Wind turbine control method and apparatus, and controller

Abstract

Provided are a wind turbine control method and apparatus, and a controller, relating to the field of wind power generation. The method comprises: acquiring a first blade root load parameter of a first blade at a first position in a current rotation period (s101); acquiring a second blade root load parameter, a third blade root load parameter, and a first change amount, wherein the second blade root load parameter is a blade root load parameter of another blade at the first position in the previous rotation period, the third blade root load parameter is a blade root load parameter of another blade at a second position that is later reached in the previous rotation period, and the first change amount represents a change trend of blade root load parameters of blades from the first position to the second position (s102); on the basis of the first blade root load parameter, the second blade root load parameter, the third blade root load parameter, and the first change amount, obtaining a predicted blade root load of the first blade at the second position (s103); and controlling a wind turbine according to the predicted blade root load (s104).

Description

[Corrected 17.12.2024 according to Article 26] Wind turbine generator control method, device and controller

[0001] [Corrected 17.12.2024 under Rule 26] Cross-reference to related applications

[0002] [Corrected 17.12.2024 according to Rule 26] This application claims priority to Chinese patent application No. 202211336027.9 filed on October 28, 2022, entitled “Wind turbine control method, device and controller”, the entire contents of which are incorporated herein by reference. [Corrected 17.12.2024 according to Rule 26] Technical field

[0003] [Corrected 17.12.2024 in accordance with Rule 26] The present application is in the field of wind power generation, and in particular relates to a method, device and controller for controlling a wind turbine generator set. [Corrected 17.12.2024 according to Rule 26] Background Art

[0004] [Corrected 17 / 12 / 2024 in accordance with Regulation 26] With increasing energy shortages, wind energy has been vigorously promoted as a clean energy source. A wind turbine is a device that converts wind energy into electrical energy. The blade root load of a wind turbine is a key parameter of a wind turbine. During wind turbine operation, it is important to pay attention to the blade root load. Excessive blade root load can pose safety risks and reduce the safety of the wind turbine. [Corrected 17.12.2024 according to Rule 26] Summary of the invention

[0005] [Corrected 17.12.2024 according to Rule 26] The embodiments of the present application provide a wind turbine generator control method, device, and controller, which can improve the safety of the wind turbine generator.

[0006] [Corrected on 17.12.2024 according to Rule 26] In a first aspect, an embodiment of the present application provides a method for controlling a wind turbine generator set, comprising: obtaining a first blade root load parameter when a first blade is located at a first position in a current rotation cycle; obtaining a second blade root load parameter, a third blade root load parameter and a first variation, the second blade root load parameter including blade root load parameters of other blades located at the first position in a previous rotation cycle, the third blade root load parameter including blade root load parameters of other blades located at a second position arrived later than the first position in the previous rotation cycle, the first variation characterizing a trend of change in the blade root load parameters in the process of the blade reaching the second position from the first position; obtaining a predicted blade root load of the first blade when the blade is located at the second position in the current rotation cycle based on the first blade root load parameter, the second blade root load parameter, the third blade root load parameter and the first variation; and controlling the wind turbine generator set according to the predicted blade root load.

[0007] [Corrected on 17.12.2024 according to Rule 26] In a second aspect, an embodiment of the present application provides a wind turbine generator control device, comprising: a first acquisition module for acquiring a first blade root load parameter when the first blade is located at the first position in the current rotation cycle; a second acquisition module for acquiring a second blade root load parameter, a third blade root load parameter and a first variation, the second blade root load parameter including blade root load parameters of other blades located at the first position in the previous rotation cycle, the third blade root load parameter including blade root load parameters of other blades located at the second position arrived later than the first position in the previous rotation cycle, and the first variation characterizing a changing trend of the blade root load parameters in the process of the blade reaching the second position from the first position; a prediction module for obtaining a predicted blade root load of the first blade when the blade is located at the second position in the current rotation cycle based on the first blade root load parameter, the second blade root load parameter, the third blade root load parameter and the first variation; and a control module for controlling the wind turbine generator according to the predicted blade root load.

[0008] [Corrected 17.12.2024 according to Rule 26] In a third aspect, an embodiment of the present application provides a wind turbine controller, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the wind turbine control method of the first aspect is implemented.

[0009] [Corrected 17.12.2024 according to Rule 26] In a fourth aspect, an embodiment of the present application provides a wind turbine generator set, comprising the wind turbine generator set controller of the third aspect.

[0010] [Corrected 17.12.2024 in accordance with Rule 26] Embodiments of the present application provide a wind turbine control method, device, and controller for predicting the blade root load of a first blade in a current rotation cycle at a position not yet reached, namely, a second position, based on a first blade root load parameter, a second blade root load parameter, and a first variation. The first blade root load parameter includes the blade root load parameter for the first blade when it is at the first position in the current rotation cycle, the second blade root load parameter includes the blade root load parameters for other blades at the first position in previous rotation cycles, and the third blade root load parameter includes the blade root load parameters for other blades at the second position in previous rotation cycles. The first blade root load parameter provides a basis for the blade root load in the current rotation cycle, the second and third blade root loads provide the blade root loads at the first and second positions in previous rotation cycles, and the first variation represents the changing trend of the blade root load parameter during the process of reaching the second position from the first position. This can compensate for any deviation between the blade root load in the previous rotation cycle and the blade root load in the current rotation cycle, thereby eliminating any hysteresis in the predicted blade root load and improving the accuracy of the predicted blade root load. By controlling the wind turbine generator set based on accurate predicted blade root loads, the control action of the wind turbine generator set can be started in advance, making the control more stable, reducing the safety risks of the wind turbine generator set caused by the blade root load, and improving the safety of the wind turbine generator set. [Corrected 17.12.2024 in accordance with Rule 26] Description of the drawings

[0011] [Corrected on 17.12.2024 according to Rule 26] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0012] [Corrected 17.12.2024 in accordance with Rule 26] FIG1 is a flow chart of a wind turbine generator control method according to an embodiment of the present application;

[0013] [Corrected 17.12.2024 according to Rule 26] FIG2 is a schematic diagram showing a comparison between the predicted blade root load and the measured blade root load obtained in an embodiment of the present application;

[0014] [Corrected 17.12.2024 in accordance with Rule 26] FIG3 is a flow chart of a wind turbine generator control method provided by another embodiment of the present application;

[0015] [Corrected 17.12.2024 according to Rule 26] FIG4 is a schematic diagram showing a comparison between the predicted blade root shimmy direction load and the measured blade root shimmy direction load obtained in an embodiment of the present application;

[0016] [Corrected 17.12.2024 according to Rule 26] FIG5 is a schematic diagram showing a comparison between the predicted blade root flapping direction load and the measured blade root flapping direction load obtained in an embodiment of the present application;

[0017] [Corrected 17.12.2024 according to Rule 26] FIG6 is a flow chart of a wind turbine generator control method provided in another embodiment of the present application;

[0018] [Corrected 17.12.2024 according to Rule 26] FIG7 is a schematic structural diagram of a wind turbine generator control device provided in one embodiment of the present application;

[0019] [Corrected 17.12.2024 according to Rule 26] Figure 8 is a schematic diagram of the structure of a wind turbine generator controller provided in an embodiment of the present application. [Corrected 17.12.2024 according to Rule 26] Specific implementation method

[0020] [Corrected 17.12.2024 according to Rule 26] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating examples of the present application.

