阅读说明：本技术 风力发电机组的风向偏差诊断系统和方法 (Wind direction deviation diagnosis system and method of wind generating set ) 是由 周杰 马磊 卡瓦尔·阿力 于 2020-05-29 设计创作，主要内容包括：提供一种风力发电机组的风向偏差诊断系统和方法,风力发电机组包括多个变桨电机和多个叶片,每个变桨电机用于驱动对应的叶片执行变桨动作,该风向偏差诊断系统包括：多个电流传感器,分别获取每个变桨电机在预定状态下的电流值；控制器,基于从多个电流传感器接收的各变桨电机的电流值,确定多个变桨电机的电流偏差指数,并基于电流偏差指数检测是否存在对风异常。基于本发明示例性实施例的风力发电机组的风向偏差诊断系统和方法,可以实现风向精度的自动检测和自动调整,有助于实现风力发电机组的智能控制。(The wind direction deviation diagnosis system comprises: the current sensors are used for respectively acquiring the current value of each variable pitch motor in a preset state; and the controller is used for determining current deviation indexes of the multiple pitch motors based on the current values of the pitch motors received from the multiple current sensors and detecting whether wind anomaly exists or not based on the current deviation indexes. The wind direction deviation diagnosis system and method of the wind generating set based on the exemplary embodiment of the invention can realize automatic detection and automatic adjustment of wind direction precision, and is beneficial to realizing intelligent control of the wind generating set.)

1. A wind direction deviation diagnostic system of a wind generating set, the wind generating set comprises a plurality of variable pitch motors and a plurality of blades, each variable pitch motor is used for driving the corresponding blade to execute variable pitch action, and the wind direction deviation diagnostic system is characterized by comprising:

the current sensors are used for respectively acquiring the current value of each variable pitch motor in a preset state;

the controller is used for determining current deviation indexes of the multiple pitch motors based on the current values of the pitch motors received from the multiple current sensors and detecting whether wind anomaly exists or not based on the current deviation indexes.

2. The wind direction deviation diagnostic system of claim 1, wherein the predetermined condition includes the wind park being in a start-up process, and/or the wind park being in a pitch process.

3. The system of claim 1, wherein the controller calculates an accumulated value of the current value of each pitch motor in a predetermined time period in the predetermined state, selects a maximum accumulated value and a minimum accumulated value from the accumulated values of the current values of the pitch motors, and determines a ratio of the selected maximum accumulated value to the minimum accumulated value as the current deviation index.

4. The wind direction deviation diagnostic system of claim 3, wherein the controller determines an amount of wind direction change over the predetermined period of time, and/or determines whether the wind turbine generator set is in yaw, determines the current deviation index for the plurality of pitch motors if the detected amount of wind direction change is within a preset range of wind direction change, and/or determines that the wind turbine generator set is not in yaw.

5. The wind direction deviation diagnostic system of claim 1, wherein the current deviation index is used to reflect the current uniformity of the pitch motors, and the current value of each pitch motor is proportional to the magnitude of the wind effect on the corresponding blade.

6. The wind direction deviation diagnostic system of claim 1, wherein the controller compares the current deviation index to a set threshold, determines that there is no wind anomaly if the current deviation index is not greater than the set threshold, and determines that there is a wind anomaly if the current deviation index is greater than the set threshold.

7. The wind direction deviation diagnostic system of claim 1, wherein the controller controls the wind turbine generator set to perform yaw and pitch actions, determines an accumulated value of current values of each pitch motor when the wind turbine generator set is in the yaw and pitch states, determines a wind direction correction value based on the accumulated value of current values of each pitch motor, and corrects the wind direction deviation angle using the determined wind direction correction value.

8. The wind direction deviation diagnostic system of claim 7, wherein the controller determines the accumulated value of the current value for each pitch motor by:

controlling a wind generating set to start yawing;

controlling each variable pitch motor of the wind generating set to execute a pitch adjusting action in a yaw state;

determining an accumulated value of a current value of each variable pitch motor in each blade rotation period;

and/or the controller determines the wind direction correction value by:

determining a current deviation index at each blade rotation period;

determining a wind direction value at each blade rotation period;

controlling the wind generating set to stop yawing after a preset time, and determining the minimum value of current deviation indexes corresponding to the rotation periods of all the blades;

and determining the wind direction value corresponding to the minimum value in the current deviation index as a wind direction correction value.

9. The wind direction deviation diagnostic system of claim 8, wherein the controller determines the period of blade rotation by:

acquiring an impeller rotating speed value of a wind generating set;

the ratio of 60 to the obtained impeller speed value is calculated and the calculated ratio is determined as the blade rotation period.

10. The wind direction deviation diagnostic system of claim 7, wherein the controller determines the accumulated value of the current value for each pitch motor by:

controlling the wind generating set to perform multi-time yawing, and controlling each variable pitch motor of the wind generating set to perform a pitch adjusting action during each yawing;

determining an accumulated value of a current value of each pitch motor during each yaw;

and/or the controller determines the wind direction correction value by:

determining a current deviation index corresponding to each yaw;

determining the minimum value in the current deviation indexes corresponding to the multiple drifts;

and determining the wind direction value corresponding to the minimum value in the current deviation index as a wind direction correction value.

11. The wind direction deviation diagnostic system of claim 1, wherein the controller further determines an equivalent current value for each pitch motor based on the current value for each pitch motor to determine a current deviation index based on the equivalent current value for each pitch motor,

and/or the controller determines the equivalent current value of any variable pitch motor by the following method:

determining the relative position of the wind direction and the blade according to the detected wind direction value and the blade azimuth angle of the blade corresponding to any variable pitch motor;

determining an equivalent pitch angle value of a blade corresponding to any one pitch motor based on the determined relative position;

and determining an equivalent current value of any variable pitch motor by using the determined equivalent pitch angle value and the current value of any variable pitch motor.

12. The wind direction deviation diagnostic system of claim 11,

if the blade is determined to be on the left side of the windward side of the impeller based on the blade azimuth angle and the incoming flow wind direction is determined to be on the left side based on the wind direction value, the controller determines the difference value between the blade pitch angle value and the wind direction value as the equivalent pitch angle value of the blade;

if the blade is determined to be on the left side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the right side based on the wind direction value, the controller determines the sum of the blade pitch angle value and the wind direction value as an equivalent pitch angle value of the blade;

if the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the left side based on the wind direction value, the controller determines the sum of the blade pitch angle value and the wind direction value as an equivalent pitch angle value of the blade;

if the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the right side based on the wind direction value, the controller determines the difference between the blade pitch angle value and the wind direction value as an equivalent pitch angle value of the blade.

13. The wind direction deviation diagnostic system of claim 11, wherein the controller determines the equivalent current value for any of the pitch motors by:

calculating a first sine value of an equivalent pitch angle value of a blade corresponding to any one pitch motor;

calculating a second sine value of a blade pitch angle value of a blade corresponding to any one pitch motor;

and determining the ratio of the second sine value to the first sine value, and determining the product of the current value of any one pitch motor and the ratio as the equivalent current value of any one pitch motor.

14. The wind direction deviation diagnostic system of claim 1, wherein the wind turbine generator set further comprises a wind direction sensor,

the controller receives the detected wind direction value from the wind direction sensor, and if the detected wind direction value is within a preset threshold range, the current value of each variable pitch motor in the preset state is obtained.

15. The wind direction deviation diagnosis system of claim 14, wherein the controller determines a difference between the detected wind direction value and the determined wind direction correction value as the corrected wind direction value.

16. A wind direction deviation diagnosis method of a wind generating set, wherein the wind generating set comprises a plurality of variable pitch motors and a plurality of blades, each variable pitch motor is used for driving the corresponding blade to execute a variable pitch action, and the wind direction deviation diagnosis method is characterized by comprising the following steps:

acquiring a current value of each variable pitch motor in a preset state;

determining current deviation indexes of the multiple variable pitch motors based on the obtained current value of each variable pitch motor;

detecting whether a wind anomaly is present based on the determined current deviation index.

17. The wind direction deviation diagnostic method of claim 16, wherein the predetermined condition includes the wind park being in a start-up process and/or the wind park being in a pitch process.

