Control method and device of wind turbine generator

Abstract

The application relates to the technical field of wind power generation, in particular to a control method and device of a wind turbine, wherein the method comprises the following steps: nonlinear modeling of the wind turbine to obtain a nonlinear model of the wind turbine; dynamic simulation of the wind turbine based on a preset simulation strategy to obtain simulation variable data of the wind turbine; calculation of simulation aerodynamic thrust coefficients of the wind turbine based on the simulation variable data, and obtaining of aerodynamic thrust of the wind turbine according to the simulation aerodynamic thrust coefficients and the nonlinear model; calculation of nonlinear feedback multipliers of the wind turbine according to the change rate of the aerodynamic thrust, generation of control signals of the wind turbine according to the nonlinear feedback multipliers, and control of the wind turbine according to the control signals. The method can predict the change of the aerodynamic thrust, and the change signal can be included in the variable pitch loop, so that the change trend of the rotating speed can be perceived and inhibited in advance, and then the smooth control of the rotating speed of the wind wheel can be realized.

Description

Technical Field

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

[0002] With the trend of larger wind turbines, the dimensions of key components such as towers, drive shafts, and blades have increased, making unit vibration problems more serious and speed fluctuations more frequent.

[0003] In related technologies, the current mainstream wind turbines generally adopt PI (Proportional Integral) closed-loop control based on speed deviation in the pitch control stage above the rated wind speed. Its input is the deviation between the ideal speed value and the actual measured value, and the output is the total pitch command.

[0004] However, in related technologies, traditional PI closed-loop control has a lag in response, slow or excessive pitch action, and frequent triggering of limiting and protection, which affects power generation efficiency and grid adaptability. Summary of the Invention

[0005] This application provides a control method and device for wind turbines. Based on the characteristic that the change in aerodynamic thrust precedes the change in rotational speed, a nonlinear model of the wind turbine is established, and the aerodynamic thrust and its change are predicted. This change signal is then incorporated into the pitch circuit to detect and suppress the trend of rotational speed change in advance, thereby achieving smooth control of the wind turbine rotational speed.

[0006] The first aspect of this application provides a control method for a wind turbine generator, comprising the following steps: performing nonlinear modeling on the wind turbine generator to obtain a nonlinear model of the wind turbine generator; performing dynamic simulation on the wind turbine generator based on a preset simulation strategy to obtain simulation variable data of the wind turbine generator; calculating the simulation aerodynamic thrust coefficient of the wind turbine generator based on the simulation variable data, and obtaining the aerodynamic thrust of the wind turbine generator based on the simulation aerodynamic thrust coefficient and the nonlinear model; calculating the nonlinear feedback multiplier of the wind turbine generator based on the rate of change of the aerodynamic thrust, generating a control signal for the wind turbine generator based on the nonlinear feedback multiplier, and controlling the wind turbine generator based on the control signal.

[0007] In one embodiment of this application, the simulation variable data includes axial force at the stationary hub, rotor speed, rotor radius, radar wind speed, air density, propeller angle, and nacelle speed, wherein the radar wind speed is the average wind speed of the rotor at the center of the hub obtained by radar measurement.

[0008] In one embodiment of this application, the step of calculating the simulated aerodynamic thrust coefficient of the wind turbine based on the simulated variable data includes: calculating the aerodynamic thrust coefficient value of the wind turbine under various motion states based on the simulated variable data, generating a corresponding scatter sequence based on the aerodynamic thrust coefficient value; fitting the scatter sequence to obtain fitted data of the aerodynamic thrust coefficient value, and using the fitted data as the simulated aerodynamic thrust coefficient of the wind turbine.

[0009] In one embodiment of this application, obtaining the aerodynamic thrust of the wind turbine based on the simulated aerodynamic thrust coefficient and the nonlinear model includes: acquiring the measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration of the wind turbine; and inputting the simulated aerodynamic thrust coefficient, the measured blade angle, the measured rotor speed, the measured radar wind speed, and the measured nacelle acceleration into the nonlinear model to output the aerodynamic thrust of the wind turbine.