[0021] [Corrected 17 / 12 / 2024 in accordance with Regulation 26] With increasing energy shortages, wind energy has been vigorously promoted as a clean energy source. A wind turbine is a device that converts wind energy into electrical energy. The blade root load of a wind turbine is a key parameter of a wind turbine. During wind turbine operation, it is important to pay attention to the blade root load. Excessive blade root load can pose safety risks and reduce the safety of the wind turbine.

[0022] [Corrected on 17.12.2024 according to Rule 26] The present application provides a wind turbine control method, device and controller, which can use the blade root load parameters of a blade of the wind turbine at position A in the current rotation cycle, and the blade root load parameters of other blades different from this blade at positions A and B in the rotation cycle before the current rotation cycle to predict the blade root load of this blade when it reaches position B in the current rotation cycle, so as to control the wind turbine according to the predicted blade root load, and can control the wind turbine according to the load in a targeted manner in advance, take measures in advance to reduce the safety risks brought to the wind turbine by the blade root load, and improve the safety of the wind turbine.

[0023] [Corrected 17.12.2024 according to Rule 26] The wind turbine control method, device and controller provided in this application are described below.

[0024] [Corrected 17.12.2024 in accordance with Rule 26] In a first aspect, the present application provides a wind turbine control method that can predict blade root loads of the wind turbine blades at positions not yet reached and control the wind turbine. FIG1 is a flow chart of the wind turbine control method provided in one embodiment of the present application. As shown in FIG1 , the wind turbine control method may include steps S101 to S104.

[0025] [Corrected 17.12.2024 according to Rule 26] In step S101, a first blade root load parameter is obtained when the first blade is located at a first position in the current rotation cycle.

[0026] [Corrected 17 / 12 / 2024 in accordance with Rule 26] The first blade is any blade in a wind turbine generator set. A position selected from the positions the first blade has passed through or is currently located in during the current rotation cycle can be used as the first position. The position can be represented by an azimuth angle or other parameter, which is not limited here. The rotation cycle is the period during which the blade rotates once. The first blade root load parameter includes the blade root load parameter when the first blade is at the first position during the current rotation cycle.

[0027] [Corrected 17.12.2024 in accordance with Rule 26] Sensors may be pre-installed on the blades of a wind turbine generator set to collect blade root load parameters. The blade root load may be derived based on the blade root load parameters. For example, the blade root load parameters may include blade root shimmy direction load and blade root flapping direction load. For another example, the blade root load parameters may include the blade root load alone, i.e., the blade root load parameters may directly be the blade root load.

[0028] [Corrected 17.12.2024 according to Rule 26] In step S102, the second blade root load parameter, the third blade root load parameter and the first variation are obtained.

[0029] [Corrected 17.12.2024 according to Rule 26] The second blade root load parameter includes the blade root load parameters of other blades in the first position in the previous rotation cycle. The third blade root load parameter includes the blade root load parameters of other blades in the second position reached later than the first position in the previous rotation cycle. Other blades include blades other than the first blade in the wind turbine. The previous rotation cycle is the rotation cycle before the current rotation cycle. In one rotation cycle, the same blade passes through the first position first and then the second position, that is, in one rotation cycle, between the first position and the second position, the blade reaches the second position later. The second blade root load parameter and the third blade root load parameter are blade root load parameters of the same one or several rotation cycles before the current rotation cycle. In some examples, the previous rotation cycle here may be the rotation cycle before the current rotation cycle. There is a certain angle between the first position and the second position.

[0030] [Corrected 17 / 12 / 2024 in accordance with Rule 26] The first variation represents the changing trend of the blade root load parameter as the blade moves from the first position to the second position. During actual operation of a wind turbine, the blade root load is affected by a variety of factors, such as wind speed and pitch angle, and can change rapidly. The blade root load parameters of other blades in previous rotation cycles may deviate from those in the current rotation cycle. This deviation may cause a lag in the subsequently predicted blade root load. The first variation can be used to compensate for this deviation, thereby eliminating the lag.

[0031] [Corrected 17.12.2024 according to Rule 26] In some examples, the first change amount can be obtained based on the rotational torque parameter, or based on other parameters that can reflect the change trend of the blade root load parameter in the process of the blade moving from the first position to the second position, which is not limited here.

[0032] [Corrected 17.12.2024 according to Rule 26] In step S103, based on the first blade root load parameter, the second blade root load parameter, the third blade root load parameter and the first variation, a predicted blade root load of the first blade when it is at the second position in the current rotation cycle is obtained.

[0033] [Corrected 17.12.2024 according to Rule 26] The first blade root load parameter includes the blade root load parameter of the first blade when it is in the first position in the current rotation cycle, the second blade root load parameter includes the blade root load parameters of other blades in the first position in the previous rotation cycle, and the third blade root load parameter includes the blade root load parameters of other blades in the second position in the previous rotation cycle. The first blade root load parameter can be used as the basis for predicting the blade root load of the first blade when it is in the second position in the current rotation cycle. The second blade root load, the third blade root load, and the first change can be used to predict the change in the first blade root load during the process of the first blade moving from the first position to the second position in the current rotation cycle, thereby obtaining the predicted blade root load of the first blade when it is in the second position in the current rotation cycle. The predicted blade root load is the predicted blade root load of the first blade when it is in the second position in the current rotation cycle.

[0034] [Corrected 17.12.2024 according to Rule 26] Based on the first blade root load parameter, the second blade root load parameter, the third blade root load parameter and the first variation, a predicted blade root load is obtained, and the blade root load parameters of the blade at the first position and the second position in the previous rotation cycle can be used to predict the blade root load parameters of the blade at the second position in the current rotation cycle, and the first variation is used to compensate for the possible deviation between the blade root load parameters in the previous rotation cycle and the blade root load parameters of the current rotation cycle predicted based on the second blade root load and the third blade root load, thereby eliminating the lag that may be caused by the deviation, so that the blade root load of the blade after a period of time, such as 0.3 seconds to 1 second, can be accurately predicted.