18. The wind direction deviation diagnostic method of claim 16, wherein the step of determining the current deviation indices of the plurality of pitch motors comprises:

respectively calculating the accumulated value of the current value of each variable pitch motor in a preset time period under the preset state;

selecting a maximum accumulated value and a minimum accumulated value from the accumulated values of the current values of the variable pitch motors;

determining a ratio of the selected maximum accumulation value to the minimum accumulation value as the current deviation index.

19. The wind direction deviation diagnostic method of claim 18, wherein the step of determining the current deviation indices of the plurality of pitch motors comprises:

detecting the wind direction variation in the preset time period, and/or determining whether the wind generating set is in a yawing process;

and if the detected wind direction variation is within a preset wind direction variation range and/or the wind generating set is determined not to be in the yawing process, determining the current deviation indexes of the multiple variable pitch motors.

20. The wind direction deviation diagnostic method of claim 16, wherein the current deviation index is used to reflect the current uniformity of the pitch motors, and the current value of each pitch motor is proportional to the magnitude of the wind force acting on the corresponding blade.

21. The wind direction deviation diagnostic method of claim 16, wherein the step of detecting whether there is a wind anomaly based on the determined current deviation index comprises:

comparing the current deviation index with a set threshold;

if the current deviation index is not larger than the set threshold, determining that no wind anomaly exists;

and if the current deviation index is larger than the set threshold value, determining that wind anomaly exists.

22. The wind direction deviation diagnostic method according to claim 16, further comprising:

controlling the wind generating set to execute yawing and blade adjusting actions;

determining an accumulated value of current values of each variable pitch motor when the wind generating set is in a yaw and pitch adjusting state;

determining a wind direction correction value based on the accumulated value of the current value of each variable pitch motor;

and correcting the wind deviation angle by using the determined wind direction correction value.

23. The wind direction deviation diagnostic method of claim 22, wherein the step of determining an accumulated value of current values for each pitch motor for the wind turbine generator set in yaw and pitch states comprises:

controlling a wind generating set to start yawing;

controlling each variable pitch motor of the wind generating set to execute a pitch adjusting action in a yaw state;

determining an accumulated value of a current value of each variable pitch motor in each blade rotation period;

and/or the step of determining the wind direction correction value based on the accumulated value of the current values of the variable pitch motors comprises the following steps:

determining a current deviation index at each blade rotation period;

determining a wind direction value at each blade rotation period;

controlling the wind generating set to stop yawing after a preset time, and determining the minimum value of current deviation indexes corresponding to the rotation periods of all the blades;

and determining the wind direction value corresponding to the minimum value in the current deviation index as a wind direction correction value.

24. The wind direction deviation diagnostic method of claim 23, wherein the blade rotation period is determined by:

acquiring an impeller rotating speed value of a wind generating set;

the ratio of 60 to the obtained impeller speed value is calculated and the calculated ratio is determined as the blade rotation period.

25. The wind direction deviation diagnostic method of claim 22, wherein the step of determining an accumulated value of current values for each pitch motor for the wind turbine generator set in yaw and pitch states comprises:

controlling the wind generating set to perform multi-time yawing, and controlling each variable pitch motor of the wind generating set to perform a pitch adjusting action during each yawing;

determining an accumulated value of a current value of each pitch motor during each yaw;

and/or the step of determining the wind direction correction value based on the accumulated value of the current values of the variable pitch motors comprises the following steps:

determining a current deviation index corresponding to each yaw;

determining the minimum value in the current deviation indexes corresponding to the multiple drifts;

and determining the wind direction value corresponding to the minimum value in the current deviation index as a wind direction correction value.

26. The wind direction deviation diagnostic method according to claim 16, further comprising: determining an equivalent current value for each pitch motor based on the current value for each pitch motor to determine a current deviation index based on the equivalent current value for each pitch motor,

and/or determining the equivalent current value of any variable pitch motor by the following method:

determining the relative position of the wind direction and the blade according to the detected wind direction value and the blade azimuth angle of the blade corresponding to any variable pitch motor;

determining an equivalent pitch angle value of a blade corresponding to any one pitch motor based on the determined relative position;

and determining an equivalent current value of any variable pitch motor by using the determined equivalent pitch angle value and the current value of any variable pitch motor.

27. The method of diagnosing wind direction deviation of claim 26, wherein the step of determining an equivalent pitch angle value for the blade corresponding to said any one of the pitch motors based on the determined relative position comprises:

if the blade is determined to be positioned on the left side of the windward side of the impeller based on the blade azimuth angle and the incoming flow wind direction is determined to be on the left side based on the wind direction value, determining the difference value between the blade pitch angle value and the wind direction value as the equivalent pitch angle value of the blade;

determining a sum of a blade pitch angle value and a wind direction value as an equivalent pitch angle value of the blade if the blade is determined to be on the left side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the right side based on the wind direction value;

determining a sum of a blade pitch angle value and a wind direction value as an equivalent pitch angle value of the blade if the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the left side based on the wind direction value;

if the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the right side based on the wind direction value, determining the difference between the blade pitch angle value and the wind direction value as the equivalent pitch angle value of the blade.

28. The method of diagnosing wind direction deviation of claim 26, wherein the step of determining an equivalent current value for any of the pitch motors using the determined equivalent pitch angle value and the current value for any of the pitch motors comprises:

calculating a first sine value of an equivalent pitch angle value of a blade corresponding to any one pitch motor;

calculating a second sine value of a blade pitch angle value of a blade corresponding to any one pitch motor;

and determining the ratio of the second sine value to the first sine value, and determining the product of the current value of any one pitch motor and the ratio as the equivalent current value of any one pitch motor.

29. The wind direction deviation diagnostic method according to claim 16, further comprising: the wind direction value is detected by a wind direction sensor,

and if the detected wind direction value is within a preset threshold range, acquiring the current value of each variable pitch motor in the preset state.

30. The wind direction deviation diagnosis method according to claim 22, wherein the step of correcting the wind deviation angle using the determined wind direction correction value includes:

detecting a wind direction value through a wind direction sensor;

and determining the difference value of the detected wind direction value and the determined wind direction correction value as a corrected wind direction value.

31. A controller, comprising:

a processor;

a memory for storing a computer program which, when executed by the processor, implements a wind direction deviation diagnostic method of a wind park according to any of claims 16 to 30.

32. A computer-readable storage medium storing a computer program, characterized in that the computer program, when being executed by a processor, implements a wind direction deviation diagnosis method for a wind park according to any one of claims 16 to 30.

Technical Field

The present invention relates generally to the field of wind power generation, and more particularly, to a wind direction deviation diagnosis system and method for a wind turbine generator system.

Background

The wind generating set is an electric power device which converts wind energy into mechanical work, the mechanical work drives a rotor to rotate, and alternating current is finally output. Because the energy source is wind energy, the measurement of wind speed and wind direction directly influences the control of the rotating speed and power of the wind generating set in the wind generating system, and the accuracy of the wind speed value and the wind direction value influences the generating efficiency of the whole wind generating set.

Currently, wind vane is mostly adopted for measuring wind direction by a wind power generator set, and an anemometer is mostly adopted for measuring wind speed. The wind vane is a device for measuring the wind direction, which is an object with an asymmetric shape, the appearance of the wind vane can be divided into 4 parts, namely a tail wing, a balance weight, a pointing rod and a rotating shaft, and the gravity center point is fixed on the rotating shaft.

When the incoming wind direction makes a certain angle with the wind vane, the wind generates pressure on the wind vane, and the pressure can be decomposed into two wind forces which are parallel and vertical to the wind vane. The wind vane is characterized in that the wind vane head part is provided with a wing plate, the wing plate is provided with a wind receiving area, the wind receiving area of the wind vane head part is smaller, the wind receiving area of the tail wing is larger, the sensed wind pressure is unequal, wind pressure moment is generated by the wind pressure perpendicular to the tail wing, the wind vane rotates around a vertical shaft until the head part of the wind vane just faces the wind direction, and the wind vane is stabilized in a certain direction due to the balanced stress on the two sides of the wing plate. The signal acquisition circuit is used for measuring the offset angle value of the rotating shaft, so that the wind direction can be measured.

