if the target pitch angle is 90° and the current pitch angle is 0°, the control module 11 can divide the angle range from 0° to 90° into 90 sub-intervals, each sub-interval being 1° in size. The first sub-interval ranges from 0° to 1°, the second sub-interval ranges from 1° to 2°, and so on, with the 90th sub-interval ranging from 89° to 90°. The control module 11 sequentially drives the blades 15 towards the target pitch angle, using the endpoint of each sub-interval as a stage target. Whenever an intermediate target (such as 1°, 2°, ..., 90°) is reached, the control module 11 performs position feedback and error correction again, thereby achieving a smoother and more precise pitch control process.

[0069] When the control module 11 receives a speed single-loop control command, it can acquire the target rotational speed (i.e., the second target rotational speed) and the current rotational speed (i.e., the second current rotational speed) of the blade 15, and calculate the difference between the two rotational speeds (i.e., the second rotational speed difference). Subsequently, the control module 11 can process the second rotational speed difference using a feedback control algorithm to generate a corresponding opening command (i.e., the third opening command), and adjust the valve opening of the flow control valve 13 according to the third opening command, thereby regulating the flow rate of oil flowing into or out of the hydraulic actuator 14 to achieve precise control of the rotational speed of the blade 15.

[0070] When the control module 11 receives an open-loop control command, it can directly send a preset opening command to the flow control valve 13. In this case, there is no need for a complex feedback calculation process. Instead, the corresponding opening command is generated according to the preset parameters, and the valve opening of the flow control valve 13 is directly controlled according to the opening command, quickly adjusting the rotation speed of the blade 15, providing a simple and fast control method. In one example, when the position sensor of the blade 15 is not calibrated and the position of the blade 15 is not zeroed, this control method can control the flow control valve 13 at a preset opening, so that the blade 15 moves to a specific mechanical calibration point, completing the pitch system calibration process.

[0071] like Figure 6As shown in the figure, this application embodiment provides a hydraulic pitch control device 6 for a wind turbine generator set. The wind turbine generator set includes blades, a flow control valve, and a hydraulic actuator. The flow control valve is used to adjust the flow rate of the hydraulic actuator to drive the blades to change pitch. The device includes: a first acquisition module 61, used to acquire a first target pitch angle and a first current pitch angle of the blades, and determine the first pitch angle difference between the two; a first determination module 62, used to process the first pitch angle difference using a feedback control algorithm to determine a first target rotational speed of the blades; a second acquisition module 63, used to acquire a first current rotational speed of the blades, and determine a first rotational speed difference between the first target rotational speed and the first current rotational speed; a first generation module 64, used to process the first rotational speed difference using a feedback control algorithm to generate a first opening command; and a first control module 65, used to control the valve opening of the flow control valve according to the first opening command to control the rotational speed of the blades.

[0072] Optionally, the second acquisition module 63 includes: a judgment unit, used to judge whether the first target rotation speed is within a preset rotation speed range; an adjustment unit, used to adjust the speed limit of the first target rotation speed if it is not within the preset rotation speed range, so that the first target rotation speed after the speed limit adjustment is within the preset rotation speed range; and a determination unit, used to determine the difference between the first rotation speed and the first current rotation speed based on the first target rotation speed after the speed limit adjustment.

[0073] Optionally, the first determining module 62 includes: a generation unit, used to process the first pitch angle difference value using a feedback control algorithm to generate an initial rotation speed; a calculation unit, used to calculate the change in the initial rotation speed based on the target rotation speed of the previous control cycle; a limiting unit, used to limit the change if the acceleration corresponding to the change in the initial rotation speed exceeds a preset acceleration threshold, to obtain a limited change; and a correction unit, used to correct the initial rotation speed based on the limited change, to obtain the first target rotation speed.

[0074] Optionally, the first acquisition module 61 is specifically used to acquire the first target pitch angle and the first current pitch angle of the propeller blade; determine whether the first target pitch angle is within a preset pitch angle range; if it is not within the preset pitch angle range, then limit the first target pitch angle so that the first target pitch angle after the limit adjustment is within the preset pitch angle range; and determine the first pitch angle difference between the first target pitch angle after the limit adjustment and the first current pitch angle.

