阅读说明：本技术 用于控制风力发电机同步收桨的方法、装置和设备 (Method, device and equipment for controlling synchronous pitch take-up of wind driven generator ) 是由 马磊 程金山 周杰 于 2020-06-24 设计创作，主要内容包括：提供了一种用于控制风力发电机同步收桨的方法、装置和设备。其中,风力发电机包括三个叶片和三个变桨控制器,每个变桨控制器分别用于控制所述三个叶片中的一个叶片,所述方法包括：响应于收桨指令,各所述变桨控制器分别采集各自对应叶片的桨距角,并将采集到的桨距角发送到主控控制器；各所述变桨控制器分别接收主控控制器发来的所述三个叶片的桨距角；各所述变桨控制器分别基于接收到的所述三个叶片的桨距角,确定基于第一模式还是第二模式执行收桨,其中,第一模式是指以基于所述三个叶片的桨距角中的最大值和最小值之间的角度差值计算的角度调节速度执行收桨,第二模式是指以自主收桨速度执行收桨。(A method, device and equipment for controlling synchronous pitch of a wind driven generator are provided. The wind power generator comprises three blades and three variable pitch controllers, wherein each variable pitch controller is respectively used for controlling one of the three blades, and the method comprises the following steps: responding to a blade collecting instruction, respectively collecting the pitch angle of each corresponding blade by each pitch controller, and sending the collected pitch angle to the main control controller; each variable pitch controller receives the pitch angles of the three blades sent by the main control controller respectively; and each pitch controller determines to execute the pitch take-up based on a first mode or a second mode respectively based on the received pitch angles of the three blades, wherein the first mode refers to executing the pitch take-up at an angle adjusting speed calculated based on an angle difference value between the maximum value and the minimum value of the pitch angles of the three blades, and the second mode refers to executing the pitch take-up at an autonomous pitch take-up speed.)

1. A method for controlling synchronous pitch take-up of a wind turbine, wherein the wind turbine comprises three blades and three pitch controllers, each pitch controller being for controlling a respective one of the three blades, the method comprising:

responding to a blade collecting instruction, respectively collecting the pitch angle of each corresponding blade by each pitch controller, and sending the collected pitch angle to the main control controller;

each variable pitch controller receives the pitch angles of the three blades sent by the main control controller respectively;

each pitch controller determining whether to perform pitch take-up based on a first mode or a second mode based on the received pitch angles of the three blades, respectively,

wherein the first mode refers to performing feathering at an angular adjustment speed calculated based on an angular difference between a maximum value and a minimum value of pitch angles of the three blades,

the second mode is to execute the pitch take-up at the autonomous pitch take-up speed.

2. The method of claim 1, wherein each of the pitch controllers determines whether to perform feathering based on the first mode or the second mode based on the received pitch angles of the three blades, respectively, comprising:

each variable pitch controller determines whether the pitch angle of the corresponding blade is the minimum value of the pitch angles of the three blades based on the received pitch angles of the three blades;

determining, by the first pitch controller, to perform pitch take-up based on the first mode;

determining, by the second pitch controller and the third pitch controller, to perform feathering based on the second mode,

wherein the first pitch controller is the pitch controller with the minimum pitch angle of the corresponding blade in the three pitch controllers,

the second pitch controller and the third pitch controller are two pitch controllers of which the pitch angles of corresponding blades are not the minimum value.

3. The method of claim 2, further comprising: controlling by the first pitch controller to perform pitch take-up based on the first pattern,

wherein the step of controlling, by the first pitch controller, to execute pitch take-up based on the first pattern comprises:

the following operations are performed at predetermined time intervals:

receiving the real-time pitch angles of the three blades from a main control controller, wherein the real-time pitch angles of the three blades are acquired by the three pitch controllers respectively according to the preset time interval and are sent to the main control controller;

calculating an angle adjustment speed by performing PID control based on an angle difference value between a minimum value and a maximum value among real-time pitch angles of three blades;

the calculated angular adjustment speed is sent to the respective pitch drive.

4. The method according to claim 3, wherein an integration coefficient in the PID control is set to 0.

5. The method of claim 4, wherein the step of calculating the angular adjustment speed comprises:

performing PID operation by taking the minimum value as an actual value and the maximum value as a target value to obtain a deviation value of the angle adjusting speed;

and adding the deviation value and the value of the autonomous oar-retracting speed to obtain a value of the angle adjusting speed.

6. The method of claim 3, wherein the step of controlling by the first pitch controller to perform feathering based on the first pattern further comprises:

after the corresponding variable pitch driver adjusts the blades corresponding to the first variable pitch controller based on the angle adjusting speed, when the angle difference value between the real-time pitch angle of the blades corresponding to the first variable pitch controller and the maximum value is smaller than a preset threshold value, the first variable pitch controller stops executing blade collection based on the first mode control, and starts executing blade collection based on the second mode control.

7. The method of claim 2, further comprising: controlling by the first pitch controller to perform pitch take-up based on the first pattern,

wherein the step of controlling, by the first pitch controller, to execute pitch take-up based on the first pattern comprises:

setting a predetermined time for which the angle difference is adjusted to 0;

calculating an angle adjustment speed based on the predetermined time and the angle difference;

the calculated angular adjustment speed is sent to the respective pitch drive.

8. The method of claim 7, wherein the step of calculating the angular adjustment speed comprises:

the angle adjustment speed is calculated according to the following formula:

v1＝v0+(b-a)/t；

wherein v1 represents the angle adjustment speed, v0 represents the autonomous feathering speed, a represents the minimum value, and b represents the minimum value.

9. The method of claim 7, wherein the step of controlling by the first pitch controller to perform feathering based on the first pattern further comprises:

and when the corresponding variable pitch driver adjusts the blades corresponding to the first variable pitch controller based on the angle adjusting speed to reach the preset time, the first variable pitch controller stops executing the blade collection based on the first mode control, and starts executing the blade collection based on the second mode control.