The main factors influencing the wind energy utilization coefficient and the power generation efficiency of the wind generating set are pitch variation and yaw. After the wind direction changes, a certain included angle is formed between the wind direction and the orientation of the engine room, so that the wind power absorbed by the blades of the wind generating set is reduced, namely, the mechanical energy converted by the impeller is reduced, and the generated energy is reduced. Therefore, after the wind direction changes, the wind generating set needs to start yawing to enable the cabin to face the wind direction, so that maximum power tracking is achieved. In practice, the wind vane measures the included angle between the wind direction and the nacelle, so that the direction of the 0 marking of the wind vane is completely consistent with the direction of the nacelle, and the wind direction measurement accuracy can be improved. If the 0 marking of the wind vane is not consistent with the direction of the engine room, the direction of the engine room cannot be aligned with the actual wind direction, and therefore the generated energy is reduced.

At present, the wind direction precision is detected mainly by the following methods:

(1) and predicting the wind direction according to the weather forecast information. The detection mode has high blindness and low real-time performance, and the predicted wind direction value is very inaccurate.

(2) And a preposed wind measuring sensor or a laser wind meter is used for measuring wind. Since the pitch hub is rotating, the front anemometer sensor is limited in terms of mounting and stability. And laser anemoscope equipment is expensive (the price of each laser anemoscope equipment is about 40 ten thousand yuan), and the laser anemoscope equipment is not suitable for the configuration of a single wind generating set. In addition, aiming at the condition of predicting the wind speed, the efficiency estimation of certain wind speed-rotating speed is needed to be carried out when the propeller is adjusted in advance, and when the blades of the wind generating set are at different angles, the wind energy utilization coefficients are different, so that an accurate preset target angle value is difficult to obtain according to the wind speed alone.

(3) And the wind direction value of a single wind generating set is represented by the wind direction mean value of a plurality of wind generating sets. Because the wind direction is transient, the real-time wind directions of different wind generating sets may be different, so the calculation result is not necessarily the actual wind direction value of a single wind generating set by adopting the method of averaging the measured wind direction values of all the wind generating sets.

(4) And reflecting the change of wind power according to the comparison of the generated power of the wind generating set and a standard power curve. Because the air density is different under the condition of different seasons and different atmospheric temperatures, the wind power caused by the air density also changes. Therefore, the method has little significance for detecting and correcting the wind direction of the single wind generating set.

Disclosure of Invention

An object of an exemplary embodiment of the present invention is to provide a wind direction deviation diagnosis system and method of a wind turbine generator set to overcome at least one of the above-mentioned disadvantages.

In one general aspect, there is provided a wind direction deviation diagnostic system of a wind turbine generator system, the wind turbine generator system including a plurality of pitch motors and a plurality of blades, each pitch motor for driving a corresponding blade to perform a pitch action, the wind direction deviation diagnostic system including: the current sensors are used for respectively acquiring the current value of each variable pitch motor in a preset state; the controller is used for determining current deviation indexes of the multiple pitch motors based on the current values of the pitch motors received from the multiple current sensors and detecting whether wind anomaly exists or not based on the current deviation indexes.

Optionally, the predetermined condition may include the wind park being in a starting process, and/or the wind park being in a feathering process.

Optionally, the controller may calculate an accumulated value of the current value of each pitch motor in a predetermined time period in the predetermined state, select a maximum accumulated value and a minimum accumulated value from the accumulated values of the current values of each pitch motor, and determine a ratio of the selected maximum accumulated value to the minimum accumulated value as the current deviation index.

Optionally, the controller may determine an amount of wind direction change over the predetermined period of time, and/or determine whether the wind park is in the process of yawing, determine the current deviation index of the plurality of pitch motors if the detected amount of wind direction change is within a preset range of wind direction change, and/or determine that the wind park is not in the process of yawing.

Optionally, the current deviation index may be used to reflect the current consistency of the pitch motors, and the current value of each pitch motor is proportional to the magnitude of the wind force acting on the corresponding blade.

Alternatively, the controller may compare the current deviation index with a set threshold, determine that there is no wind anomaly if the current deviation index is not greater than the set threshold, and determine that there is a wind anomaly if the current deviation index is greater than the set threshold.

Optionally, the controller may control the wind generating set to perform yaw and pitch actions, determine an accumulated value of current values of each pitch motor when the wind generating set is in a yaw and pitch state, determine a wind direction correction value based on the accumulated value of the current values of each pitch motor, and correct the wind offset angle by using the determined wind direction correction value.

Alternatively, the controller may determine the accumulated value of the current value for each pitch motor by: controlling a wind generating set to start yawing; controlling each variable pitch motor of the wind generating set to execute a pitch adjusting action in a yaw state; determining an accumulated value of a current value of each variable pitch motor in each blade rotation period; and/or, the controller may determine the wind direction correction value by: determining a current deviation index at each blade rotation period; determining a wind direction value at each blade rotation period; controlling the wind generating set to stop yawing after a preset time, and determining the minimum value of current deviation indexes corresponding to the rotation periods of all the blades; and determining the wind direction value corresponding to the minimum value in the current deviation index as a wind direction correction value.

Alternatively, the controller may determine the blade rotation period by: acquiring an impeller rotating speed value of a wind generating set; the ratio of 60 to the obtained impeller speed value is calculated and the calculated ratio is determined as the blade rotation period.

Alternatively, the controller may determine the accumulated value of the current value for each pitch motor by: controlling the wind generating set to perform multi-time yawing, and controlling each variable pitch motor of the wind generating set to perform a pitch adjusting action during each yawing; determining an accumulated value of a current value of each pitch motor during each yaw; and/or, the controller may determine the wind direction correction value by: determining a current deviation index corresponding to each yaw; determining the minimum value in the current deviation indexes corresponding to the multiple drifts; and determining the wind direction value corresponding to the minimum value in the current deviation index as a wind direction correction value.

Optionally, the controller may further determine an equivalent current value for each pitch motor based on the obtained current value for each pitch motor to determine a current deviation index based on the equivalent current value for each pitch motor, and/or the controller may determine the equivalent current value for any pitch motor by: determining the relative position of the wind direction and the blade according to the detected wind direction value and the blade azimuth angle of the blade corresponding to any variable pitch motor; determining an equivalent pitch angle value of a blade corresponding to any one pitch motor based on the determined relative position; and determining an equivalent current value of any variable pitch motor by using the determined equivalent pitch angle value and the current value of any variable pitch motor.

Optionally, if the blade is determined to be on the left side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the left side based on the wind direction value, the controller determines the difference between the blade pitch angle value and the wind direction value as an equivalent pitch angle value of the blade; if the blade is determined to be on the left side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the right side based on the wind direction value, the controller determines the sum of the blade pitch angle value and the wind direction value as an equivalent pitch angle value of the blade; if the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the left side based on the wind direction value, the controller determines the sum of the blade pitch angle value and the wind direction value as an equivalent pitch angle value of the blade; if the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the right side based on the wind direction value, the controller determines the difference between the blade pitch angle value and the wind direction value as an equivalent pitch angle value of the blade.

Alternatively, the controller may determine the equivalent current value of any of the pitch motors by: calculating a first sine value of an equivalent pitch angle value of a blade corresponding to any one pitch motor; calculating a second sine value of a blade pitch angle value of a blade corresponding to any one pitch motor; and determining the ratio of the second sine value to the first sine value, and determining the product of the current value of any one pitch motor and the ratio as the equivalent current value of any one pitch motor.

Optionally, the wind generating set may further include a wind direction sensor, wherein the controller receives the detected wind direction value from the wind direction sensor, and acquires the current value of each pitch motor in the predetermined state if the detected wind direction value is within a preset threshold range.

Alternatively, the controller may determine a difference between the detected wind direction value and the determined wind direction correction value as the corrected wind direction value.

In another general aspect, there is provided a wind direction deviation diagnosis method of a wind turbine generator system, the wind turbine generator system including a plurality of pitch motors and a plurality of blades, each pitch motor being configured to drive a corresponding blade to perform a pitch action, the wind direction deviation diagnosis method including: acquiring a current value of each variable pitch motor in a preset state; determining current deviation indexes of the multiple variable pitch motors based on the obtained current value of each variable pitch motor; detecting whether a wind anomaly is present based on the determined current deviation index.

Optionally, the predetermined condition may include the wind park being in a starting process, and/or the wind park being in a feathering process.

