System and method for controlling a wind turbine during loss of communication

Abstract

The present invention relates to systems and methods for controlling a wind turbine during a loss of communication. A method for controlling a wind turbine having a plurality of rotor blades. The method includes receiving, via a control module disposed in a hub of the wind turbine and in communication with a variable pitch controller of the wind turbine, first data associated with operation of the wind turbine. The method also includes detecting, via the control module, a loss of communication between the control module and a turbine controller disposed outside of the hub. Further, the method includes determining, via the control module, a plurality of variable pitch trajectories for the plurality of rotor blades based at least in part on the first data received from a plurality of sensors disposed in the hub. Additionally, the method includes independently controlling, via the control module, a plurality of pitch adjustment mechanisms of the plurality of rotor blades based on the plurality of variable pitch trajectories in response to a duration of the loss of communication between the control module and the turbine controller exceeding a traverse time.

Description

Technical Field

[0001] This disclosure generally relates to wind turbines, and more particularly to systems and methods for controlling wind turbines during periods of communication loss. Background Technology

[0002] Wind power is considered one of the cleanest and most environmentally friendly energy sources available today, and wind turbines have gained increasing attention in this regard. A modern wind turbine typically consists of a tower, a nacelle mounted atop the tower, a rotor with one or more rotor blades mounted to the nacelle, and a drive system within the nacelle. The drive system typically includes various drive system components, such as a generator and a gearbox. The nacelle contains the rotor assembly, which is connected to the gearbox and then to the generator. In many wind turbines, the generator and gearbox are mounted to a base plate within the nacelle via one or more torque arms. In this manner, one or more rotor blades use the known airfoil principle to capture the kinetic energy of the wind. The rotor blades transfer this kinetic energy as rotational energy to rotate a shaft that connects the rotor blades to the gearbox, or, if no gearbox is used, directly to the generator. The generator then converts the mechanical energy into electrical energy that can be deployed to the public power grid.

[0003] During wind turbine operation, each rotor blade undergoes deflection and / or torsion due to the aerodynamic wind loads acting on it, resulting in a reaction load transmitted through the blade. To control these loads and allow the rotor blades to capture the maximum amount of wind energy without overloading and potentially damaging the rotor blades and other wind turbine components, the rotor blades can be pitched during operation. Pitching of the rotor blades involves adjusting (such as rotating) the corresponding rotor blade around the pitch axis. In this way, pitching of the rotor blades adjusts the loads experienced by the rotor blades during operation.

[0004] In many cases, each rotor blade is pitched to a separate pitch angle, which may differ from the pitch angles of the other rotor blades in the wind turbine. Furthermore, these angles can be adjusted constantly or intermittently during operation. Such pitching of the rotor blades advantageously allows for frequent adjustments to the load experienced by the rotor blades.

[0005] However, under conditions such as power outages or communication disruptions, communication between the wind turbine's turbine controller (which controls the pitch of the rotor blades) and one or more individual pitch controllers may be lost. Typically, under such conditions, the pitch controller may control the rotor blade pitch based on a reference pitch angle that was just determined before the communication loss to sustain the loss for a limited time (e.g., 1-1.5 seconds). After this limited time, the reference pitch angle may no longer be a good representative of the pitch torque. Accordingly, the wind turbine may be shut down. In such a case, the pitch controller may control the pitch adjustment mechanism to follow the pitch profile to pitch to the feather position. However, when the pitch profile is activated, the rotor blades may not pitch at the same pitch angle, which can create an unbalanced load on the rotor blades while pitching to the feather position.

[0006] Accordingly, this disclosure relates to a system and method that independently controls multiple pitch adjustment mechanisms based on data collected via sensors arranged in the hub, following a cross-time associated with a loss of communication between a controller located in the hub and a turbine controller. This independent control of multiple pitch adjustment mechanisms can shut down the wind turbine after the cross-time while preventing imbalance between rotor blades. Summary of the Invention

[0007] The aspects and advantages of this disclosure will be set forth in part in the description which follows, or will be obvious from the description, or may be learned by practice of this disclosure.

[0008] In one aspect, this disclosure relates to a method for controlling a wind turbine having multiple rotor blades. The method includes receiving first data associated with the operation of the wind turbine via a control module disposed in the hub of the wind turbine and communicating with a pitch controller of the wind turbine. The first data is collected via multiple sensors disposed in the hub and communicating with the control module. The method also includes detecting a communication loss between the control module and a turbine controller disposed outside the hub. Furthermore, the method includes determining multiple pitch trajectories for the multiple rotor blades via the control module, at least in part, based on the first data received from the multiple sensors disposed in the hub. The multiple pitch trajectories are configured to prevent imbalance of the multiple rotor blades. Additionally, the method includes: in response to a communication loss between the control module and the turbine controller lasting longer than a travel time, independently controlling multiple pitch adjustment mechanisms of the multiple rotor blades via the control module based on the multiple pitch trajectories.

[0009] In another aspect, this disclosure relates to a system for controlling a wind turbine. The system includes a hub and multiple rotor blades coupled to the hub and including multiple pitch adjustment mechanisms. The system also includes a control module disposed in the hub and communicating with a pitch controller of the wind turbine. The control module includes at least one processor configured to perform multiple operations. The multiple operations include receiving first data associated with operation of the wind turbine. The first data is collected via multiple sensors disposed in the hub and communicating with the control module. The multiple operations also include detecting a communication loss between the control module and a turbine controller disposed outside the hub. Furthermore, the multiple operations include determining multiple pitch trajectories for the multiple rotor blades based at least in part on the first data received from the multiple sensors disposed in the hub. The multiple pitch trajectories are configured to prevent imbalance of the multiple rotor blades. Additionally, the multiple operations include: independently controlling the multiple pitch adjustment mechanisms of the multiple rotor blades via the control module based on the multiple pitch trajectories in response to a communication loss between the control module and the turbine controller lasting longer than a crossover time.

[0010] Technical Solution 1. A method for controlling a wind turbine having multiple rotor blades, the method comprising: First data associated with the operation of the wind turbine is received via a control module arranged in the hub of the wind turbine and communicating with the pitch controller of the wind turbine, wherein the first data is collected via a plurality of sensors arranged in the hub and communicating with the control module. The loss of communication between the control module and the turbine controller located outside the hub is detected via the control module. The control module determines multiple pitch trajectories for the multiple rotor blades based at least in part on the first data received from the multiple sensors arranged in the hub, the multiple pitch trajectories being configured to prevent imbalance of the multiple rotor blades; and In response to a communication loss between the control module and the turbine controller lasting longer than the travel time, the control module independently controls multiple pitch adjustment mechanisms of the multiple rotor blades based on the multiple pitch trajectories.