10. A device for controlling synchronous pitch take-up of a wind driven generator, wherein the wind driven generator comprises three blades and three pitch controllers, wherein each pitch controller is respectively used for controlling one of the three blades, and the device comprises:

each pitch controller, wherein each pitch controller comprises: a collecting module, a sending module, a receiving module and a paddle-retracting mode determining module,

wherein each of the pitch controllers performs the following in response to a pitch take-up command:

respectively acquiring the pitch angles of the corresponding blades through an acquisition module;

respectively transmitting the acquired pitch angles to a main control controller through a transmitting module;

receiving the pitch angles of the three blades sent by the main control controller through a receiving module respectively;

determining, by a feathering mode determination module, whether to perform feathering based on the first mode or the second mode based on the received pitch angles of the three blades, respectively,

wherein the first mode refers to performing feathering at an angular adjustment speed calculated based on an angular difference between a maximum value and a minimum value of pitch angles of the three blades,

the second mode is to execute the pitch take-up at the autonomous pitch take-up speed.

11. An apparatus for controlling synchronous pitch of a wind turbine, the apparatus comprising:

a processor;

a memory storing a computer program which, when executed by the processor, implements a method of controlling synchronous pitch of a wind turbine according to any of claims 1-9.

12. A computer-readable storage medium storing instructions that, when executed by at least one computing device, cause the at least one computing device to perform the method for controlling wind turbine synchronous feathering according to any of claims 1 to 9.

Technical Field

The invention relates to the technical field of wind power, in particular to a method, a device and equipment for controlling synchronous blade retracting of a wind driven generator.

Background

The method is characterized in that various loads generated under the environment and various operating conditions of a wind driven generator must be determined in the design of the wind driven generator, the purpose is to perform strength analysis, dynamics analysis and service life calculation on wind driven generator parts and components, and ensure that the wind driven generator can normally operate in the designed service life, the work is the most basic work in the design of the wind driven generator, and all subsequent works are based on load calculation and are also important research subjects of a wind driven generator control strategy.

The load of the wind driven generator is the result of complex actions of wind, aerodynamics, waves, structural dynamics, a transmission system, a control system and the like, and with the continuous increase of the unit capacity, the tower height and the blade length, the load impact on the wind driven generator is increased, which brings new great challenges to the safety of the wind driven generator, the tower strength and the production cost, so the load control of the wind driven generator is more and more important. Furthermore, the blade airfoil of the wind turbine often operates in a stall or unbalanced condition, and is likely to generate structural resonance, load irregularity, high cycle fatigue, and the like, which affect the load of the wind turbine. In addition, the wind generating set is overloaded, so that the wind generating set can work in a partial fatigue state for a long time, and the service life of the wind generating set is shortened. In addition, the wind driven generator is damaged due to eccentric vibration generated in the propeller retracting process of the wind driven generator set, and the service life of the wind driven generator is shortened.

Each blade of a variable pitch system of the wind driven generator is controlled by an independent control cabinet. FIG. 1 is a schematic diagram showing an angle curve during independent pitch operation, wherein the abscissa represents time and the ordinate represents the blade pitch angle value. As shown in fig. 1, the angle values of the three blades (shaft 1, shaft 2 and shaft 3) vary sinusoidally. When the shutdown is triggered or the pitch control system fails and the pitch is automatically retracted, the angle values of the three blades always have deviation, and even the difference value is further increased due to the deviation of the speed execution of each blade. The deviation and the asynchronization of the blades can increase the load of the wind driven generator in the stopping process. Particularly, when a shaft cabinet of a pitch control system breaks down, the pitch control cabinet which triggers the fault firstly is easy to take down the propeller earlier, and the other blades take down the propeller later. Especially for independent variable pitch, the normal angle difference of the three blades is about 6 degrees at rated rotation speed, so that the angle deviation is further increased when a fault is triggered, and the load of the wind driven generator is higher. For example, FIG. 2 is a schematic diagram illustrating an angular curve of three blades at independent pitch shutdown feathering, where the abscissa represents time and the ordinate represents blade pitch angle values. As shown in fig. 2, after time 0, there is always a large deviation in the angular values of the three blades, the value of the curve of axis 3 is significantly smaller than the angular values of the curves of axes 1 and 2, and the deviation value is about 10 degrees.

Further, the formula of the exciting force of the eccentric vibration is: f ═ me ω²For a wind turbine, F can be equivalent to the vibration force generated to the wind turbine, and ω is the angular velocity of the rotation of the impeller; m is the equivalent mass of the impeller rotation. Because the rotating force of the three blades is mainly from the wind power of the blades, the vibration value of the wind driven generator is increased due to the unbalance of the three blades, and the angular difference of the three blades of the vibration value is in direct proportion to the square of the angular speed of the rotation of the impeller. For example, FIG. 3 is a diagram illustrating vibration values when the independent pitch shutdown pitches, where the abscissa represents time and the ordinate represents vibration values. As shown in fig. 3, from time 0, the vibration value of the wind turbine becomes significantly large. According to the formula, if the maximum rotating speed value of the unit is increased, the vibration value of the unit is further increased.

Therefore, when the pitch system pitches, the angle values of the pitch angles of the three blades need to be synchronously controlled. The control method now comprises: (1) through the adjustment of the master control, the blade with smaller angle is increased in pitch-in speed; and executing normal blade retracting speed on the blade with larger angle. The method has the following disadvantages: on one hand, the method is only suitable for the condition that the master control can control the pitch-variable system to retract the pitch, namely the pitch-variable system has no fault, and is not suitable for the working conditions that the pitch-variable system triggers the fault and independently retracts the pitch; on the other hand, this method generally uses the average of the three blade angles as a reference angle, and therefore, when speed adjustment is performed, the adjustment time is somewhat extended. (2) And C, paddle withdrawing waiting, namely, waiting for the blade with the smaller blade angle to be withdrawn to the same angle value as the blade with the larger blade angle. The method has the following disadvantages: the main purpose of the pitch-adjusting system is to realize pneumatic braking, and wind power absorbed by the blades is reduced by increasing the pitch angle, so that the rotating speed of the wind driven generator is reduced and the wind driven generator is stopped. In addition, if the blade with a small angle is blocked, the waiting time is further prolonged, and the safety of the unit is affected. (3) And waiting for the angle by setting the time delay of the propeller retracting. The disadvantages of this method are: because the difference value of each angle is not determined, the angle difference value can not be adjusted to a reasonable range within a set time, and the wind driven generator can slowly reduce the rotating speed by the way of paddle folding waiting, so that certain potential safety hazards are caused to the wind driven generator set.