Optionally, the step of determining the current deviation indices of the plurality of pitch motors may comprise: respectively calculating the accumulated value of the current value of each variable pitch motor in a preset time period under the preset state; selecting a maximum accumulated value and a minimum accumulated value from the accumulated values of the current values of the variable pitch motors; determining a ratio of the selected maximum accumulation value to the minimum accumulation value as the current deviation index.

Optionally, the step of determining the current deviation indices of the plurality of pitch motors may comprise: detecting the wind direction variation in the preset time period, and/or determining whether the wind generating set is in a yawing process; and if the detected wind direction variation is within a preset wind direction variation range and/or the wind generating set is determined not to be in the yawing process, determining the current deviation indexes of the multiple variable pitch motors.

Optionally, the current deviation index may be used to reflect the current consistency of the pitch motors, and the current value of each pitch motor is proportional to the magnitude of the wind force acting on the corresponding blade.

Optionally, the step of detecting whether there is a wind anomaly based on the determined current deviation index may comprise: comparing the current deviation index with a set threshold; if the current deviation index is not larger than the set threshold, determining that no wind anomaly exists; and if the current deviation index is larger than the set threshold value, determining that wind anomaly exists.

Optionally, the wind direction deviation diagnosis method may further include: controlling the wind generating set to execute yawing and blade adjusting actions; determining an accumulated value of current values of each variable pitch motor when the wind generating set is in a yaw and pitch adjusting state; determining a wind direction correction value based on the accumulated value of the current value of each variable pitch motor; and correcting the wind deviation angle by using the determined wind direction correction value.

Optionally, the step of determining an accumulated value of the current values of each pitch motor when the wind turbine generator set is in the yaw and pitch states may include: controlling a wind generating set to start yawing; controlling each variable pitch motor of the wind generating set to execute a pitch adjusting action in a yaw state; determining an accumulated value of a current value of each variable pitch motor in each blade rotation period; and/or the step of determining the wind direction correction value based on the accumulated value of the current values of the variable pitch motors comprises the following steps: determining a current deviation index at each blade rotation period; determining a wind direction value at each blade rotation period; controlling the wind generating set to stop yawing after a preset time, and determining the minimum value of current deviation indexes corresponding to the rotation periods of all the blades; and determining the wind direction value corresponding to the minimum value in the current deviation index as a wind direction correction value.

Alternatively, the blade rotation period may be determined by: acquiring an impeller rotating speed value of a wind generating set; the ratio of 60 to the obtained impeller speed value is calculated and the calculated ratio is determined as the blade rotation period.

Optionally, the step of determining an accumulated value of the current values of each pitch motor when the wind turbine generator set is in the yaw and pitch states may include: controlling the wind generating set to perform multi-time yawing, and controlling each variable pitch motor of the wind generating set to perform a pitch adjusting action during each yawing; determining an accumulated value of a current value of each pitch motor during each yaw; and/or the step of determining the wind direction correction value based on the accumulated value of the current values of the variable pitch motors may comprise: determining a current deviation index corresponding to each yaw; determining the minimum value in the current deviation indexes corresponding to the multiple drifts; and determining the wind direction value corresponding to the minimum value in the current deviation index as a wind direction correction value.

Optionally, the wind direction deviation diagnosis method may further include: determining an equivalent current value of each pitch motor based on the obtained current value of each pitch motor, determining a current deviation index based on the equivalent current value of each pitch motor, and/or determining the equivalent current value of any pitch motor by: determining the relative position of the wind direction and the blade according to the detected wind direction value and the blade azimuth angle of the blade corresponding to any variable pitch motor; determining an equivalent pitch angle value of a blade corresponding to any one pitch motor based on the determined relative position; and determining an equivalent current value of any variable pitch motor by using the determined equivalent pitch angle value and the current value of any variable pitch motor.

Optionally, the step of determining an equivalent pitch angle value of a blade corresponding to said any pitch motor based on the determined relative position may comprise: if the blade is determined to be positioned on the left side of the windward side of the impeller based on the blade azimuth angle and the incoming flow wind direction is determined to be on the left side based on the wind direction value, determining the difference value between the blade pitch angle value and the wind direction value as the equivalent pitch angle value of the blade; determining a sum of a blade pitch angle value and a wind direction value as an equivalent pitch angle value of the blade if the blade is determined to be on the left side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the right side based on the wind direction value; determining a sum of a blade pitch angle value and a wind direction value as an equivalent pitch angle value of the blade if the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the left side based on the wind direction value; if the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle and the incoming wind direction is determined to be on the right side based on the wind direction value, determining the difference between the blade pitch angle value and the wind direction value as the equivalent pitch angle value of the blade.

Optionally, the step of determining an equivalent current value for any of the pitch motors using the determined equivalent pitch angle value and the current value for any of the pitch motors may comprise: calculating a first sine value of an equivalent pitch angle value of a blade corresponding to any one pitch motor; calculating a second sine value of a blade pitch angle value of a blade corresponding to any one pitch motor; and determining the ratio of the second sine value to the first sine value, and determining the product of the current value of any one pitch motor and the ratio as the equivalent current value of any one pitch motor.

Optionally, the wind direction deviation diagnosis method may further include: and detecting a wind direction value through a wind direction sensor, wherein if the detected wind direction value is within a preset threshold range, a current value of each variable pitch motor in the preset state is obtained.

Alternatively, the step of correcting the wind deviation angle using the determined wind direction correction value may include: detecting a wind direction value through a wind direction sensor; and determining the difference value of the detected wind direction value and the determined wind direction correction value as a corrected wind direction value.

In another general aspect, there is provided a controller comprising: a processor; a memory for storing a computer program which, when executed by the processor, implements the wind direction deviation diagnostic method of a wind turbine generator set described above.

In another general aspect, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the wind direction deviation diagnosing method of a wind turbine generator set described above.

The wind direction deviation diagnosis system and method of the wind generating set based on the exemplary embodiment of the invention can realize automatic detection and automatic adjustment of wind direction precision, and is beneficial to realizing intelligent control of the wind generating set.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings which illustrate exemplary embodiments.

FIG. 1 shows a flow chart of a wind deviation diagnostic method of a wind park according to an exemplary embodiment of the invention;

FIG. 2 illustrates a force analysis diagram of a blade of a wind park according to an exemplary embodiment of the invention;

FIG. 3 shows a flow chart of a wind direction deviation diagnostic method of a wind park according to another exemplary embodiment of the invention;

FIG. 4 shows a flowchart of the steps of determining an equivalent current value for any of the pitch motors according to an exemplary embodiment of the present invention;

FIG. 5 shows a flowchart of the steps of determining an equivalent current value for any pitch motor based on an equivalent pitch angle value for the blade to which that pitch motor corresponds, according to an exemplary embodiment of the present invention;

FIG. 6 shows a flowchart of the steps of determining current deviation indices for a plurality of pitch motors according to an exemplary embodiment of the invention;

FIG. 7 shows a flowchart of the steps of correcting the angle of windage yaw according to an exemplary embodiment of the present invention;

FIG. 8 shows a flowchart of the steps of determining a wind direction correction value according to an exemplary embodiment of the present invention;

FIG. 9 shows a flowchart of the steps of determining a wind direction correction value according to another exemplary embodiment of the present invention;

FIG. 10 shows a block diagram of a wind direction deviation diagnostic system of a wind park according to an exemplary embodiment of the present invention;

fig. 11 illustrates a block diagram of a controller according to an exemplary embodiment of the present invention.

Detailed Description

Various example embodiments will now be described more fully with reference to the accompanying drawings, in which some example embodiments are shown.

Fig. 1 shows a flow chart of a wind direction deviation diagnosis method of a wind turbine generator set according to an exemplary embodiment of the present invention.

Here, the wind turbine generator system includes a plurality of pitch motors and a plurality of blades, and each pitch motor is used for driving a corresponding blade to execute a pitch action. In an exemplary embodiment of the invention, the accuracy to the wind is determined by determining the current consistency of the plurality of pitch motors.

Referring to fig. 1, in step S10, a current value of each pitch motor in a predetermined state is acquired.

Here, a current sensor may be provided for each pitch motor, and the current value of each pitch motor may be detected by the provided current sensor.