[0011] Technical Solution 2. The method according to Technical Solution 1, wherein the control module is part of a separate controller other than the pitch controller.

[0012] Technical Solution 3. The method according to Technical Solution 1, wherein the control module is programmed in the pitch controller.

[0013] Technical Solution 4. The method according to Technical Solution 1 further includes: in response to the loss of communication between the control module and the turbine controller, controlling the plurality of pitch adjustment mechanisms via the control module based on the plurality of pitch angles for the plurality of rotor blades to reach the pass-through time.

[0014] Technical Solution 5. The method according to Technical Solution 4 further includes: determining the plurality of pitch angles via the control module based at least in part on the first data received from the plurality of sensors arranged in the hub.

[0015] Technical Solution 6. The method according to Technical Solution 4 further includes: Prior to the loss of communication, multiple pitch offset angles were received from the turbine controller via the control module; and The multiple pitch angles are determined by the control module based on the multiple pitch offset angles.

[0016] Technical Solution 7. The method according to Technical Solution 6 further includes: The turbine controller receives second data associated with the operation of the wind turbine, wherein the second data is collected via multiple sensors arranged outside the hub and communicating with the turbine controller; and The turbine controller determines the plurality of pitch offset angles based on the second data.

[0017] Technical Solution 8. The method according to Technical Solution 1 further includes: The control module determines the first reference signal based on the first data; Before the communication is lost, the first reference signal is provided to the turbine controller via the control module; and The travel time is received from the turbine controller via the control module before the communication is lost.

[0018] Technical Solution 9. The method according to Technical Solution 8, wherein the first reference signal includes at least one of rotor speed, torque, or pitch angle.

[0019] Technical Solution 10. The method according to Technical Solution 8 further includes: The first reference signal is received from the control module via the turbine controller before the communication is lost; Second data associated with the operation of the wind turbine is received via the turbine controller, wherein the second data is collected via a plurality of sensors arranged outside the hub and communicating with the turbine controller; The turbine controller determines the second reference signal based on the second data; and The travel time is determined by the turbine controller based at least in part on the first reference signal and the second reference signal.

[0020] Technical Solution 11. The method according to Technical Solution 10 further includes: in response to the resumption of communication between the control module and the turbine controller during the travel time, controlling the plurality of pitch adjustment mechanisms via the turbine controller based on the second reference signal.

[0021] Technical Solution 12. The method according to Technical Solution 11, wherein the control module is configured to generate commands for controlling the plurality of pitch adjustment mechanisms relative to a rotating reference frame, and the turbine controller is configured to generate commands for controlling the plurality of pitch adjustment mechanisms relative to a fixed reference frame.

[0022] Technical Solution 13. The method according to Technical Solution 1 further includes: The turbine controller receives environmental data, including environmental parameters surrounding the wind turbine, wherein the environmental data is collected via the plurality of sensors arranged outside the hub; and The travel time is determined, at least in part, based on the environmental data via the turbine controller.

[0023] Technical Solution 14. The method according to Technical Solution 1 further includes: Second data associated with the operation of the wind turbine is received via the turbine controller, wherein the second data is collected via a plurality of sensors arranged outside the hub and communicating with the turbine controller; The turbine controller determines a second reference signal based on the second data, the second reference signal including the rotor speed; and In response to the loss of communication between the control module and the turbine controller, when the second reference signal is greater than the speed threshold, the generator torque is adjusted via the turbine controller.

[0024] Technical Solution 15. The method according to Technical Solution 14 further includes: The travel time is determined, at least in part, based on the second data via the turbine controller; The turbine controller determines an updated reference signal based on the travel time being greater than a threshold time, wherein the updated reference signal includes a predetermined rotor speed that is less than the second reference signal; and In response to the duration of the communication loss exceeding the threshold time, the generator torque is controlled via the turbine controller based on the updated reference signal.

[0025] Technical Solution 16. The method according to Technical Solution 1, wherein the traversal time is at least partially dependent on the variable time of the first data.

[0026] Technical Solution 17. A system for controlling a wind turbine, the system comprising: hub; Multiple rotor blades are connected to the hub and include multiple pitch adjustment mechanisms; A control module, disposed in the hub and communicating with the pitch controller of the wind turbine, the control module including at least one processor configured to perform a plurality of operations, the plurality of operations including: Receive first data associated with the operation of the wind turbine, wherein the first data is collected via multiple sensors arranged in the hub and communicating with the control module; The loss of communication between the control module and the turbine controller located outside the hub was detected. Multiple pitch trajectories for the multiple rotor blades are determined, at least in part, based on the first data received from the multiple sensors arranged in the hub, the multiple pitch trajectories being configured to prevent imbalance of the multiple rotor blades; and In response to a communication loss between the control module and the turbine controller lasting longer than the travel time, the control module independently controls multiple pitch adjustment mechanisms of the multiple rotor blades based on the multiple pitch trajectories.

[0027] Technical Solution 18. The system according to Technical Solution 17, wherein the control module is part of a separate controller other than the pitch controller.

[0028] Technical Solution 19. The system according to Technical Solution 17, wherein the control module is programmed in the pitch controller.

[0029] Technical Solution 20. The system according to Technical Solution 17, wherein the plurality of operations further include: in response to the loss of communication between the control module and the turbine controller, controlling the plurality of pitch adjustment mechanisms to reach the crossover time based on the plurality of pitch angles for the plurality of rotor blades.

[0030] These and other features, aspects, and advantages of this disclosure will become more readily understood with reference to the following description and the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the description, serve to illustrate the principles of the disclosure. Attached Figure Description

[0031] The complete and implementable disclosure (including its best mode) of this disclosure is set forth in the description with reference to the accompanying drawings, in which: Figure 1 The figure shows a perspective view of a wind turbine according to an embodiment of the present disclosure; Figure 2 The figure shows an interior perspective view of the nacelle of a wind turbine according to an embodiment of the present disclosure; Figure 3 The illustration shows a schematic diagram of an embodiment of a suitable component that can be included in a wind turbine controller according to the present disclosure; and Figure 4 The illustration is a flowchart of an embodiment of a method for controlling a wind turbine during communication loss according to the present disclosure. Detailed Implementation

[0032] Reference will now be made in detail to embodiments of the present disclosure, one or more examples of which are illustrated in the accompanying drawings. Each example is provided by way of interpretation rather than limitation of the present disclosure. Indeed, it will be apparent to those skilled in the art that various modifications and variations may be made to the present disclosure without departing from its scope. For example, features illustrated or described as part of an embodiment may be used with another embodiment to produce yet another embodiment. Therefore, it is intended that the present disclosure cover such modifications and variations as fall within the scope of the appended claims and their equivalents.