Disclosure of Invention

Exemplary embodiments of the present invention aim to overcome the above disadvantages and provide the following advantages.

According to an aspect of the present invention, there is provided a method for controlling synchronous pitch take-up of a wind turbine, wherein the wind turbine comprises three blades and three pitch controllers, each pitch controller being for controlling a respective one of the three blades, the method comprising: responding to a blade collecting instruction, respectively collecting the pitch angle of each corresponding blade by each pitch controller, and sending the collected pitch angle to the main control controller; each variable pitch controller receives the pitch angles of the three blades sent by the main control controller respectively; and each pitch controller determines to execute the pitch take-up based on a first mode or a second mode respectively based on the received pitch angles of the three blades, wherein the first mode refers to executing the pitch take-up at an angle adjusting speed calculated based on an angle difference value between the maximum value and the minimum value of the pitch angles of the three blades, and the second mode refers to executing the pitch take-up at an autonomous pitch take-up speed.

According to another aspect of the present invention, there is provided an apparatus for controlling synchronous feathering of a wind power generator, the wind power generator comprising three blades and three pitch controllers, wherein each pitch controller is for controlling a respective one of the three blades, the apparatus comprising: each pitch controller, wherein each pitch controller comprises: the pitch control system comprises an acquisition module, a sending module, a receiving module and a pitch collecting mode determining module, wherein each pitch controller responds to a pitch collecting instruction to execute the following operations: respectively acquiring the pitch angles of the corresponding blades through an acquisition module; respectively transmitting the acquired pitch angles to a main control controller through a transmitting module; receiving the pitch angles of the three blades sent by the main control controller through a receiving module respectively; determining, by a feathering mode determination module, whether to perform feathering based on a first mode or a second mode based on the received pitch angles of the three blades, respectively, wherein the first mode refers to performing feathering at an angle adjustment speed calculated based on an angle difference value between a maximum value and a minimum value of the pitch angles of the three blades, and the second mode refers to performing feathering at an autonomous feathering speed.

According to another aspect of the present invention, there is provided an apparatus for controlling synchronous feathering of a wind turbine, the apparatus comprising: a processor; a memory storing a computer program which, when executed by the processor, implements a method for controlling synchronous pitch of a wind turbine according to the present invention.

According to another aspect of the invention, a computer-readable storage medium storing instructions is provided, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform a method for controlling synchronous feathering of a wind turbine according to the invention.

According to the method, the device and the equipment for controlling the synchronous pitch take-up of the wind driven generator, the fixity of the pitch take-up speed instruction when the pitch system automatically takes up the pitch can be utilized, the specific angle adjustment control is executed on the blade with the minimum angle value based on the angle difference value between the maximum value and the minimum value of the pitch angles of the three blades, the pitch change speed adjustment when the pitch system automatically takes up the pitch is realized, the pitch change speed of the three blades is consistent, and the load in the stop pitch take-up process is reduced.

Compared with the traditional control method, the device and the equipment for controlling the synchronous pitch take-up of the wind driven generator have the advantages that the three blades synchronously pitch-up in the shutdown process, and the blades with large angles do not need to stop at first to wait for the blades with small angles to reach the consistent angles, so that the safety of the wind driven generator set is facilitated.

According to the method, the device and the equipment for controlling the synchronous pitch take-up of the wind driven generator, PID (proportion integration differentiation) control (or PD control) is provided for automatically adjusting the blade angle with the minimum angle value. In the automatic adjustment process, the pitch controller does not need to detect the jumping condition of the angles of the other two blades, and the process can realize self-matching and self-adaption in the adjustment process of the PD controller. In addition, the method has the advantages that the sudden change of the angle average value of the three shaft cabinets caused by the sudden change of the angle value can not be caused, and the sudden change of the target speed or the failure of the adjusting function caused by the sudden change of the angle average value can not be generated. For example, if the value of the small angle jumps, the angle difference between the three blades decreases, the output of the PID (or PD) controller decreases, and if the value of the large angle jumps, the PID (or PD) controller has a limited amplitude and compares the angle values of the other two blades, so the speed difference between the three blades will not be too large. Furthermore, due to the addition of the PID (or PD) controller, a fast adjustment can be performed and the parameters are easy to optimize (e.g. only the value of the proportional parameter Kp needs to be adjusted).

Drawings

These and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the following detailed description of the embodiments of the invention, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic diagram showing an angle curve during independent pitch operation.

FIG. 2 is a schematic diagram showing the angular profiles of three blades at independent pitch shutdown feathering.

FIG. 3 is a schematic diagram showing vibration values when the independent pitch shutdown pitches.

FIG. 4 is a flowchart illustrating a method for controlling synchronous feathering of a wind turbine according to an exemplary embodiment of the present invention.

Fig. 5 is a block diagram illustrating an apparatus for controlling synchronous feathering of a wind turbine according to an exemplary embodiment of the present invention.

Fig. 6 is a simulation diagram illustrating a method for controlling synchronous feathering of a wind turbine according to an exemplary embodiment of the present invention.

FIG. 7 is a schematic view of an apparatus for controlling synchronous feathering of a wind turbine provided in accordance with an embodiment of the present disclosure.

Detailed Description

In order that those skilled in the art will better understand the present invention, exemplary embodiments thereof will be described in further detail below with reference to the accompanying drawings and detailed description.