In a preferred example, the wind direction deviation diagnosis method of a wind turbine generator set according to an exemplary embodiment of the present invention may further include: and detecting a wind direction value.

Here, wind direction (wind direction) refers to a direction from which wind blows. For example, a wind direction value may be detected by a wind direction sensor provided on the wind turbine generator system, and the wind direction value detected by the wind direction sensor is an angle between the wind direction and the orientation of the center line of the nacelle, which may also be referred to as a relative wind direction.

And if the detected wind direction value is within the preset threshold range, acquiring the current value of each variable pitch motor in a preset state. If the detected wind direction value is not within the preset threshold range, the wind direction deviation diagnosis method of the present invention is not performed.

The size of the preset threshold range can be set by a person skilled in the art according to actual needs, and can be set by experience as an example, or can be set by other ways.

In step S20, current deviation indices of the plurality of pitch motors are determined based on the obtained current value of each pitch motor.

For example, the current deviation index may be determined based on an accumulated value of current values of each pitch motor in a predetermined state. Here, the current deviation index is used to reflect the current consistency of the multiple pitch motors, that is, the wind direction deviation diagnosis method of the present invention detects the wind alignment accuracy by using the consistency of the current values of the multiple pitch motors of the wind turbine generator system during the pitch adjustment process.

In the exemplary embodiment of the invention, the relation between the current value of each variable pitch motor and the wind direction is determined by analyzing the stress characteristics of the blades when the wind generating set generates electricity. On the basis, the wind accuracy of each blade is represented by the consistency of the current values of the multiple pitch motors.

The force characteristics analysis of any of the blades of a wind park is described below with reference to fig. 2.

FIG. 2 shows a force analysis diagram of a blade of a wind park according to an exemplary embodiment of the invention.

As shown in fig. 2, the wind direction 101 indicates a wind direction, and as is apparent from fig. 2, the wind direction 101 (denoted as F) can be decomposed into a wind direction component 102 perpendicular to the blades and a wind direction component 103 parallel to the blades. The wind direction component 103 can be decomposed into a lift force 104 perpendicular to the rotation direction of the blade and a drag force 105 parallel to the rotation direction of the blade. The wind direction component 102 may be decomposed into a lift force 106 perpendicular to the direction of rotation of the blade and a drag force 107 parallel to the direction of rotation of the blade.

For example, the lift force experienced by the blade may be expressed using the following formula:

F₁＝F×cos a×cos b-F×sin a×cos b (1)

in the formula (1), F₁The lift force borne by the blade is represented, a represents the included angle between the cabin direction of the wind generating set and the wind direction, namely the wind direction value detected by the wind direction sensor, and b represents the pitch angle value of the blade.

For example, the following formula can be used to represent the resistance experienced by the blade:

F₂＝F×cos a×sin b+F×sin a×sin b (2)

in the formula (2), F₂Representing the resistance experienced by the blade.

According to the formulas (1) and (2), when the direction of the cabin of the wind generating set has a deviation angle a with the wind direction, the lift force borne by each blade of the wind generating set is different, and the blades have flanges and chords, so that the stress of each blade is unbalanced, and the load of the wind generating set is increased. When the wind direction forms an acute angle with the rotation direction of the blades, the right half part (positioned on the right side of the windsweeping surface of the impeller) faces the wind generating set and receives large resistance and small lift force, and when the wind direction forms an obtuse angle with the rotation direction of the blades, the left half part (positioned on the left side of the windsweeping surface of the impeller) faces the wind generating set and receives large resistance and small lift force. Here, the lift refers to the power of the wind-driven blades rotating in the rotation direction of the impeller, and the resistance refers to the load acting force received when the blades are adjusted.

For example, the relationship between torque and current of a pitch motor is as follows:

M＝F×D＝C×Φ×I×D (3)

in the formula (3), M represents motor torque, D represents turning radius, F represents electromagnetic force, C represents a motor constant, Φ represents motor flux, Φ is a constant, and I represents current.

As can be seen from the above equations (2) and (3), the current value of the pitch motor is related to the wind force (e.g. the magnitude of the wind force, such as the drag F) applied to the blade₂Size of) is proportional.

Fig. 3 shows a flow chart of a wind direction deviation diagnosis method of a wind park according to another exemplary embodiment of the present invention.

As shown in fig. 3, before performing step S10, the wind direction deviation diagnosis method of a wind turbine generator set according to an exemplary embodiment of the present invention further includes step S101: determining whether the wind generating set is in a predetermined state.

As an example, the predetermined condition may include, but is not limited to, the wind park being during start-up, and/or the wind park being during pitch adjustment.

If the wind generating set is in the preset state, step S10 is executed to obtain the current value of each pitch motor in the preset state. If the wind generating set is not in the predetermined state, the wind direction deviation diagnosis method of the present invention is not performed.

Before executing step S20, the wind direction deviation diagnosis method of a wind turbine generator set according to an exemplary embodiment of the present invention further includes step S201: and determining whether the wind generating set is in the deviation working condition.

Here, the deviation condition may refer to a condition that may cause the plurality of pitch motors to generate current deviation, for example, the wind direction variation amount exceeds a preset wind direction variation range, and/or the wind turbine generator system is in a yaw process.

The diagnosis of the deviation of the wind direction is activated when there is no change in the direction of the wind and/or when no yaw is activated, with the aim of achieving a consistent comparison of the direction of the wind, in other words if the direction of the wind is changing and/or the wind park is yawing, changes in time due to the effect of the wind on each blade or a deviation of the current must be generated when the wind park is yawing.

In this case, the amount of wind direction change in a predetermined period of time is detected, and/or it is determined whether the wind turbine generator set is in the process of yawing.

If the detected wind direction variation is within the preset wind direction variation range and/or the wind generating set is determined not to be in the process of yawing, step S20 is executed to determine the current deviation indexes of the plurality of pitch motors.

And if the detected wind direction variation is not in the preset wind direction variation range and/or the wind generating set is determined to be in the yawing process, not executing other processing. The size of the preset wind direction change range can be set by a person skilled in the art according to actual needs, and can be set according to experience or in other manners as an example.

In one example, the obtained current value of each pitch motor can be directly used to determine the current deviation index, but the invention is not limited thereto.

The step of determining the equivalent current value of any of the pitch motors at any of each sampling instant is described below with reference to fig. 4. It should be understood that the manner of determining the equivalent current value shown in fig. 4 is merely an example, and the present invention is not limited thereto, and those skilled in the art may determine the equivalent current value in other manners.

FIG. 4 shows a flowchart of the steps of determining an equivalent current value for any of the pitch motors according to an exemplary embodiment of the invention.

Referring to fig. 4, in step S110, a relative position between a wind direction and a blade corresponding to any pitch motor is determined according to the detected wind direction value and a blade azimuth angle of the blade.

The relative position of the wind direction and the blades includes the following, as examples.

In the first case, the blade is determined to be on the left side of the wind-swept surface of the impeller (facing the wind turbine), based on the blade azimuth angle, and the incoming wind direction is determined to be on the left side, based on the wind direction value.

In the second case, the blade is determined to be on the left side of the windward side of the impeller based on the blade azimuth angle, and the incoming wind direction is determined to be on the right side based on the wind direction value.

In the third case, the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle, and the incoming wind direction is determined to be on the left side based on the wind direction value.

In the fourth case, the blade is determined to be on the right side of the windward side of the impeller based on the blade azimuth angle, and the incoming flow direction is determined to be on the right side based on the wind direction value.

In step S120, based on the determined relative position, an equivalent pitch angle value of the blade corresponding to any pitch motor is determined.

For the first and fourth cases described above, the difference between the blade pitch angle value and the wind direction value may be determined as the equivalent pitch angle value of the blade.

The Pitch Angle (Pitch Angle) may also be referred to herein as a Pitch Angle, referring to the Angle of the blades of the wind park to the rotor plane. The wind generating set adopts variable pitch control, and power adjustment is carried out by adjusting the windward angle of the blades.

For the second and third cases described above, the sum of the blade pitch angle value and the wind direction value may be determined as the equivalent pitch angle value of the blade.

