A wind turbine and a method and apparatus for feathering thereof

Abstract

This application provides a wind turbine generator and its feathering method and apparatus. The method includes: acquiring the current angle of each blade of the wind turbine generator, and selecting the blade with the largest angle as the target blade; controlling each of the other blades to pitch towards the largest angle; and controlling each blade of the wind turbine generator to synchronously pitch towards the feathering position when the angles of the other blades reach the largest angle. The technical solution of this application, when feathering the wind turbine generator, uses the blade with the current largest angle as the target blade, and first synchronizes the other blades before feathering all blades, reconstructing the current disordered simultaneous feathering into an ordered two-stage pitching process of synchronization followed by feathering. This eliminates the aerodynamic imbalance caused by the asynchronous initial positions of the blades, reduces the impact load on key components of the wind turbine generator such as the tower, hub, and main shaft, and improves the lifespan of the wind turbine generator.

Description

Technical Field

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

[0002] Modern large wind turbines generally employ independent pitch control technology, meaning each blade is controlled by an independent pitch drive system, enabling more precise load control. However, in emergency situations (such as when the safety chain breaks), all blades need to be quickly and reliably feathered to 90 degrees (or the feather position) to reduce the wind energy captured by the rotor and allow the turbine to shut down safely.

[0003] In an independent pitch system, the initial positions of the three blades before feathering may differ. If the safety chain is disconnected at this point and all drives are simultaneously commanded to feather at full speed, the blades will generate significant aerodynamic imbalance during movement due to the initial angle differences. This will cause severe impact loads on critical components of the wind turbine, such as the tower, hub, and main shaft, thus affecting the equipment's lifespan.

[0004] Therefore, there is an urgent need for an intelligent feathering control method that can effectively reduce the load impact during feathering while ensuring safety. Summary of the Invention

[0005] In view of this, the present application provides a wind turbine and its feathering method and apparatus. The technical solution of the present application reconstructs the current disordered simultaneous feathering into an ordered two-stage pitch change of first synchronizing and then feathering when the wind turbine is feathered. This eliminates the aerodynamic imbalance caused by the asynchronous initial position of the blades, reduces the impact load on the key components of the wind turbine, and improves the life of the wind turbine.

[0006] In a first aspect, embodiments of this application provide a method for feathering a wind turbine, comprising: obtaining the current angle of each blade of the wind turbine, and taking the blade with the largest angle as the target blade; controlling each of the other blades to pitch towards the largest angle; and controlling each blade of the wind turbine to pitch synchronously towards the feathering position when the angles of the other blades reach the largest angle.

[0007] As described above, when feathering a wind turbine, the blade with the current maximum angle is taken as the target blade. Using this as the target, the other blades are synchronized first, and then all blades are feathered. This reconstructs the current disordered simultaneous feathering into an ordered two-stage pitch change of synchronization followed by feathering. This eliminates the aerodynamic imbalance caused by the asynchronous initial position of the blades, reduces the impact load on key components of the wind turbine such as the tower, hub, and main shaft, and improves the lifespan of the wind turbine.

[0008] In one possible implementation of the first aspect, the angle of the other blades reaches the maximum angle when the absolute difference between the angle of each of the other blades and the maximum angle is less than a first set threshold.

[0009] Therefore, if the absolute difference between the angle of each of the other blades and the angle of the target blade is less than a first set threshold, it is determined that all blade angles fall within the preset synchronization tolerance band. The first set threshold is set based on the response characteristics of the pitch motor and the system inertia, balancing synchronization accuracy and response speed. It is both much greater than sensor noise and much less than the critical angle difference that may cause significant load.

[0010] In one possible implementation of the first aspect, a method for feathering a wind turbine further includes: during the process of controlling each of the other blades to pitch towards the maximum angle, if any of the other blades becomes stuck, controlling the unstuck blades of the wind turbine to pitch synchronously towards the feathering position.

[0011] As mentioned above, blade jamming is generally caused by machine jamming. By not waiting when any blade jams, the wind turbine system immediately commands the other two normal blades to feather directly, increasing the wind turbine's fault tolerance and safety capabilities, and ensuring safe feathering even in abnormal situations such as individual blade jamming.