The wind driven generator comprises three blades, and each blade is controlled by an independent control cabinet. That is to say, the wind driven generator also comprises three control cabinets, each control cabinet comprises a variable pitch controller, the three variable pitch controllers correspond to the three blades one by one, and each variable pitch controller is respectively used for controlling one blade in the three blades. Therefore, the pitch controller corresponding to each blade only acquires the pitch angle of the corresponding blade to control the corresponding blade, and cannot acquire the pitch angles of other blades. Therefore, the invention provides a method and a device for controlling synchronous blade retracting of a blade of a wind driven generator based on master control feedback, which aims to realize synchronous blade retracting control of the blade of a variable pitch system and reduce unit vibration and load in the shutdown process. The pitch angles of the three blades are sent to the three variable pitch controllers by using master control feedback, so that each variable pitch controller can obtain angle values of the pitch angles of the three blades, and synchronous pitch take-up control of a variable pitch system can be realized based on the angle difference values of the three blades. A method, an apparatus, and a device for controlling synchronous feathering of a wind turbine according to an exemplary embodiment of the present invention will be described in detail with reference to fig. 4 to 7.

First, technical terms used herein are explained below.

The pitch-retracting means a control process of turning the blades of the wind turbine to a state (also referred to as a safety position, and in a specific angle, a position of about 89 degrees of the blades) close to parallel with the direction of the wind after the wind turbine fails.

Loads (Loads), which act directly or indirectly on the structure, generate internal forces (e.g., axial forces, bending moments, shear forces, torque, etc.) and deformations (e.g., corners, cracks) within the structure, are referred to as "structural effects," i.e., what we say acts. When the action is direct action, the effect is also referred to as "loading effect", that is, the load. The wind power generator mainly refers to horizontal load, axial load, wind load and the like during operation of the unit.

PID control (process-integral-derivative control), the current closed-loop automatic control technology is based on the concept of feedback to reduce uncertainty. The elements of the feedback theory include three parts: measuring, comparing and executing. What is essential to the measurement is the actual value of the controlled variable, which is compared with the desired value, and this deviation is used to correct the response of the system and to perform the regulation control. The most widely used regulator control law is proportional, integral and differential control, abbreviated as PID control.

Vibration (Vibration), all or a portion of an object is reciprocated along a straight or curved line. The invention relates to vibration of a wind generating set.

Acceleration (Acceleration), the ratio Δ v/Δ t of the amount of change in velocity to the time it takes for this change to occur, is a physical quantity that describes how fast the velocity of the object changes.

Excitation force refers to periodic simple harmonic vibration generated by a rotating unbalanced mass as a vibration source of a vibration system and is called excitation force. This unbalanced mass is a vibrating polarizer.

FIG. 4 is a flowchart illustrating a method for controlling synchronous feathering of a wind turbine according to an exemplary embodiment of the present invention.

Referring to fig. 4, in step 401, in response to a pitch take-up instruction, each pitch controller (e.g., a first pitch controller, a second pitch controller, and a third pitch controller) may respectively acquire a pitch angle (i.e., a pitch angle value) of each corresponding blade (e.g., a first blade, a second blade, and a third blade). For example, each of the pitch controllers may measure a pitch angle of a respective corresponding blade via an encoder.

In step 402, each pitch controller may send the respective acquired pitch angle to the master controller. For example, the pitch controller may transmit the angle value information of the collected pitch angle through wired communication or wireless communication. When the main control controller receives the pitch angles acquired from the pitch controllers, that is, after receiving the pitch angles of the three blades, the main control controller can send the pitch angles of the three blades to the pitch controllers.

In step 403, each pitch controller may receive the pitch angles of the three blades from the main controller. Therefore, each pitch controller can obtain the pitch angles of the other two blades in addition to the pitch angle of the corresponding blade acquired by the controller.

At step 404, each pitch controller may determine whether to perform feathering based on the first mode or the second mode based on the pitch angles of the three blades received, respectively. Here, the first mode refers to performing feathering at an angle adjustment speed calculated based on an angle difference between the maximum value and the minimum value of the pitch angles of the three blades. The second mode refers to performing feathering at an autonomous feathering speed (i.e., an autonomous feathering speed).

Specifically, each pitch controller may determine whether the pitch angle of the respective corresponding blade is the minimum of the pitch angles of the three blades based on the received pitch angles of the three blades, respectively. When the pitch angle of the blade is the minimum value among the pitch angles of the three blades, it means that the blade having the minimum pitch angle among the three blades is required to be subjected to a specific angle adjustment control, that is, controlled to be pitched in the first mode. While the other two blades may perform feathering at an autonomous feathering speed, i.e. controlled feathering based on the second mode. Assuming that the first pitch controller is a pitch controller corresponding to a blade with the smallest pitch angle among the three blades, and the second pitch controller and the third pitch controller are two pitch controllers corresponding to the other two blades, the first pitch controller may determine to perform pitch take-up based on the first mode, and the second pitch controller and the third pitch controller may determine to perform pitch take-up based on the second mode. Of course, the above is only an example, and there is also a case where the pitch angle of the blade corresponding to the second pitch controller or the third pitch controller is minimum and the feathering is performed based on the first mode.

According to an exemplary embodiment of the present invention, each pitch controller may compare the pitch angles of the other two blades with the pitch angle of its corresponding blade, respectively, and determine whether the pitch angle of its corresponding blade is the minimum of the pitch angles of the three blades. The pitch controller (e.g., the first pitch controller) that determines that the pitch angle of the self-corresponding blade is the minimum value determines that the self-corresponding blade performs feathering based on the first mode.

According to another exemplary embodiment of the present invention, each of the pitch controllers may compare the pitch angles of the received three blades, determine a minimum pitch angle among the pitch angles of the received three blades, compare the determined minimum pitch angle with a pitch angle of a corresponding blade, and a pitch controller (e.g., a first pitch controller) having the pitch angle of the corresponding blade identical to the determined minimum pitch angle determines that the corresponding blade performs pitch take-up based on the first mode. The method has the advantages that: if the encoder of one shaft jumps, the data sent by the main control controller and received by each variable pitch controller is a value of 0, and the three shafts detect that the angles are inconsistent with the angles measured by the three shafts, the pitch collection is not executed based on the first mode, so that the error control is avoided.