[0010] In one embodiment of this application, the step of calculating the nonlinear feedback multiplier of the wind turbine based on the rate of change of the aerodynamic thrust includes: obtaining the current effective wind speed of the wind turbine rotor; The nonlinear feedback multiplier of the wind turbine is calculated based on the current effective wind speed of the wind turbine, the preset gain coefficient, and the rate of change.

[0011] In one embodiment of this application, the nonlinear model includes:

[0012] in, This represents the estimated value of aerodynamic thrust. Indicates air density, Indicates the radius of the wind turbine. This shows the relative wind speed after considering the effects of the tower's forward and backward vibrations. Indicates the aerodynamic thrust coefficient. Indicates the tip speed ratio, Indicates the propeller pitch angle.

[0013] In one embodiment of this application, the nonlinear feedback multiplier is obtained by the following formula:

[0014] in, Indicates the effective wind speed of the wind turbine. Indicates the gain coefficient. This represents the estimated rate of change of aerodynamic thrust. This represents a nonlinear feedback multiplier.

[0015] A second aspect of this application provides a control device for a wind turbine, comprising: a modeling module for performing nonlinear modeling on the wind turbine to obtain a nonlinear model of the wind turbine; a simulation module for performing dynamic simulation on the wind turbine based on a preset simulation strategy to obtain simulation variable data of the wind turbine; a calculation module for calculating the simulation aerodynamic thrust coefficient of the wind turbine based on the simulation variable data, and obtaining the aerodynamic thrust of the wind turbine according to the simulation aerodynamic thrust coefficient and the nonlinear model; and a control module for calculating the nonlinear feedback multiplier of the wind turbine according to the rate of change of the aerodynamic thrust, generating a control signal for the wind turbine according to the nonlinear feedback multiplier, and controlling the wind turbine according to the control signal.

[0016] In one embodiment of this application, the simulation variable data includes axial force at the stationary hub, rotor speed, rotor radius, radar wind speed, air density, propeller angle, and nacelle speed, wherein the radar wind speed is the average wind speed of the rotor at the center of the hub obtained by radar measurement.

[0017] In one embodiment of this application, the calculation module includes: a first calculation unit, configured to calculate the aerodynamic thrust coefficient value of the wind turbine under various motion states based on the simulation variable data, so as to generate a corresponding scatter sequence based on the aerodynamic thrust coefficient value; and a fitting unit, configured to fit the scatter sequence to obtain the fitting data of the aerodynamic thrust coefficient value, and use the fitting data as the simulation aerodynamic thrust coefficient of the wind turbine.

[0018] In one embodiment of this application, the calculation module further includes: a first acquisition unit, used to acquire the measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration of the wind turbine; and an output unit, used to input the simulated aerodynamic thrust coefficient and the measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration into the nonlinear model to output the aerodynamic thrust of the wind turbine.

[0019] In one embodiment of this application, the control module includes: a second acquisition unit, configured to acquire the current effective wind speed of the wind turbine rotor; and a second calculation unit, configured to calculate the nonlinear feedback multiplier of the wind turbine rotor based on the current effective wind speed, a preset gain coefficient, and the rate of change.

[0020] In one embodiment of this application, the nonlinear model includes:

[0021] in, This represents the estimated value of aerodynamic thrust. Indicates air density, Indicates the radius of the wind turbine. This shows the relative wind speed after considering the effects of the tower's forward and backward vibrations. Indicates the aerodynamic thrust coefficient. Indicates the tip speed ratio, Indicates the propeller pitch angle.

[0022] In one embodiment of this application, the nonlinear feedback multiplier is obtained by the following formula:

[0023] in, Indicates the effective wind speed of the wind turbine. Indicates the gain coefficient. This represents the estimated rate of change of aerodynamic thrust. This represents a nonlinear feedback multiplier.

[0024] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the wind turbine control method as described in the above embodiments.