[0012] In one possible implementation of the first aspect, when the angle change value of a blade within a first set time period is continuously less than a second set threshold, the blade is determined to be stuck.

[0013] As shown above, the first setting duration is a very short time window, and the second setting threshold is the minimum angle change, which is sufficient to determine whether a true jamming occurs rather than an instantaneous fluctuation, thereby increasing the fault tolerance and safety capability of the wind turbine.

[0014] In one possible implementation of the first aspect, a method for feathering a wind turbine further includes: during the process of controlling each of the other blades to pitch towards the maximum angle, when the motion time of any blade among the other blades reaches a second motion duration, controlling each blade of the wind turbine to pitch synchronously towards the feathering position.

[0015] As described above, when the motion time of any blade among the other blades reaches the second motion duration, regardless of whether the synchronization condition is met or a blade jam occurs, the wind turbine will forcibly end the preparation phase and command all blades to immediately perform feathering, thereby avoiding feathering delays caused by logic problems and increasing the fault tolerance and safety capabilities of the wind turbine.

[0016] In one possible implementation of the first aspect, the speed at which each of the other blades pitches toward the maximum angle is a first set speed; and / or the speed at which each blade of the wind turbine synchronously pitches toward the feathering position is a second set speed.

[0017] As described above, by using the first set speed for each blade in the other blades to adjust the pitch with the target blade angle as the target, aerodynamic imbalance is reduced; by using the second set speed for each blade of the wind turbine to adjust the pitch synchronously to the feathering position, aerodynamic imbalance is eliminated on the basis of angle-synchronized feathering.

[0018] Secondly, embodiments of this application provide a pitching device for a wind turbine, comprising: an acquisition module for acquiring the current angle of each blade of the wind turbine, and taking the blade with the largest angle among the acquired angles as the target blade; a synchronization module for controlling each of the other blades to pitch towards the maximum angle; and a pitching module for controlling each blade of the wind turbine to synchronously pitch towards the pitching position when the angles of the other blades reach the maximum angle.

[0019] As described above, when feathering a wind turbine, the blade with the current maximum angle is taken as the target blade. Using this as the target, the other blades are synchronized first, and then all blades are feathered. This reconstructs the current disordered simultaneous feathering into an ordered two-stage pitch change of synchronization followed by feathering. This eliminates the aerodynamic imbalance caused by the asynchronous initial position of the blades, reduces the impact load on key components of the wind turbine such as the tower, hub, and main shaft, and improves the lifespan of the wind turbine.

[0020] In one possible implementation of the second aspect, the angle of the other blades reaches the maximum angle when the absolute difference between the angle of each of the other blades and the maximum angle is less than a first set threshold.

[0021] Therefore, if the absolute difference between the angle of each of the other blades and the angle of the target blade is less than a first set threshold, it is determined that all blade angles fall within the preset synchronization tolerance band. The first set threshold is set based on the response characteristics of the pitch motor and the system inertia, balancing synchronization accuracy and response speed. It is both much greater than sensor noise and much less than the critical angle difference that may cause significant load.

[0022] In one possible implementation of the second aspect, a wind turbine pitching device further includes: a jamming detection module, used to control the unjammed blades in the wind turbine to pitch synchronously to the pitching position when any blade among the other blades jams during the process of controlling each blade in the other blades to pitch towards the maximum angle.

[0023] As mentioned above, blade jamming is generally caused by machine jamming. By not waiting when any blade jams, the wind turbine system immediately commands the other two normal blades to feather directly, increasing the wind turbine's fault tolerance and safety capabilities, and ensuring safe feathering even in abnormal situations such as individual blade jamming.

[0024] In one possible implementation of the second aspect, when the angle change value of a blade within a first set time period is continuously less than a second set threshold, the blade is determined to be stuck.

[0025] As shown above, the first setting duration is a very short time window, and the second setting threshold is the minimum angle change, which is sufficient to determine whether a true jamming occurs rather than an instantaneous fluctuation, thereby increasing the fault tolerance and safety capability of the wind turbine.