[0035] [Corrected 17.12.2024 according to Rule 26] In step S104, the wind turbine generator system is controlled according to the predicted blade root load.

[0036] [Corrected 17 / 12 / 2024 in accordance with Rule 26] The predicted blade root loads obtained according to the above steps are highly accurate and can be used to control the wind turbine's pitch control. For example, if the predicted blade root load exceeds a blade root load safety threshold, the wind turbine can be controlled to retract its blades to increase the pitch angle, reduce wind energy absorption by the impeller, and thus achieve preemptive control over blade root load reduction.

[0037] [Corrected 17.12.2024 according to Rule 26] In some examples, the blades in the wind turbine generator set can be used as the first blade in sequence, and the maximum value of the predicted blade root load obtained by selecting each blade in the wind turbine generator set as the first blade; when the maximum value is greater than the blade root load safety threshold, the wind turbine generator set is controlled to retract the blades.

[0038] [Corrected 17.12.2024 in accordance with Rule 26] In an embodiment of the present application, the blade root load of a first blade in the current rotation cycle when it is at a position not yet reached, namely, a second position, is predicted based on a first blade root load parameter, a second blade root load parameter, a third blade root load parameter, and a first variation. The first blade root load parameter includes the blade root load parameter of the first blade when it is at the first position in the current rotation cycle, the second blade root load parameter includes the blade root load parameters of other blades at the first position in the previous rotation cycle, and the third blade root load parameter includes the blade root load parameters of other blades at the second position in the previous rotation cycle. The first blade root load parameter provides a basis for the blade root load in the current rotation cycle, the second and third blade root loads provide the blade root loads at the first and second positions in the previous rotation cycle, and the first variation represents the changing trend of the blade root load parameters during the process of reaching the second position from the first position. This can compensate for any deviation between the blade root load in the previous rotation cycle and the blade root load in the current rotation cycle, thereby eliminating the hysteresis of the predicted blade root load and improving the accuracy of the predicted blade root load. By controlling the wind turbine generator set based on accurate predicted blade root loads, the control action of the wind turbine generator set can be started in advance, making the control more stable, reducing the safety risks of the wind turbine generator set caused by the blade root load, and improving the safety of the wind turbine generator set.

[0039] [Corrected 17.12.2024 according to Rule 26] In order to illustrate the accuracy of the blade root load prediction in the embodiment of the present application, when the first blade reaches the second position in the current rotation cycle, the blade root load parameters are collected, and the measured blade root load of the first blade at the second position in the current rotation cycle is obtained based on the collected blade root load parameters. Figure 2 is a schematic diagram of the comparison between the predicted blade root load and the measured blade root load obtained in the embodiment of the present application, wherein the horizontal axis is time, the unit is seconds (i.e. s), and the vertical axis is torque, the unit is kilonewton-meters (i.e. kNm), and the torque can reflect the blade root load. As shown in Figure 2, the predicted blade root load has a certain phase advance compared with the measured blade root load, and the amplitude error between the predicted blade root load and the measured blade root load is very small, and can basically be consistent.

[0040] [Corrected 17.12.2024 in accordance with Rule 26] Under the same conditions, the wind turbine generator control method of the present application embodiment can achieve a better load reduction effect under the same power generation loss compared to the solution of controlling the wind turbine generator based on the measured blade root load. For example, under standard design operating conditions, a comparison of controlling the wind turbine generator using the measured blade root load and controlling the wind turbine generator using the predicted blade root load in the embodiment of the present application is shown in Table 1:

[0041] [Corrected 17.12.2024 in accordance with Rule 26] Table 1

[0042] [Corrected 17.12.2024 according to Rule 26] As shown in Table 1, under the same design standard, the power generation ratio of the wind turbine generator set controlled by using the predicted blade root load is only 0.1% lower than the power generation ratio of the wind turbine generator set controlled by using the measured blade root load. However, the blade root limit load ratio of the wind turbine generator set controlled by using the predicted blade root load is 1.7% lower than the blade root limit load ratio of the wind turbine generator set controlled by using the measured blade root load. This shows that using the predicted blade root load for wind turbine generator set control can achieve a better load reduction effect.

[0043] [Corrected 17.12.2024 according to Rule 26] In some embodiments, the above-mentioned step S103 can be implemented as follows: using the weight corresponding to each other blade, the third blade root load parameter corresponding to each other blade, the second blade root load parameter, and the first change amount to obtain the predicted correction amount; determining the predicted blade root load based on the first blade root load parameter and the predicted correction amount.

[0044] [Corrected 17.12.2024 according to Rule 26] Weights can be set in advance for other blades. The weights are the blade root load parameters of other blades used as the proportion coefficient of the predicted blade root load of the first blade. The weights can be set according to the wind turbine operation scenario, wind turbine structure, wind turbine operation requirements, etc., and are not limited here.

[0045] [Corrected 17.12.2024 in accordance with Rule 26] In some examples, for each additional blade, the difference between the second blade root load parameter and the third blade root load parameter may be calculated. Using the weight of each additional blade and the difference between the second blade root load parameter and the third blade root load parameter, an initial correction value is predicted. The initial correction value is then compensated using the first change value to obtain a predicted correction value. The predicted correction value may represent a predicted change based on the first blade root load parameter. The predicted correction value may be either positive or negative, and is not limited herein. The predicted correction value may be used to correct the first blade root load parameter to obtain a predicted blade root load.

[0046] [Corrected 17.12.2024 according to Rule 26] For ease of understanding, the process of obtaining the predicted blade root load is explained below using the example of the blade root load parameters including the blade root swing direction load and the blade root flapping direction load, and the example of the blade root load parameters including the blade root load.

[0047] [Corrected 17.12.2024 according to Rule 26] In this embodiment, the blade root load parameters include the blade root shimmy direction load and the blade root flapping direction load. Correspondingly, the predicted correction amount includes the shimmy direction correction amount and the flapping direction correction amount. Figure 3 is a flow chart of a wind turbine control method according to another embodiment of the present application. Figure 3 differs from Figure 1 in that step S103 shown in Figure 1 can be specifically refined into steps S1031 to S1035 shown in Figure 3.

[0048] [Corrected 17.12.2024 according to Rule 26] In step S1031, the swing direction correction amount is obtained based on the weight corresponding to each other blade and the difference between the blade root swing direction load in the third blade root load parameter and the blade root swing direction load in the second blade root load parameter.