In the following, it is assumed that the first pitch controller is the pitch controller with the smallest pitch angle of its corresponding blade, and a method for controlling and executing pitch take-up by the first pitch controller based on the first mode, that is, a method for controlling and executing pitch take-up by the first pitch controller based on an angle adjustment speed calculated by the first pitch controller based on an angle difference between the maximum value and the minimum value of the pitch angles of the three blades, will be described in detail. And the second pitch controller and the third pitch controller perform pitch take-up based on the second mode control. Therefore, a first pitch driver (i.e., a pitch take-up actuator) corresponding to the first pitch controller performs pitch take-up based on the first mode, and a second pitch driver corresponding to the second pitch controller and a third pitch driver corresponding to the third pitch controller perform pitch take-up based on the second mode.

PID control

According to an example embodiment of the invention, the first pitch controller may initiate PID control. The specific control method comprises the following steps: the following operations are performed at predetermined time intervals (e.g., 20 ms): receiving the real-time pitch angles of the three blades from a main control controller, wherein the real-time pitch angles of the three blades are acquired by each pitch controller according to a preset time interval and are sent to the main control controller; calculating an angle adjustment speed by performing PID control based on an angle difference value between a minimum value and a maximum value among real-time pitch angles of the three blades; the calculated angular adjustment speed is sent to the respective pitch drive.

Specifically, the first pitch controller may perform PID operation by taking a minimum value among the real-time pitch angles of the three blades as an actual value and a maximum value among the real-time pitch angles of the three blades as a target value, to obtain a deviation value of the angle adjustment speed; and adding the obtained deviation value with the value of the autonomous oar-retracting speed to obtain a value of the angle adjusting speed. Here, the autonomous pitch-pulling speed in the pitch system is a pitch-pulling parameter value set in the pitch program, and is a minimum speed for pulling the pitch, and the other two pitch controllers (e.g., the second pitch controller and the third pitch controller) control their own corresponding blades to pull the pitch at the autonomous pitch-pulling speed.

For example, if the pitch angles of the three blades received from the main control controller are 5.2 degrees, 5.3 degrees, and 1.2 degrees, respectively, the pitch controller (for example, the first pitch controller) corresponding to the blade having the pitch angle of 1.2 degrees starts PID control, and when the PID control is executed, the angle adjustment speed is calculated from the real-time pitch angles of the three blades received from the main control controller at a predetermined time interval. For example, of the pitch angles of the three blades at 5.2 degrees, 5.3 degrees, and 1.2 degrees at the time of starting the PID control, a deviation value of the angle adjustment speed is calculated with 5.3 degrees as a target value of the PID control and 1.2 degrees as an actual value of the PID control, and the deviation value is added to a value of the autonomous pitch take-up speed as the speed of the automatic adjustment to perform the angle adjustment; after the PID control is executed for a plurality of preset time intervals, the received real-time pitch angles of the three blades are 6.0 degrees, 5.9 degrees and 2.4 degrees, the 6.0 degrees is used as a target value of the PID control, the 2.4 degrees is used as an actual value of the PID control, a deviation value of an angle adjusting speed is calculated, the deviation value and an autonomous pitch-retracting speed value are added to be used as an automatic adjusting speed to carry out angle adjustment, and the like, and automatic angle tracking is carried out by the method so that the pitch angle difference values of the three blades are gradually reduced.

The following description will be given by taking an incremental PID control method as an example, but it is needless to say that the present invention is not limited to this, and other PID control methods, for example, a position-type PID control method, may be used. The incremental PID is calculated as (1) below:

u(k)＝Kp(e(k)-e(k-1))+Ki(e(k))+Kd(e(k)-2e(k-1)+e(k-2)) (1)

where u (k) represents the angular velocity adjustment value output by the present PID controller, Kp represents a proportional coefficient, Ki represents an integral coefficient, Kd represents a derivative coefficient, e (k) represents the present deviation (here, the deviation is the deviation between the actual position and the target position), e (k-1) represents the last deviation, and e (k-2) represents the last deviation.

In the PID control mode, the derivative term can predict the trend of error change, and the controller with proportion and derivative can lead the control action of inhibiting the error to be equal to zero or even to be a negative value in advance, thereby avoiding the serious overshoot of the controlled quantity. Therefore, for controlled objects with greater inertia or hysteresis, the proportional plus derivative (i.e., PD) controller can improve the dynamic behavior of the system during the adjustment process. The advantages are that: the response speed of the system is increased, the overshoot is reduced, the oscillation is reduced, and the dynamic process is predicted.

According to an exemplary embodiment of the present invention, the angle adjustment speed value may be clipped. For example, the clipping value may be set to 6 degrees/second, that is, if the calculated angular adjustment speed value is greater than 6 degrees/second, it is performed at 6 degrees/second. According to an exemplary embodiment of the present invention, in order to prevent the control overshoot, the integral coefficient Ki in the PID control may be set to 0. Further, the differential coefficient Kd can also be reduced appropriately. For example, the proportional coefficient Kp is set to 5, the integral coefficient Ki is set to 0, and the differential coefficient Kd is set to 15.

According to an exemplary embodiment of the invention, after the corresponding pitch driver adjusts the blade corresponding to the first pitch controller based on the angle adjustment speed, when the angle difference between the real-time pitch angle of the blade corresponding to the first pitch controller and the maximum value is smaller than a predetermined threshold (e.g., 0.3 to 0.5 degrees), the first pitch controller stops executing the pitch take-up based on the first mode control and starts executing the pitch take-up based on the second mode control. That is to say, when the angle difference between the maximum value and the minimum value of the received real-time pitch angles of the three blades is reduced and approaches to 0, it can be considered that the blade corresponding to the first pitch controller which starts the PID control or the PD control is substantially the same as the pitch retracting speeds of the other two blades, and the influence on the load is small, and the blade corresponding to the first pitch controller can stop the PID synchronous control and resume the pitch retracting according to the autonomous pitch retracting speed.