For example, when the wind direction deviates to the left, if the pitch blade angle has a certain pitch angle value, the wind direction received by the blade on the left side of the windward side of the impeller is nearly perpendicular to the 0-degree position of the blade (the pitch angle value is 0), and the wind resistance received at this time is large, whereas the wind resistance received by the blade on the right side of the windward side of the impeller is small because a certain angle deviation is generated.

Here, the sign of the wind direction correction value may be represented by a positive or negative sign, and the wind direction value measured by the wind vane may be corrected.

The formula (2) indicates that the magnitude of the resistance force applied to the blade is in a sine relationship with the blade pitch angle value b, so that the deviation angle of the wind direction can be equivalently understood as the change of the blade pitch angle value.

For example, for the first and fourth cases described above, the equivalent pitch angle value of the blade may be calculated using the following formula:

B₁＝b-a (4)

for example, for the second and third cases described above, the equivalent pitch angle value of the blade may be calculated using the following formula:

B₂＝b+a (5)

in the formulae (4) and (5), B₁Representing a first equivalent pitch angle value, B₂And the second equivalent pitch angle value is represented, a represents the included angle between the cabin direction of the wind generating set and the wind direction, namely the wind direction value detected by the wind direction sensor, and b represents the pitch angle value of the blade.

In step S130, an equivalent current value of any pitch motor is determined using the determined equivalent pitch angle value and the current value of any pitch motor.

FIG. 5 shows a flowchart of the steps of determining an equivalent current value for any pitch motor based on an equivalent pitch angle value of the blade to which that pitch motor corresponds and a current value for any pitch motor, according to an exemplary embodiment of the invention. It should be understood that the manner of determining the equivalent current value shown in fig. 5 is merely an example, and the present invention is not limited thereto, and those skilled in the art may determine the equivalent current value in other manners.

Referring to fig. 5, in step S11, a first sine value of the equivalent pitch angle value of the blade corresponding to any pitch motor is calculated.

In step S12, a second sine value of the blade pitch angle value of the blade corresponding to any pitch motor is calculated.

In step S13, a ratio of the second sine value to the first sine value is determined, and the product of the current value of any pitch motor and the determined ratio is determined as the equivalent current value of any pitch motor.

For example, the equivalent current value of any pitch motor may be determined using the following formula:

in the formula (6), I' represents an equivalent current value of any pitch motor, B represents a blade pitch angle value of a blade corresponding to any pitch motor, B represents an equivalent pitch angle value of a blade corresponding to any pitch motor, and I represents a current value of any pitch motor.

Here, the equivalent pitch angle value in the above equation (6) may be a first equivalent pitch angle value or a second equivalent pitch angle value for different relative positions of the wind direction and the blade, and when the equivalent pitch angle value is the first equivalent pitch angle value B₁Taking a first equivalent pitch angle value B₁Absolute value of (a).

FIG. 6 shows a flowchart of the steps of determining a current deviation index for a plurality of pitch motors according to an exemplary embodiment of the invention. It should be understood that the manner of determining the current deviation index shown in fig. 6 is merely an example, and the present invention is not limited thereto, and those skilled in the art may determine the current deviation index in other manners.

Referring to fig. 6, in step S21, an accumulated value of the current value of each pitch motor for a predetermined period of time in a predetermined state is calculated, respectively.

Preferably, for the case of calculating the equivalent current value of each pitch motor, in step S21, an accumulated value of the equivalent current values of each pitch motor may be calculated.

In step S22, the maximum accumulated value and the minimum accumulated value are selected from the accumulated values of the current values of the pitch motors.

In step S23, the ratio of the selected maximum accumulated value to the minimum accumulated value is determined as the current deviation index.

In the exemplary embodiment of the invention, considering that the current value and the numerical grade of each variable pitch motor are different each time, the ratio of the accumulated value of the current values of each variable pitch motor is calculated, and the consistency of the current values of each variable pitch motor is represented based on the ratio.

For example, taking three pitch motors as an example, if the accumulated values of the current values of the three pitch motors are 503081, 515079 and 491515 respectively, the maximum difference value between every two pitch motors is 23564, and if the accumulated values of the current values of the three pitch motors are 40617, 65070 and 60953 respectively, the maximum difference value between every two pitch motors is-24453. In view of the above, it is difficult to perform comparison of parameters in a unified manner by the method of difference value determination, and therefore a method of using the ratio of the accumulated values of the current values for determination is proposed in the exemplary embodiment of the present invention.

The field operating data is shown in table 1 below. The process of determining the current deviation index is described below with reference to table 1.

TABLE 1

Serial number	Current ratio	Maximum value of wind direction	Wind direction minimum	Shaft 1 current	Shaft 2 current	Shaft 3 current
							1	2.360302	275.392	124.369	85500	53383	126000
2	1.404905	306.967	78.665	70966	50513	66130
							3	1.12713	221.609	188.861	106513	120054	113324
4	1.241693	190.466	178.279	223072	206295	256155
							5	1.089138	193.138	173.953	236172	231969	216843
6	1.558208	243.19	129.027	71595	45947	71196
							7	1.733891	276.71	28.532	79260	57097	99000
8	1.040413	192.886	173.207	397944	414026	401235
							9	1.061515	182.741	169.687	370883	358203	380238

In the example shown in table 1, each shaft current represents an accumulated value of current values of the corresponding pitch motor, and taking a set of data with the number 1 as an example, the current ratio can be a ratio of the shaft 3 current to the shaft 2 current. As can be seen from table 1, in the data corresponding to serial numbers 1, 6, and 7, the minimum value of the wind direction is more deviated from 180 degrees (180 degrees indicates that the wind direction is opposite to the wind direction), the corresponding current ratio (i.e., the current deviation index) is larger, and the collected wind direction is close to 180 degrees and the corresponding current ratio is close to 1 for serial numbers 3, 5, 8, and 9.

Returning to fig. 1, in step S30, it is detected whether there is an abnormality to the wind based on the determined current deviation index.

For example, the determined current deviation index may be compared to a set threshold, and if the determined current deviation index is not greater than (less than or equal to) the set threshold, then it may be determined that there is no wind anomaly; if the determined current deviation index is greater than a set threshold, it is determined that a wind anomaly exists.

For example, the size of the set threshold may be set by a person skilled in the art according to actual needs, and preferably, the proximity of the current deviation index to 1 may be characterized by the set threshold.

As an example, whether the current deviation index is close to 1 is judged by comparison with a set threshold. That is to say, if the current deviation index is not greater than the set threshold, it indicates that the current deviation index is close to 1, and the current deviation of the plurality of pitch motors is small at this time, and if the current deviation index is greater than the set threshold, it indicates that the current deviation index is more than 1, and the current deviation of the plurality of pitch motors is large at this time.

Here, if it is determined that the wind generating set has a wind anomaly, a warning signal can be sent out to inform maintenance personnel to further detect and correct the wind anomaly.

In a preferred example, a limit threshold value may also be set, the limit threshold value being greater than the set threshold value. If the current deviation index is larger than the set threshold value but not larger than the limit threshold value, the wind anomaly exists at the moment, but the data collection is normal. If the current deviation index is larger than the limit threshold value, the communication fault or data acquisition error is indicated at the moment.

In the wind direction deviation diagnosis method according to the exemplary embodiment of the present invention, after it is determined that there is an abnormality in the wind of the wind turbine generator set, the wind deviation angle may be corrected.

The step of correcting the wind misalignment angle is described below with reference to fig. 7.

FIG. 7 illustrates a flowchart of steps for correcting the angle of windage yaw according to an exemplary embodiment of the present invention.

Referring to fig. 7, in step S40, the wind park is controlled to perform yaw and pitch actions.

In step S50, an accumulated value of current values of each pitch motor at the wind turbine generator set in yaw and pitch states is determined.

In a preferred example, in step S50, an accumulated value of the equivalent current value of each pitch motor may also be determined, and then the wind direction correction value is determined based on the accumulated value of the equivalent current values of the pitch motors.

In step S60, a wind direction correction value is determined based on the accumulated value of the current values of the pitch motors.

In step S70, the windward deviation angle is corrected using the determined wind direction correction value.

For example, a wind direction value may be detected in real time by a wind direction sensor, and a difference between the detected wind direction value and the determined wind direction correction value may be determined as the corrected wind direction value.