[0025] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the wind turbine control method described above.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a wind turbine control method according to an embodiment of this application; Figure 2 This is a flowchart illustrating the speed control of a wind turbine according to a specific embodiment of this application; Figure 3 This is a schematic diagram of a control device for a wind turbine generator according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0028] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0029] The control method and apparatus for wind turbine generators according to embodiments of this application are described below with reference to the accompanying drawings. Addressing the problems in related technologies, such as delayed response, slow or excessive pitch control, frequent triggering of limiting and protection mechanisms, and impact on power generation efficiency and grid adaptability, this application provides a control method for wind turbine generators. In this method, the aerodynamic thrust and its rate of change at the hub center can be estimated based on the current pitch angle, rotational speed, and radar wind speed information of the wind turbine generator. Then, a nonlinear feedback multiplier is calculated based on the rate of change. Under the action of the nonlinear feedback multiplier, the change in aerodynamic thrust is incorporated into the pitch control loop to detect and suppress the trend of wind turbine rotational speed changes in advance, thereby achieving smooth control of the wind turbine rotational speed.

[0030] Figure 1 This is a flowchart illustrating a wind turbine control method provided in an embodiment of this application.

[0031] like Figure 1 As shown, the control method for this wind turbine includes the following steps: In step S101, nonlinear modeling of the wind turbine is performed to obtain the nonlinear model of the wind turbine.

[0032] When performing nonlinear modeling of wind turbines, the forward and backward vibrations of the tower need to be considered.

[0033] Specifically, the nonlinear model of a wind turbine may include a first-order dynamic model of the drive shaft, a second-order dynamic model of the tower's forward and backward vibrations, and a first-order dynamic model of the pitch actuator. The control input of the wind turbine is the pitch angle. The disturbance input is the effective wind speed of the wind turbine. The system output includes generator speed. and cabin acceleration Assuming that they can all be directly measured, the simplified nonlinear model of the wind turbine can be expressed as:

[0034]

[0035]

[0036] Equation (1) is the first-order dynamic model of the transmission system, where, Indicates the wind turbine speed. and These represent the pneumatic torque and the generator electromagnetic torque, respectively. Indicates the displacement at the top of the tower. This represents the pitch angle, or propeller angle. Indicates the effective wind speed of the wind turbine. This indicates the gear ratio and equivalent moment of inertia of the gearbox. The moment of inertia is the rotation of the hub, blades, and generator. , , The sum can be expressed by the following formula:

[0037] During operation, the tower bears the axial force from the wind turbine acting on the center of the turbine hub. When performing stress analysis, the tower's front and rear vibration system can be simplified into a cantilever beam model, and the second-order dynamic equations of the tower's front and rear vibrations can be listed as in equation (2), where, , , Let represent the equivalent modal mass, structural damping, and bending stiffness of the tower, respectively. Their calculation methods are as follows:

[0038]

[0039]

[0040] In the formula, , , , These refer to the masses of the tower, nacelle, hub, and blades, respectively. Indicates the structural damping ratio of the tower. This represents the natural frequency of the tower's front-to-back vibration.

[0041] Equation (3) represents the dynamic model of the variable pitch actuator, which can be equivalent to a first-order inertial element. Wherein, This represents the time constant of the pitch actuator. This indicates the output command value of the pitch controller.

[0042] Furthermore, the nonlinearity of the wind turbine model is mainly reflected in the expressions for aerodynamic torque and aerodynamic thrust:

[0043]

[0044] In the formula, Indicates air density, Indicates the radius of the wind turbine. This indicates the relative wind speed after taking into account the effects of the tower's forward and backward vibrations. and These represent the aerodynamic torque coefficient and the aerodynamic thrust coefficient, respectively, both of which are... and . non-affine nonlinear function. The tip speed ratio can be expressed as:

[0045] In step S102, dynamic simulation of the wind turbine is performed based on a preset simulation strategy to obtain simulation variable data of the wind turbine.

[0046] The preset simulation strategy can be the simulation strategy in simulation software such as Bladed / GTSim. In the actual execution process, the wind turbine can be dynamically simulated based on the DLC1.2 working condition, and the time series data of some key variables under each sub-working condition can be extracted, that is, the simulation variable data can be obtained. Among them, the DLC1.2 working condition can be understood as the standard working condition of the wind turbine being connected to the grid for power generation in the cut-in-cut-out wind speed range and under normal turbulent wind field. It can be used as the core simulation scenario for calculating fatigue loads throughout the entire life cycle.