It can be seen that by the PID control (or PD) control according to the invention, an automatic synchronous control of the pitch angles of the three blades can be achieved. Furthermore, the deviation of this time and the deviation of the last time may be involved in the PID (or PD) control process quantities, so that the calculated angular adjustment speed value is more optimized. In addition, the PID (or PD) control can complete the angle synchronous adjustment in a short time (for example, 1 second), and has faster and better dynamic response and step response characteristics. In addition, in the PID (or PD) control, when the angle fed back by a certain shaft encoder jumps, the PID (or PD) control can have better self-adaption and fault-tolerant functions.

Adjusting time control based on predetermined

According to another exemplary embodiment of the invention, the first pitch controller may perform the angle synchronization control under a constraint that the angles of the three blades are consistent within a predetermined adjustment time. The specific control method comprises the following steps: setting a predetermined time in which an angle difference value between the maximum value and the minimum value of the pitch angles of the three blades received from the main control controller is adjusted to 0; calculating an angle adjustment speed based on the predetermined time and the angle difference; the calculated angular adjustment speed is sent to the respective pitch drive.

For example, the angle adjustment speed may be calculated according to the following formula (2):

v1＝v0+(b-a)/t (2)

wherein v1 is an angle adjusting speed, v0 is an autonomous pitch-retracting speed set inside the pitch-adjusting system, b is a maximum value of the received pitch angles of the three blades, a is a minimum value of the received pitch angles of the three blades, and t is a set preset time.

According to the embodiment of the invention, when the corresponding pitch driver adjusts the blade corresponding to the first pitch controller based on the angle adjusting speed for the preset time t, the first pitch controller stops executing the pitch control based on the first mode control, and starts executing the pitch control based on the second mode control.

Fig. 5 is a block diagram illustrating an apparatus for controlling synchronous feathering of a wind turbine according to an exemplary embodiment of the present invention.

As shown in FIG. 5, an apparatus 500 for controlling synchronous pitch of a wind turbine according to an exemplary embodiment of the present invention may include three pitch controllers 510, 520, and 530, each for controlling one of three blades (not shown).

Each pitch controller 510, 520, and 530 includes an acquisition module 511, 521, and 531, a transmission module 512, 522, and 532, a reception module 513, 523, and 533, and a feather mode determination module 514, 524, and 534, respectively.

Each pitch controller 510, 520, and 530 performs the following operations in response to a pitch take-up instruction: respectively acquiring the pitch angles of the blades corresponding to the acquisition modules 511, 521 and 531; the acquired pitch angles are respectively transmitted to the main control controller 501 through the transmitting modules 512, 522 and 532; receiving the pitch angles of the three blades sent by the main control controller 501 through receiving modules 513, 523 and 533 respectively; determining, by the feathering mode determination modules 514, 524, and 534, whether to perform feathering based on a first mode or a second mode based on the received pitch angles of the three blades, respectively, wherein the first mode refers to performing feathering at an angle adjustment speed calculated based on an angle difference between a maximum value and a minimum value of the pitch angles of the three blades, and the second mode refers to performing feathering at an autonomous feathering speed.

Specifically, the feathering mode determination modules 514, 524, and 534 of each pitch controller 510, 520, and 530 may determine whether the pitch angle of each corresponding blade is the minimum of the pitch angles of the three blades based on the received pitch angles of the three blades, respectively. When the pitch angle of the blade is the minimum value among the pitch angles of the three blades, it means that the blade having the minimum pitch angle among the three blades is required to be subjected to a specific angle adjustment control, that is, controlled to be pitched in the first mode. While the other two blades may perform feathering at an autonomous feathering speed, i.e. controlled feathering based on the second mode. Assuming that the first pitch controller (e.g., 510) is the pitch controller for the blade with the smallest pitch angle of the three blades, and the second pitch controller (e.g., 520) and the third pitch controller (e.g., 530) are the two pitch controllers for the other two blades, the feathering mode determination module 514 of the first pitch controller 510 can determine to perform feathering based on the first mode, and the feathering mode determination module 524 of the second pitch controller 520 and the feathering mode determination module 534 of the third pitch controller 530 can determine to perform feathering based on the second mode. Of course, the above is merely an example, and there are also cases where the pitch angle of the blade corresponding to second pitch controller 520 or third pitch controller 530 is minimum and feathering is performed based on the first mode.

According to an exemplary embodiment of the present invention, each pitch controller may compare the pitch angles of the other two blades with the pitch angle of its corresponding blade, respectively, and determine whether the pitch angle of its corresponding blade is the minimum of the pitch angles of the three blades. The pitch controller (e.g., the first pitch controller) that determines that the pitch angle of the self-corresponding blade is the minimum value determines that the self-corresponding blade performs feathering based on the first mode.

According to another exemplary embodiment of the present invention, the feathering mode determination modules 514, 524, and 534 of each pitch controller 510, 520, and 530 may compare the pitch angles of the received three blades, determine a minimum pitch angle among the pitch angles of the received three blades, compare the determined minimum pitch angle with a pitch angle of the corresponding blade, and the pitch controller (e.g., the first pitch controller 510) of which the pitch angle coincides with the determined minimum pitch angle determines that the corresponding blade performs feathering based on the first mode. The method has the advantages that: if the encoder of one shaft jumps, the data sent by the main control controller and received by each variable pitch controller is a value of 0, and the three shafts detect that the angles are inconsistent with the angles measured by the three shafts, the pitch collection is not executed based on the first mode, so that the error control is avoided.

According to an exemplary embodiment of the invention, each pitch controller 510, 520, and 530 may also include a feathering control module 515, 525, and 535, respectively. In the following, it is assumed that the first pitch controller 510 is a pitch controller whose pitch angle of the corresponding blade is the smallest, and a method of controlling and executing pitch take-up based on the first mode by the pitch take-up control module 515 of the first pitch controller 510, that is, a method of controlling and executing pitch take-up based on an angle adjustment speed calculated by the pitch take-up control module 515 of the first pitch controller 510 based on an angle difference between the maximum value and the minimum value of the pitch angles of the three blades will be described in detail. While pitch control modules 525 and 535 of second and third pitch controllers 520 and 530 perform pitch based on the second mode control. Thus, first pitch drive 502 (i.e., a pitch take-up actuator) corresponding to first pitch controller 510 performs pitch take-up based on the first mode, and second pitch drive 503 corresponding to second pitch controller 520 and third pitch drive 504 corresponding to third pitch controller 530 perform pitch take-up based on the second mode.