[0026] In one possible implementation of the second aspect, a wind turbine pitching device further includes: an ultrasonic judgment module, used to control each blade of the wind turbine to pitch synchronously to the pitching position when the movement time of any blade among the other blades reaches a second movement duration during the process of controlling each blade among the other blades to pitch towards the maximum angle.

[0027] As described above, when the motion time of any blade among the other blades reaches the second motion duration, regardless of whether the synchronization condition is met or a blade jam occurs, the wind turbine will forcibly end the preparation phase and command all blades to immediately perform feathering, thereby avoiding feathering delays caused by logic problems and increasing the fault tolerance and safety capabilities of the wind turbine.

[0028] In one possible implementation of the second aspect, the speed at which each of the other blades pitches toward the maximum angle is a first set speed; and / or the speed at which each blade of the wind turbine synchronously pitches toward the feathering position is a second set speed.

[0029] As described above, by using the first set speed for each blade in the other blades to adjust the pitch with the target blade angle as the target, aerodynamic imbalance is reduced; by using the second set speed for each blade of the wind turbine to adjust the pitch synchronously to the feathering position, aerodynamic imbalance is eliminated on the basis of angle-synchronized feathering.

[0030] Thirdly, embodiments of this application provide a wind turbine controller, including the apparatus described in any embodiment of the second aspect of this application.

[0031] Fourthly, embodiments of this application provide a wind turbine generator, including the apparatus described in any embodiment of the second aspect of this application.

[0032] Fifthly, embodiments of this application provide a computing device, including,

[0033] bus;

[0034] A communication interface, which is connected to the bus;

[0035] At least one processor connected to the bus; and

[0036] At least one memory is connected to the bus and stores program instructions that, when executed by the at least one processor, cause the at least one processor to perform the method described in any embodiment of the first aspect of this application.

[0037] Fifthly, embodiments of this application provide a computer-readable storage medium having program instructions stored thereon, which, when executed by a computer, cause the computer to perform the method described in any embodiment of the first aspect. Attached Figure Description

[0038] Figure 1 This is a schematic flowchart of a first embodiment of a feathering method for a wind turbine generator according to this application;

[0039] Figure 2 This is a schematic flowchart of a second embodiment of a feathering method for a wind turbine generator according to this application;

[0040] Figure 3 This is a schematic diagram of the structure of a first embodiment of a feathering device for a wind turbine generator according to this application;

[0041] Figure 4 This is a schematic diagram of the structure of a first embodiment of a feathering device for a wind turbine generator according to this application;

[0042] Figure 5 This is a schematic diagram of the computing device of this application. Detailed Implementation

[0043] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0044] In the following description, the terms “first, second, third, etc.” or module A, module B, module C, etc. are used not only to distinguish similar objects or different embodiments, but also do not represent a specific ordering of objects. It is understood that a specific order or sequence may be interchanged where permitted so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0045] In the following description, the labels of the steps, such as S110, S120, etc., do not necessarily mean that the steps will be executed in this way. The order of the steps can be interchanged or executed simultaneously if permitted.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0047] This application provides a wind turbine generator and a feathering method and apparatus thereof. The method includes: obtaining the current angle of each blade of the wind turbine generator, and taking the blade with the largest angle as the target blade; controlling each of the other blades to pitch towards the largest angle; and controlling each blade of the wind turbine generator to pitch synchronously towards the feathering position when the angles of the other blades reach the largest angle.

[0048] The technical solution of this application embodiment, when feathering a wind turbine, takes the blade with the current maximum angle as the target blade, and uses this as the target to first synchronize other blades and then feather all blades. This reconstructs the current disordered simultaneous feathering into an ordered two-stage pitch change that first synchronizes and then feathers, eliminating the aerodynamic imbalance caused by the asynchronous initial position of the blades, reducing the impact load on key components of the wind turbine such as the tower, hub, and main shaft, and improving the lifespan of the wind turbine.

[0049] The embodiments of this application are described below with reference to the accompanying drawings. First, the terminology involved in this application will be introduced.

[0050] The blade angle is the angle between the blade of the wind turbine and the rotating surface of the wind turbine.

[0051] Feathering involves adjusting the angle of each blade in the wind turbine to a 90-degree angle with the rotor's rotation plane, which is the feathering position.