[0033] Generally, this disclosure relates to systems and methods for controlling wind turbines with multiple rotor blades. During wind turbine operation, each rotor blade can be individually pitched to control the load on the rotor blade and achieve the desired operation of the wind turbine. However, communication between the turbine controller that generates commands for pitching the rotor blades and one or more pitch controllers that control the pitch based on those commands may be lost. When the communication loss lasts longer than the wind turbine's throughput capacity, the wind turbine can be shut down. During shutdown, the rotor blades can be subjected to unbalanced loading due to differences in individual pitch angles. Accordingly, sensors can be arranged in the hub of the wind turbine and can communicate with one or more control modules arranged in the hub. The control modules(s) can use data obtained from the sensors arranged in the hub to determine the corresponding pitch trajectory for each individual rotor blade. Therefore, the systems and methods of this disclosure are configured to determine the corresponding pitch trajectory for each individual rotor blade based on data obtained from the sensors arranged in the hub to prevent unbalanced loading during shutdown.

[0034] Now refer to the attached diagram, Figure 1 The figure shows a perspective view of an embodiment of a wind turbine 10 according to the present disclosure. As shown, the wind turbine 10 includes a tower 12 extending from a support surface 14, a nacelle 16 mounted on the tower 12, and a rotor 18 coupled to the nacelle 16. The rotor 18 includes a rotatable hub 20 and at least one rotor blade 22 coupled to and extending outward from the hub 20. For example, in the illustrated embodiment, the rotor 18 includes three rotor blades 22. However, in alternative embodiments, the rotor 18 may include more or fewer than three rotor blades 22. Each rotor blade 22 may be spaced around the hub 20 to allow the rotor 18 to rotate, thereby enabling kinetic energy to be converted from wind into usable mechanical energy and subsequently into electrical energy. For example, the hub 20 may be rotatably coupled to an electric generator 24 located within the nacelle 16. Figure 2 This allows for the generation of electrical energy.

[0035] Now for reference Figure 2The illustration shows a simplified internal view of an embodiment of the nacelle 16 of a wind turbine 10. As shown, the wind turbine 10 includes a generator 24 disposed within the nacelle 16. Generally, the generator 24 can be coupled to the rotor 18 of the wind turbine 10 to generate electrical power from the rotational energy generated by the rotor 18. For example, the rotor 18 may include a rotor shaft 40 coupled to a hub 20 for rotating together with the hub 20. The generator 24 can then be coupled to the rotor shaft 40 such that rotation of the rotor shaft 40 drives the generator 24. For example, in the illustrated embodiment, the generator 24 includes a generator shaft 42 rotatably coupled to the rotor shaft 40 via a gearbox 44. As generally understood, the rotor shaft 40 can provide a low-speed, high-torque input to the gearbox 44 in response to rotation of the rotor blades 22 and the hub 20. The gearbox 44 can then be configured to convert the low-speed, high-torque input into a high-speed, low-torque output to drive the generator shaft 42 and thus the generator 24. However, in other embodiments, it should be appreciated that the generator shaft 42 may be rotatably and directly coupled to the rotor shaft 40. Alternatively, the generator 24 may be directly and rotatably coupled to the rotor shaft 40. Such a component may be generally referred to herein as drive system 50 or drive system assembly.

[0036] It should be recognized that the rotor shaft 40 can be generally supported within the nacelle 16 by a support frame or base plate 46 positioned on top of the wind turbine tower 12. For example, the rotor shaft 40 can be supported by the base plate 46 via a pair of bolster blocks mounted to the base plate 46.

[0037] like Figure 1 and Figure 2 As shown, the wind turbine 10 may also include a turbine control system or turbine controller 26 within the nacelle 16. For example, as Figure 2 As shown, the turbine controller 26 is housed within a control cabinet 27 that is mounted to a portion of the nacelle 16. However, it should be understood that the turbine controller 26 may be located on the wind turbine 10 or anywhere within the wind turbine 10, on the support surface 14. Figure 1 The turbine controller 26 can be configured to control various operating modes (e.g., start-up or shutdown sequences) and / or components of the wind turbine 10 at any location on the turbine or substantially at any other location.

[0038] like Figure 2As shown, the wind turbine 10 may further include at least one pitch adjustment mechanism 32 for each of the rotor blades 22, the at least one pitch adjustment mechanism 32 being configured to rotate each rotor blade 22 about its pitch axis 34. In an embodiment, each pitch adjustment mechanism 32 may include a pitch drive motor 33 (e.g., any suitable electric, hydraulic, or pneumatic motor), a pitch drive gearbox 35, and a pitch drive pinion 37. In such an embodiment, the pitch drive motor 33 may be coupled to the pitch drive gearbox 35 such that the pitch drive motor 33 applies mechanical force to the pitch drive gearbox 35. Similarly, the pitch drive gearbox 35 may be coupled to the pitch drive pinion 37 for rotation therewith. The pitch drive pinion 37 may then be rotatably engaged with a pitch bearing 36 coupled between the hub 20 and the corresponding rotor blade 22 such that rotation of the pitch drive pinion 37 causes rotation of the pitch bearing 36. Therefore, in such an embodiment, the rotation of the pitch drive motor 33 drives the pitch drive gearbox 35 and the pitch drive pinion 37, thereby causing the pitch bearing 36 and the rotor blades 22 to rotate about the pitch axis 34. Similarly, the wind turbine 10 may include one or more yaw drive mechanisms 38 communicatively coupled to the controller 26, wherein each yaw drive mechanism(s) 38 is configured to change the angle of the nacelle 16 relative to the wind (e.g., by engaging the yaw bearing 56 of the wind turbine 10 and causing the nacelle 16 to rotate about the yaw axis 39).

[0039] Furthermore, as shown, the wind turbine 10 may include one or more pitch controllers 30. Figure 2 This is used to control and / or change the pitch angle of each corresponding rotor blade 22 (i.e., to determine the angle of view of the rotor blade 22 with respect to the wind direction 28). For example, the pitch controller(s) 30 are communicatively coupled to the pitch adjustment mechanism 32. Accordingly, the pitch adjustment mechanism 32 may be configured to rotate each corresponding rotor blade 22 about its pitch axis 34 based on commands received from the pitch controller(s) 30. In some embodiments, the pitch controller(s) 30 receive commands from a downstream controller. In other embodiments, the pitch controller(s) 30 may generate commands. Furthermore, in embodiments, the pitch controller(s) 30 are located within the hub 20, as shown.