[0047] In one embodiment of this application, the simulation variable data includes axial force at the stationary hub, rotor speed, rotor radius, radar wind speed, air density, propeller angle, and nacelle speed, wherein the radar wind speed is the average wind speed of the rotor at the center of the hub obtained by radar measurement.

[0048] Radar wind speed refers to the average wind speed at the center of the hub, obtained through radar measurement.

[0049] Based on the above technical solution, this embodiment can conduct dynamic simulation of wind turbine units based on a preset simulation strategy, and obtain multi-dimensional variable data including stationary hub axial force, rotor speed, rotor radius, radar wind speed, air density, blade angle value and nacelle speed. This allows for a comprehensive and accurate characterization of the wind turbine's aerodynamic characteristics, unit operating status and structural dynamic response, providing complete and reliable data support for subsequent analysis of rotor aerodynamic loads, speed fluctuation patterns, tower vibration characteristics and optimization of pitch control strategies. This effectively improves the accuracy and effectiveness of wind turbine unit operating characteristic analysis and control algorithm verification.

[0050] In step S103, the simulated aerodynamic thrust coefficient of the wind turbine is calculated based on the simulation variable data, and the aerodynamic thrust of the wind turbine is obtained according to the simulated aerodynamic thrust coefficient and the nonlinear model.

[0051] Among them, the aerodynamic thrust coefficient can be understood as a dimensionless parameter characterizing the aerodynamic load characteristics of the wind turbine, and the aerodynamic thrust can be understood as the axial force generated by the airflow acting on the wind turbine, which directly excites the tower to produce front and rear vibrations. By simulating and calculating the thrust coefficient and combining it with a nonlinear model to solve for the aerodynamic thrust, the coupling dynamic characteristics of the wind turbine's aerodynamic load and structural vibration can be accurately reflected.

[0052] In one embodiment of this application, the simulated aerodynamic thrust coefficient of the wind turbine is calculated based on simulation variable data, including: calculating the aerodynamic thrust coefficient value of the wind turbine under various motion states based on the simulation variable data, generating a corresponding scatter sequence based on the aerodynamic thrust coefficient value; fitting the scatter sequence to obtain fitting data of the aerodynamic thrust coefficient value, and using the fitting data as the simulated aerodynamic thrust coefficient of the wind turbine.

[0053] Specifically, based on the above formula (9), the aerodynamic thrust coefficient of the wind turbine It can be represented as:

[0054] In this embodiment, the axial force at the stationary hub, rotor radius, radar wind speed, air density, and nacelle speed obtained from dynamic simulation can be substituted into formula (11) to obtain the values ​​of the turbine under various operating conditions. Based on scatter data sequences , fitting Polynomial surface The highest order can be set to 2, from which the fitting formula for the aerodynamic thrust coefficient of the wind turbine can be obtained. It can also be used as the simulated aerodynamic thrust coefficient of wind turbine units.

[0055] Furthermore, in one embodiment of this application, the aerodynamic thrust of the wind turbine is obtained based on the simulated aerodynamic thrust coefficient and the nonlinear model, including: acquiring the measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration of the wind turbine; and inputting the simulated aerodynamic thrust coefficient and the measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration into the nonlinear model to output the aerodynamic thrust of the wind turbine.

[0056] In actual implementation, the embodiments of this application can first measure the propeller angle, rotor speed, radar wind speed, and nacelle acceleration of the generator set, and then estimate the aerodynamic thrust based on the above parameters and the aerodynamic thrust coefficient obtained by dynamic simulation fitting through equation (9) in the nonlinear model. The aerodynamic thrust here can be understood as the axial force at the hub of the wind turbine.

[0057] After obtaining the estimated aerodynamic thrust Subsequently, in this embodiment, a second-order low-pass filter can be used to filter the low-frequency component, and then differential processing can be used to obtain the aerodynamic thrust rate of change. .