[0049] [Corrected 17.12.2024 according to Rule 26] The sum of the weights corresponding to the other blades can be 1. The swing direction correction amount is the correction amount of the predicted swing direction load of the blade root. For example, a wind turbine has three blades, namely the first blade, the second blade, and the third blade. The second blade and the third blade are other blades. The swing direction correction amount can be obtained according to the following formula (1): ΔMx1 = k·(Mx2| α+Δα -Mx2| α )+(1-k)(Mx3| α+Δα -Mx3| ɑ ) (1)

[0050] [Corrected 17.12.2024 according to Rule 26] Wherein, ΔMx1 is the correction amount in the swing direction; k is the weight corresponding to the second blade; (1-k) is the weight of the third blade; Mx2| α+Δα is the blade root swing direction load in the third blade root load parameter of the second blade; Mx2| α is the blade root swing direction load in the second blade root load parameter of the second blade; Mx3| α+Δα is the blade root swing direction load in the third blade root load parameter of the third blade; Mx3| α is the blade root swing direction load in the second blade root load parameter of the third blade; α is the first position; α+Δα is the second position.

[0051] [Corrected 17.12.2024 according to Rule 26] The main component of the blade root shimmy direction load is the gravity acting on the blade root, which manifests as relatively stable fluctuations of approximately equal amplitude, with a low mean and slow changes. Therefore, the shimmy direction correction value obtained based on the blade root shimmy direction load in the second blade root load parameter and the blade root shimmy direction load in the third blade root load parameter is more accurate, and the first variation value does not need to be increased.

[0052] [Corrected 17.12.2024 according to Rule 26] In step S1032, the flapping direction correction amount is obtained based on the weight corresponding to each other blade, the difference between the blade root flapping direction load in the third blade root load parameter and the blade root flapping direction load in the second blade root load parameter, and the first change amount.

[0053] [Corrected 17.12.2024 according to Rule 26] The swing direction correction value is the correction value of the predicted swing direction load of the blade root. For example, a wind turbine has three blades, namely the first blade, the second blade, and the third blade. The second blade and the third blade are other blades. The swing direction correction value can be obtained according to the following formula (2): ΔMy1 = k·(My2| α+Δα -My2| α )+(1-k)(My3| α+Δα -My3| ɑ )+ΔM (2)

[0054] [Corrected 17.12.2024 according to Rule 26] Wherein, ΔMy1 is the correction amount for the flapping direction; k is the weight corresponding to the second blade; (1-k) is the weight of the third blade; My2| α+Δα is the blade root flapping direction load in the third blade root load parameter of the second blade; Mx2| α is the blade root flapping direction load in the second blade root load parameter of the second blade; Mx3| α+Δα is the blade root flapping direction load in the third blade root load parameter of the third blade; Mx2| α is the blade root flapping direction load in the second blade root load parameter of the third blade; α is the first position; α+Δα is the second position; ΔM is the first variation.

[0055] [Corrected 17 / 12 / 2024 in accordance with Regulation 26] Because the primary component of blade flapping loads is the aerodynamic force acting on the blades, the sum of these blade flapping loads in a wind turbine can be considered equivalent to the impeller's dynamic force. This load has a relatively large mean value, is affected by multiple factors such as wind speed and pitch angle, and varies much more rapidly than the mean value of the blade root flapping load. For example, in gusty winds, the mean value of the blade root flapping load varies rapidly. If the flapping direction correction is obtained only based on the blade root flapping direction load in the second blade root load parameter and the blade root flapping direction load in the third blade root load parameter, since the blade root flapping direction load in the second blade root load parameter and the blade root flapping direction load in the third blade root load parameter are data before the gust, they will be smaller than the blade root flapping direction load in the current rotation cycle, resulting in a smaller flapping direction correction, which will cause the predicted blade root flapping direction load obtained based on the flapping direction correction and the final predicted blade root load to be smaller, causing a certain lag in the predicted blade root load and failing to meet the prediction effect. Therefore, the first variation is introduced to compensate for the error caused by the smaller flapping direction correction to eliminate the lag.

[0056] [Corrected 17.12.2024 according to Rule 26] In step S1033, the sum of the blade root yaw direction load and the yaw direction correction amount in the first blade root load parameter is determined as the predicted blade root yaw direction load.

[0057] [Corrected 17.12.2024 according to Rule 26] For example, if the shimmy direction correction amount is as shown in the above formula (1), the predicted blade root shimmy direction load can be obtained according to the following formula (3): Mx1| ɑ+Δɑ =Mx1| ɑ +ΔMx1 (3)

[0058] [Corrected 17.12.2024 as per Rule 26] Among them, Mx1| ɑ+Δɑ is the predicted blade root swing direction load of the first blade; Mx1| ɑ is the blade root swing direction load in the first blade root load of the first blade; ΔMx1 is the swing direction correction amount.

[0059] [Corrected 17.12.2024 according to Rule 26] In step S1034, the sum of the blade root flapping direction load and the flapping direction correction amount in the first blade root load parameter is determined as the predicted blade root flapping direction load.

[0060] [Corrected 17.12.2024 according to Rule 26] For example, if the flapping direction correction amount is as shown in the above formula (2), the predicted blade root flapping direction load can be obtained according to the following formula (4): My1| α+Δα =My1| α+ΔMy1 (4)

[0061] [Corrected 17.12.2024 as per Rule 26] Among them, My1| α+Δα is the predicted blade root flapping direction load of the first blade; My1| α is the blade root flapping direction load in the first blade root load of the first blade; ΔMy1 is the flapping direction correction amount.

[0062] [Corrected 17.12.2024 according to Rule 26] In step S1035, the predicted blade root load in the swing direction and the predicted blade root load in the flapping direction are combined to obtain the predicted blade root load.

[0063] [Corrected 17.12.2024 according to Rule 26] For example, if the predicted blade root shimmy direction load and the predicted blade root flapping direction load are shown in equations (3) and (4) above, respectively, the predicted blade root load can be obtained according to equation (5):

[0064] [Corrected 17.12.2024 in accordance with Rule 26] Of which, M xy To predict blade root load; My1| α+Δα is the predicted blade root swing direction load of the first blade; My1| α is the blade root flapping direction load in the first blade root load of the first blade.