PID control

According to an example embodiment of the invention, pitch control module 515 of first pitch controller 510 may initiate PID control. The specific control method comprises the following steps: the following operations are performed at predetermined time intervals (e.g., 20 ms): receiving the real-time pitch angles of the three blades from the main control controller 501, wherein the real-time pitch angles of the three blades are acquired by each pitch controller 510, 520 and 530 according to a predetermined time interval and are sent to the main control controller 501; calculating an angle adjustment speed by performing PID control based on an angle difference value between a minimum value and a maximum value among real-time pitch angles of the three blades; the calculated angular adjustment speed is sent to the respective pitch drive 502.

Specifically, the pitch control module 515 of the first pitch controller 510 may perform PID operation by using the minimum value of the real-time pitch angles of the three blades as an actual value and the maximum value of the real-time pitch angles of the three blades as a target value, so as to obtain a deviation value of the angle adjustment speed; and adding the obtained deviation value with the value of the autonomous oar-retracting speed to obtain a value of the angle adjusting speed. Here, the autonomous pitch-pulling speed in the pitch system is a pitch-pulling parameter value set in the pitch program, and is a minimum speed for pulling the pitch, and the other two pitch controllers (e.g., the second pitch controller 520 and the third pitch controller 530) control their own corresponding blades to pull the pitch at the autonomous pitch-pulling speed.

For example, if the pitch angles of the three blades received from the main control controller 501 are 5.2 degrees, 5.3 degrees, and 1.2 degrees, respectively, the pitch control module of the pitch controller corresponding to the blade having a pitch angle of 1.2 degrees (for example, the pitch control module 515 of the first pitch controller 510) starts PID control, and when the PID control is executed, the angle adjustment speed is calculated from the real-time pitch angles of the three blades received from the main control controller 501 at predetermined time intervals. For example, of the pitch angles of the three blades at 5.2 degrees, 5.3 degrees, and 1.2 degrees at the time of starting the PID control, a deviation value of the angle adjustment speed is calculated with 5.3 degrees as a target value of the PID control and 1.2 degrees as an actual value of the PID control, and the deviation value is added to a value of the autonomous pitch take-up speed as the speed of the automatic adjustment to perform the angle adjustment; after the PID control is executed for a plurality of preset time intervals, the received real-time pitch angles of the three blades are 6.0 degrees, 5.9 degrees and 2.4 degrees, the 6.0 degrees is used as a target value of the PID control, the 2.4 degrees is used as an actual value of the PID control, a deviation value of an angle adjusting speed is calculated, the deviation value and an autonomous pitch-retracting speed value are added to be used as an automatic adjusting speed to carry out angle adjustment, and the like, and automatic angle tracking is carried out by the method so that the pitch angle difference values of the three blades are gradually reduced.

For example, the control may be performed by the incremental PID control manner of the above equation (1). In the PID control mode, the derivative term can predict the trend of error change, and the controller with proportion and derivative can lead the control action of inhibiting the error to be equal to zero or even to be a negative value in advance, thereby avoiding the serious overshoot of the controlled quantity. Therefore, for controlled objects with greater inertia or hysteresis, the proportional plus derivative (i.e., PD) controller can improve the dynamic behavior of the system during the adjustment process. The advantages are that: the response speed of the system is increased, the overshoot is reduced, the oscillation is reduced, and the dynamic process is predicted.

According to an exemplary embodiment of the present invention, the angle adjustment speed value may be clipped. For example, the clipping value may be set to 6 degrees/second, that is, if the calculated angular adjustment speed value is greater than 6 degrees/second, it is performed at 6 degrees/second. According to an exemplary embodiment of the present invention, in order to prevent the control overshoot, the integral coefficient Ki in the PID control may be set to 0. Further, the differential coefficient Kd can also be reduced appropriately. For example, the proportional coefficient Kp is set to 5, the integral coefficient Ki is set to 0, and the differential coefficient Kd is set to 15.

According to an exemplary embodiment of the invention, after the respective pitch drive 502 adjusts the blade corresponding to the first pitch controller 510 based on the angular adjustment speed, when the angular difference between the real-time pitch angle of the blade corresponding to the first pitch controller 510 and the maximum value is less than a predetermined threshold (e.g., 0.3-0.5 degrees), the pitch take-up control module 515 of the first pitch controller 510 stops performing pitch take-up based on the first mode control and starts performing pitch take-up based on the second mode control. That is to say, when the angle difference between the maximum value and the minimum value of the received real-time pitch angles of the three blades decreases and approaches to 0, it may be considered that the pitch take-up speed of the blade corresponding to the first pitch controller 510 which starts the PID control or the PD control is substantially the same as the pitch take-up speed of the other two blades, and the influence on the load is small, and then the blade corresponding to the first pitch controller 510 may stop the PID synchronous control, and resume the pitch take-up according to the autonomous pitch take-up speed.

It can be seen that by the PID control (or PD) control according to the invention, an automatic synchronous control of the pitch angles of the three blades can be achieved. Furthermore, the deviation of this time and the deviation of the last time may be involved in the PID (or PD) control process quantities, so that the calculated angular adjustment speed value is more optimized. In addition, the PID (or PD) control can complete the angle synchronous adjustment in a short time (for example, 1 second), and has faster and better dynamic response and step response characteristics. In addition, in the PID (or PD) control, when the angle fed back by a certain shaft encoder jumps, the PID (or PD) control can have better self-adaption and fault-tolerant functions.

Adjusting time control based on predetermined

According to another exemplary embodiment of the invention, the feathering control module 515 of the first pitch controller 510 may perform the angle synchronization control under the constraint that the angles of the three blades are consistent within a predetermined adjustment time. The specific control method comprises the following steps: setting a predetermined time in which an angle difference value between the maximum value and the minimum value of the pitch angles of the three blades received from the main control controller 501 is adjusted to 0; calculating an angle adjustment speed based on the predetermined time and the angle difference; the calculated angular adjustment speed is sent to the respective pitch drive. For example, the angle adjustment speed may be calculated according to the above formula (2).