[0058] This embodiment incorporates measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration of the wind turbine, and combines these with the aerodynamic thrust coefficient obtained from simulation into the nonlinear model for calculation. This fully integrates simulation data with on-site measured operating information, taking into account the coupling relationship between the wind turbine's aerodynamic characteristics, tower vibration, and unit dynamics. As a result, it can more accurately and closely solve for the actual aerodynamic thrust of the wind turbine, providing a reliable excitation input for subsequent load analysis, speed control, and vibration suppression, thereby improving the model's accuracy and the engineering applicability of the control strategy.

[0059] In step S104, the nonlinear feedback multiplier of the wind turbine is calculated based on the rate of change of aerodynamic thrust, and the control signal of the wind turbine is generated based on the nonlinear feedback multiplier, and the wind turbine is controlled based on the control signal.

[0060] A nonlinear feedback multiplier can be understood as an adjustment coefficient that automatically increases or decreases according to the operating conditions, used to dynamically amplify or reduce the control quantity.

[0061] In one embodiment of this application, the nonlinear feedback multiplier of the wind turbine is calculated based on the rate of change of aerodynamic thrust, including: obtaining the current effective wind speed of the wind turbine rotor; The nonlinear feedback multiplier of the wind turbine is calculated based on the current effective wind speed of the wind turbine, the preset gain coefficient, and the rate of change.

[0062] The nonlinear feedback multiplier can be obtained through the following formula: (12) In the formula, Indicates the effective wind speed of the wind turbine. Indicates the gain coefficient. This represents the estimated rate of change of aerodynamic thrust.

[0063] Specifically, this step involves designing an adaptive, nonlinear pitch control system based on the rate of change of aerodynamic thrust, such as... Figure 2 As shown, incorporating the aerodynamic thrust change signal into the pitch PI circuit aims to make the wind turbine speed more stable, reduce tower vibration, and make the pitch action smoother.

[0064] In this embodiment, the nonlinear feedback multiplier is not a fixed PI gain. It automatically adjusts its magnitude according to the rate of change of aerodynamic thrust. Traditional PI control directly generates a control signal based on the speed deviation, which is the pitch command. However, this embodiment uses a nonlinear feedback multiplier to dynamically correct the output strength of the PI and generate a control signal.

[0065] In summary, this embodiment monitors the rate of change of aerodynamic thrust, calculates the nonlinear feedback multiplier in real time, dynamically adjusts the gain strength of pitch control, and generates an adaptive pitch control signal to implement closed-loop control of the wind turbine. This enables the coordinated optimization of speed smoothing and load suppression under complex operating conditions such as strong turbulence and tower vibration coupling.

[0066] According to the wind turbine control method proposed in the embodiments of this application, the aerodynamic thrust and its rate of change at the hub center can be estimated based on the current blade angle, rotational speed and radar wind speed information of the wind turbine. Then, a nonlinear feedback multiplier is calculated based on the rate of change. Under the action of the nonlinear feedback multiplier, the change of aerodynamic thrust is incorporated into the pitch control loop to detect and suppress the trend of wind turbine rotational speed change in advance, and finally achieve smooth control of rotational speed.

[0067] The technical advantages of the control method for this wind turbine can be summarized as follows: 1. This control method can suppress the speed fluctuation of wind turbines by uniformly adjusting the pitch, thereby significantly reducing the fatigue load and ultimate load at key components such as blade root, tower base, and hub, which helps to reduce the operation and maintenance cost of wind turbines and extend their service life. 2. The implementation of this control method does not require changes to the mechanical structure of the wind turbine itself, as well as the structure of the electromagnetic torque controller and pitch controller, thus having excellent economic efficiency; 3. This control method can effectively track the power of wind turbine units, has no negative impact on power generation, can reduce pitch bearing fatigue, and is suitable for engineering practice; 4. This control method only requires the introduction of a speed smoothing controller based on nonlinear feedback multipliers to achieve effective control of the entire wind speed operating range. The number of control parameters is small and the parameter adjustment method is simple. The controller design is concise and efficient. 5. This control method has high reliability and low dependence on hardware sensors; 6. This control method is robust and maintains stable control performance when the blade model parameters change.

[0068] Next, refer to the appendix. Figure 3 This application describes a control device for a wind turbine generator according to an embodiment of the present application.