[0075] Optionally, the first acquisition module 61 is specifically used to respond to the dual-loop control command, acquire the first target pitch angle and the first current pitch angle of the propeller blade, and determine the first pitch angle difference between the two.

[0076] Optionally, the hydraulic pitch control device 6 of the wind turbine generator set further includes: a second determining module, used to obtain the second target pitch angle and the second current pitch angle of the blade in response to the position single-loop control command, and determine the second pitch angle difference between the two; a second generating module, used to process the second pitch angle difference using a feedback control algorithm to generate a second opening command; and a second control module, used to control the valve opening of the flow control valve according to the second opening command, so as to control the rotation speed of the blade.

[0077] Optionally, the hydraulic pitch control device 6 of the wind turbine generator set further includes: a third determining module, used to respond to a speed single-loop control command, acquire the second target rotation speed and the second current rotation speed of the blade, and determine the second rotation speed difference between the two; a third generating module, used to process the second rotation speed difference using a feedback control algorithm to generate a third opening command; and a third control module, used to control the valve opening of the flow control valve according to the third opening command to control the rotation speed of the blade.

[0078] Optionally, the hydraulic pitch control device 6 of the wind turbine generator set further includes: a fourth control module, used to send a preset opening command to the flow control valve in response to an open-loop control command, so as to control the rotation speed of the blades.

[0079] The hydraulic pitch control device 6 for wind turbine generator provided in this application embodiment can execute the method executed by the control module 11 in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0080] like Figure 7 As shown in the embodiments of this application, an electronic device is also provided. The electronic device includes a memory and a processor. The memory is used to store a computer program. When the computer program is executed by the processor, it can implement the hydraulic pitch control method of the wind turbine generator set as described above. For details, please refer to the description of the foregoing embodiments.

[0081] Specifically, at the hardware level, the electronic device may include a processor, an internal bus, and memory. The memory may include main memory and non-volatile memory. The processor reads the corresponding computer program from the non-volatile memory into main memory and then executes it. Those skilled in the art will understand that... Figure 7 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device may also include components that are larger than... Figure 7The components shown may include more or fewer components, such as other processing hardware like a GPU (Graphics Processing Unit) or external communication ports. Of course, this application does not exclude other implementation methods besides software implementations, such as logic devices or a combination of hardware and software.

[0082] In this embodiment, the processor may include a central processing unit (CPU) or a graphics processing unit (GPU), and may also include other microcontrollers, logic gates, integrated circuits, or appropriate combinations thereof with logic processing capabilities. The memory described in this embodiment can be a storage device for storing information. In digital systems, a device capable of storing binary data can be a memory; in integrated circuits, a circuit without physical form but with storage function can also be a memory, such as RAM or FIFO; in a system, a storage device with physical form can also be called a memory. In implementation, this memory can also be implemented using a cloud storage method; the specific implementation method is not limited in this specification.

[0083] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the hydraulic pitch control method for a wind turbine generator set as described above.

[0084] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the hydraulic pitch control method for a wind turbine generator set as described above.

[0085] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A hydraulic pitch control method for a wind turbine generator set, characterized in that, The wind turbine generator set includes blades, a flow control valve, and a hydraulic actuator. The flow control valve is used to regulate the flow of the hydraulic actuator to drive the blades to change pitch. The method includes: Obtain the first target pitch angle and the first current pitch angle of the propeller blade, and determine the first pitch angle difference between the two. A feedback control algorithm is used to process the first pitch angle difference value to determine the first target rotational speed of the blade; Obtain the first current rotational speed of the blade, and determine the first rotational speed difference between the first target rotational speed and the first current rotational speed; A feedback control algorithm is used to process the first rotational speed difference to generate a first opening command; According to the first opening command, the valve opening of the flow control valve is controlled to control the rotation speed of the blade.