According to an exemplary embodiment of the invention, when the corresponding pitch drive 502 adjusts the blade corresponding to the first pitch controller 510 based on the angular adjustment speed for the set predetermined time t, the pitch control module 515 of the first pitch controller 510 stops performing pitch control based on the first mode control and starts performing pitch control based on the second mode control.

Fig. 6 is a simulation diagram illustrating controlling synchronous feathering of a wind turbine according to an exemplary embodiment of the present invention.

As shown in fig. 6, the abscissa represents time, and the ordinate represents angle. The curve 601 represents an angle change curve of the blade having the smallest pitch angle among the three blades, and the initial angle thereof is 0 degrees. Curve 602 represents the angular variation of the blade with the largest pitch angle of the three blades, with an initial angle of 6 degrees. Curve 603 represents the change curve of the two angle difference values after starting the angle control scheme (e.g., PID control or PD control, or control based on a preset adjustment time) of the exemplary embodiment of the present invention. From curve 603, it can be seen that the two angular decrements gradually decrease to 0. Curve 604 represents the variation of the angular adjustment speed for the blade with the smallest pitch angle of the three blades. It can be seen from the curve 604 that as the difference between the pitch angles of the two blades decreases, the angle adjustment speed for the blade with the smallest pitch angle gradually decreases to 2 degrees/second, in this process, the angle of the blade with the largest pitch angle represented by the curve 602 always performs pitch adjustment at the speed of 2 degrees/second, and finally, synchronous pitch adjustment control can be well performed for the three blades.

FIG. 7 is a schematic view of an apparatus for controlling synchronous feathering of a wind turbine provided in accordance with an embodiment of the present disclosure. As shown in fig. 7, the apparatus may include a processor 701 and a memory 702 storing computer program instructions.

Specifically, the processor 701 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing an embodiment of the present invention.

Memory 702 may include a mass storage for data or instructions. By way of example, and not limitation, memory 702 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 702 may include removable or non-removable (or fixed) media, where appropriate. The memory 702 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 702 is non-volatile solid-state memory. In a particular embodiment, the memory 702 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.

The processor 701 implements any of the above described embodiments of the method for predicting extreme wind conditions for a wind turbine by reading and executing computer program instructions stored in the memory 702.

In one example, the above devices may also include a communication interface 703 and a bus 704. As shown in fig. 7, the processor 701, the memory 702, and the communication interface 703 are connected by a bus 704 to complete mutual communication.

The communication interface 703 is mainly used for implementing communication between modules, devices, units, and/or devices in the embodiment of the present invention.

The bus 704 includes hardware, software, or both to couple the above-described components to one another. For example, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus X10 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.

The device can execute the method for controlling the synchronous pitch-withdrawing of the wind driven generator in the embodiment of the invention, thereby realizing the method and the device for controlling the synchronous pitch-withdrawing of the wind driven generator described in conjunction with fig. 4 and 5.

Further, the method for controlling synchronous feathering of a wind turbine described with reference to fig. 4 may be implemented by a program (or instructions) recorded on a computer-readable storage medium. For example, according to an exemplary embodiment of the invention, a computer-readable storage medium may be provided storing instructions that, when executed by at least one computing device, cause the at least one computing device to perform a method for controlling synchronous feathering of a wind turbine.

The computer program in the computer-readable storage medium may be executed in an environment deployed in a computer device such as a client, a host, a proxy device, a server, and the like, and it should be noted that the computer program may also be used to perform additional steps other than the above steps or perform more specific processing when the above steps are performed, and the content of the additional steps and the further processing is already mentioned in the description of the related method with reference to fig. 4, and therefore will not be described again here to avoid repetition.

According to the method, the device and the equipment for controlling the synchronous pitch take-up of the wind driven generator, the fixity of a pitch take-up speed instruction when the pitch system automatically takes up the pitch can be utilized, the specific angle adjustment control is executed on the blade with the minimum angle value based on the angle difference value between the maximum value and the minimum value of the pitch angles of the three blades, the pitch change speed adjustment when the pitch system automatically takes up the pitch is realized, the consistency of the pitch change speed of the three blades is realized, and the load in the shutdown pitch take-up process is reduced.

According to the method, the device and the equipment for controlling the synchronous pitch-up of the wind driven generator, compared with the traditional control method, in the shutdown process, the three blades synchronously pitch-up, the blades with large angles do not need to stop first to wait for the blades with small angles to reach the consistent angles, and therefore the safety of the wind driven generator set is facilitated.

According to the method, the device and the equipment for controlling the synchronous pitch-withdrawing of the wind driven generator, which are disclosed by the invention, PID (proportion integration differentiation) control (or PD control) is provided for automatically adjusting the blade angle with the minimum angle value. In the automatic adjustment process, the pitch controller does not need to detect the jumping condition of the angles of the other two blades, and the process can realize self-matching and self-adaption in the adjustment process of the PD controller. In addition, the method has the advantages that the sudden change of the angle average value of the three shaft cabinets caused by the sudden change of the angle value can not be caused, and the sudden change of the target speed or the failure of the adjusting function caused by the sudden change of the angle average value can not be generated. For example, if the value of the small angle jumps, the angle difference between the three blades decreases, the output of the PID (or PD) controller decreases, and if the value of the large angle jumps, the PID (or PD) controller has a limited amplitude and compares the angle values of the other two blades, so the speed difference between the three blades will not be too large. Furthermore, due to the addition of the PID (or PD) controller, a fast adjustment can be performed and the parameters are easy to optimize (e.g. only the value of the proportional parameter Kp needs to be adjusted).

While exemplary embodiments of the invention have been described above, it should be understood that the above description is illustrative only and not exhaustive, and that the invention is not limited to the exemplary embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. Therefore, the protection scope of the present invention should be subject to the scope of the claims.