[0069] Figure 3 This is a block diagram of the control device for a wind turbine generator according to an embodiment of this application.

[0070] like Figure 3 As shown, the control device 10 of the wind turbine includes: a modeling module 100, a simulation module 200, a calculation module 300, and a control module 400.

[0071] The modeling module 100 is used to perform nonlinear modeling of the wind turbine to obtain a nonlinear model of the wind turbine.

[0072] The simulation module 200 is used to perform dynamic simulation of the wind turbine based on a preset simulation strategy in order to obtain the simulation variable data of the wind turbine.

[0073] The calculation module 300 is used to calculate the simulated aerodynamic thrust coefficient of the wind turbine based on the simulation variable data, and to obtain the aerodynamic thrust of the wind turbine based on the simulated aerodynamic thrust coefficient and the nonlinear model.

[0074] The control module 400 is used to calculate the nonlinear feedback multiplier of the wind turbine based on the rate of change of aerodynamic thrust, generate the control signal of the wind turbine based on the nonlinear feedback multiplier, and control the wind turbine based on the control signal.

[0075] In one embodiment of this application, the simulation variable data includes axial force at the stationary hub, rotor speed, rotor radius, radar wind speed, air density, propeller angle, and nacelle speed, wherein the radar wind speed is the average wind speed of the rotor at the center of the hub obtained by radar measurement.

[0076] In one embodiment of this application, the calculation module 300 includes: a first calculation unit and a fitting unit; wherein, the first calculation unit is used to calculate the aerodynamic thrust coefficient value of the wind turbine under various motion states based on the simulation variable data, so as to generate a corresponding scatter sequence based on the aerodynamic thrust coefficient value; the fitting unit is used to fit the scatter sequence to obtain the fitting data of the aerodynamic thrust coefficient value, and use the fitting data as the simulation aerodynamic thrust coefficient of the wind turbine.

[0077] In one embodiment of this application, the calculation module 300 further includes: a first acquisition unit and an output unit; wherein, the first acquisition unit is used to acquire the measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration of the wind turbine; the output unit is used to input the simulated aerodynamic thrust coefficient and the measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration into the nonlinear model to output the aerodynamic thrust of the wind turbine.

[0078] In one embodiment of this application, the control module 400 includes: a second acquisition unit and a second calculation unit; wherein, the second acquisition unit is used to acquire the current effective wind speed of the wind turbine rotor; and the second calculation unit is used to calculate the nonlinear feedback multiplier of the wind turbine rotor based on the current effective wind speed of the wind turbine rotor, a preset gain coefficient, and a rate of change.

[0079] In one embodiment of this application, the nonlinear model includes:

[0080] in, This represents the estimated value of aerodynamic thrust. Indicates air density, Indicates the radius of the wind turbine. This shows the relative wind speed after considering the effects of the tower's forward and backward vibrations. Indicates the aerodynamic thrust coefficient. Indicates the tip speed ratio, Indicates the propeller pitch angle.

[0081] In one embodiment of this application, the nonlinear feedback multiplier is obtained by the following formula:

[0082] in, Indicates the effective wind speed of the wind turbine. Indicates the gain coefficient. This represents the estimated rate of change of aerodynamic thrust. This represents a nonlinear feedback multiplier.

[0083] It should be noted that the foregoing explanation of the control method embodiment for wind turbines also applies to the control device of the wind turbine in this embodiment, and will not be repeated here.

[0084] According to the wind turbine control device proposed in the embodiments of this application, the aerodynamic thrust and its rate of change at the hub center can be estimated based on the current blade angle, rotational speed and radar wind speed information of the wind turbine. Then, a nonlinear feedback multiplier is calculated based on the rate of change. Under the action of the nonlinear feedback multiplier, the change of aerodynamic thrust is incorporated into the pitch control loop to detect and suppress the trend of wind turbine rotational speed change in advance, thereby achieving smooth control of rotational speed.

[0085] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0086] When the processor 402 executes the program, it implements the wind turbine control method provided in the above embodiments.

[0087] Furthermore, electronic devices also include: Communication interface 403 is used for communication between memory 401 and processor 402.

[0088] The memory 401 is used to store computer programs that can run on the processor 402.