[0065] [Corrected 17.12.2024 in accordance with Rule 26] To illustrate the accuracy of the blade root swing load and the blade root flapping load predicted in the embodiment of the present application, the blade root swing load and the blade root flapping load are collected when the first blade reaches the second position in the current rotation cycle, thereby obtaining the measured blade root swing load and the measured blade root flapping load for the first blade at the second position in the current rotation cycle. FIG4 is a schematic diagram comparing the predicted blade root swing load and the measured blade root swing load obtained in the embodiment of the present application, and FIG5 is a schematic diagram comparing the predicted blade root flapping load and the measured blade root flapping load obtained in the embodiment of the present application, wherein the horizontal axis represents time in seconds (i.e., s), and the vertical axis represents torque in kilonewton-meters (i.e., kNm). Torque can reflect the blade root load. As shown in Figure 4, the predicted blade root swing direction load has a certain phase advance compared with the measured blade root swing direction load, and the amplitude error between the predicted blade root swing direction load and the measured blade root swing direction load is very small, and they can basically reach consistency; similarly, as shown in Figure 5, the predicted blade root flapping direction load has a certain phase advance compared with the measured blade root flapping direction load, and the amplitude error between the predicted blade root flapping direction load and the measured blade root flapping direction load is very small, and they can basically reach consistency; correspondingly, as shown in Figure 2, the predicted blade root load obtained by combining the predicted blade root swing direction load and the predicted blade root flapping direction load has a certain phase advance compared with the measured blade root load, and the amplitude error is very small, and they can basically reach consistency.

[0066] [Corrected 17.12.2024 according to Rule 26] In this embodiment, the blade root load parameter includes the blade root load. FIG6 is a flow chart of a wind turbine generator control method provided in another embodiment of the present application. FIG6 differs from FIG1 in that step S103 shown in FIG1 can be specifically refined into steps S1036 and S1037 shown in FIG3.

[0067] [Corrected 17.12.2024 according to Rule 26] In step S1036, the predicted correction amount is obtained using the weight corresponding to each other blade, the difference between the blade root load in the third blade root load parameter corresponding to each other blade and the blade root load in the second blade root load parameter, and the first change amount.

[0068] [Corrected 17.12.2024 according to Rule 26] The predicted correction amount is the correction amount of the predicted blade root load. For example, a wind turbine has three blades, namely the first blade, the second blade, and the third blade. The second blade and the third blade are other blades. The predicted correction amount can be obtained according to the following formula (6): ΔMxy1 = k·(Mxy2| e+Δɑ -Mxy2| α )+(1-k)(Mxy3| α+Δɑ -Mxy3|α )+ΔM(6)

[0069] [Corrected 17.12.2024 according to Rule 26] Wherein, ΔMxy1 is the prediction correction; k is the weight corresponding to the second blade; (1-k) is the weight of the third blade; Mxy2| α+Δα is the root load of the third root load parameter of the second blade; Mxy2| α is the root load of the second blade root load parameter of the second blade; Mxy3| α+Δα is the root load of the third blade root load parameter of the third blade; Mxy3| α is the root load of the second root load parameter of the third blade; α is the first position; α+Δα is the second position; ΔM is the first variation.

[0070] [Corrected 17.12.2024 according to Rule 26] In step S1037, the first blade root load parameter and the predicted correction amount are added to determine the predicted blade root load.

[0071] [Corrected 17.12.2024 according to Rule 26] For example, if the predicted correction amount is as shown in the above formula (6), the predicted blade root load can be obtained according to the following formula (7): M xy =Mxy1| α +ΔMxy1 (7)

[0072] [Corrected 17.12.2024 in accordance with Rule 26] Of which, M xy To predict the blade root load; Mxy1| α is the blade root load of the first blade; ΔMxy1 is the predicted correction amount.

[0073] [Corrected 17.12.2024 according to Rule 26] In some embodiments, the rotational torque parameter of the first blade at the second position in the current rotation cycle can be predicted based on the rotational torque parameter of the first blade at the first position in the current rotation cycle, the change in the rotational torque parameter before the first blade reaches the first position, and the predicted duration of the first blade moving from the first position to the second position in the current rotation cycle; the first change is obtained based on the rotational torque parameter of the first blade at the first position in the current rotation cycle and the rotational torque parameter of the first blade at the second position in the current rotation cycle. The change in the rotational torque parameter before the first blade reaches the first position can be obtained by differential calculation of the rotational torque before the first blade reaches the first position, such as by differential calculation based on the rotational torque parameter of a certain position before the first blade reaches the first position in the current rotation cycle and the duration of time from this position to the first position, to obtain the change in the rotational torque parameter before the first blade reaches the first position. For example, the calculation of the first change can be obtained according to the following equations (8) and (9): a| t+Δt ≈a| t +a| t -a| t-dt / dt·Δt (8)ΔM=M| t+Δt -M| t =KI·(a| t+Δt -a| t ) (9)

[0074] [Corrected 17.12.2024 as per Rule 26] wherein, a| t+Δt To predict the rotation torque parameter of the first blade at the second position in the current rotation cycle; t can be the time when the first blade is at the first position in the current rotation cycle; t+Δt is the time when the first blade is at the second position in the current rotation cycle; Δt is the predicted time length of the first blade from the first position to the second position in the current rotation cycle; α| t is the rotation torque parameter of the first blade when it is at the first position of the current rotation cycle; α| t -α| t-dt / dt is the differential value of the rotation torque parameter; t-dt represents the time when the first blade reaches a certain position before the first position; dt is the time interval used for the differential value, which can be regarded as the time required for the first blade to reach the first position from a certain position before the first position; K I is the conversion coefficient between the rotation torque parameter and the first variation, which can be calculated based on the rotational inertia of the blade, hub, and main shaft system; M| t is the blade root load, blade root swing direction load or blade root flapping direction load of the first blade at the first position of the current rotation cycle; M| t+ΔtTo predict the blade root load, blade root swing direction load or blade root flap direction load of the first blade at the second position in the current rotation cycle; ΔM is the first variation.

[0075] [Corrected 17.12.2024 according to Rule 26] The rotational torque parameter in the above embodiment may include impeller acceleration, main shaft rotation direction torque, or wind speed. The wind speed may be a measured wind speed or an equivalent wind speed, and is not limited here. In some examples, when the rotational torque parameter includes wind speed, the above formula (9) can be obtained by fitting the wind speed and the blade root load (or the blade root flapping direction load).

[0076] [Corrected 17.12.2024 in accordance with Rule 26] In some embodiments, if a sensor capable of directly obtaining blade position, such as azimuth, is provided on the wind turbine generator set, the first and second positions described above can be directly obtained, and corresponding data such as the first blade root load parameter, the second blade root load parameter, and the third blade root load parameter can be collected. If the wind turbine generator set is not equipped with a sensor capable of directly obtaining blade position, the blade position can be determined using impeller speed and time to obtain data such as the first blade root load parameter, the second blade root load parameter, and the third blade root load parameter.