[0052] The following is combined Figure 1 This application introduces a feathering method for wind turbine units, embodiment one.

[0053] Figure 1 The flowchart of a first embodiment of a feathering method for a wind turbine generator according to this application is shown, including steps S110 to S130.

[0054] S110: Obtain the current angle of each blade of the wind turbine, and select the blade with the largest angle as the target blade.

[0055] In this context, the angle of each blade in a wind turbine is the angle relative to the rotating surface of the wind turbine. For example, when a wind turbine is operating normally, the blade angle is generally around 0-10 degrees.

[0056] When the wind turbine receives a feathering trigger signal (such as a broken safety chain), it immediately obtains the current angle of each blade of the wind turbine and uses the blade with the largest current angle as the target blade for synchronization of the other blades.

[0057] Each blade is independently pitched, controlled by an independent pitch drive system. The initial positions of each blade may differ, resulting in a disordered state. If feathering occurs at this time, it will generate huge aerodynamic imbalances, causing severe impact loads on critical components of the wind turbine, such as the tower, hub, and main shaft, thus affecting the lifespan of the wind turbine.

[0058] S120: The target blade remains stationary, and each of the other blades is controlled to pitch with the angle of the target blade as the target.

[0059] In this process, each of the other blades aims at the target blade and chases it at an angle to achieve angle synchronization, thus ensuring that the angles of each blade are ordered.

[0060] In this process, each blade in the other blades achieves angular synchronization with the target blade, while the blades whose angles are ahead of the target blade remain stationary temporarily, thereby minimizing the total motion distance and synchronization time for angle synchronization.

[0061] Even if aerodynamic imbalance occurs during the synchronization of the angles of other blades, it is much smaller and takes much less time than the aerodynamic imbalance caused by feathering from the initial position.

[0062] In some embodiments, the speed at which each of the other blades pitches the target blade angle (i.e., the maximum angle in step S110) is a first set speed, in order to reduce aerodynamic imbalance.

[0063] S130: When the angles of other blades reach the angle of the target blade, control each blade of the wind turbine to synchronously pitch towards the feathering position.

[0064] When the angles of other blades reach the angle of the target blade, the wind turbine immediately switches to the synchronous feathering stage, commanding all pitch drives to start simultaneously, so that each blade runs synchronously at the same speed to the fully feathered position.

[0065] In this system, each blade moves synchronously from the same angle to the feathering position, eliminating the huge aerodynamic imbalance caused by different initial positions, reducing the impact load on the wind turbine, and improving the lifespan of the wind turbine.

[0066] In some embodiments, because the position of each blade is controlled in steps, the condition for determining whether the angles of other blades reach the angle of the target blade is: the absolute difference between the angle of each of the other blades and the angle of the target blade is less than a first preset threshold, that is, all blade angles enter a preset synchronization tolerance band. The first preset threshold is set based on the response characteristics of the pitch motor and the system inertia, balancing synchronization accuracy and response speed, and is both much greater than sensor noise and much less than the critical angle difference that may cause significant load. For example, the first preset threshold is 0.2 degrees.

[0067] In some embodiments, the speed at which each blade of the wind turbine synchronously pitches to the feathering position is a second set speed, so as to eliminate aerodynamic imbalance based on angle-synchronized feathering.

[0068] In some embodiments, during the process of controlling each of the other blades to pitch towards the target blade angle, if any of the other blades becomes stuck, the system initiates a synchronous feathering process for the other blades of the wind turbine, synchronously pitching towards the feathering position. Blade sticking is generally caused by machine malfunction. In this case, the wind turbine system will not wait and immediately command the remaining two normal blades to feather directly. This fault-tolerance and safety mechanism ensures safe feathering even in abnormal situations such as individual blade sticking.

[0069] In some embodiments, when the angle change of a blade is continuously less than a second preset threshold within a first preset time period, the blade is determined to be stuck. The first preset time period is a very short time window. The second preset threshold is the minimum angle change, sufficient to determine whether a true stuck state has occurred rather than a momentary fluctuation. For example, the first preset time period is a very short time window of 200 ms, and the second preset threshold is less than 0.01 degrees.