2. The hydraulic pitch control method for wind turbine generator sets according to claim 1, characterized in that, Determining the first rotational speed difference between the first target rotational speed and the first current rotational speed includes: Determine whether the rotation speed of the first target is within the preset rotation speed range; If it is not within the preset rotation speed range, the first target rotation speed is adjusted by speed limiting so that the first target rotation speed after speed limiting adjustment is within the preset rotation speed range. The difference between the first rotation speed and the first current rotation speed is determined based on the first target rotation speed after the speed limit adjustment.

3. The hydraulic pitch control method for wind turbine generator sets according to claim 1, characterized in that, The step of processing the first pitch angle difference value using a feedback control algorithm to determine the first target rotational speed of the blade includes: A feedback control algorithm is used to process the first pitch angle difference to generate an initial rotational speed; The change in the initial rotation speed is calculated based on the target rotation speed of the previous control cycle; If the acceleration corresponding to the change in the initial rotational speed exceeds a preset acceleration threshold, the change is limited to obtain a limited change. The initial rotation speed is corrected based on the change after the amplitude is limited, so as to obtain the first target rotation speed.

4. The hydraulic pitch control method for wind turbine generator sets according to claim 1, characterized in that, The step of obtaining the first target pitch angle and the first current pitch angle of the propeller blade, and determining the first pitch angle difference between the two, includes: Obtain the first target pitch angle and the first current pitch angle of the propeller blade; Determine whether the first target pitch angle is within the preset pitch angle range; If it is not within the preset pitch angle range, the first target pitch angle is limited and adjusted so that the first target pitch angle after the limit adjustment is within the preset pitch angle range. Determine the first pitch angle difference between the first target pitch angle after the amplitude limit adjustment and the first current pitch angle.

5. The hydraulic pitch control method for a wind turbine generator set according to claim 1, characterized in that, The step of obtaining the first target pitch angle and the first current pitch angle of the propeller blade, and determining the first pitch angle difference between the two, includes: In response to the dual-loop control command, the first target pitch angle and the first current pitch angle of the propeller are obtained, and the first pitch angle difference between the two is determined.

6. The hydraulic pitch control method for a wind turbine generator set according to claim 1, characterized in that, The method further includes: In response to a single-loop position control command, the second target pitch angle and the second current pitch angle of the propeller are obtained, and the difference between the two second pitch angles is determined. The second pitch angle difference is processed using a feedback control algorithm to generate a second opening command; According to the second opening command, the valve opening of the flow control valve is controlled to control the rotation speed of the blade.

7. The hydraulic pitch control method for a wind turbine generator set according to claim 1, characterized in that, The method further includes: In response to a speed single-loop control command, the second target rotational speed and the second current rotational speed of the blade are obtained, and the difference between the two second rotational speeds is determined. A feedback control algorithm is used to process the second rotational speed difference to generate a third opening command; According to the third opening command, the valve opening of the flow control valve is controlled to control the rotation speed of the blade.

8. The hydraulic pitch control method for a wind turbine generator set according to claim 5, characterized in that, The method further includes: In response to an open-loop control command, a preset opening command is sent to the flow control valve to control the rotation speed of the blades.

9. A hydraulic pitch control device for a wind turbine generator set, characterized in that, The wind turbine generator set includes blades, a flow control valve, and a hydraulic actuator. The flow control valve is used to regulate the flow of the hydraulic actuator to drive the blades to change pitch. The device includes: The first acquisition module is used to acquire the first target pitch angle and the first current pitch angle of the propeller blade, and determine the first pitch angle difference between the two. The determination module is used to process the first pitch angle difference value using a feedback control algorithm to determine the first target rotational speed of the blade; The second acquisition module is used to acquire the first current rotational speed of the blade and determine the first rotational speed difference between the first target rotational speed and the first current rotational speed. The generation module is used to process the first rotational speed difference using a feedback control algorithm to generate a first opening command; The control module is used to control the valve opening of the flow control valve according to the first opening command, so as to control the rotation speed of the blade.

10. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it causes the electronic device to implement the method as described in any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 8.

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