[0077] [Corrected 17.12.2024 according to Rule 26] Based on the predicted duration of the first blade moving from the first position to the second position in the current rotation cycle, the calculated relationship between the position and the impeller speed, the impeller speed when the first blade is at the first position in the current rotation cycle, and the fixed position difference between the blades, the first moment when the other blades are at the first position and the second moment when they are at the second position in the previous rotation cycle can be determined; the blade root load parameters of the other blades at the first moment and the blade root load parameters at the second moment are determined as the second blade root load parameters and the third blade root load parameters, respectively.

[0078] [Corrected 17.12.2024 in accordance with Rule 26] A position difference between the first position and the second position may be pre-set, and the current position of the first blade may be determined as the first position, with the sum of the first position and the position difference being the second position. Based on the impeller speed and the position difference, the duration of the first blade's movement from the first position to the second position during the current rotation cycle may be predicted, and the predicted duration of the first blade's movement from the first position to the second position during the current rotation cycle may be used in the calculation of the duration of other blades' movement from the first position to the second position during the rotation cycle. Based on the impeller speed and the fixed position difference between the blades, the first and second moments corresponding to the other blades may be calculated, thereby determining and obtaining the second and third blade root load parameters based on time.

[0079] [Corrected 17.12.2024 according to Rule 26] For example, the position of the first blade at a certain moment in the current rotation cycle can be determined as the first position, and the first position can be regarded as 0. The time from the first position to the second position can be set by using the integral calculation relationship between the impeller speed, time and position, and the formula The second position is calculated, where t0 is the moment of the first blade during the current rotation cycle; v is the impeller speed; t is time; and α is the position, such as the azimuth angle. The second and third blade root load parameters are then obtained based on the obtained second position, and the predicted blade root load is calculated.

[0080] [Corrected 17.12.2024 according to Rule 26] For example, based on the moment when the first blade is at the first position in the current rotation cycle, the first moment and the second moment calculated above, the first blade root load parameter, the second blade root load parameter and the third blade root load parameter are obtained. Then the above equations (1) to (7) can be converted into the following equations (10) to (16) respectively: ΔMx1 = k·(Mx 2|t2+Δt2 -Mx2| t )+(1-k)(Mx 3|t3+Δt3 -Mx 3|t3 )(10)ΔMy1=k·(My 2|t2+Δt2 -My2| t )+(1-k)(My3| t3+Δt3 -My3| t3 )+ΔM(11)Mx1| t+Δt =Mx1| t +ΔMx1 (12)My1| t+Δt =My1| t +ΔMy1 (13) ΔMxy1=k·(Mxy2| t2+Δt2 -Mxy2| t2 )+(1-k)(Mxy3| t3+Δt3 -Mxy3| t3 )+ΔM(15)M xy =Mxy1| t +ΔMxy1 (16)

[0081] [Corrected 17.12.2024 as per Rule 26] Among them, Mx2| t2+Δt2 Mx is the blade root swing direction load in the third blade root load parameter of the second blade; 2|t is the blade root swing direction load in the second blade root load parameter of the second blade; Mx3| t3+Δt3 is the blade root swing direction load in the third blade root load parameter of the third blade; Mx3|t3 is the blade root swing direction load in the second blade root load parameter of the third blade; t2 is the first moment corresponding to the second blade; t2+Δt2 is the second moment corresponding to the second blade; t3 is the first moment corresponding to the third blade; t3+Δt3 is the second moment corresponding to the third blade; My2| t2+Δt2 My is the blade root flapping direction load in the third blade root load parameter of the second blade; 2|t My is the blade root flapping direction load in the second blade root load parameter of the second blade; 3|t3+Δt3 My is the blade root flapping direction load in the third blade root load parameter of the third blade; 3|t3 Mx is the blade root flapping direction load in the second blade root load parameter of the third blade; 1|t+Δt is the predicted blade root swing direction load of the first blade; Mx 1|t My is the blade root swing direction load in the first blade root load of the first blade; 1|t+Δt is the predicted blade root flapping direction load of the first blade; My 1|t Mxy is the blade root flapping direction load in the first blade root load of the first blade; 2|t2+Δt2 Mxy is the root load of the third root load parameter of the second blade; 2|t2 is the root load of the second blade root load parameter of the second blade; Mxy 3|t3+Δt3 Mxy is the root load of the third blade in the third blade root load parameter; 3|t3 is the blade root load in the second blade root load parameter of the third blade; other parameters that are the same as those in equations (1) to (7) above are not repeated here. Wherein, Δt, Δt2, and Δt3 may be equal.

[0082] [Corrected 17.12.2024 according to Rule 26] By equating the impeller speed and time to an equivalent position, the flexibility and applicability of the wind turbine control method in the embodiment of the present application can be improved, and the application scenarios of the wind turbine control method can be expanded.

[0083] [Corrected 17.12.2024 in accordance with Rule 26] A second aspect of the present application provides a wind turbine generator control device. FIG7 is a schematic structural diagram of a wind turbine generator control device according to an embodiment of the present application. As shown in FIG7 , the wind turbine generator control device 200 may include a first acquisition module 201, a second acquisition module 202, a prediction module 203, and a control module 204.

[0084] [Corrected 17.12.2024 according to Rule 26] The first acquisition module 201 may be used to acquire a first blade root load parameter when the first blade is located at a first position in a current rotation cycle.

[0085] [Corrected 17.12.2024 according to Rule 26] The second acquisition module 202 can be used to obtain the second blade root load parameter, the third blade root load parameter and the first variation.

[0086] [Corrected 17 / 12 / 2024 in accordance with Rule 26] The second blade root load parameter includes the blade root load parameter of the other blades in the first position during the previous rotation cycle. The third blade root load parameter includes the blade root load parameter of the other blades in the second position reached later than the first position during the previous rotation cycle. The first change represents a trend of change in the blade root load parameter as the blade moves from the first position to the second position.

[0087] [Corrected 17.12.2024 according to Rule 26] The prediction module 203 may be used to obtain a predicted blade root load of the first blade when the first blade is at the second position in the current rotation cycle based on the first blade root load parameter, the second blade root load parameter, the third blade root load parameter and the first variation.

[0088] [Corrected 17.12.2024 according to Rule 26] The control module 204 may be used to control the wind turbine according to the predicted blade root load.