[0089] Memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0090] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0091] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0092] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0093] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the wind turbine control method described above.

[0094] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0095] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0096] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0097] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0098] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0099] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0100] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0101] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A control method for a wind turbine generator set, characterized in that, include: The wind turbine is nonlinearly modeled to obtain the nonlinear model of the wind turbine. The wind turbine is dynamically simulated based on a preset simulation strategy to obtain the simulation variable data of the wind turbine. Based on the simulation variable data, the simulation aerodynamic thrust coefficient of the wind turbine is calculated, and the aerodynamic thrust of the wind turbine is obtained according to the simulation aerodynamic thrust coefficient and the nonlinear model. The nonlinear feedback multiplier of the wind turbine is calculated based on the rate of change of the aerodynamic thrust, and the control signal of the wind turbine is generated based on the nonlinear feedback multiplier. The wind turbine is then controlled based on the control signal.

2. The method according to claim 1, characterized in that, The simulation variable data includes axial force at the stationary hub, rotor speed, rotor radius, radar wind speed, air density, propeller angle, and nacelle speed. The radar wind speed is the average wind speed of the rotor at the center of the hub obtained by radar measurement.

3. The method according to claim 2, characterized in that, The calculation of the simulated aerodynamic thrust coefficient of the wind turbine based on the simulated variable data includes: Based on the simulation variable data, the aerodynamic thrust coefficient value of the wind turbine under various motion states is calculated, and a corresponding scatter sequence is generated based on the aerodynamic thrust coefficient value. The scatter sequence is fitted to obtain the fitted data of the aerodynamic thrust coefficient value, and the fitted data is used as the simulated aerodynamic thrust coefficient of the wind turbine.

4. The method according to claim 2, characterized in that, The process of obtaining the aerodynamic thrust of the wind turbine based on the simulated aerodynamic thrust coefficient and the nonlinear model includes: The measured blade angle, measured rotor speed, measured radar wind speed, and measured nacelle acceleration of the wind turbine were obtained. The simulated aerodynamic thrust coefficient, the measured blade angle, the measured wind turbine speed, the measured radar wind speed, and the measured nacelle acceleration are input into the nonlinear model to output the aerodynamic thrust of the wind turbine.

5. The method according to claim 2, characterized in that, The step of calculating the nonlinear feedback multiplier of the wind turbine based on the rate of change of the aerodynamic thrust includes: Obtain the current effective wind speed of the wind turbine rotor; The nonlinear feedback multiplier of the wind turbine is calculated based on the current effective wind speed of the wind turbine, the preset gain coefficient, and the rate of change.

6. The method according to claim 2, characterized in that, The nonlinear model includes: in, This represents the estimated value of aerodynamic thrust. Indicates air density, Indicates the radius of the wind turbine. This shows the relative wind speed after considering the effects of the tower's forward and backward vibrations. Indicates the aerodynamic thrust coefficient. Indicates the tip speed ratio, Indicates the propeller pitch angle.

7. The method according to claim 5, characterized in that, The nonlinear feedback multiplier is obtained through the following formula: in, Indicates the effective wind speed of the wind turbine. Indicates the gain coefficient. This represents the estimated rate of change of aerodynamic thrust. This represents a nonlinear feedback multiplier.

8. A control device for a wind turbine generator set, characterized in that, include: The modeling module is used to perform nonlinear modeling of the wind turbine to obtain the nonlinear model of the wind turbine. The simulation module is used to perform dynamic simulation of the wind turbine based on a preset simulation strategy to obtain the simulation variable data of the wind turbine. The calculation module is used to calculate the simulated aerodynamic thrust coefficient of the wind turbine based on the simulated variable data, and to obtain the aerodynamic thrust of the wind turbine according to the simulated aerodynamic thrust coefficient and the nonlinear model. The control module is used to calculate the nonlinear feedback multiplier of the wind turbine based on the rate of change of the aerodynamic thrust, generate the control signal of the wind turbine based on the nonlinear feedback multiplier, and control the wind turbine based on the control signal.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the wind turbine control method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the control method for the wind turbine as described in any one of claims 1-7.

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