[0070] In some embodiments, during the process of controlling each blade of the other blades to pitch towards the angle of the target blade, when the movement time of any blade of the other blades reaches the second movement duration, the wind turbine initiates a synchronous feathering process for each blade, synchronously pitching towards the feathering position. When the movement time of any blade of the other blades reaches the second movement duration, regardless of whether synchronization conditions are met or blade jamming occurs, the wind turbine will forcibly end the preparation phase and command all blades to immediately perform feathering, thereby avoiding feathering delays due to logical problems. The second movement duration is the maximum waiting time, representing an engineering safety margin to ensure that it will not be triggered under most normal synchronization conditions, while also preventing infinite waiting under extreme abnormalities. For example, the second movement duration is 2 seconds.

[0071] In summary, the first embodiment of the wind turbine feathering method uses the blade with the largest angle as the target blade during wind turbine feathering. Using this target blade as the first target, the other blades are synchronized before feathering all blades. This reconstructs the current disordered simultaneous feathering into an ordered two-stage pitch change of synchronization followed by feathering. This eliminates the aerodynamic imbalance caused by the asynchronous initial positions of the blades, reduces the impact load on key components of the wind turbine such as the tower, hub, and main shaft, and improves the lifespan of the wind turbine.

[0072] The following is combined Figure 2 This application presents a second embodiment of a feathering method for a wind turbine.

[0073] Embodiment 2 of a wind turbine feathering method is a more detailed implementation of Embodiment 1 of a wind turbine feathering method, possessing all its advantages, and adding a safety management mechanism based on Embodiment 1 of a wind turbine feathering method.

[0074] Figure 2 The flowchart of a second embodiment of the feathering method for a wind turbine generator according to this application is shown, including steps S210 to S290.

[0075] For ease of explanation, this embodiment uses a wind turbine with three independent pitch control units as an example, but the method can be extended to any number of independent pitch control systems.

[0076] S210: When the wind turbine receives an emergency feathering signal, it triggers the synchronous feathering control process.

[0077] Among them, the emergency feathering signal is a signal that the safety chain system of the wind turbine generator has been disconnected or other emergency shutdown signals.

[0078] When the wind turbine receives an emergency feathering signal, the pitch control system controller (PLC) immediately switches from normal operation mode to emergency feathering mode and sets its internal sub-state variables to 1, i.e., the synchronization phase.

[0079] During the synchronization phase, the pitch speed is set to the emergency speed allowed by the system. This emergency speed is the first set speed and the second set speed in the first embodiment of the feathering method for a wind turbine.

[0080] S220: Real-time acquisition of the angles of the three blades, calculation of the current angle PosCur of all blades and the maximum value PosMax among them, and the blade corresponding to PosMax is taken as the target blade.

[0081] The control system controller collects the positions of the three blades, ActPosition1, ActPosition2, and ActPosition3, and calculates the current blade angles PosCur and the maximum value PosMax.

[0082] S230: In each control cycle, control the other two blades to chase the target blade at an angle, and start or update the maximum wait timer.

[0083] The control cycle is the control cycle of the pitch control system controller. In each control cycle of sub-state 1, the pitch control system controller controls the other two blades to asymmetrically chase the target blade at a set emergency speed.

[0084] In the first catch-up control cycle of sub-state 1, a maximum wait timer MaxTimeTon is started. In subsequent catch-up control cycles after sub-state 1, the maximum wait timer MaxTimeTon is updated. The maximum wait timer MaxTimeTon starts counting from the beginning of sub-state 1 and is used to track whether the catch-up time exceeds the second set time T2.

[0085] Specifically, in the first control cycle of sub-state 1, the propeller jamming timer MotorsStall_Ton is started; in the subsequent control cycles following sub-state 1, the propeller jamming timer MotorsStall_Ton is updated until it reaches the first set duration T1; in each subsequent control cycle after the propeller jamming timer MotorsStall_Ton reaches the first set duration T1, the propeller jamming timer MotorsStall_Ton is kept at full, and the control cycle in which the propeller jamming timer MotorsStall_Ton is started is shifted back by one control cycle.