[0089] [Corrected 17.12.2024 in accordance with Rule 26] In an embodiment of the present application, the blade root load of a first blade in the current rotation cycle when it is at a position not yet reached, namely, a second position, is predicted based on a first blade root load parameter, a second blade root load parameter, a third blade root load parameter, and a first variation. The first blade root load parameter includes the blade root load parameter of the first blade when it is at the first position in the current rotation cycle, the second blade root load parameter includes the blade root load parameters of other blades at the first position in the previous rotation cycle, and the third blade root load parameter includes the blade root load parameters of other blades at the second position in the previous rotation cycle. The first blade root load parameter provides a basis for the blade root load in the current rotation cycle, the second and third blade root loads provide the blade root loads at the first and second positions in the previous rotation cycle, and the first variation represents the changing trend of the blade root load parameters during the process of reaching the second position from the first position. This can compensate for any deviation between the blade root load in the previous rotation cycle and the blade root load in the current rotation cycle, thereby eliminating the hysteresis of the predicted blade root load and improving the accuracy of the predicted blade root load. By controlling the wind turbine generator set based on accurate predicted blade root loads, the control action of the wind turbine generator set can be started in advance, making the control more stable, reducing the safety risks of the wind turbine generator set caused by the blade root load, and improving the safety of the wind turbine generator set.

[0090] [Corrected 17.12.2024 according to Rule 26] In some embodiments, the prediction module 203 can be used to: use the weight corresponding to each other blade, the second blade root load parameter corresponding to each other blade, the third blade root load parameter, and the first change amount to obtain a predicted correction amount; determine the predicted blade root load based on the first blade root load parameter and the predicted correction amount.

[0091] [Corrected 17.12.2024 according to Rule 26] In some examples, the blade root load parameters include blade root shimmy direction load and blade root flapping direction load, and the prediction correction amount includes a shimmy direction correction amount and a flapping direction correction amount.

[0092] [Corrected 17.12.2024 according to Rule 26] The prediction module 203 can be used to: obtain a swing direction correction amount based on the weight corresponding to each other blade, the difference between the blade root swing direction load in the third blade root load parameter and the blade root swing direction load in the second blade root load parameter; obtain a flapping direction correction amount based on the weight corresponding to each other blade, the difference between the blade root flapping direction load in the third blade root load parameter and the blade root flapping direction load in the second blade root load parameter, and the first change amount.

[0093] [Corrected 17.12.2024 according to Rule 26] The prediction module 203 can be used to: determine the predicted blade root swing direction load by adding the blade root swing direction load and the swing direction correction value in the first blade root load parameter; determine the predicted blade root flap direction load by adding the blade root swing direction load and the flap direction correction value in the first blade root load parameter; and combine the predicted blade root swing direction load and the predicted blade root flap direction load to obtain the predicted blade root load.

[0094] [Corrected 17.12.2024 according to Article 26] In some examples, the blade root load parameter includes the blade root load.

[0095] [Corrected 17.12.2024 according to Rule 26] The prediction module 203 can be used to: use the weight corresponding to each other blade, the difference between the blade root load in the third blade root load parameter corresponding to each other blade and the blade root load in the second blade root load parameter and the first change amount to obtain the prediction correction amount.

[0096] [Corrected 17.12.2024 according to Rule 26] The prediction module 203 may be configured to: determine the predicted blade root load by adding the first blade root load parameter and the prediction correction amount.

[0097] [Corrected on 17.12.2024 according to Rule 26] In some embodiments, the second acquisition module 202 can be used to: predict the rotational torque parameter of the first blade at the second position in the current rotation cycle based on the rotational torque parameter of the first blade at the first position in the current rotation cycle, the change in the rotational torque parameter before the first blade reaches the first position, and the predicted duration of the first blade from the first position to the second position in the current rotation cycle; obtain the first change based on the rotational torque parameter of the first blade at the first position in the current rotation cycle and the rotational torque parameter of the first blade at the second position in the current rotation cycle.

[0098] [Corrected 17.12.2024 according to Rule 26] In some embodiments, the second acquisition module 202 can be used to: determine the first moment when other blades were at the first position and the second moment when they were at the second position in the previous rotation cycle based on the predicted duration of the first blade moving from the first position to the second position in the current rotation cycle, the calculated relationship between the position and the impeller speed, the impeller speed when the first blade is at the first position in the current rotation cycle, and the fixed position difference between the blades; determine the blade root load parameters of the other blades at the first moment and the blade root load parameters at the second moment as the second blade root load parameters and the third blade root load parameters, respectively.

[0099] [Corrected 17.12.2024 according to Rule 26] In some examples, the rotational torque parameter may include, but is not limited to, impeller acceleration, main shaft rotation direction torque, or wind speed.

[0100] [Corrected 17.12.2024 in accordance with Rule 26] A third aspect of the present application provides a wind turbine controller. Figure 8 is a schematic diagram of the structure of a wind turbine controller according to one embodiment of the present application. As shown in Figure 8 , the wind turbine controller 300 includes a memory 301, a processor 302, and a computer program stored in the memory 301 and executable on the processor 302.

[0101] [Corrected 17.12.2024 according to Rule 26] In some examples, the processor 302 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0102] [Corrected 17.12.2024 according to Rule 26] The memory 301 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the wind turbine control method according to the embodiments of the present application.

[0103] [Corrected 17.12.2024 according to Rule 26] The processor 302 runs a computer program corresponding to the executable program code by reading the executable program code stored in the memory 301, so as to implement the wind turbine generator control method in the above embodiment.

[0104] [Corrected 17.12.2024 according to Rule 26] In some examples, the wind turbine controller 300 may further include a communication interface 303 and a bus 304. As shown in FIG8 , the memory 301, the processor 302, and the communication interface 303 are connected via the bus 304 and communicate with each other.

[0105] [Corrected 17.12.2024 according to Rule 26] The communication interface 303 is mainly used to implement communication between the various modules, devices, units and / or devices in the embodiments of the present application. Input devices and / or output devices can also be connected through the communication interface 303.

[0106] [Corrected 17.12.2024 according to Rule 26] The bus 304 includes hardware, software, or both, and couples the components of the wind turbine controller 300. By way of example and not limitation, the bus 304 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-E) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Bus 304 may include one or more buses, where appropriate. Although embodiments herein describe and illustrate a particular bus, this disclosure contemplates any suitable bus or interconnect.

[0107] [Corrected 17.12.2024 according to Rule 26] The fourth aspect of the present application provides a wind turbine generator set, which includes the wind turbine generator set controller in the above-mentioned embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0108] [Corrected 17.12.2024 according to Rule 26] The embodiments of the present application further provide a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the wind turbine generator control method in the above-mentioned embodiment can be implemented and the same technical effect can be achieved. To avoid repetition, the details are not described here. The above-mentioned computer-readable storage medium may include a non-transitory computer-readable storage medium, such as a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc., which is not limited here.