Two ways of determining the wind direction correction value are described below with reference to fig. 8 and 9. It should be understood that the manner of determining the wind direction correction value shown in fig. 8 and 9 is merely an example, and the present invention is not limited thereto, and those skilled in the art may determine the wind direction correction value in other manners.

FIG. 8 shows a flowchart of the steps of determining a wind direction correction value according to an exemplary embodiment of the present invention.

Referring to fig. 8, in step S601, an impeller rotation speed value of the wind turbine generator system is acquired.

In step S602, it is determined whether controlling the wind park starts yawing.

If the wind generating set is not controlled to start yawing, no other processing is performed.

If the wind turbine generator set is controlled to start yawing, executing the step S603: and determining whether each variable pitch motor of the wind generating set is controlled to execute a pitch adjusting action in the yaw state.

And if the variable pitch motors of the wind generating set are not controlled to execute the pitch adjusting action, other processing is not executed.

If the pitch control motor of the wind generating set is controlled to execute the pitch control action, executing step S604: and determining the rotation period of the blades based on the impeller rotation speed value of the wind generating set.

It should be understood that an impeller rotation speed value of the wind turbine generator set may also be acquired in step S604 to determine the blade rotation period based on the acquired impeller rotation speed value.

Here, the blade rotation period refers to a time required for one rotation of the impeller. For example, a ratio of 60 to the obtained impeller speed value may be calculated, and the calculated ratio may be determined as the blade rotation period. Assuming that the impeller speed value is n (in rpm, i.e., revolutions per minute), the time required for one revolution (360 degrees) of the impeller is 60/n in seconds.

In step S605, it is determined whether the time of the blade rotation period has come.

For example, the timing may be started after each pitch motor controlling the wind turbine generator set performs a pitch control action, and whether the timing time reaches the time of the blade rotation period is detected.

If the time of the blade rotation period has not been reached, the detection is continued by returning to step S605.

If the time of the blade rotation period has arrived, then step S606 is executed: and determining an accumulated value of the current value of each pitch motor in the blade rotation period.

Here, steps S605 to S606 may be repeatedly performed to obtain an accumulated value of the current value of each pitch motor over a plurality of blade rotation cycles.

In this case, the current deviation index at each blade rotation period is also determined. Here, the current deviation index at each blade rotation period can be determined by using the above-described manner of determining the current deviation index, and the details of this part of the present invention are not repeated.

In step S607, it is determined whether the wind turbine generator set is controlled to stop yawing. For example, but not limiting of, it may be determined whether controlling the wind park to stop yawing after a predetermined period of time has elapsed.

And if the wind generating set is not controlled to stop yawing, returning to execute the step S605 to continuously record the accumulated value of the current value of each pitch motor.

If the wind turbine generator set is controlled to stop yawing, executing the step S608: and determining the minimum value of the current deviation indexes corresponding to all the blade rotation periods.

In step S609, the wind direction value corresponding to the minimum value of the current deviation index is determined as the wind direction correction value.

Here, the wind direction value may be acquired in real time in step S601, and in this case, the wind direction value at each blade rotation period is determined, and the wind direction value corresponding to the blade rotation period corresponding to the minimum value in the current deviation index is determined as the wind direction correction value.

As an example, the wind direction value at each blade rotation period may refer to an average of the wind direction values collected during that blade rotation period. However, the present invention is not limited to this, and the wind direction value corresponding to the rotation period of the blade may be determined in other manners.

In a preferred example, the wind direction deviation diagnosis method of a wind turbine generator set according to an exemplary embodiment of the present invention may further include: and comparing the wind direction value corresponding to the minimum value in the current deviation index with a wind direction threshold value.

And if the difference value between the wind direction value corresponding to the minimum value in the current deviation index and the wind direction threshold value is smaller than or equal to a set value, wind direction correction is not performed, and if the difference value between the wind direction value corresponding to the minimum value in the current deviation index and the wind direction threshold value is larger than the set value, the wind direction value corresponding to the minimum value in the current deviation index is determined as a wind direction correction value so as to perform wind direction correction. As an example, the wind direction threshold value is a wind direction value at the time of yaw start.

Fig. 9 shows a flowchart of the steps of determining a wind direction correction value according to another exemplary embodiment of the present invention.

Referring to fig. 9, in step S610, it is determined whether the wind turbine generator set is controlled to start the ith yaw.

If the wind generating set is not controlled to start yawing, no other processing is performed.

If the wind turbine generator set is controlled to start yawing, executing step S611: and determining whether each variable pitch motor of the wind generating set is controlled to execute a pitch adjusting action in the yaw state. That is, it is determined whether a pitch control action has been performed by each pitch motor of the wind park during yawing.

And if the variable pitch motors of the wind generating set are not controlled to execute the pitch adjusting action, other processing is not executed.

If the pitch control motor of the wind generating set is controlled to execute the pitch control action, the step S612 is executed: and recording the accumulated value of the current value of each variable pitch motor.

In step S613, it is determined whether the wind turbine generator set is controlled to stop yawing.

And if the wind generating set is not controlled to stop yawing, returning to the step S611 to record the accumulated value of the current value of each pitch motor continuously.

If the wind generating set is controlled to stop yawing, executing the step S614: it is determined whether i is equal to m.

Here, i is not less than 1 and not more than m, the initial value of i is 1, m represents the preset number of yawing, and m is a natural number greater than zero.

If i is not equal to m, go back to step S610.

If i is equal to m, step S615 is performed: and determining an accumulated value of the current value of each pitch motor during each yaw, and determining a current deviation index corresponding to each yaw.

In step S616, the minimum value of the current deviation indices corresponding to the plurality of drifts is determined.

In step S617, the wind direction value corresponding to the minimum value of the current deviation indices is determined as the wind direction correction value.

Here, the wind direction value may be acquired in real time, and in this case, the wind direction value corresponding to each yaw period is determined, and the wind direction value corresponding to the yaw period corresponding to the minimum value in the current deviation index is determined as the wind direction correction value.

As an example, the wind direction value during each yaw may refer to an average of the wind direction values collected during the yaw. The invention is not limited thereto and the corresponding wind direction value during each yaw may also be determined in other ways.

FIG. 10 shows a block diagram of a wind direction deviation diagnostic system of a wind park according to an exemplary embodiment of the invention.

Here, the wind turbine generator system includes a plurality of pitch motors and a plurality of blades, and each pitch motor is used for driving a corresponding blade to execute a pitch action. In an exemplary embodiment of the invention, the accuracy to the wind is determined by determining the current consistency of the plurality of pitch motors.

As shown in fig. 10, a wind direction deviation diagnosis system of a wind turbine generator set according to an exemplary embodiment of the present invention includes: a plurality of current sensors and a controller 20. In the present example, assuming that the wind park comprises three blades and three pitch motors, the wind direction deviation diagnosis system may accordingly comprise three current sensors, e.g. current sensor 11, current sensor 12, current sensor 13.

Specifically, the plurality of current sensors respectively detect (acquire) a current value of each pitch motor in a predetermined state.

Here, a current sensor may be provided for each pitch motor. As an example, the predetermined condition may include, but is not limited to, the wind park being during start-up, and/or the wind park being during pitch adjustment.

The controller 20 determines a current deviation index of the plurality of pitch motors based on the current values of the respective pitch motors received from the plurality of current sensors, and detects whether there is a wind anomaly based on the determined current deviation index.

In a preferred example, the wind direction deviation diagnosis system of a wind turbine generator set according to an exemplary embodiment of the present invention may further include: a wind direction sensor (not shown).

In this case, the controller 20 receives the wind direction value detected by the wind direction sensor from the wind direction sensor, acquires the current value of each pitch motor in a predetermined state if the detected wind direction value is within a preset threshold range, and does not perform other processing if the detected wind direction value is not within the preset threshold range.

For example, controller 20 may determine the current deviation index based on an accumulated value of current values for each pitch motor at predetermined states. Here, the current deviation index is used to reflect the current consistency of the plurality of pitch motors, that is, in the exemplary embodiment of the present invention, the wind accuracy is detected by using the consistency of the current values of the plurality of pitch motors during the pitch adjustment of the wind turbine generator system.

As an example, the current value of the pitch motor is proportional to the wind force effect (e.g., the magnitude of the wind force effect) to which the blades are subjected, and based on this, the uniformity of the current values of the plurality of pitch motors is utilized to characterize the accuracy of each blade to the wind.