[0086] S240: In each control cycle, the angles of the three blades are acquired in real time, the current new angle PosCur of all blades is calculated, the angles PosOld of all blades in the previous control cycle are acquired, and the blade jamming judgment timer is started when the absolute difference between PosCur and PosOld of any chasing blade is less than the second set threshold.

[0087] During the synchronization phase, the pitch control system controller acquires the new position angles ActPosition1, ActPosition2, and ActPosition3 of the three blades in real time during each control cycle, calculates the current new angle PosCur of all blades, and uses the angle of each blade in the previous control cycle as the PosOld of that blade for subsequent blade jamming judgment.

[0088] In any control cycle during the synchronization phase, when the ABS (PosCur - PosOld) of any chasing blade is less than a second set threshold, the blade jamming detection timer MotorsStall_Ton is activated. In each subsequent control cycle, if the ABS (PosCur - PosOld) of that blade continues to be less than the second set threshold, the blade jamming detection timer MotorsStall_Ton continues to count until it reaches a first set duration. If the ABS (PosCur - PosOld) of that blade is greater than or equal to the second set threshold, the blade jamming detection timer MotorsStall_Ton resets to 0, stops counting, and waits for subsequent triggering.

[0089] After this step is completed, steps S250, S260 and S270 are executed in parallel.

[0090] S250: Monitors whether the two chasing blades are synchronized with the target blade.

[0091] In each control cycle of sub-state 1, it monitors whether the two chasing blades are synchronized with the target blade. When the current angle of the two chasing blades is at ( )and( When the two chasing blades are between the target blade and the target blade, it is determined that the two chasing blades are synchronized.

[0092] in, The first threshold is set to 0.2 degrees. This value balances synchronization accuracy and response speed, being much greater than sensor noise and much less than the critical angle difference that could cause significant load.

[0093] S260: Monitors whether the chasing blades are stuck.

[0094] In each control cycle of sub-state 1, when the timer MotorsStall_Ton for judging the jamming of any chasing blade reaches the first set duration T1, it is judged that the chasing blade is jammed.

[0095] Where T1 = 200ms, this time is set based on the response characteristics of the pitch motor and the system inertia, and the second set threshold is a very small threshold, for example 0.01 degrees, which is sufficient to determine whether a true jamming occurs rather than an instantaneous fluctuation.

[0096] S270: Monitor whether synchronization has timed out.

[0097] In each control cycle of sub-state 1, if the maximum waiting timer MaxTimeTon is greater than the second set duration T2, the synchronization timeout is determined.

[0098] Where T2 = 2000ms: This time is a safety margin in engineering, ensuring that it will not be triggered in most normal synchronization situations, while also preventing infinite waiting under extreme abnormal conditions.

[0099] S280: Does any of the following states exist: synchronization completed, blade jammed, synchronization timeout?

[0100] If it exists, then execute step S290 and enter the pitch control system controller sub-state 2; otherwise, return to execute step S230.

[0101] Condition A (synchronization complete): The ABS (PosMax - PoCur) of each chasing blade is less than 0.2 degrees, which indicates that all blades have successfully entered the synchronization range.

[0102] Condition B (Stall Stuck): If any chasing blade is continuously less than 0.01 degrees in ABS (PosCur - PosOld) for 200ms, the chasing blade is stuck, and the stuck state is set MotorsStall_Ton.Q = TRUE.

[0103] Condition C (waiting timeout): If the synchronization time of any chasing blade exceeds 2000ms, the synchronization timeout occurs, the maximum waiting timer MaxTimeTon outputs true, and the timeout status MaxTimeTon.Q = TRUE is set.

[0104] S290: Controls each blade of the wind turbine to synchronously pitch towards the feathering position.

[0105] In sub-state 2, the system sends a unified start command to all three pitch drives. All blades, including the largest angle blades that might have remained stationary and blades that might have been judged to be stuck (if the drive can still respond), move synchronously to the 90-degree feathering position at emergency speed, ensuring that regardless of the reason for exiting sub-state 1, all blades can eventually feather together, maximizing the safety of the unit.