[0109] [Corrected 17.12.2024 according to Rule 26] It should be clarified that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For device embodiments, controller embodiments, wind turbine embodiments, and computer-readable storage medium embodiments, the relevant parts can be referred to the description part of the method embodiment. This application is not limited to the specific steps and structures described above and shown in the figures. Those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of this application. In addition, for the sake of brevity, a detailed description of known method technologies is omitted here.

[0110] [Corrected 17.12.2024 according to Rule 26] Various aspects of the present application are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes in the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by special-purpose hardware that performs the specified function or action, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0111] [Corrected 17.12.2024 in accordance with Rule 26] Those skilled in the art will appreciate that the above embodiments are illustrative and not restrictive. Different technical features appearing in different embodiments may be combined to achieve beneficial effects. Based on a study of the drawings, the description and the claims, those skilled in the art will be able to understand and implement other variations of the disclosed embodiments. In the claims, the term "comprising" does not exclude other devices or steps; the quantifier "a" does not exclude a plurality; the terms "first" and "second" are used to indicate names rather than to indicate any particular order. Any figure marks in the claims should not be understood as limiting the scope of protection. The functions of multiple parts appearing in the claims may be implemented by a single hardware or software module. The fact that certain technical features appear in different dependent claims does not mean that these technical features cannot be combined to achieve beneficial effects.

Claims

1. A wind turbine generator control method, comprising: Acquire a first blade root load parameter when the first blade is located at a first position in a current rotation cycle; Acquire a second blade root load parameter, a third blade root load parameter, and a first variation, wherein the second blade root load parameter includes blade root load parameters of other blades at the first position in a previous rotation cycle, the third blade root load parameter includes blade root load parameters of other blades at a second position that is later than the first position in the previous rotation cycle, and the first variation represents a variation trend of the blade root load parameter in a process of the blade reaching the second position from the first position; Obtaining a predicted blade root load when the first blade is located at the second position in a current rotation cycle based on the first blade root load parameter, the second blade root load parameter, the third blade root load parameter and the first variation; The wind turbine generator set is controlled according to the predicted blade root load.

2. The method according to claim 1, wherein: The step of obtaining a predicted blade root load of the first blade when the first blade is located at the second position in a current rotation cycle based on the first blade root load parameter, the second blade root load parameter, the third blade root load parameter and the first variation includes: Obtaining a prediction correction amount by using the weight corresponding to each other blade, the second blade root load parameter corresponding to each other blade, the third blade root load parameter, and the first change amount; The predicted blade root load is determined according to the first blade root load parameter and the predicted correction amount.

3. The method according to claim 1, wherein: Acquiring the first change includes: The rotation torque parameter of the first blade at the second position in the current rotation cycle is predicted based on the rotation torque parameter of the first blade at the first position in the current rotation cycle, the change in the rotation torque parameter before the first blade reaches the first position, and the predicted duration of the first blade moving from the first position to the second position in the current rotation cycle; The first variation is obtained based on a rotation torque parameter of the first blade at the first position in the current rotation cycle and a rotation torque parameter of the first blade at the second position in the current rotation cycle.

4. The method according to claim 1, wherein: Acquiring the second blade root load parameter and the third blade root load parameter includes: Determine a first moment when other blades were at the first position and a second moment when other blades were at the second position in the previous rotation cycle based on the predicted duration of the first blade moving from the first position to the second position in the current rotation cycle, the calculated relationship between the position and the impeller speed, the impeller speed when the first blade was at the first position in the current rotation cycle, and the fixed position difference between the blades; The blade root load parameters of other blades at the first moment and the blade root load parameters at the second moment are respectively determined as the second blade root load parameter and the third blade root load parameter.

5. The method according to claim 2, wherein: The blade root load parameters include blade root swing direction load and blade root flap direction load, and the predicted correction amount includes a swing direction correction amount and a flap direction correction amount. The method of obtaining the prediction correction amount by using the weights corresponding to the other blades, the third blade root load parameter and the second blade root load parameter corresponding to the other blades, and the first change amount includes: Obtaining the swing direction correction amount according to the weights corresponding to the other blades and the difference between the blade root swing direction load in the third blade root load parameter and the blade root swing direction load in the second blade root load parameter; The flapping direction correction amount is obtained according to the weights corresponding to the other blades, the difference between the blade root flapping direction load in the third blade root load parameter and the blade root flapping direction load in the second blade root load parameter, and the first change amount.

6. The method according to claim 5, wherein: The step of determining the predicted blade root load according to the first blade root load parameter and the predicted correction amount includes: Determine the predicted blade root swing direction load by adding the blade root swing direction load in the first blade root load parameter and the swing direction correction amount; The blade root flapping direction load in the first blade root load parameter and the flapping direction correction value The sum of is determined as the predicted blade root flapping direction load; The predicted blade root load in the swing direction and the predicted blade root load in the flapping direction are combined to obtain the predicted blade root load.

7. The method according to claim 2, wherein: The blade root load parameters include blade root load, The method of obtaining the prediction correction amount by using the weights corresponding to the other blades, the third blade root load parameter and the second blade root load parameter corresponding to the other blades, and the first change amount includes: Obtain a prediction correction amount by using the weight corresponding to each other blade, the difference between the blade root load in the third blade root load parameter corresponding to each other blade and the blade root load in the second blade root load parameter, and the first change amount; The step of determining the predicted blade root load according to the first blade root load parameter and the predicted correction amount includes: The predicted blade root load is determined by adding the first blade root load parameter and the predicted correction amount.

8. The method according to claim 3, wherein: Rotational torque parameters include impeller acceleration, main shaft rotation direction torque or wind speed.

9. A wind turbine generator control device, comprising: A first acquisition module, used for acquiring a first blade root load parameter when the first blade is located at a first position in a current rotation cycle; a second acquisition module, configured to acquire a second blade root load parameter, a third blade root load parameter, and a first variation, wherein the second blade root load parameter includes blade root load parameters of other blades located at the first position in a previous rotation cycle, the third blade root load parameter includes blade root load parameters of other blades located at a second position that is later than the first position in the previous rotation cycle, and the first variation represents a variation trend of the blade root load parameter in a process of the blade reaching the second position from the first position; a prediction module, configured to obtain a predicted blade root load of the first blade when the first blade is located at the second position in a current rotation cycle based on the first blade root load parameter, the second blade root load parameter, the third blade root load parameter and the first variation; A control module is used to control the wind turbine generator set according to the predicted blade root load.

10. A wind turbine generator controller, comprising: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the wind turbine generator control method according to any one of claims 1 to 8 is implemented.

11. A wind turbine generator set, comprising the wind turbine generator set controller according to claim 10.

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