[0040] As discussed, the pitch adjustment mechanism 32 can therefore be configured to pitch the rotor blades 22 to a pitch angle. Such pitch adjustment can occur constantly or intermittently during operation of the wind turbine 10. The pitch angle of the rotor blades 22 can be determined relative to a fine position and / or a feathering position for the rotor blades 22. The fine position can be the position of maximum aerodynamic torque for the rotor blades 22. Therefore, in the fine position, maximum load on the rotor blades 22 can occur during operation of the wind turbine 10. The feathering position can be the position of minimum or zero aerodynamic torque for the rotor blades 22. Therefore, in the feathering position, minimum or zero load on the rotor blades 22 can occur during operation of the wind turbine 10.

[0041] Furthermore, in some embodiments, the wind turbine 10 may also include a hub controller 58 disposed within the hub 20, such as Figure 2 As shown herein. In such an embodiment, the hub controller 58 may be communicatively coupled to (e.g., via an Ethernet LAN, wireless LAN, Controller Area Network (CAN) bus, fiber optic connection, or any other communication connection capable of enabling the operation as described herein). That is, in this embodiment, the hub controller 58 is a separate controller from the pitch controllers 30. Accordingly, the hub controller 58 may be configured to transmit commands to the pitch controllers 30 for controlling the pitch adjustment mechanism 32. Furthermore, in this embodiment, the hub controller 58 may be downstream of the pitch controllers 30. In such an embodiment, the turbine controller 26 may be downstream of both the hub controller 58 and the pitch controllers 30. It should be understood that, as used herein, the term “downstream” refers to the relative positioning of the component with respect to the direction of the incoming wind.

[0042] Hub controller 58 and / or (multiple) pitch controllers 30 may also be communicatively coupled to turbine controller 26, for example, via slip ring 43 configured to transmit commands via a serial communication protocol or another suitable communication protocol, such as the Power Line Broadband (BPL) protocol. Furthermore, wind turbine 10 includes one or more control modules 59 generally configured to control pitch adjustment mechanism 32 during periods of communication loss between turbine controller 26 and hub controller 58 (or between turbine controller 26 and (multiple) pitch controllers 30). For example, contamination, wear, misalignment, and / or other factors can impede proper electrical contact of slip ring 43, thereby causing communication loss. In response to communication loss, as described below, (multiple) control modules 59 can control pitch adjustment mechanism 32 to achieve desired conditions, such as, but not limited to, the rotational speed of each rotor blade 22, the load acting on each rotor blade 22, the pitch angle of each rotor blade 22, etc. In an embodiment, multiple control modules 59 may be programmed into one or more of a hub controller 58 or a pitch controller 30 arranged in the hub 20.

[0043] Furthermore, slip ring 43 can be configured to transform commands generated by turbine controller 26 from a fixed reference frame (e.g., a three-phase coordinate system such as the abc coordinate system) to a rotating reference frame (e.g., a two-phase coordinate system such as the dq coordinate system). For example, in an embodiment, turbine controller 26 can be configured to generate commands specified relative to a fixed reference frame, and control modules(s)59 can be configured to execute commands specified relative to a rotating reference frame. Accordingly, slip ring 43 can be configured to allow control modules(s)59 to control pitch adjustment mechanism 32 based on commands generated by turbine controller 26. In some embodiments, wind turbine 10 may lack hub controller 58.

[0044] In addition, such as Figure 2 As shown, one or more sensors 51, 52, 53 may be mounted on the wind turbine 10. Some of the sensors 51, 52 may be located within the nacelle 14 (i.e., outside the hub 20). For example, shaft sensor 51 may be communicatively coupled to rotor shaft 40 and / or rotor 18 to monitor its operating parameters, such as speed and / or torque. As another example, generator sensor 52 may be communicatively coupled to generator 24 to monitor its operating parameters, such as speed and / or torque. Sensors 51, 52 may further communicate with turbine controller 26 and provide relevant information to turbine controller 26. Additional embodiments may include any other suitable type of sensor, such as a wind vane, accelerometer, or similar sensor.

[0045] Furthermore, as shown, at least one sensor 53 may be arranged on or within the hub 16 and / or on or within the rotor blade 22. For example, sensor 53 may include one or more rate gyroscopes (also referred to as rate gyroscopes) mounted in the hub 16. As used herein, a rate gyroscope generally refers to a gyroscope that indicates the rate of change of an angle with respect to time. If the gyroscope has only one constant-level ring (and therefore only one free plane), the gyroscope may be adapted to act as a rate gyroscope to measure the rate of angular movement. Additionally, the rate gyroscope described herein may also encompass microelectromechanical systems (MEMS) gyroscopes. Additionally or alternatively, sensor 53 may be configured to monitor one or more operating parameters of the rotor blade 22, such as the rotational speed of each blade 22 and / or the load induced to each blade 22. Sensor 53 may further communicate with hub controller 58 and / or (multiple) pitch controllers 30 and may provide relevant information to hub controller 58 and / or (multiple) pitch controllers 30.

[0046] It should also be recognized that, as used herein, the term "monitoring" and its variations indicate that various sensors of the wind turbine 10 can be configured to provide direct measurements of the monitored parameters and / or indirect measurements of such parameters. Therefore, the sensors described herein can, for example, be used to generate signals relating to the monitored parameters, which can then be utilized by the controller 26 to determine conditions.

[0047] Now for reference Figure 3 The illustration is a block diagram of an embodiment of suitable components that may be included in a controller (such as a turbine controller 26, a pitch controller 30, and / or a hub controller 58) according to the present disclosure. As shown, the controllers(a plurality of) 26, 30, 58 may include one or more processors 60 and associated memory(a plurality of) memory devices 62 configured to perform various computer-implemented functions (e.g., performing methods, steps, calculations, etc., as disclosed herein and storing related data).

[0048] Additionally, the controllers 26, 30, and 58 may also include a communication module 64 to facilitate communication between the controllers 26, 30, and 58 and various components of the wind turbine 10. Furthermore, the communication module 64 may include a sensor interface 66 (e.g., one or more analog-to-digital converters) to allow signals transmitted from one or more sensors 51, 52, and 53 to be converted into signals that can be understood and processed by the processor 60. It should be appreciated that the sensors 51, 52, and 53 can be communicatively coupled to the communication module 64 using any suitable means. For example, such as... Figure 3As shown, sensors 51, 52, and 53 are connected to sensor interface 66 via a wired connection. However, in other embodiments, sensors 51, 52, and 53 may be connected to sensor interface 66 via a wireless connection (such as by using any suitable wireless communication protocol known in the art).