[0106] In summary, in Embodiment 2 of a wind turbine feathering method, when the wind turbine blades begin feathering, the blade with the largest current angle is selected as the target blade. The target blade remains stationary, while the other blades asymmetrically chase the target blade to achieve angle synchronization. Safety management is implemented during the chasing process, monitoring whether the synchronization time exceeds the limit and whether there is blade jamming. When any of the following conditions is met—synchronization completion, synchronization timeout, or blade jamming—the system immediately and unconditionally enters the feathering phase, commanding all blades to simultaneously perform feathering operations. This embodiment's technical solution ensures an optimal balance between load optimization under normal conditions and safe overtaking under abnormal conditions. While ensuring safety, it effectively reduces load impact during feathering, further reducing impact loads on critical components such as the wind turbine tower, hub, and main shaft, thereby improving the lifespan of the wind turbine.

[0107] The following is combined Figure 3 This paper introduces an embodiment of a feathering device for a wind turbine.

[0108] An embodiment of a wind turbine feathering device performs a wind turbine feathering method, which has all its advantages.

[0109] Figure 3 The structure of a first embodiment of a feathering device for a wind turbine is shown, including: an acquisition module 310, a synchronization module 320, and a feathering module 330.

[0110] The acquisition module 310 is used to acquire the current angle of each blade of the wind turbine, and selects the blade with the largest angle as the target blade. For its working principle and advantages, please refer to step S110 of Embodiment 1 of a wind turbine feathering method.

[0111] The synchronization module 320 is used to keep the target blade stationary while controlling the pitch angle of each of the other blades toward the target blade. For its working principle and advantages, please refer to step S120 of an embodiment of a feathering method for a wind turbine.

[0112] The feathering module 330 is used to control each blade of the wind turbine to synchronously pitch towards the feathering position when the angles of other blades reach the angle of the target blade. For its working principle and advantages, please refer to step S130 of an embodiment of a feathering method for a wind turbine.

[0113] The following is combined Figure 4 This paper introduces a second embodiment of a feathering device for a wind turbine.

[0114] Embodiment 2 of a wind turbine feathering device implements the method described in Embodiment 2 of a wind turbine feathering method, and has all its advantages.

[0115] Figure 4The structure of a second embodiment of a feathering device for a wind turbine is shown, including: an initialization module 410, an acquisition module 420, a synchronization module 430, a judgment module 440, and a feathering module 450.

[0116] For ease of explanation, this embodiment also uses a wind turbine with three independent pitch control units as an example, but the method can be extended to any number of independent pitch control systems.

[0117] The initialization module 910 is used to trigger the synchronous feathering control process when the wind turbine receives an emergency feathering signal. For its working principle and advantages, please refer to step S210 of Embodiment 2 of a feathering method for a wind turbine.

[0118] The acquisition module 420 is used to acquire the angles of the three blades in real time, calculate the current angle PosCur of all blades and the maximum value PosMax, and select the blade corresponding to PosMax as the target blade. For its working principle and advantages, please refer to step S220 of Embodiment 2 of a wind turbine feathering method.

[0119] The synchronization module 430 is used to control the chasing angle of the other two blades toward the target blade in each control cycle, and to start or update the maximum waiting timer; it is also used to acquire the angles of the three blades in real time in each control cycle, calculate the current new angle PosCur of all blades, and acquire the angle PosOld of all blades when the blade jam judgment timer starts, and to start the blade jam judgment timer of any chasing blade when the absolute difference between PosCur and PosOld is less than a second set threshold. For its working principle and advantages, please refer to steps S230 and S240 of Embodiment 2 of a feathering method for a wind turbine.

[0120] The judgment module 440 is used to monitor whether the two chasing blades are synchronized with the target blade, whether the chasing blades are stuck, and whether the synchronization has timed out. It is also used to determine whether any of the following states exist: synchronization completed, blade stuck, or synchronization timed out. For its working principle and advantages, please refer to steps S250, S260, S270, and S280 of Embodiment 2 of a wind turbine feathering method.

[0121] The feathering module 450 is used to control each blade of the wind turbine to synchronously pitch towards the feathering position. For its working principle and advantages, please refer to step S290 of Embodiment 2 of a feathering method for a wind turbine.

[0122] This application also provides a wind turbine controller, which includes a wind turbine feathering device according to Embodiment 1 and the device described in Embodiment 2.