In a preferred example, the controller 20 may also determine whether the wind turbine generator set is in a deviation condition. Here, the deviation condition may refer to a condition that may cause the plurality of pitch motors to generate current deviation, for example, the wind direction variation amount exceeds a preset wind direction variation range, and/or the wind turbine generator system is in a yaw process.

For example, controller 20 may determine an amount of wind direction change over a predetermined period of time, and/or, determine whether the wind park is in the process of yawing, if the detected amount of wind direction change is within a preset range of wind direction change, and/or, if the wind park is not in the process of yawing, controller 20 determines a current deviation index for the plurality of pitch motors. And if the detected wind direction variation is not in the preset wind direction variation range and/or the wind generating set is determined to be in the yawing process, not executing other processing.

In one example, controller 20 may directly utilize the acquired current value for each pitch motor to determine a current deviation index.

For example, the controller 20 may respectively calculate an accumulated value of the current value of each pitch motor in a predetermined time period in a predetermined state, select a maximum accumulated value and a minimum accumulated value from the accumulated values of the current values of the pitch motors, and determine a ratio of the selected maximum accumulated value to the minimum accumulated value as the current deviation index.

It should be appreciated that the present invention is not so limited, and in a preferred example, the controller 20 may also determine an equivalent current value for each pitch motor based on the current value for each pitch motor to determine a current deviation index based on the equivalent current value for each pitch motor.

For example, the controller 20 may determine the equivalent current value of any pitch motor at any one of each sampling instant by: determining the relative position of the wind direction and the blade according to the detected wind direction value and the blade azimuth angle of the blade corresponding to any variable pitch motor, determining the equivalent pitch angle value of the blade corresponding to any variable pitch motor based on the determined relative position, and determining the equivalent current value of any variable pitch motor by using the determined equivalent pitch angle value and the current value of any variable pitch motor.

By way of example, the relative position of the wind direction and the blades includes the following: determining that the blade is positioned on the left side of the windswept surface of the impeller based on the blade azimuth angle, and determining that the incoming flow wind direction is the left side based on the wind direction value; determining that the blades are positioned on the left side of a wind sweeping surface of the impeller based on the blade azimuth angle, and determining that the incoming flow wind direction is the right side based on the wind direction value; determining that the blades are positioned on the right side of a wind sweeping surface of the impeller based on the blade azimuth angle, and determining that the incoming flow wind direction is the left side based on the wind direction value; and determining that the blade is positioned on the right side of the windward side of the impeller based on the blade azimuth angle, and determining that the incoming flow wind direction is the right side based on the wind direction value.

For the first and fourth cases described above, the controller 20 may determine the difference between the blade pitch angle value and the wind direction value as the equivalent pitch angle value of the blade, and for the second and third cases described above, the controller 20 may determine the sum of the blade pitch angle value and the wind direction value as the equivalent pitch angle value of the blade.

For example, the controller 20 may determine the equivalent current value for any of the pitch motors by: calculating a first sine value of an equivalent pitch angle value of a blade corresponding to any pitch motor; calculating a second sine value of a blade pitch angle value of a blade corresponding to any pitch motor; and determining the ratio of the second sine value to the first sine value, and determining the product of the current value of any variable pitch motor and the ratio as the equivalent current value of any variable pitch motor.

The controller 20 may detect whether there is a wind anomaly by: the controller 20 may compare the current deviation index with a set threshold, determine that there is no wind anomaly if the current deviation index is not greater than the set threshold, and determine that there is a wind anomaly if the current deviation index is greater than the set threshold.

In the wind direction deviation diagnosis system of the exemplary embodiment of the present invention, the controller 20 may further correct the wind deviation angle after determining that there is a wind anomaly in the wind turbine generator set.

For example, the controller 20 may control the wind turbine generator system to perform yaw and pitch actions, determine an accumulated value of current values of each pitch motor when the wind turbine generator system is in a yaw and pitch state, determine a wind direction correction value based on the accumulated value of current values of each pitch motor, and correct the wind offset angle using the determined wind direction correction value.

As an example, the controller 20 may determine a difference value between the detected wind direction value and the determined wind direction correction value as the corrected wind direction value.

In one case, controller 20 may determine the wind direction correction value based on an accumulated value of current values for a plurality of blade rotation cycles of each pitch motor during a yaw.

In this case, the controller 20 may control the wind turbine generator system to start yaw, and in a yaw state, control each pitch motor of the wind turbine generator system to perform a pitch adjustment operation, and determine an accumulated value of a current value of each pitch motor in each blade rotation period.

The controller 20 may determine the wind direction correction value by: determining a current deviation index at each blade rotation period, determining a wind direction value at each blade rotation period, controlling the wind turbine generator set to stop yawing after a predetermined period of time has elapsed, determining a minimum value among the current deviation indexes corresponding to all the blade rotation periods, and determining the wind direction value corresponding to the minimum value among the current deviation indexes as a wind direction correction value.

As an example, the controller 20 may determine the blade rotation period by: acquiring an impeller rotating speed value of a wind generating set; the ratio of 60 to the obtained impeller speed value is calculated and the calculated ratio is determined as the blade rotation period.

Alternatively, controller 20 may determine the wind direction correction value based on an accumulated value of current values for each pitch motor over multiple yawing operations.

In this case, the controller 20 may control the wind turbine generator system to perform a plurality of yawing operations, and during each yawing operation, control each pitch motor of the wind turbine generator system to perform a pitch control operation, and determine an accumulated value of a current value of each pitch motor during each yawing operation.

The controller 20 may determine the wind direction correction value by: and determining a current deviation index corresponding to each yaw, determining the minimum value of the current deviation indexes corresponding to multiple times of yaw, and determining the wind direction value corresponding to the minimum value of the current deviation indexes as a wind direction correction value.

Fig. 11 illustrates a block diagram of a controller according to an exemplary embodiment of the present invention.

As shown in fig. 11, the controller 200 according to an exemplary embodiment of the present invention includes: a processor 201 and a memory 202.

Specifically, the memory 202 is used for storing a computer program, which when executed by the processor 201 implements the wind direction deviation diagnosis method of the wind turbine generator set described above.

Here, the wind direction deviation diagnosis method of the wind turbine generator system shown in fig. 1 may be performed in the processor 201 shown in fig. 11. As an example, the controller shown in fig. 10 may be implemented as the controller 200 shown in fig. 11, for example, the controller 200 may be implemented as a controller in a wind park, and may also be implemented as a central controller of a wind farm.

There is also provided, in accordance with an exemplary embodiment of the present invention, a computer-readable storage medium storing a computer program. The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to execute the wind direction deviation diagnosing method of the wind turbine generator set described above. The computer readable recording medium is any data storage device that can store data read by a computer system. Examples of the computer-readable recording medium include: read-only memory, random access memory, read-only optical disks, magnetic tapes, floppy disks, optical data storage devices, and carrier waves (such as data transmission through the internet via wired or wireless transmission paths).

The wind direction deviation diagnosis system and method of the wind generating set of the exemplary embodiment of the invention can detect the wind direction measurement accuracy of the wind generating set in a short time, and adjust and early warn the deviation angle.

In addition, the wind direction deviation diagnosis system and method of the wind turbine generator system according to the exemplary embodiment of the present invention do not count the average value of the wind direction values, and thus are not affected by the deviation of the average value, and are not affected by the deviation of the average value delay, filtering, and the like, compared to the existing method. In addition, the running condition of the single wind generating set is detected, so that the pertinence, the real-time performance and the accuracy are high.

In addition, the wind direction deviation diagnosis system and method of the wind generating set based on the exemplary embodiment of the invention can realize automatic detection and automatic adjustment of wind direction precision, and is beneficial to realizing intelligent control of the wind generating set.

In the exemplary embodiment of the invention, the wind direction deviation detection process does not need manual intervention and does not need to enter test logic, and the detection can be completed in the normal starting and yawing processes of the wind generating set.

The wind direction deviation diagnosis system and method of the wind generating set based on the exemplary embodiment of the invention mainly relate to data statistics, and do not change the control strategy of the wind generating set, so that the operation safety of the wind generating set is not influenced.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.