[0049] As used herein, the term "processor" refers not only to integrated circuits included in a computer as known in the art, but also to controllers, microcontrollers, microcomputers, programmable logic controllers (PLCs), application-specific integrated circuits (ASICs), and other programmable circuits. Additionally, the memory device(s) 62 may generally include memory elements(s), including but not limited to computer-readable media (e.g., random access memory (RAM)), computer-readable non-volatile media (e.g., flash memory), floppy disks, compact disc-read-only memory (CD-ROM), magneto-optical disks (MOD), digital versatile discs (DVDs), and / or other suitable memory elements. Such memory device(s) 62 may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) 60, configure the controller(s) 26 to perform various functions, including but not limited to transmitting suitable control signals to perform multiple correction actions in response to a distance signal exceeding a predetermined threshold, as described herein, and various other suitable computer-implemented functions.

[0050] Now for reference Figure 4 The illustration shows a flowchart of an embodiment of a method 100 for controlling a wind turbine according to the present disclosure. Method 100 may use, for example, the above reference. Figures 1 to 3 The wind turbine 10 and turbine controller 26, pitch controller, hub controller 58 and / or (multiple) control modules 59 are discussed for implementation. For illustrative and discussion purposes, Figure 4 The steps are described in a specific order. Those skilled in the art who use the disclosure provided herein will understand that various steps of the method 100 disclosed herein or any other method can be adapted, modified, rearranged, performed simultaneously, or modified in various ways without departing from the scope of this disclosure.

[0051] As shown at (102), method 100 includes receiving first data associated with the operation of wind turbine 10 via control module(s) 59. In embodiments, the first data associated with the operation of wind turbine 10 may be collected by sensors 53 arranged on or within hub 16 and / or rotor blades 22. In embodiments, the first data includes operating parameters of wind turbine 10. For example, in embodiments, operating parameters may include values ​​for various parameters defining the operating state of wind turbine 10. By way of example, the first data may include sensed values ​​for various operating parameters such as rotor speed, rotor pitch, nacelle yaw, actual power output, generator speed, etc. The sensed values ​​for these operating parameters may be used to calculate or otherwise determine (e.g., via model-based estimation) values ​​for other operating parameters associated with wind turbine 10 (e.g., mechanical load, component stress and strain, expected power output, etc.). Calculated values ​​may be included in the first data associated with the operation of wind turbine 10.

[0052] In some embodiments, the first data may also include environmental parameters surrounding the wind turbine 10. The environmental parameters include values ​​for various parameters defining the environmental conditions surrounding the wind turbine 10. By way of example, the first data may include sensed values ​​for various environmental parameters such as wind speed, wind direction, ambient temperature, etc. The sensed values ​​for these environmental parameters may be used to calculate or determine values ​​for other environmental parameters associated with the wind turbine 10 (e.g., wind turbulence, wind effects, etc.). Calculated values ​​may be included in the first data associated with the operation of the wind turbine 10.

[0053] Furthermore, in an embodiment, method 100 may include receiving second data associated with the operation of the wind turbine 10 via turbine controller 26. The second data associated with the operation of the wind turbine 10 may be collected by sensors 51, 52 disposed outside the hub 20 (e.g., in the nacelle 16). The second data may include operating parameters of the wind turbine 10 as described above and / or environmental parameters surrounding the wind turbine 10. By way of example, the second data may include sensed values ​​for various operating parameters and / or environmental parameters. The sensed values ​​for these parameters may be used to calculate or determine values ​​for other parameters associated with the wind turbine 10. Calculated values ​​may be included in the second data associated with the operation of the wind turbine 10.

[0054] Still referencing Figure 4As shown at (104), method 100 includes detecting a communication loss between the control module(s)59 and the turbine controller 26 via the control module(s)59. For example, the control module(s)59 may detect the communication loss based on the absence of information received from the turbine controller 26 within a time interval having a predetermined duration. That is, the control module(s)59 may detect the communication loss in response to the absence of timely information received from the turbine controller 26. The time interval may be initiated in response to the control module(s)59 transmitting information to and / or receiving information from the turbine controller 26.

[0055] Furthermore, in an embodiment, the control module(s) 59 may be configured to determine the pitch angle for each of the rotor blades 22 based at least in part on first data. For example, in an embodiment, the control module(s) 59 may receive the pitch angle for each of the rotor blades 22 from the turbine controller 26 before communication is lost. The pitch angle may be determined based on second data and a second reference signal. The pitch angle may include an overall pitch angle and a pitch offset angle. The pitch offset angle may be an additional angle to which each of the rotor blades 22 in the wind turbine 10 is adjusted. Therefore, the pitch offset angle is added to or subtracted from the overall pitch angle, and the sum of the overall pitch angle and the pitch offset angle is the angle for the rotor blade 22. The control module(s) 59 may be configured to maintain the overall pitch angle.

[0056] In such an embodiment, during communication loss, the control modules 59 can be configured to update the pitch offset angle for the respective rotor blades 22 based on first data. Accordingly, the control modules 59 can determine the corresponding pitch angle for each rotor blade 22 by combining the overall pitch angle with the correspondingly updated pitch offset angle. In such an embodiment, the control modules 59 can be configured to control the pitch adjustment mechanism 32 based on the updated pitch offset angle, which can prevent or reduce asymmetrical rotor loads during communication loss. In an alternative embodiment, the control modules 59 can be configured to maintain the pitch offset angle received by the turbine controller 26 prior to communication loss. That is, the pitch offset angle can remain static for the entire time travel period.

[0057] The overall pitch angle can be determined by the turbine controller 26 and can be the angle adjusted to each of the rotor blades 22 in the wind turbine 10. Therefore, the overall pitch angle for each rotor blade 22 in the wind turbine 10 can be substantially the same. The pitch offset angle can be determined by the turbine controller 26. The pitch offset angle for each rotor blade 22 in the wind turbine 10 can be individualized for that rotor blade 22 and can be different from or substantially the same as the pitch offset angle for any other rotor blade 22 in the wind turbine 10. The turbine controller 26 can determine the overall pitch angle and individual pitch offset angle for the rotor blade 22 based on second data. The turbine controller 26 can further transmit the overall pitch angle and individual pitch offset angle for the rotor blade 22 to the control module(s) 59 while communicating with the control module(s) 59.