[0123] This application also provides a wind turbine generator set, which includes a feathering device for a wind turbine generator set, as described in Embodiment 1 and Embodiment 2.

[0124] This application also provides a computing device, which will be described below in conjunction with... Figure 5 Detailed introduction.

[0125] The computing device 500 includes a processor 510, a memory 520, a communication interface 530, and a bus 540.

[0126] It should be understood that the communication interface 530 in the computing device 500 shown in the figure can be used to communicate with other devices.

[0127] The processor 510 can be connected to the memory 520. The memory 520 can be used to store the program code and data. Therefore, the memory 520 can be a storage unit inside the processor 510, an external storage unit independent of the processor 510, or a component that includes both the storage unit inside the processor 510 and the external storage unit independent of the processor 510.

[0128] Optionally, the computing device 500 may also include a bus 540. The memory 520 and communication interface 530 can be connected to the processor 510 via the bus 540. The bus 540 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus 540 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one line is used in this figure, but this does not mean that there is only one bus or one type of bus.

[0129] It should be understood that in the embodiments of this application, the processor 510 may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. Alternatively, the processor 510 may employ one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0130] The memory 520 may include read-only memory and random access memory, and provides instructions and data to the processor 510. A portion of the processor 510 may also include non-volatile random access memory. For example, the processor 510 may also store device type information.

[0131] When the computing device 500 is running, the processor 510 executes computer execution instructions stored in the memory 520 to perform the operation steps of each method embodiment.

[0132] It should be understood that the computing device 500 according to the embodiments of this application can correspond to the corresponding subject in executing the methods according to the various embodiments of this application, and the above and other operations and / or functions of each module in the computing device 500 are respectively for implementing the corresponding processes of the methods of this embodiment. For the sake of brevity, they will not be described in detail here.

[0133] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0134] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0136] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0137] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0138] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0139] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is used to perform the operation steps of the various method embodiments.

[0140] The computer storage medium in this application embodiment can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0141] Computer-readable signal media may include data signals transmitted in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, transmit, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0142] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0143] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0144] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, all of which fall within the scope of protection of this application.

Claims

1. A feathering method for a wind turbine generator, characterized in that, include: Obtain the current angle of each blade of the wind turbine, and select the blade with the largest angle as the target blade; Control each of the other blades to pitch towards the maximum angle; When the angles of the other blades reach the maximum angle, control each blade of the wind turbine to synchronously pitch towards the feathering position.

2. The method according to claim 1, characterized in that, The maximum angle of other blades is achieved when the absolute difference between the angle of each of the other blades and the maximum angle is less than a first set threshold.

3. The method according to claim 1, characterized in that, Also includes: During the process of controlling each of the other blades to pitch towards the maximum angle, when any of the other blades becomes stuck, the unstuck blades of the wind turbine are controlled to pitch synchronously towards the feathering position.

4. The method according to claim 3, characterized in that, When the angle change of a blade within a first set time period is continuously less than a second set threshold, the blade is determined to be stuck.

5. The method according to claim 1, characterized in that, Also includes: During the process of controlling each blade of the other blades to pitch towards the maximum angle, when the movement time of any blade of the other blades reaches the second movement duration, the wind turbine blades are controlled to synchronously pitch towards the feathering position.

6. The method according to claim 1, characterized in that, When each of the other blades pitches to the maximum angle, its speed is a first set speed; and / or The speed at which each blade of the wind turbine synchronously pitches to the feathering position is the second set speed.

7. A feathering device for a wind turbine generator, characterized in that, include: The acquisition module is used to acquire the current angle of each blade of the wind turbine, and the blade with the largest angle among the acquired angles is the target blade. The synchronization module is used to control each of the other blades to pitch towards the maximum angle. The feathering module is used to control each blade of the wind turbine to synchronously pitch towards the feathering position when the other blade angles reach the maximum angle.

8. A wind turbine generator set, characterized in that, Includes the device described in claim 7.

9. A computing device, characterized in that, include, bus; A communication interface, which is connected to the bus; At least one processor is connected to the bus; as well as At least one memory connected to the bus and storing program instructions that, when executed by the at least one processor, cause the at least one processor to perform the method of any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, It stores program instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 6.

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