[0058] As shown at (106), method 100 includes determining a pitch trajectory for each rotor blade 22, at least in part based on first data, via control module(s) 59. The pitch trajectory specifies the change in pitch angle of the rotor blade 22 from a pitch angle to a feathering position. When the duration of communication loss exceeds the travel time, turbine controller 26 may be configured to shut down wind turbine 10. Accordingly, the pitch trajectory may be configured to prevent imbalance in the rotor blades 22 during the shutdown of wind turbine 10. As an example, the pitch trajectory may include a synchronized pitch offset angle, a feathering position, and at least one predetermined time period or rotation cycle. To prevent imbalance between rotor blades 22 during shutdown, each rotor blade 22 may pitch to a synchronized pitch offset angle. A rotation cycle is a complete 360-degree rotation of rotor blade 22.

[0059] The synchronous pitch offset angle can be an additional angle adjusted to each of the rotor blades 22 in the wind turbine 10. Therefore, the synchronous pitch offset angle is added to or subtracted from the overall pitch angle, and the sum of the overall pitch angle and the synchronous pitch offset angle is the pitch angle for each rotor blade 22. The synchronous pitch offset angle for each rotor blade 22 in the wind turbine 10 can be substantially the same.

[0060] Multiple control modules 59 can be configured to determine the synchronization pitch offset angle based on first data. Furthermore, multiple control modules 59 can determine the synchronization pitch offset angle for each of the rotor blades 22 based on the individual pitch offset angle for each of the rotor blades 22. For example, when adjusting various pitch offset angles during operation of the wind turbine 10, the synchronization pitch offset angle can be adjusted constantly or intermittently such that each rotor blade 22 can pitch towards and / or pitch to the synchronization pitch offset angle within a predetermined time period or rotation cycle.

[0061] Still referencing Figure 4As shown at (108), method 100 includes: in response to a communication loss between the plurality of control modules 59 and the turbine controller 26 lasting longer than a travel time, independently controlling the pitch adjustment mechanism 32 via the plurality of control modules 59 based on a corresponding pitch trajectory. That is, the plurality of control modules 59 may transmit commands to the pitch adjustment mechanism 32 to pitch the rotor blades 22 along the pitch trajectory to a feathering position. As an example, the travel time described herein generally refers to the period of time during which the plurality of control modules 59 controls the wind turbine 10 or its components for that period of time. Accordingly, in an embodiment, the travel time is initiated when a communication loss occurs. In some embodiments, the wind turbine 10 may be shut down when the duration of the communication loss exceeds the travel time.

[0062] During a communication loss, the control modules 59 can, for example, determine whether the pitch offset angle differs from the synchronous pitch offset angle. If the pitch offset angle differs from the synchronous pitch offset angle, and the duration of the communication loss exceeds the crossover time, the control modules 59 can control the pitch adjustment mechanism 32 to cause the rotor blades 22 to pitch towards the synchronous pitch offset angle. Therefore, when the communication loss exceeds the crossover time, each rotor blade 22 can independently and efficiently pitch towards approximately the same angle.

[0063] Each of the plurality of rotor blades 22 can then pitch toward the feathering position during another predetermined time period or rotation cycle. Such pitching can occur after pitching toward the synchronous pitch offset angle. It is first required that each rotor blade pitching toward the synchronous pitch offset angle advantageously reduce or prevent imbalance between rotor blades 22 during pitching toward the feathering position, because the rotor blades 22 will have approximately the same pitch profile when they pitch toward the feathering position.

[0064] Furthermore, in some embodiments, method 100 may include: in response to communication loss, independently controlling the pitch adjustment mechanism 32 via control module(s) 59 based on the pitch angle for rotor blades 22 for a travel time. As discussed above, control module(s) 59 may determine the pitch angle based on first data. During the travel time, control module(s) 59 may be configured to update the pitch angle constantly or intermittently based on the first data collected during the travel time. In such embodiments, control module(s) 59 may receive the travel time from turbine controller 26 before communication loss.

[0065] In some embodiments, turbine controller 26 may be configured to determine the cross-time based at least in part on a comparison of a first reference signal and a second reference signal. Multiple control modules 59 may determine the first reference signal based at least in part on first data. In embodiments, the first reference signal indicates operating parameters for achieving the desired operation of wind turbine 10 (e.g., power output while meeting load capacity). The first reference signal may include at least one of rotor speed, torque, pitch angle, and / or any other suitable parameters for the desired operation of wind turbine 10. In some embodiments, multiple control modules 59 may be configured to determine the first reference signal based on the first data and the second data (e.g., received from turbine controller 26) while communicating with turbine controller 26. Accordingly, multiple control modules 59 may be further configured to update the first reference signal based solely on the first data after communication loss. Determining the first reference signal based at least in part on the first data allows multiple control modules 59 to operate wind turbine 10 (e.g., by controlling pitch adjustment mechanism 32) to achieve the desired operation of wind turbine 10, regardless of communication loss with turbine controller 26.

[0066] The multiple control modules 59 may be further configured to transmit a first reference signal to the turbine controller 26 while communicating with the turbine controller 26. In an embodiment, the turbine controller 26 may be configured to determine a second reference signal based on second data. The second reference signal corresponds to the first reference signal (i.e., indicates the same operating parameters as the first reference signal).

[0067] Turbine controller 26 may be configured to compare a first reference signal and a second reference signal to determine whether control module(s) 59 is capable of controlling wind turbine 10 in the same or similar manner as turbine controller 26. When the difference between the first and second reference signals exceeds a threshold, control module(s) 59 may be unable to control wind turbine 10. In some embodiments, the duration of the crossover time may be maintained at a minimum duration (e.g., 1-1.5 seconds). The minimum duration may be predetermined to provide an opportunity to restore communication while minimizing the possibility of wind turbine 10 being overloaded due to changes in environmental conditions surrounding wind turbine 10. In additional or alternative embodiments, control module(s) 59 may control wind turbine 10 to reach the crossover time based on a second reference signal (e.g., received from turbine controller 26 before communication loss). In such embodiments, control module(s) 59 may control wind turbine 10 to reach the crossover time to maintain the operating parameters of wind turbine 10 collected before communication loss.

[0068] When the difference between the first reference signal and the second reference signal is within a threshold, the multiple control modules 59 may be able to control the wind turbine 10 such that the duration of the pass-through time can be increased to a value greater than the minimum duration. Increasing the pass-through time allows the multiple control modules 59 to maintain the operation of the wind turbine 10 using the first data for an extended period after communication loss between the turbine controller 26 and the multiple control modules 59. This avoids unnecessary shutdowns and thereby improves the efficiency of the wind turbine 10.

[0069] As an example, the turbine controller 26 can determine the crossover time based on a comparison (e.g., the crossover time may be inversely proportional to the difference between a first reference signal and a second reference signal). In such an example, the turbine controller 26 can access lookup tables, etc., that associate various crossover times with various differences between the first and second reference signals. As another example, when the difference between the first and second reference signals is less than a threshold, the turbine controller 26 can determine that the crossover time is a first predetermined duration. Furthermore, when the difference between the first and second reference signals is greater than or equal to the threshold, the turbine controller 26 can determine that the crossover time is a second predetermined duration. The second predetermined duration may be greater than the first predetermined duration.

[0070] Furthermore, in additional or alternative embodiments, the turbine controller 26 may be configured to determine the cross-time based at least in part on environmental data. The environmental data may be included in second data associated with the operation of the wind turbine 10, as discussed above. For example, the turbine controller 26 may determine that the duration of the cross-time is reduced for environmental data indicating turbulent wind conditions compared to environmental data indicating stable wind conditions.

[0071] Furthermore, in an embodiment, method 100 may include: in response to the restoration of communication between control module(s) 59 and turbine controller 26 during the cross-time (i.e., the duration of communication loss is less than the cross-time), controlling the pitch adjustment mechanism 32 via turbine controller 26 based on second data. That is, when communication is restored during the cross-time, turbine controller 26 may regain control of the wind turbine 10 from control module(s) 59. In this case, turbine controller 26 may determine a second reference signal based on the second data, as discussed above. Turbine controller 26 may then transmit a command (e.g., via slip ring 43) to pitch controller(s) 30 to instruct pitch adjustment mechanism 32 to pitch the rotor blades 22 to a corresponding pitch angle based on the second reference signal. Alternatively or additionally, turbine controller 26 may adjust generator torque based on the second reference signal.

[0072] Additionally, in some embodiments, the turbine controller 26 may be configured to control the generator torque based on the second reference signal during a communication loss when the second reference signal includes the rotor speed. For example, the turbine controller 26 may be configured to increase the generator torque to reduce the rotor speed to the upper speed threshold when the rotor speed of the second reference signal is greater than an upper speed threshold. As another example, the turbine controller 26 may be configured to decrease the generator torque to increase the rotor speed to the lower speed threshold when the rotor speed of the second reference signal is less than a lower speed threshold. As yet another example, the turbine controller 26 may be configured to maintain the generator torque when the rotor speed of the second reference signal is between the upper and lower speed thresholds. Adjusting the generator torque to maintain the rotor speed between the upper and lower speed thresholds can reduce or prevent overloading on the pitch adjustment mechanism 32.

[0073] In some embodiments, when the second reference signal includes rotor speed, the turbine controller 26 may be configured to determine an updated reference signal based on the crossover time. The updated reference signal may include a predetermined rotor speed that is less than the second reference signal. As discussed above, the turbine controller 26 may be configured to determine the crossover time based on a comparison between the first and second reference signals. When the crossover time is greater than a threshold time, the turbine controller 26 may, for example, update the second reference signal to include the predetermined rotor speed. The predetermined rotor speed may, for example, be specified by the manufacturer of the wind turbine 10 and / or its components(s) (e.g., determined based on testing and / or simulation to allow operation of the wind turbine 10 while reducing the likelihood of overloading during communication loss). As another example, the updated reference signal may be determined based on the difference between the crossover time and the threshold time. During communication loss, the turbine controller 26 may be configured to control the generator torque based on the updated reference signal when the duration of the communication loss exceeds the threshold time, so as to reduce the rotor speed based on the updated reference signal. Accordingly, before the duration of communication loss exceeds a threshold time, the turbine controller 26 can be configured to adjust the generator torque based on the second reference signal, as discussed above. Reducing the second reference signal for longer durations of communication loss can decrease the likelihood of the rotor blades 22 being overloaded by changes in environmental conditions around the wind turbine 10.

[0074] Furthermore, those skilled in the art will recognize the interchangeability of various features from different embodiments. Similarly, the various method steps and features described, as well as other known equivalents for each such method and feature, can be mixed and matched by those skilled in the art to construct additional systems and techniques in accordance with the principles of this disclosure. Of course, it is to be understood that not all such objects or advantages described above may necessarily be achieved according to any particular embodiment. Therefore, for example, those skilled in the art will recognize that the systems and techniques described herein may be embodied or performed in a manner that achieves or optimizes one or more advantages as taught herein, but not necessarily other objects or advantages as may be taught or suggested herein.

[0075] The various aspects and embodiments of this disclosure are defined by the following terms: A method for controlling a wind turbine having multiple rotor blades, the method comprising: receiving first data associated with the operation of the wind turbine via a control module disposed in a hub of the wind turbine and in communication with a pitch controller of the wind turbine, wherein the first data is collected via multiple sensors disposed in the hub and in communication with the control module; detecting a communication loss between the control module and a turbine controller disposed outside the hub; determining multiple pitch trajectories for the multiple rotor blades via the control module based at least in part on the first data received from the multiple sensors disposed in the hub, the multiple pitch trajectories being configured to prevent imbalance of the multiple rotor blades; and independently controlling multiple pitch adjustment mechanisms of the multiple rotor blades via the control module based on the multiple pitch trajectories in response to a duration of the communication loss between the control module and the turbine controller exceeding a crossover time.

[0076] According to any of the foregoing provisions, the control module is part of a separate controller other than the pitch controller.

[0077] According to any of the foregoing provisions, the control module is programmed into the pitch controller.

[0078] The method according to any of the foregoing clauses further includes: in response to a loss of communication between the control module and the turbine controller, controlling multiple pitch adjustment mechanisms via the control module based on multiple pitch angles for multiple rotor blades for a pass-through time.

[0079] The method according to any of the foregoing clauses further includes: determining multiple pitch angles via a control module based at least in part on first data received from multiple sensors arranged in the hub.

[0080] The method according to any of the foregoing provisions further includes: receiving multiple pitch offset angles from the turbine controller via a control module before communication is lost; and determining multiple pitch angles based on the multiple pitch offset angles via the control module.

[0081] The method according to any of the foregoing provisions further includes: receiving second data associated with the operation of the wind turbine via a turbine controller, wherein the second data is collected via a plurality of sensors arranged outside the hub and communicating with the turbine controller; and determining a plurality of pitch offset angles via the turbine controller based on the second data.

[0082] The method according to any of the foregoing provisions further includes: determining a first reference signal based on first data via a control module; providing the first reference signal to the turbine controller via the control module before communication is lost; and receiving the pass-through time from the turbine controller via the control module before communication is lost.

[0083] According to any of the foregoing provisions, the first reference signal includes at least one of rotor speed, torque, or pitch angle.

[0084] The method according to any of the foregoing provisions further includes: receiving a first reference signal from a control module via a turbine controller before communication is lost; receiving second data associated with the operation of the wind turbine via the turbine controller, wherein the second data is collected via a plurality of sensors arranged outside the hub and communicating with the turbine controller; determining a second reference signal via the turbine controller based on the second data; and determining a cross-time via the turbine controller based at least in part on the first reference signal and the second reference signal.

[0085] According to any of the foregoing provisions, the method of determining the cross-time via the turbine controller based at least in part on the first reference signal and the second reference signal further comprises: receiving environmental data including environmental parameters around the wind turbine via the turbine controller, wherein the environmental data is collected via a plurality of sensors arranged outside the hub; and determining the cross-time via the turbine controller based at least in part on the environmental data.

[0086] The method according to any of the foregoing provisions further includes: in response to the restoration of communication between the control module and the turbine controller during the travel time, controlling a plurality of pitch adjustment mechanisms via the turbine controller based on a second reference signal.

[0087] According to any of the foregoing provisions, the control module is configured to generate commands for controlling a plurality of pitch adjustment mechanisms relative to a rotating reference frame, and the turbine controller is configured to generate commands for controlling a plurality of pitch adjustment mechanisms relative to a fixed reference frame.

[0088] The method according to any of the foregoing provisions further includes: receiving second data associated with the operation of the wind turbine via a turbine controller, wherein the second data is collected via a plurality of sensors arranged outside the hub and communicating with the turbine controller; determining a second reference signal, including rotor speed, via the turbine controller based on the second data; and adjusting the generator torque via the turbine controller when the second reference signal is greater than a speed threshold in response to a loss of communication between the control module and the turbine controller.

[0089] The method according to any of the foregoing provisions further includes: determining a cross-time at least in part based on second data via a turbine controller; determining an updated reference signal via the turbine controller based on a cross-time greater than a threshold time, wherein the updated reference signal includes a predetermined rotor speed of a rotor speed less than the second reference signal; and controlling generator torque via the turbine controller based on the updated reference signal in response to a communication loss duration exceeding the threshold time.

[0090] According to any of the foregoing provisions, the travel time is at least partially dependent on the variable time of the first data.

[0091] A system for controlling a wind turbine includes: a hub; a plurality of rotor blades coupled to the hub and including a plurality of pitch adjustment mechanisms; a control module disposed in the hub and communicating with a pitch controller of the wind turbine, the control module including at least one processor configured to perform a plurality of operations, the plurality of operations including: receiving first data associated with operation of the wind turbine, wherein the first data is collected via a plurality of sensors disposed in the hub and communicating with the control module; detecting a communication loss between the control module and a turbine controller disposed outside the hub; determining a plurality of pitch trajectories for the plurality of rotor blades based at least in part on the first data received from the plurality of sensors disposed in the hub, the plurality of pitch trajectories being configured to prevent imbalance of the plurality of rotor blades; and independently controlling the plurality of pitch adjustment mechanisms of the plurality of rotor blades via the control module based on the plurality of pitch trajectories in response to a communication loss between the control module and the turbine controller lasting for a duration exceeding a crossover time.

[0092] In a system according to any of the foregoing provisions, the control module is part of a separate controller other than the pitch controller.

[0093] In a system according to any of the foregoing provisions, the control module is programmed into the pitch controller.

[0094] According to any of the foregoing provisions, the system further includes: in response to a loss of communication between the control module and the turbine controller, controlling multiple pitch adjustment mechanisms for a time travel based on multiple pitch angles for multiple rotor blades.

[0095] This written description uses examples to disclose this disclosure (including the best mode) and also enables any person skilled in the art to practice this disclosure (including making and using any apparatus or system and performing any incorporated methods). The patentability of this disclosure is defined by the claims and may include other examples that would occur to a person skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that are not different from the literal language of the claims, or if they include equivalent structural elements that are not substantially different from the literal language of the claims.

Claims

1. A method for controlling a wind turbine having multiple rotor blades, the method comprising: First data associated with the operation of the wind turbine is received via a control module arranged in the hub of the wind turbine and communicating with the pitch controller of the wind turbine, wherein the first data is collected via a plurality of sensors arranged in the hub and communicating with the control module. The loss of communication between the control module and the turbine controller located outside the hub is detected via the control module. The control module determines multiple pitch trajectories for the multiple rotor blades based at least in part on the first data received from the multiple sensors arranged in the hub, the multiple pitch trajectories being configured to prevent imbalance of the multiple rotor blades; and In response to a communication loss between the control module and the turbine controller lasting longer than the travel time, the control module independently controls multiple pitch adjustment mechanisms of the multiple rotor blades based on the multiple pitch trajectories.

2. The method according to claim 1, wherein, The control module is part of a separate controller, in addition to the pitch controller.

3. The method according to claim 1, wherein, The control module is programmed into the pitch controller.

4. The method according to claim 1, further comprising: In response to the loss of communication between the control module and the turbine controller, the control module controls the plurality of pitch adjustment mechanisms to achieve the travel time based on the plurality of pitch angles for the plurality of rotor blades.

5. The method of claim 4, further comprising: The control module determines the plurality of pitch angles at least in part based on the first data received from the plurality of sensors arranged in the hub.

6. The method of claim 4, further comprising: Prior to the loss of communication, multiple pitch offset angles were received from the turbine controller via the control module; as well as The multiple pitch angles are determined by the control module based on the multiple pitch offset angles.

7. The method of claim 6, further comprising: The turbine controller receives second data associated with the operation of the wind turbine, wherein the second data is collected via multiple sensors arranged outside the hub and communicating with the turbine controller; and The turbine controller determines the plurality of pitch offset angles based on the second data.

8. The method of claim 1, further comprising: The control module determines the first reference signal based on the first data; Prior to the loss of communication, the first reference signal is provided to the turbine controller via the control module; as well as The travel time is received from the turbine controller via the control module before the communication is lost.

9. The method according to claim 8, wherein, The first reference signal includes at least one of rotor speed, torque, or pitch angle.

10. The method of claim 8, further comprising: The first reference signal is received from the control module via the turbine controller before the communication is lost; Second data associated with the operation of the wind turbine is received via the turbine controller, wherein the second data is collected via a plurality of sensors arranged outside the hub and communicating with the turbine controller; The turbine controller determines the second reference signal based on the second data; and The travel time is determined by the turbine controller based at least in part on the first reference signal and the second reference signal.

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